################################################################################ # Copyright © 2019 TRINAMIC Motion Control GmbH & Co. KG # (now owned by Analog Devices Inc.), # # Copyright © 2023 Analog Devices Inc. All Rights Reserved. # This software is proprietary to Analog Devices, Inc. and its licensors. ################################################################################ import inspect import struct import ctypes import textwrap _PACKAGE_STRUCTURE = ">BBBBIB" class TMCL: @staticmethod def validate_host_id(host_id): if not isinstance(host_id, int): raise TypeError("Host ID must be of type int!") if not(0 <= host_id <= 255): raise ValueError("Incorrect Host ID value. Must be between 0 and 255 inclusively!") @staticmethod def validate_module_id(module_id): if not isinstance(module_id, int): raise TypeError("Module ID must be of type int!") if not(0 <= module_id <= 255): raise ValueError("Incorrect Module ID value. Must be between 0 and 255 inclusively!") @staticmethod def calculate_checksum(data): checksum = 0 for d in data: checksum += d checksum &= 0xFF return checksum class TMCLCommand: ROR = 1 ROL = 2 MST = 3 MVP = 4 SAP = 5 GAP = 6 STAP = 7 RSAP = 8 SGP = 9 GGP = 10 STGP = 11 RSGP = 12 RFS = 13 SIO = 14 GIO = 15 CALC = 19 COMP = 20 JC = 21 JA = 22 CSUB = 23 RSUB = 24 EI = 25 DI = 26 WAIT = 27 STOP = 28 SAC = 29 SCO = 30 GCO = 31 CCO = 32 CALCX = 33 AAP = 34 AGP = 35 CLE = 36 VECT = 37 RETI = 38 ACO = 39 CALCVV = 40 CALCVA = 41 CALCAV = 42 CALCVX = 43 CALCXV = 44 CALCV = 45 MVPA = 46 RST = 48 DJNZ = 49 ROLA = 50 RORA = 51 SIV = 55 GIV = 56 AIV = 57 TMCL_UF0 = 64 TMCL_UF1 = 65 TMCL_UF2 = 66 TMCL_UF3 = 67 TMCL_UF4 = 68 TMCL_UF5 = 69 TMCL_UF6 = 70 TMCL_UF7 = 71 CALL = 80 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 TARGET_POSITION_REACHED = 138 RAMDEBUG = 142 ASSIGNMENT = 143 WRITE_MC = 146 WRITE_DRV = 147 READ_MC = 148 READ_DRV = 149 GET_INFO = 157 BOOT_ERASE_ALL = 200 BOOT_WRITE_BUFFER = 201 BOOT_WRITE_PAGE = 202 BOOT_GET_CHECKSUM = 203 BOOT_READ_MEMORY = 204 BOOT_START_APPL = 205 BOOT_GET_INFO = 206 BOOT_WRITE_LENGTH = 208 BOOT = 242 @classmethod def get_name(cls, value): for name, member in inspect.getmembers(cls): if not name.startswith("__") and member == value: return name else: return "UNKNOWN" class TMCLStatus: 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", 100: "Success", 101: "Command Loaded" } @classmethod def get_name(cls, value): try: return cls.messages[value] except KeyError: return "UNKNOWN" class TMCLRequest: def __init__(self, address, command, command_type, motor_bank, value, checksum=None): self.moduleAddress = address & 0xFF self.command = command & 0xFF self.commandType = command_type & 0xFF self.motorBank = motor_bank & 0xFF self.value = value & 0xFFFFFFFF self.checksum = checksum if checksum else 0 if checksum is None: self.calculate_checksum() @staticmethod def from_buffer(data): request_struct = struct.unpack(_PACKAGE_STRUCTURE, data) return TMCLRequest(request_struct[0], request_struct[1], request_struct[2], request_struct[3], request_struct[4], request_struct[5]) def calculate_checksum(self): self.checksum = TMCL.calculate_checksum(self.to_buffer()[:-1]) def to_buffer(self): return struct.pack(_PACKAGE_STRUCTURE, self.moduleAddress, self.command, self.commandType, self.motorBank, self.value, self.checksum) def __str__(self): return "TMCL_Request: {0:02X},{1:02X},{2:02X},{3:02X},{4:08X},{5:02X}".format( self.moduleAddress, self.command, self.commandType, self.motorBank, self.value, self.checksum, ) def oneline_str_repr(self): return "TMCL_Request: {0:02X},{1:02X},{2:02X},{3:02X},{4:08X},{5:02X} -> {6}(type={2}, idx={3}, value=0x{4:08X})".format( self.moduleAddress, self.command, self.commandType, self.motorBank, self.value, self.checksum, TMCLCommand.get_name(self.command), ) class TMCLReply: def __init__(self, reply_address, module_address, status, command, value, checksum=None, special=False): self.reply_address = reply_address & 0xFF self.module_address = module_address & 0xFF self.status = status & 0xFF self.command = command & 0xFF self.value = value & 0xFFFFFFFF self.checksum = checksum if checksum else 0 self.special = special if checksum is None: self.calculate_checksum() @staticmethod def from_buffer(data): if len(data) == 9: package_structure = _PACKAGE_STRUCTURE no_checksum = False elif len(data) == 8: package_structure = _PACKAGE_STRUCTURE[:-1] # Remove checksum from package structure no_checksum = True else: raise ValueError("Invalid data length!") reply_struct = struct.unpack(package_structure, data) if no_checksum: checksum = None else: checksum = reply_struct[5] return TMCLReply(reply_struct[0], reply_struct[1], reply_struct[2], reply_struct[3], reply_struct[4], checksum) def calculate_checksum(self): self.checksum = TMCL.calculate_checksum(self.to_buffer()[:-1]) def is_checksum_correct(self): return TMCL.calculate_checksum(self.to_buffer()[:-1]) == self.checksum def to_buffer(self): return struct.pack(_PACKAGE_STRUCTURE, self.reply_address, self.module_address, self.status, self.command, self.value, self.checksum) def __str__(self): return "TMCL_Reply: {0:02X},{1:02X},{2:02X},{3:02X},{4:08X},{5:02X}".format( self.reply_address, self.module_address, self.status, self.command, self.value, self.checksum, ) def value(self): return self.value def is_valid(self): return self.status == TMCLStatus.SUCCESS def version_string(self): byte_string = struct.pack(">BBBIB", self.module_address, self.status, self.command, self.value, self.checksum) return str(byte_string, "ascii") def oneline_str_repr(self): return "TMCL_Reply: {0:02X},{1:02X},{2:02X},{3:02X},{4:08X},{5:02X} <- {6}(status=\"{7}\", value=0x{4:08X})".format( self.reply_address, self.module_address, self.status, self.command, self.value, self.checksum, TMCLCommand.get_name(self.command), TMCLStatus.get_name(self.status), ) def detailed_str_repr(self): repr = """\ TMCL_Reply: {0:02X},{1:02X},{2:02X},{3:02X},{4:08X},{5:02X} | | | | | `Checksum: {5} | | | | `Value Unsigned: {4} | | | | `Value Signed: {6} | | | `Command: {3} ({7}) | | `Status: {2} ({8}) | `Module Address: {1} `Reply Address: {0} """.format( self.reply_address, self.module_address, self.status, self.command, self.value, self.checksum, ctypes.c_int32(self.value).value, TMCLCommand.get_name(self.command), TMCLStatus.get_name(self.status), ) return textwrap.dedent(repr) class TMCLReplyError(Exception): def __init__(self, reply): self.reply = reply class TMCLReplyChecksumError(TMCLReplyError): pass class TMCLReplyStatusError(TMCLReplyError): def __get_status_code(self): return self.reply.status def __get_error_description(self): return TMCLStatus.messages[self.reply.status] status_code = property(__get_status_code) error_description = property(__get_error_description) def __str__(self): return textwrap.indent("\n" + self.reply.detailed_str_repr(), " ")