genesis

Author: Alan Pich

.gitignore

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+*.egg-info
+*.pyc

README.rst

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+from serial import Serial
+import TMCL
+
+
+serial_port = Serial("/dev/tty.usbmodem1241")
+bus = TMCL.connect(serial_port)
+motor = bus.get_motor(0)
+
+
+motor.stop()

dist/TMCL-1.0.tar.gz

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+from setuptools import setup
+
+setup(name='TMCL',
+      version='1.0',
+      description='Talk to Trinamic Stepper Motors using TMCL over serial',
+      url='https://github.com/NativeDesign/python-tmcl',
+      author='Alan Pich',
+      author_email='alanp@native.com',
+      license='MIT',
+      packages=['TMCL'],
+      install_requires=[
+        'pyserial'
+      ],
+      zip_safe=False)

examples/example1.py

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+from .bus import Bus
+from .motor import Motor
+from .commands import Command
+from .reply import Reply
+
+
+
+def connect ( serial_port, CAN = False ):
+    return Bus(serial_port, CAN)

setup.py

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+import struct
+from .motor import Motor
+from .reply import Reply
+
+
+MSG_STRUCTURE = ">BBBBIB"
+MSG_STRUCTURE_CAN = ">BBBI"
+
+REPLY_STRUCTURE = ">BBBBIB"
+REPLY_STRUCTURE_CAN = ">BBBI"
+REPLY_STRUCTURE_IIC = ">BBBIB"
+
+REPLY_LENGTH = 9
+REPLY_LENGTH_CAN = 7
+REPLY_LENGTH_IIC = 8
+
+
+class Bus (object):
+
+    def __init__( self, serial, CAN = False ):
+        self.CAN = CAN
+        self.serial = serial
+
+
+
+    def send ( self, address, command, type, motorbank, value ):
+        if self.CAN:
+            msg = struct.pack(MSG_STRUCTURE_CAN, command, type, motorbank,value)
+            self.serial.write(msg)
+            resp = [0]
+            data = self.serial.read(REPLY_LENGTH_CAN)
+            resp.extend(struct.unpack(REPLY_STRUCTURE_CAN, data))
+            reply = Reply(resp)
+            return self._handle_reply(reply)
+        else:
+            checksum = address + command + type + motorbank + value
+            msg = struct.pack(MSG_STRUCTURE, address, command, type, motorbank, value, checksum)
+            self.serial.write(msg)
+            rep = self.serial.read(REPLY_LENGTH)
+            reply = Reply(struct.unpack(REPLY_STRUCTURE, rep))
+            return self._handle_reply(reply)
+
+
+
+    def _handle_reply (self, reply):
+        if reply.status < Reply.Status.SUCCESS:
+            raise TrinamicException(reply)
+        return reply
+
+
+
+
+    def get_motor (self, address):
+        return Motor(self, address)

tmcl/__init__.py

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+
+class Command:
+    ROL     = 2
+    ROR     = 1
+    MVP     = 4
+    MST     = 3
+    RFS     = 13
+    SCO     = 30
+    CCO     = 32
+    GCO     = 31
+    SAP     = 5
+    GAP     = 6
+    STAP    = 7
+    RSAP    = 8
+    SGP     = 9
+    GGP     = 10
+    STGP    = 11
+    RSGP    = 12
+    SIO     = 14
+    GIO     = 15
+    SAC     = 29
+    JA      = 22
+    JC      = 21
+    COMP    = 20
+    CLE     = 36
+    CSUB    = 23
+    RSUB    = 24
+    WAIT    = 27
+    STOP    = 28
+    CALC    = 19
+    CALCX   = 33
+    AAP     = 34
+    AGP     = 35
+    STOP_APPLICATION = 128
+    RUN_APPLICATION = 129
+    STEP_APPLICATION = 130
+    RESET_APPLICATION = 131
+    START_DOWNLOAD_MODE = 132
+    QUIT_DOWNLOAD_MODE = 133
+    READ_TMCL_MEMORY = 134
+    GET_APPLICATION_STATUS = 135
+    GET_FIRMWARE_VERSION = 136
+    RESTORE_FACTORY_SETTINGS = 137

