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Merge pull request #142 from Chr157i4n/dev
version 0.16.0
2 parents dd315b1 + 6ac89b3 commit 988a959

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‎CHANGELOG.md‎

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# Changelog
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## version 0.16.0
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- added basic support for CircuitPython
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- added demo scripts for CircuitPython
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- added lazy import for FtdiWrapper, to fix pyfdti needing to be installed
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- added more unittests
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## version 0.15.0
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- updated python-publish workflow

‎demo/circuitpython/demo_scrip_02_pin_connection.py‎

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"""
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Demo file for basic movement
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"""
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import board
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from tmc_driver import (
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Tmc2209,
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Loglevel,
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TmcEnableControlPin,
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TmcMotionControlStepDir,
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MovementAbsRel,
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)
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from tmc_driver.com import TmcComUartCircuitPython
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print("---")
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print("SCRIPT START")
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print("---")
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# -----------------------------------------------------------------------
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# initiate the Tmc2240 class
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# use your pins for pin_en, pin_step, pin_dir here
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# -----------------------------------------------------------------------
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tmc = Tmc2209(
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TmcEnableControlPin(board.GP18),
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TmcMotionControlStepDir(board.GP17, board.GP16),
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TmcComUartCircuitPython(tx=board.GP4, rx=board.GP5),
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loglevel=Loglevel.DEBUG,
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)
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# -----------------------------------------------------------------------
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# set the loglevel of the libary (currently only printed)
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# set whether the movement should be relative or absolute
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# both optional
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# -----------------------------------------------------------------------
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tmc.tmc_logger.loglevel = Loglevel.DEBUG
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tmc.movement_abs_rel = MovementAbsRel.ABSOLUTE
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# -----------------------------------------------------------------------
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# these functions change settings in the TMC register
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# -----------------------------------------------------------------------
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tmc.set_direction_reg(False)
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tmc.set_current_rms(300)
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tmc.set_interpolation(True)
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tmc.set_spreadcycle(False)
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tmc.set_microstepping_resolution(2)
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tmc.set_internal_rsense(False)
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print("---\n---")
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# -----------------------------------------------------------------------
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# this function test whether the connection of the DIR, STEP and EN pin
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# between Raspberry Pi and TMC driver is working
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# -----------------------------------------------------------------------
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tmc.test_dir_step_en()
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print("---\n---")
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# -----------------------------------------------------------------------
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# deactivate the motor current output
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# -----------------------------------------------------------------------
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tmc.set_motor_enabled(False)
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print("---\n---")
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# -----------------------------------------------------------------------
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# deinitiate the Tmc2209 class
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# -----------------------------------------------------------------------
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del tmc
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print("---")
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print("SCRIPT FINISHED")
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print("---")

‎demo/circuitpython/demo_script_01_uart_connection.py‎

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"""
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Demo file for testing the UART connection
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"""
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import board
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from tmc_driver import Tmc2209, Loglevel, TmcEnableControlPin, TmcMotionControlStepDir
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from tmc_driver.com import TmcComUartCircuitPython
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print("---")
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print("SCRIPT START")
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print("---")
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# -----------------------------------------------------------------------
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# initiate the Tmc2209 class
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# use your pins for pin_en, pin_step, pin_dir here
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# -----------------------------------------------------------------------
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tmc = Tmc2209(
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TmcEnableControlPin(board.GP18),
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TmcMotionControlStepDir(board.GP17, board.GP16),
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TmcComUartCircuitPython(tx=board.GP4, rx=board.GP5),
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loglevel=Loglevel.DEBUG,
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)
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# -----------------------------------------------------------------------
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# these functions change settings in the TMC register
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# -----------------------------------------------------------------------
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tmc.set_direction_reg(False)
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tmc.set_current_rms(300)
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tmc.set_interpolation(True)
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tmc.set_spreadcycle(False)
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tmc.set_microstepping_resolution(2)
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tmc.set_internal_rsense(False)
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print("---\n---")
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# -----------------------------------------------------------------------
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# these functions read and print the current settings in the TMC register
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# -----------------------------------------------------------------------
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tmc.read_register("ioin")
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tmc.read_register("chopconf")
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tmc.read_register("drvstatus")
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tmc.read_register("gconf")
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print("---\n---")
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# -----------------------------------------------------------------------
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# deinitiate the Tmc2209 class
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# -----------------------------------------------------------------------
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del tmc
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print("---")
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print("SCRIPT FINISHED")
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print("---")

