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Merge pull request #91 from Chr157i4n/dev
version 0.6
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‎.github/workflows/test.yml

+139-61
Original file line numberDiff line numberDiff line change
@@ -1,61 +1,139 @@
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name: Test
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on: [push, pull_request]
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jobs:
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markdownlint:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: DavidAnson/markdownlint-cli2-action@v14
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with:
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globs: |
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README.md
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CHANGELOG.md
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docs/*.md
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pylint:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python-version: ["3.9", "3.12", "3.13"]
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steps:
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- uses: actions/checkout@v3
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v3
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install dependencies
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run: |
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python -m pip install --upgrade pip
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pip install pylint
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pip install gpiozero
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pip install RPi.GPIO
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pip install Mock.GPIO
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pip install mock
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pip install pyserial
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- name: Analysing the code with pylint
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run: |
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pylint $(git ls-files '*.py') --disable=C0103 --disable=W0511 --disable=W0012 --extension-pkg-whitelist=RPi --max-line-length=160
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unittest:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python-version: ["3.9", "3.12", "3.13"]
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steps:
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- uses: actions/checkout@v3
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v3
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install dependencies
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run: |
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python -m pip install --upgrade pip
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pip install gpiozero
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pip install RPi.GPIO
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pip install Mock.GPIO
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pip install pyserial
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- name: Run unittests
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run: |
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python -m unittest
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name: Test
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on: [push, pull_request]
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jobs:
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markdownlint:
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name: Markdown-Lint
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runs-on: ubuntu-latest
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permissions:
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contents: read
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steps:
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- uses: actions/checkout@v4
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- uses: DavidAnson/markdownlint-cli2-action@v14
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with:
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globs: |
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README.md
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CHANGELOG.md
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docs/*.md
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pylint:
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name: Pylint
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runs-on: ubuntu-latest
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permissions:
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contents: read
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strategy:
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matrix:
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python-version: ["3.9", "3.12", "3.13"]
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steps:
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- uses: actions/checkout@v3
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v3
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install dependencies
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run: |
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python -m pip install --upgrade pip
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pip install pylint
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pip install gpiozero
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pip install RPi.GPIO
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pip install git+https://github.com/Chr157i4n/Mock.GPIO
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pip install mock
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pip install pyserial
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- name: Analysing the code with pylint
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run: |
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pylint $(git ls-files '*.py') --disable=C0103 --disable=W0511 --disable=W0012 --extension-pkg-whitelist=RPi --max-line-length=160
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unittest:
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name: Unittests
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runs-on: ubuntu-latest
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permissions:
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contents: read
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strategy:
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matrix:
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python-version: ["3.9", "3.12", "3.13"]
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steps:
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- uses: actions/checkout@v3
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v3
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install dependencies
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run: |
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python -m pip install --upgrade pip
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pip install gpiozero
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pip install RPi.GPIO
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pip install git+https://github.com/Chr157i4n/Mock.GPIO
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pip install pyserial
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- name: Run unittests
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run: |
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python -m unittest
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codeql:
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name: Analyze (${{ matrix.language }})
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runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-latest' }}
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permissions:
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security-events: write
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packages: read
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actions: read
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contents: read
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strategy:
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fail-fast: false
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matrix:
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include:
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- language: python
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build-mode: none
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Initialize CodeQL
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uses: github/codeql-action/init@v3
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with:
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languages: ${{ matrix.language }}
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build-mode: ${{ matrix.build-mode }}
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- name: Perform CodeQL Analysis
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uses: github/codeql-action/analyze@v3
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with:
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category: "/language:${{matrix.language}}"
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grype-scan:
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permissions:
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contents: write # for actions/checkout to fetch code
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security-events: write # for github/codeql-action/upload-sarif to upload SARIF results
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actions: read # only required for a private repository by github/codeql-action/upload-sarif to get the Action run status
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runs-on: ubuntu-latest
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steps:
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- name: Check out the code
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uses: actions/checkout@v4
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- name: Create SBOM
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run: |
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npm install -g @cyclonedx/cdxgen
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cdxgen -r . -o bom.json
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- name: Upload SBOM Artifact
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uses: actions/upload-artifact@v4
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with:
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name: sbom
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path: bom.json
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- name: Scan project
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uses: anchore/scan-action@v6.1.0
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id: scan
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with:
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sbom: "bom.json"
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fail-build: true
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severity-cutoff: critical
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add-cpes-if-none: true
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- name: Upload vulnerability report
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uses: github/codeql-action/upload-sarif@v3
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with:
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sarif_file: ${{ steps.scan.outputs.sarif }}

‎CHANGELOG.md

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@@ -1,5 +1,11 @@
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# Changelog
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## version 0.6
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- refactored deserialisation and serialisation of register values to use classes
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- changed file names according to PEP8
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- changed class names according to PEP8
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## version 0.5.7
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- refactored GPIO access to use inherited classes

