# When using a CAN module, Checksum needs to be recalculated.
request_command = 0
def request_callback(request):
global request_command
request_command = request.command
return request
def reply_callback(reply):
if(request_command != TMCL.COMMANDS["GET_FIRMWARE_VERSION"]):
reply.calculate_checksum()
return reply
logger.info("Initializing interfaces ...")
host = uart_tmcl_interface()
module = can_tmcl_interface()
bridge = TMCL_Bridge(host, [{"module":module, "request_callback":request_callback, "reply_callback":reply_callback}])
logger.info("Interfaces initialized.")
while(not(bridge.process())):
pass
logger.info("Closing interfaces ...")
host.close()
module.close()
logger.info("Interfaces closed.")
logger.info("Bridge stopped.")
'''
Test TMCL GET_FIRMWARE_VERSION via CAN interface and module ID 1.
Created on 02.11.2020
@author: LK
'''
from PyTrinamicMicro.platforms.motionpy.connections.can_tmcl_interface import can_tmcl_interface
import logging
import re
VERSION_PATTERN = "^\d\d\d\dV\d\d\d$"
logger = logging.getLogger(__name__)
logger.info("Test interface CAN")
logger.info("Initializing interface.")
interface = can_tmcl_interface()
logger.info("Issuing GET_FIRMWARE_VERSION.")
value = interface.getVersionString()
logger.info("Value: {}.".format(value))
assert re.match(VERSION_PATTERN, value), "Invalid version string"
logger.info("Version string valid")
''' Rotate the motor with TMCM1240 using CAN interface. Created on 21.10.2020 @author: LK ''' from PyTrinamic.modules.TMCM1240.TMCM_1240 import TMCM_1240 from PyTrinamicMicro.platforms.motionpy.connections.can_tmcl_interface import can_tmcl_interface import time con = can_tmcl_interface() module = TMCM_1240(con) module.rotate(50000) time.sleep(5) module.stop() con.close()
@author: LK
'''
from PyTrinamicMicro.platforms.motionpy.connections.can_tmcl_interface import can_tmcl_interface
from PyTrinamic.modules.TMCM1240.TMCM_1240 import TMCM_1240
import logging
MODULE_ID = 1
GP_BANK = 0
AP_AXIS = 0
logger = logging.getLogger(__name__)
logger.info("Test module TMCM1240 parameters via CAN")
logger.info("Initializing interface.")
interface = can_tmcl_interface(module_id=MODULE_ID)
logger.info("Initializing module.")
module = TMCM_1240(interface)
logger.info("Testing global parameter access.")
logger.info("Getting global parameter ({}, {}) ...".format(
"timer_0", module.GPs.timer_0))
logger.info("{}".format(module.getGlobalParameter(module.GPs.timer_0,
GP_BANK)))
logger.info("Getting global parameter ({}, {}) ...".format(
"timer_1", module.GPs.timer_1))
logger.info("{}".format(module.getGlobalParameter(module.GPs.timer_1,
GP_BANK)))
logger.info("Getting global parameter ({}, {}) ...".format(
request_command = request.command
return request
def reply_callback(reply):
if (request_command != TMCL.COMMANDS["GET_FIRMWARE_VERSION"]):
reply.calculate_checksum()
return reply
logger.info("Initializing interfaces ...")
host = usb_vcp_tmcl_interface()
modules = [{
"module": uart_tmcl_interface()
}, {
"module": can_tmcl_interface(),
"request_callback": request_callback,
"reply_callback": reply_callback
}, {
"module": rs232_tmcl_interface()
}, {
"module": rs485_tmcl_interface()
}]
bridge = TMCL_Bridge(host, modules)
logger.info("Interfaces initialized.")
while (not (bridge.process())):
pass
logger.info("Closing interfaces ...")
host.close()
def request_callback(request):
global request_command
request_command = request.command
return request
def reply_callback(reply):
if (request_command != TMCL_Command.GET_FIRMWARE_VERSION):
reply.calculate_checksum()
return reply
logger.info("Initializing interfaces ...")
host = uart_tmcl_interface()
modules = [{
"module": can_tmcl_interface(debug=True),
"request_callback": request_callback,
"reply_callback": reply_callback
}, {
"module": rs232_tmcl_interface(debug=True)
}, {
"module": rs485_tmcl_interface(debug=True)
}]
bridge = TMCL_Bridge(host, modules)
logger.info("Interfaces initialized.")
while (not (bridge.process())):
pass
logger.info("Closing interfaces ...")
host.close()
logger = logging.getLogger(__name__)
logger.info("CAN Logger")
# Callback for received requests
def callback_request(request):
logger.info(request.disassemble())
# Callback for received replies
def callback_reply(reply):
logger.info(reply.disassemble())
logger.info("Initializing interface ...")
bus = can_tmcl_interface(host_id=2, module_id=1, can_mode=CanModeSilent())
logger.info("Interface initialized.")
logger.info("Initializing tmcl_analyzer ...")
# Set callback to print disassembled TMCL requests and their replies
# Set measurement window for throughput to 100 ms (not requested but nice to have)
analyzer = tmcl_analyzer(connection_host=bus,
connection_module=bus,
callback_request=callback_request,
callback_reply=callback_reply,
measure_window=0.1)
logger.info("tmcl_analyzer initialized.")
logger.info("Start logging.")
# Main loop
Created on 02.11.2020
@author: LK
'''
from PyTrinamicMicro.platforms.motionpy.connections.can_tmcl_interface import can_tmcl_interface
from PyTrinamicMicro.platforms.motionpy.connections.rs232_tmcl_interface import rs232_tmcl_interface
from PyTrinamicMicro.platforms.motionpy.connections.rs485_tmcl_interface import rs485_tmcl_interface
import logging
import re
VERSION_PATTERN = "^\d\d\d\dV\d\d\d$"
logger = logging.getLogger(__name__)
logger.info("Test GET_FIRMWARE_VERSION for CAN, RS232 and RS485 interfaces.")
logger.info("Initializing interfaces.")
interfaces = set()
interfaces.add(can_tmcl_interface())
interfaces.add(rs232_tmcl_interface())
interfaces.add(rs485_tmcl_interface())
for interface in interfaces:
logger.info(
"Issuing GET_FIRMWARE_VERSION on interface {}.".format(interface))
value = interface.getVersionString()
logger.info("Value: {}.".format(value))
assert re.match(VERSION_PATTERN, value), "Invalid version string"
logger.info("Version string valid")