tmcl/bus.py

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+
+from .commands import Command
+
+
+class Motor (object):
+
+
+    def __init__ (self, bus, address, motor = 0):
+        self.bus = bus
+        self.address = address
+        self.motor = motor
+        self.axis = AxisParameterInterface(self)
+
+
+    def send (self, cmd, type, motorbank, value):
+        self.bus.send(self.address, cmd, type, motorbank, value)
+
+    def stop (self):
+        self.send( Command.MST, 0, self.motor, 0 )
+
+    def get_user_var (self, n ):
+        reply = self.send( Command.GGP, n, 2, 0)
+        return reply.value
+
+    def set_user_var (self, n ,value):
+        reply = self.send( Command.SGP, n, 2, value )
+        return reply.status
+
+    def run_command (self, cmdIndex):
+        reply = self.send( Command.RUN_APPLICATION, 1, self.motor, cmdIndex )
+        return reply.status
+
+
+
+
+
+
+
+
+class AxisParameterInterface (object):
+    def __init__(self, motor):
+        self.motor = motor
+
+    def get (self, param):
+        reply = self.motor.send( Command.GAP, param, self.motor.motor, 0)
+        return reply.value
+
+    def set (self, param, value):
+        reply = self.motor.send( Command.SAP, param, self.motor.motor, value)
+        return reply.status
+
+
+    @property
+    def target_position (self):
+        return self.get(0)
+
+    @target_position.setter
+    def target_position (self, value):
+        return self.set(0, value)
+
+    @property
+    def actual_position (self):
+        return self.get(1)
+
+    @actual_position.setter
+    def actual_position (self, value):
+        return self.set(1, value)
+
+    @property
+    def target_speed (self):
+        return self.get(2)
+
+    @target_speed.setter
+    def target_speed(self, value):
+        return self.set( 2, value )
+
+    @property
+    def actual_speed (self):
+        return self.get(3)
+
+    @property
+    def max_positioning_speed (self):
+        return self.get(4)
+
+    @max_positioning_speed.setter
+    def max_positioning_speed (self, value):
+        return self.set(4, value)
+
+    @property
+    def max_accelleration (self):
+        return self.get(5)
+
+    @max_accelleration.setter
+    def max_accelleration (self, value):
+        return self.set( 5, value)
+
+    @property
+    def max_current (self):
+        return self.get(6)
+
+    @max_current.setter
+    def max_current (self, value):
+        return self.set(6, value)
+
+    @property
+    def standby_current (self):
+        return self.get(7)
+
+    @standby_current.setter
+    def standby_current (self, value):
+        return self.set(7,value)
+
+    @property
+    def target_position_reached (self):
+        return self.get(8)
+
+    @property
+    def ref_switch_status (self):
+        return self.get(9)
+
+    @property
+    def right_limit_status (self):
+        return self.get(10)
+
+    @property
+    def left_limit_status (self):
+        return self.get(11)
+
+    @property
+    def right_limit_switch_disabled (self):
+        return True if self.get(12) == 1 else False
+
+    @right_limit_switch_disabled.setter
+    def right_limit_switch_disabled (self, value):
+        return self.set(12, 1 if value else 0)
+
+    @property
+    def left_limit_switch_disabled (self):
+        return True if self.get(13) == 1 else False
+
+    @left_limit_switch_disabled.setter
+    def left_limit_switch_disabled (self, value):
+        return self.set(13, 1 if value else 0)

tmcl/commands.py

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+
+
+
+class TrinamicException (Exception):
+    def __init__ (self, reply):
+        super(TrinamicException, self).__init__( Status.messages[reply.status] )
+        self.reply = reply
+
+
+class Reply (object):
+    def __init__(self, reply_struct):
+        self.reply_address = reply[0]
+        self.module_address = reply[1]
+        self.status = reply[2]
+        self.command = reply[3]
+        self.value = reply[4]
+        self.checksum = reply[5]
+
+    class Status (object):
+        SUCCESS = 100
+        COMMAND_LOADED = 101
+        WRONG_CHECKSUM = 1
+        INVALID_COMMAND = 2
+        WRONG_TYPE = 3
+        INVALID_VALUE = 4
+        EEPROM_LOCKED = 5
+        COMMAND_NOT_AVAILABLE = 6
+
+
+        messages = {
+            1: "Incorrect Checksum",
+            2: "Invalid Command",
+            3: "Wrong Type",
+            4: "Invalid Value",
+            5: "EEPROM Locked",
+            6: "Command not Available"
+        }