‎README.md

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@@ -158,8 +158,8 @@ So you don't need to connect anything to the Vio pin of the driver.
158158
## Usage
159159
160160
```python
161-
from TMC_2209.TMC_2209_StepperDriver import *
162-
tmc = TMC_2209(21, 16, 20)
161+
from tmc_driver.tmc_2209 import *
162+
tmc = Tmc2209(21, 16, 20, TmcUart("/dev/serial0"))
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tmc.set_direction_reg(False)
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tmc.set_current(300)

‎demo/__init__.py

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#pylint: disable=invalid-name

‎demo/debug_script_01_uart_connection.py

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@@ -8,11 +8,9 @@
88

99
import time
1010
try:
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from src.TMC_2209.TMC_2209_StepperDriver import *
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from src.TMC_2209._TMC_2209_GPIO_board import Board
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from src.tmc_driver.tmc_2209 import *
1312
except ModuleNotFoundError:
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from TMC_2209.TMC_2209_StepperDriver import *
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from TMC_2209._TMC_2209_GPIO_board import Board
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from tmc_driver.tmc_2209 import *
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1715

1816
print("---")
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2422

2523

2624
#-----------------------------------------------------------------------
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# initiate the TMC_2209 class
25+
# initiate the Tmc2209 class
2826
# use your pins for pin_en, pin_step, pin_dir here
2927
#-----------------------------------------------------------------------
3028
if BOARD == Board.RASPBERRY_PI:
31-
tmc = TMC_2209(21, 16, 20, skip_uart_init=True)
29+
tmc = Tmc2209(21, 16, 20, None)
3230
elif BOARD == Board.RASPBERRY_PI5:
33-
tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0", skip_uart_init=True)
31+
tmc = Tmc2209(21, 16, 20, None)
3432
elif BOARD == Board.NVIDIA_JETSON:
35-
tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", skip_uart_init=True)
33+
tmc = Tmc2209(13, 6, 5, None)
3634
else:
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# just in case
38-
tmc = TMC_2209(21, 16, 20, skip_uart_init=True)
36+
tmc = Tmc2209(21, 16, 20, TmcUart("/dev/serial0"))
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4038

39+
if BOARD == Board.RASPBERRY_PI:
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tmc.tmc_com = TmcUart("/dev/serial0")
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elif BOARD == Board.RASPBERRY_PI5:
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tmc.tmc_com = TmcUart("/dev/ttyAMA0")
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elif BOARD == Board.NVIDIA_JETSON:
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tmc.tmc_com = TmcUart("/dev/ttyTHS1")
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46+
tmc.tmc_com.tmc_logger = tmc.tmc_logger
4147

4248

4349
#-----------------------------------------------------------------------
4450
# set the loglevel of the libary (currently only printed)
4551
# set whether the movement should be relative or absolute
4652
# both optional
4753
#-----------------------------------------------------------------------
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tmc.tmc_logger.set_loglevel(Loglevel.DEBUG)
49-
tmc.set_movement_abs_rel(MovementAbsRel.ABSOLUTE)
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tmc.tmc_logger.loglevel = Loglevel.DEBUG
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tmc.movement_abs_rel = MovementAbsRel.ABSOLUTE
5056

5157

5258

@@ -59,7 +65,7 @@
5965
#-----------------------------------------------------------------------
6066
print("---\n---")
6167

62-
tmc.test_uart()
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tmc.test_com()
6369

6470

6571
print("---\n---")
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7076

7177
#-----------------------------------------------------------------------
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# deinitiate the TMC_2209 class
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# deinitiate the Tmc2209 class
7379
#-----------------------------------------------------------------------
7480
del tmc
7581

‎demo/demo_script_01_uart_connection.py

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Original file line numberDiff line numberDiff line change
@@ -8,43 +8,41 @@
88

99
import time
1010
try:
11-
from src.TMC_2209.TMC_2209_StepperDriver import *
12-
from src.TMC_2209._TMC_2209_GPIO_board import Board
11+
from src.tmc_driver.tmc_2209 import *
1312
except ModuleNotFoundError:
14-
from TMC_2209.TMC_2209_StepperDriver import *
15-
from TMC_2209._TMC_2209_GPIO_board import Board
13+
from tmc_driver.tmc_2209 import *
1614

1715

1816
print("---")
1917
print("SCRIPT START")
2018
print("---")
2119

2220

23-
21+
tmc:Tmc2209 = None
2422

2523

2624
#-----------------------------------------------------------------------
27-
# initiate the TMC_2209 class
25+
# initiate the Tmc2209 class
2826
# use your pins for pin_en, pin_step, pin_dir here
2927
#-----------------------------------------------------------------------
3028
if BOARD == Board.RASPBERRY_PI:
31-
tmc = TMC_2209(21, 16, 20)
29+
tmc = Tmc2209(21, 16, 20, TmcUart("/dev/serial0"))
3230
elif BOARD == Board.RASPBERRY_PI5:
33-
tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0")
31+
tmc = Tmc2209(21, 16, 20, TmcUart("/dev/ttyAMA0"))
3432
elif BOARD == Board.NVIDIA_JETSON:
35-
tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
33+
tmc = Tmc2209(13, 6, 5, TmcUart("/dev/ttyTHS1"))
3634
else:
3735
# just in case
38-
tmc = TMC_2209(21, 16, 20)
36+
tmc = Tmc2209(21, 16, 20, TmcUart("/dev/serial0"))
3937

4038

4139
#-----------------------------------------------------------------------
4240
# set the loglevel of the libary (currently only printed)
4341
# set whether the movement should be relative or absolute
4442
# both optional
4543
#-----------------------------------------------------------------------
46-
tmc.tmc_logger.set_loglevel(Loglevel.DEBUG)
47-
tmc.set_movement_abs_rel(MovementAbsRel.ABSOLUTE)
44+
tmc.tmc_logger.loglevel = Loglevel.DEBUG
45+
tmc.movement_abs_rel = MovementAbsRel.ABSOLUTE
4846

4947

5048

@@ -82,7 +80,7 @@
8280

8381

8482
#-----------------------------------------------------------------------
85-
# deinitiate the TMC_2209 class
83+
# deinitiate the Tmc2209 class
8684
#-----------------------------------------------------------------------
8785
del tmc
8886

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