@author: LK ''' from PyTrinamicMicro.platforms.motionpy.connections.rs485_tmcl_interface import rs485_tmcl_interface from PyTrinamic.modules.TMCM1640.TMCM_1640 import TMCM_1640 import logging MODULE_ID = 1 GP_BANK = 0 AP_AXIS = 0 logger = logging.getLogger(__name__) logger.info("Test module TMCM1640 parameters via RS485") logger.info("Initializing interface.") interface = rs485_tmcl_interface(module_id=MODULE_ID) logger.info("Initializing module.") module = TMCM_1640(interface) logger.info("Testing global parameter access.") logger.info("Getting global parameter ({}, {}) ...".format( "serialBaudRate", module.GPs.serialBaudRate)) logger.info("{}".format( module.getGlobalParameter(module.GPs.serialBaudRate, GP_BANK))) logger.info("Getting global parameter ({}, {}) ...".format( "serialAddress", module.GPs.serialAddress)) logger.info("{}".format( module.getGlobalParameter(module.GPs.serialAddress, GP_BANK))) logger.info("Getting global parameter ({}, {}) ...".format(
''' 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.motionpy.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()
''' 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.motionpy.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()
''' from PyTrinamicMicro import PyTrinamicMicro from PyTrinamicMicro.connections.tmcl_host_interface import tmcl_host_interface from PyTrinamicMicro.platforms.motionpy.connections.rs485_tmcl_interface import rs485_tmcl_interface from PyTrinamicMicro.platforms.motionpy.connections.usb_vcp_tmcl_interface import usb_vcp_tmcl_interface from PyTrinamicMicro.TMCL_Bridge import TMCL_Bridge from PyTrinamic.TMCL import TMCL_Command import logging # Prepare Logger PyTrinamicMicro.set_logging_console_enabled(False) logger = logging.getLogger(__name__) logger.info("TMCL Bridge from USB to RS485") logger.info("Initializing interfaces ...") host = usb_vcp_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.")
def real(ticks, prescaler, freq): return ((ticks * freq) / (prescaler + 1)) 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.") ticks = (WORST_CASE_LATENCY * PAYLOAD * pyb.freq()[2] * 2) / 1000 prescaler = int(ticks / 0x3fffffff) period = int((WORST_CASE_LATENCY * PAYLOAD * pyb.freq()[2] * 2) / (1000 * (prescaler + 1))) while (n < N_SAMPLES): timer.counter(0) timer.init(prescaler=prescaler, period=period, callback=timeout) for i in range(0, PAYLOAD): interface.send_request_only(TMCL_Request(MODULE_ID, 1, 2, 3, 4, 5), host_id=HOST_ID, module_id=MODULE_ID) try: for i in range(0, PAYLOAD):
from PyTrinamicMicro.platforms.motionpy.modules.linear_distance import linear_distance from PyTrinamic.modules.TMCM1240.TMCM_1240 import TMCM_1240 from PyTrinamicMicro.platforms.motionpy.modules.hc_sr04_multi import hc_sr04_multi from PyTrinamicMicro.platforms.motionpy.modules.MCP23S08 import MCP23S08 from PyTrinamicMicro.platforms.motionpy.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.")
from PyTrinamicMicro.platforms.motionpy.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]):
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() module.close() logger.info("Interfaces closed.") logger.info("Bridge stopped.")
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")