‎demo/circuitpython/demo_script_03_basic_movement.py‎

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"""
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Demo file for basic movement
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"""
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import board
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from tmc_driver import (
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Tmc2209,
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Loglevel,
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TmcEnableControlPin,
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TmcMotionControlStepDir,
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MovementAbsRel,
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)
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from tmc_driver.com import TmcComUartCircuitPython
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print("---")
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print("SCRIPT START")
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print("---")
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# -----------------------------------------------------------------------
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# initiate the Tmc2240 class
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# use your pins for pin_en, pin_step, pin_dir here
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# -----------------------------------------------------------------------
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tmc = Tmc2209(
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TmcEnableControlPin(board.GP18),
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TmcMotionControlStepDir(board.GP17, board.GP16),
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TmcComUartCircuitPython(tx=board.GP4, rx=board.GP5),
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loglevel=Loglevel.DEBUG,
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)
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# -----------------------------------------------------------------------
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# set the loglevel of the libary (currently only printed)
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# set whether the movement should be relative or absolute
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# both optional
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# -----------------------------------------------------------------------
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tmc.tmc_logger.loglevel = Loglevel.DEBUG
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tmc.movement_abs_rel = MovementAbsRel.ABSOLUTE
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# -----------------------------------------------------------------------
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# these functions change settings in the TMC register
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# -----------------------------------------------------------------------
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tmc.set_direction_reg(False)
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tmc.set_current_rms(300)
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tmc.set_interpolation(True)
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tmc.set_spreadcycle(False)
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tmc.set_microstepping_resolution(2)
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tmc.set_internal_rsense(False)
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print("---\n---")
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# -----------------------------------------------------------------------
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# these functions read and print the current settings in the TMC register
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# -----------------------------------------------------------------------
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tmc.read_register("ioin")
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tmc.read_register("chopconf")
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tmc.read_register("drvstatus")
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tmc.read_register("gconf")
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print("---\n---")
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# -----------------------------------------------------------------------
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# set the Acceleration and maximal Speed in fullsteps
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# -----------------------------------------------------------------------
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tmc.acceleration_fullstep = 1000
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tmc.max_speed_fullstep = 250
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# -----------------------------------------------------------------------
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# activate the motor current output
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# -----------------------------------------------------------------------
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tmc.set_motor_enabled(True)
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# -----------------------------------------------------------------------
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# move the motor 1 revolution
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# -----------------------------------------------------------------------
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tmc.run_to_position_fullsteps(200) # move to position 200 (fullsteps)
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tmc.run_to_position_fullsteps(0) # move to position 0
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tmc.run_to_position_fullsteps(
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200, MovementAbsRel.RELATIVE
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) # move 200 fullsteps forward
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tmc.run_to_position_fullsteps(
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-200, MovementAbsRel.RELATIVE
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) # move 200 fullsteps backward
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tmc.run_to_position_steps(400) # move to position 400 (µsteps)
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tmc.run_to_position_steps(0) # move to position 0
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tmc.run_to_position_revolutions(1) # move 1 revolution forward
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tmc.run_to_position_revolutions(0) # move 1 revolution backward
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# -----------------------------------------------------------------------
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# deactivate the motor current output
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# -----------------------------------------------------------------------
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tmc.set_motor_enabled(False)
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print("---\n---")
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# -----------------------------------------------------------------------
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# deinitiate the Tmc2209 class
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# -----------------------------------------------------------------------
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del tmc
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print("---")
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print("SCRIPT FINISHED")
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print("---")

‎micropython/lib/threading.py‎

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import _thread
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try:
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import _thread
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except ImportError:
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# Dummy _thread module for environments without threading support
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class _thread:
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@staticmethod
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def start_new_thread(func, args):
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func(*args)
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class Thread:
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_thread.start_new_thread(self.run, ())
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def run(self):
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self.target(*self.args, **self.kwargs)
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self.target(*self.args, **self.kwargs)

‎pyproject.toml‎

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[project]
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name = "PyTmcStepper"
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version = "0.15.0"
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version = "0.16.0"
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authors = [{ name = "Christian Köhlke", email = "christian@koehlke.de" }]
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description = "This is a Python libary to drive a stepper motor with a Trinamic stepper driver and a single board computer like a Raspberry Pi"
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readme = "README.md"
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license = "GPL-3.0"
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requires-python = ">=3.10"
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classifiers = [
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"Programming Language :: Python :: 3",
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"Programming Language :: Python :: Implementation :: CPython",
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"Programming Language :: Python :: Implementation :: MicroPython",
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"Operating System :: POSIX :: Linux",
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"Development Status :: 4 - Beta",
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"Intended Audience :: Developers",

‎src/tmc_driver/com/__init__.py‎

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- TmcComSpi: Standard SPI communication (CPython with spidev)
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- TmcComUartMicroPython: UART for MicroPython
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- TmcComSpiMicroPython: SPI for MicroPython
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- TmcComUartCircuitPython: UART for CircuitPython
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- TmcComSpiCircuitPython: SPI for CircuitPython
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- TmcComSpiFtdi: SPI via FTDI USB devices
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Example:
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from ._tmc_com_spi import TmcComSpi
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from ._tmc_com_uart_micropython import TmcComUartMicroPython
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from ._tmc_com_spi_micropython import TmcComSpiMicroPython
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from ._tmc_com_uart_circuitpython import TmcComUartCircuitPython
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from ._tmc_com_spi_circuitpython import TmcComSpiCircuitPython
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from ._tmc_com_spi_ftdi import TmcComSpiFtdi
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except ImportError:
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pass
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def __getattr__(name):
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# pylint: disable=too-many-return-statements
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"""Lazy import of communication classes to avoid circular imports"""
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if name == "TmcComUart":
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from ._tmc_com_uart import TmcComUart
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from ._tmc_com_spi_micropython import TmcComSpiMicroPython
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return TmcComSpiMicroPython
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if name == "TmcComUartCircuitPython":
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from ._tmc_com_uart_circuitpython import TmcComUartCircuitPython
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return TmcComUartCircuitPython
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if name == "TmcComSpiCircuitPython":
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from ._tmc_com_spi_circuitpython import TmcComSpiCircuitPython
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return TmcComSpiCircuitPython
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if name == "TmcComSpiFtdi":
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from ._tmc_com_spi_ftdi import TmcComSpiFtdi
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"TmcComSpi",
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"TmcComUartMicroPython",
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"TmcComSpiMicroPython",
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"TmcComUartCircuitPython",
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"TmcComSpiCircuitPython",
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"TmcComSpiFtdi",
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]

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