def initialize(self):
"""Initialise trinamics steprocker platform."""
yield from super().initialize()
# validate our config (has to be in intialize since config_processor
# is not read in __init__)
self.config = self.machine.config_validator.validate_config("trinamics_steprocker", self.config)
self.TMCL = TMCLDevice(self.config['port'], False)
def initialize(self):
"""Method is called after all hardware platforms were instantiated."""
yield from super().initialize()
# validate our config (has to be in intialize since config_processor
# is not read in __init__)
self.config = self.machine.config_validator.validate_config(
"trinamics_steprocker", self.config)
self.TMCL = TMCLDevice(self.config['port'], False)
class TrinamicsStepRocker(StepperPlatform):
"""Supports the Trinamics Step Rocker via PySerial.
Works with Trinamics Step Rocker. TBD other 'TMCL' based steppers eval boards
"""
def __init__(self, machine):
"""Initialise Trinamics Step Rocker platform."""
super().__init__(machine)
self.log = logging.getLogger("Trinamics StepRocker")
self.log.debug("Configuring template hardware interface.")
self.config = self.machine.config['trinamics_steprocker']
self.platform = None
self.features['tickless'] = True
self.TMCL = None
def __repr__(self):
"""Return string representation."""
return '<Platform.TrinamicsStepRocker>'
@asyncio.coroutine
def initialize(self):
"""Initialise trinamics steprocker platform."""
yield from super().initialize()
# validate our config (has to be in intialize since config_processor
# is not read in __init__)
self.config = self.machine.config_validator.validate_config(
"trinamics_steprocker", self.config)
self.TMCL = TMCLDevice(self.config['port'], False)
def stop(self):
"""Close serial."""
if self.TMCL:
self.TMCL.stop()
self.TMCL = None
@asyncio.coroutine
def configure_stepper(self, number: str,
config: dict) -> "TrinamicsTMCLStepper":
"""Configure a smart stepper device in platform.
Args:
config (dict): Configuration of device
"""
return TrinamicsTMCLStepper(number, config, self.TMCL, self.machine)
@classmethod
def get_stepper_config_section(cls):
"""Return config validator name."""
return "steprocker_stepper_settings"