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 = 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
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
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 UART interface")
# Main program
lin = None
logger.info("Initializing interface ...")
con = uart_tmcl_interface()
slave = tmcl_slave_motionpy()
module = TMCM_1240(rs485_tmcl_interface())
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)
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()
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
@author: LK
'''
from PyTrinamicMicro import PyTrinamicMicro
from PyTrinamicMicro.connections.tmcl_host_interface import tmcl_host_interface
from PyTrinamicMicro.platforms.motionpy1.connections.uart_tmcl_interface import uart_tmcl_interface
from PyTrinamicMicro.platforms.motionpy1.connections.usb_vcp_tmcl_interface import usb_vcp_tmcl_interface
from PyTrinamicMicro.TMCL_Bridge import TMCL_Bridge
import logging
# Prepare Logger
PyTrinamicMicro.set_logging_console_enabled(False)
logger = logging.getLogger(__name__)
logger.info("TMCL Bridge from USB to UART")
logger.info("Initializing interfaces ...")
host = usb_vcp_tmcl_interface()
module = uart_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.")