@author: LK
'''
from PyTrinamicMicro.platforms.motionpy1.connections.rs485_tmcl_interface import rs485_tmcl_interface
from PyTrinamic.modules.TMCM1161.TMCM_1161 import TMCM_1161
import logging
MODULE_ID = 1
GP_BANK = 0
AP_AXIS = 0
logger = logging.getLogger(__name__)
logger.info("Test module TMCM1161 parameters via RS485")
logger.info("Initializing interface.")
interface = rs485_tmcl_interface(module_id=MODULE_ID)
logger.info("Initializing module.")
module = TMCM_1161(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_0))
logger.info("{}".format(module.getGlobalParameter(module.GPs.timer_1,
GP_BANK)))
logger.info("Getting global parameter ({}, {}) ...".format(
from PyTrinamicMicro.platforms.motionpy1.modules.linear_distance import linear_distance
from PyTrinamic.modules.TMCM1240.TMCM_1240 import TMCM_1240
from PyTrinamicMicro.platforms.motionpy1.modules.hc_sr04_multi import hc_sr04_multi
from PyTrinamicMicro.platforms.motionpy1.modules.MCP23S08 import MCP23S08
from PyTrinamicMicro.platforms.motionpy1.connections.rs485_tmcl_interface import rs485_tmcl_interface
module = TMCM_1240(rs485_tmcl_interface())
module.setMaxAcceleration(0, 100000)
lin = linear_distance(
sensor = hc_sr04_multi(avg_window=100),
sensor_index = 1,
module = module
)
lin.homing_direct(velocity=100000)
print(lin.bounds)
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()
module.close()
logger.info("Interfaces closed.")
logger.info("Bridge stopped.")
''' Rotate the motor with TMCM1161 using RS485 interface. Created on 05.10.2020 @author: LK ''' from PyTrinamic.modules.TMCM1161.TMCM_1161 import TMCM_1161 from PyTrinamicMicro.platforms.motionpy1.connections.rs485_tmcl_interface import rs485_tmcl_interface import time con = rs485_tmcl_interface() module = TMCM_1161(con) module.rotate(0, 1000) time.sleep(5) module.stop(0) con.close()
''' Rotate the motor with TMCM3214 using RS485 interface. Created on 19.04.2021 @author: LK ''' from PyTrinamic.modules.TMCM3214.TMCM_3214 import TMCM_3214 from PyTrinamicMicro.platforms.motionpy1.connections.rs485_tmcl_interface import rs485_tmcl_interface from pyb import Pin import time con = rs485_tmcl_interface(data_rate=9600) module = TMCM_3214(con) module.rotate(0, 10000) time.sleep(5) module.stop(0) con.close()
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()
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()
module.close()
logger.info("Interfaces closed.")
logger.info("Bridge stopped.")
def real(ticks, prescaler, freq):
return ((ticks * (prescaler + 1)) / freq)
min_ticks = 0
max_ticks = 0
avg_ticks = 0
std_dev_ticks = 0
n = 0
timer = Timer(2)
logger = logging.getLogger(__name__)
logger.info("Latency test RS485")
logger.info("Initializing interface.")
interface = rs485_tmcl_interface(data_rate=DATA_RATE)
logger.info("Performing test.")
while (n < N_SAMPLES):
timer.counter(0)
timer.init(prescaler=0, period=16800000, callback=timeout)
# send invalid (for all modules) TMCL Request
reply = interface.send_request(TMCL_Request(MODULE_ID, 1, 2, 3, 4, 5),
host_id=HOST_ID,
module_id=MODULE_ID)
timer.deinit()
if (not (tout)):
counter = timer.counter()
logger.debug("Measured delta ticks: {}".format(counter))
# update values
value = counter
from PyTrinamicMicro.platforms.motionpy1.connections.rs485_tmcl_interface import rs485_tmcl_interface
from PyTrinamicMicro import PyTrinamicMicro
import struct
import logging
# Prepare Logger
PyTrinamicMicro.set_logging_console_enabled(False)
logger = logging.getLogger(__name__)
logger.info("TMCL Slave on USB_VCP interface")
# Main program
lin = None
logger.info("Initializing interface ...")
con = usb_vcp_tmcl_interface()
slave = tmcl_slave_motionpy()
module = TMCM_1240(rs485_tmcl_interface(data_rate=115200))
module.setMaxAcceleration(0, 100000)
logger.info("Interface initialized.")
while(not(slave.status.stop)):
# Handle connection
if(con.request_available()):
logger.debug("Request available.")
request = con.receive_request()
if(not(slave.filter(request))):
continue
logger.debug("Request for this slave detected.")
reply = slave.handle_request(request)
con.send_reply(reply)
# Handle flags
if(slave.status.lin[0]):
Created on 14.10.2020
@author: LK
'''
from PyTrinamicMicro.connections.tmcl_host_interface import tmcl_host_interface
from PyTrinamicMicro.platforms.motionpy1.connections.rs485_tmcl_interface import rs485_tmcl_interface
from PyTrinamicMicro.platforms.motionpy1.connections.uart_tmcl_interface import uart_tmcl_interface
from PyTrinamicMicro.TMCL_Bridge import TMCL_Bridge
import logging
# Prepare Logger
logger = logging.getLogger(__name__)
logger.info("TMCL Bridge from UART to RS485")
logger.info("Initializing interfaces ...")
host = uart_tmcl_interface()
module = rs485_tmcl_interface()
bridge = TMCL_Bridge(host, [{"module": module}])
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 several interfaces and module ID 1.
Created on 02.11.2020
@author: LK
'''
from PyTrinamicMicro.platforms.motionpy1.connections.can_tmcl_interface import can_tmcl_interface
from PyTrinamicMicro.platforms.motionpy1.connections.rs232_tmcl_interface import rs232_tmcl_interface
from PyTrinamicMicro.platforms.motionpy1.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")
