Merge pull request #72 from Chr157i4n/dev

version 0.5.1

CHANGELOG.md

@@ -1,5 +1,11 @@
 # Changelog
 
+## version 0.5.1
+
+- added toff setting
+- added support for controlling direction during movement over UART
+- added demo script for motor movement using only the STEP pin
+
 ## version 0.5
 
 - decoupled gpio access from gpio library

demo/demo_script_09_uartless.py

@@ -0,0 +1,121 @@
+#pylint: disable=wildcard-import
+#pylint: disable=unused-wildcard-import
+#pylint: disable=unused-import
+#pylint: disable=duplicate-code
+"""
+test file for testing basic movement
+"""
+
+import time
+try:
+    from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
+except ModuleNotFoundError:
+    from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
+
+
+print("---")
+print("SCRIPT START")
+print("---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# initiate the TMC_2209 class
+# use your pins for pin_en, pin_step, pin_dir here
+#-----------------------------------------------------------------------
+if BOARD == Board.RASPBERRY_PI:
+    tmc = TMC_2209(21, 16, 20, loglevel=Loglevel.DEBUG, skip_uart_init=True)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(21, 16, 20, loglevel=Loglevel.DEBUG, skip_uart_init=True)
+elif BOARD == Board.NVIDIA_JETSON:
+    tmc = TMC_2209(13, 6, 5, loglevel=Loglevel.DEBUG, skip_uart_init=True)
+else:
+    # just in case
+    tmc = TMC_2209(21, 16, 20, loglevel=Loglevel.DEBUG, skip_uart_init=True)
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the loglevel of the libary (currently only printed)
+# set whether the movement should be relative or absolute
+# both optional
+#-----------------------------------------------------------------------
+tmc.tmc_logger.set_loglevel(Loglevel.DEBUG)
+tmc.set_movement_abs_rel(MovementAbsRel.ABSOLUTE)
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the Acceleration and maximal Speed
+#-----------------------------------------------------------------------
+# tmc.set_acceleration(2000)
+# tmc.set_max_speed(500)
+
+#-----------------------------------------------------------------------
+# set the Acceleration and maximal Speed in fullsteps
+#-----------------------------------------------------------------------
+tmc.set_acceleration_fullstep(1000)
+tmc.set_max_speed_fullstep(250)
+
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# activate the motor current output
+#-----------------------------------------------------------------------
+tmc.set_motor_enabled(True)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# move the motor 1 revolution
+#-----------------------------------------------------------------------
+tmc.run_to_position_steps(400)                             #move to position 400
+tmc.run_to_position_steps(0)                               #move to position 0
+
+
+tmc.run_to_position_steps(400, MovementAbsRel.RELATIVE)    #move 400 steps forward
+tmc.run_to_position_steps(-400, MovementAbsRel.RELATIVE)   #move 400 steps backward
+
+
+tmc.run_to_position_steps(400)                             #move to position 400
+tmc.run_to_position_steps(0)                               #move to position 0
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deactivate the motor current output
+#-----------------------------------------------------------------------
+tmc.set_motor_enabled(False)
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deinitiate the TMC_2209 class
+#-----------------------------------------------------------------------
+del tmc
+
+print("---")
+print("SCRIPT FINISHED")
+print("---")

demo/demo_script_10_only_step_pin.py

@@ -0,0 +1,151 @@
+#pylint: disable=wildcard-import
+#pylint: disable=unused-wildcard-import
+#pylint: disable=unused-import
+#pylint: disable=duplicate-code
+"""
+test file for testing basic movement
+"""
+
+import time
+try:
+    from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
+except ModuleNotFoundError:
+    from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
+
+
+print("---")
+print("SCRIPT START")
+print("---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# initiate the TMC_2209 class
+# use your pins for pin_en, pin_step, pin_dir here
+#-----------------------------------------------------------------------
+if BOARD == Board.RASPBERRY_PI:
+    tmc = TMC_2209(pin_step=16, loglevel=Loglevel.DEBUG)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(pin_step=16, serialport="/dev/ttyAMA0", loglevel=Loglevel.DEBUG)
+elif BOARD == Board.NVIDIA_JETSON:
+    tmc = TMC_2209(pin_step=13, serialport="/dev/ttyTHS1", loglevel=Loglevel.DEBUG)
+else:
+    # just in case
+    tmc = TMC_2209(pin_step=21, loglevel=Loglevel.DEBUG)
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the loglevel of the libary (currently only printed)
+# set whether the movement should be relative or absolute
+# both optional
+#-----------------------------------------------------------------------
+tmc.tmc_logger.set_loglevel(Loglevel.DEBUG)
+tmc.set_movement_abs_rel(MovementAbsRel.ABSOLUTE)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# these functions change settings in the TMC register
+#-----------------------------------------------------------------------
+tmc.set_toff(0)
+tmc.set_direction_reg(False)
+tmc.set_current(300)
+tmc.set_interpolation(True)
+tmc.set_spreadcycle(False)
+tmc.set_microstepping_resolution(2)
+tmc.set_internal_rsense(False)
+
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# these functions read and print the current settings in the TMC register
+#-----------------------------------------------------------------------
+tmc.read_ioin()
+tmc.read_chopconf()
+tmc.read_drv_status()
+tmc.read_gconf()
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the Acceleration and maximal Speed
+#-----------------------------------------------------------------------
+# tmc.set_acceleration(2000)
+# tmc.set_max_speed(500)
+
+#-----------------------------------------------------------------------
+# set the Acceleration and maximal Speed in fullsteps
+#-----------------------------------------------------------------------
+tmc.set_acceleration_fullstep(1000)
+tmc.set_max_speed_fullstep(250)
+
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# activate the motor current output
+#-----------------------------------------------------------------------
+#tmc.set_motor_enabled(True)
+tmc.set_toff(3)
+
+
+
+
+#-----------------------------------------------------------------------
+# move the motor 1 revolution
+#-----------------------------------------------------------------------
+tmc.run_to_position_steps(400)                             #move to position 400
+tmc.run_to_position_steps(0)                               #move to position 0
+
+tmc.run_to_position_steps(400, MovementAbsRel.RELATIVE)    #move 400 steps forward
+tmc.run_to_position_steps(-400, MovementAbsRel.RELATIVE)   #move 400 steps backward
+
+tmc.run_to_position_steps(400)                             #move to position 400
+tmc.run_to_position_steps(0)                               #move to position 0
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deactivate the motor current output
+#-----------------------------------------------------------------------
+#tmc.set_motor_enabled(False)
+tmc.set_toff(0)
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deinitiate the TMC_2209 class
+#-----------------------------------------------------------------------
+del tmc
+
+print("---")
+print("SCRIPT FINISHED")
+print("---")

setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = TMC_2209_Raspberry_Pi
-version = 0.5
+version = 0.5.1
 author = Christian Köhlke
 author_email = christian@koehlke.de
 description = this is a Python libary to drive a stepper motor with a Trinamic TMC2209 stepper driver and a Raspberry Pi

src/TMC_2209/TMC_2209_StepperDriver.py

@@ -41,7 +41,7 @@ class TMC_2209:
         read_microstepping_resolution, get_microstepping_resolution, set_microstepping_resolution,
         set_mstep_resolution_reg_select, get_interface_transmission_counter, get_tstep, set_vactual,
         get_stallguard_result, set_stallguard_threshold, set_coolstep_threshold,
-        get_microstep_counter, get_microstep_counter_in_steps, set_toff
+        get_microstep_counter, get_microstep_counter_in_steps, get_toff, set_toff
     )
 
     from ._TMC_2209_move import (
@@ -100,10 +100,20 @@ class TMC_2209:
 
 
 
-    def __init__(self, pin_en, pin_step=-1, pin_dir=-1, baudrate=115200, serialport="/dev/serial0",
-                 driver_address=0, gpio_mode=None, loglevel=None, logprefix=None,
-                 log_handlers: list = None, log_formatter : logging.Formatter = None,
-                 skip_uart_init: bool = False):
+    def __init__(self,
+                 pin_en=-1,
+                 pin_step=-1,
+                 pin_dir=-1,
+                 baudrate=115200,
+                 serialport="/dev/serial0",
+                 driver_address=0,
+                 gpio_mode=None,
+                 loglevel=None,
+                 logprefix=None,
+                 log_handlers: list = None,
+                 log_formatter : logging.Formatter = None,
+                 skip_uart_init: bool = False
+                 ):
         """constructor
 
         Args:
@@ -134,8 +144,9 @@ def __init__(self, pin_en, pin_step=-1, pin_dir=-1, baudrate=115200, serialport=
         TMC_gpio.init(gpio_mode)
 
         self.tmc_logger.log(f"EN Pin: {pin_en}", Loglevel.DEBUG)
-        self._pin_en = pin_en
-        TMC_gpio.gpio_setup(self._pin_en, GpioMode.OUT, initial=Gpio.HIGH)
+        if pin_en != -1:
+            self._pin_en = pin_en
+            TMC_gpio.gpio_setup(self._pin_en, GpioMode.OUT, initial=Gpio.HIGH)
 
         self.tmc_logger.log(f"STEP Pin: {pin_step}", Loglevel.DEBUG)
         if pin_step != -1:
@@ -200,8 +211,11 @@ def set_motor_enabled(self, en):
         Args:
             en (bool): whether the motor current output should be enabled
         """
-        TMC_gpio.gpio_output(self._pin_en, not en)
-        self.tmc_logger.log(f"Motor output active: {en}", Loglevel.INFO)
+        if self._pin_en != -1:
+            TMC_gpio.gpio_output(self._pin_en, not en)
+            self.tmc_logger.log(f"Motor output active: {en}", Loglevel.INFO)
+        else:
+            self.tmc_logger.log(f"Motor pin is: {self._pin_en}", Loglevel.INFO)
 
 
 
@@ -314,8 +328,11 @@ def do_homing2(self, revolutions, threshold=None):
 
     def reverse_direction_pin(self):
         """reverses the motor shaft direction"""
-        self._direction = not self._direction
-        TMC_gpio.gpio_output(self._pin_dir, self._direction)
+        if self._pin_dir != -1:
+            self._direction = not self._direction
+            TMC_gpio.gpio_output(self._pin_dir, self._direction)
+        else:
+            self.tmc_logger.log(f"Direction pin is: {self._pin_dir}", Loglevel.INFO)
 
 
 
@@ -325,8 +342,25 @@ def set_direction_pin(self, direction):
         Args:
             direction (bool): motor shaft direction: False = CCW; True = CW
         """
-        self._direction = direction
-        TMC_gpio.gpio_output(self._pin_dir, direction)
+        if self._pin_dir != -1:
+            self._direction = direction
+            TMC_gpio.gpio_output(self._pin_dir, direction)
+        else:
+            self.tmc_logger.log(f"Direction pin is: {self._pin_dir}", Loglevel.INFO)
+
+
+
+    def set_direction_pin_or_reg(self, direction):
+        """sets the motor shaft direction to the given value: 0 = CCW; 1 = CW
+        will use the reg, if pin==-1, otherwise use the pin
+
+        Args:
+            direction (bool): motor shaft direction: False = CCW; True = CW
+        """
+        if self._pin_dir != -1:
+            self.set_direction_pin(direction)
+        else:
+            self.set_direction_reg(not direction) #no clue, why this has to be inverted