Merge pull request #48 from Chr157i4n/dev

version 0.4.2

.github/ISSUE_TEMPLATE/uart_problem_report.md

@@ -0,0 +1,34 @@
+---
+name: UART connection problem report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+Please check out the [Troubleshoot section](https://github.com/Chr157i4n/TMC2209_Raspberry_Pi#troubleshoot) first.
+
+```
+Include the output of the [demo/debug_script_01_uart_connection.py](https://github.com/Chr157i4n/TMC2209_Raspberry_Pi/blob/main/demo/debug_script_01_uart_connection.py) script in your issure report here using [Markdown Code-Blocks](https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/creating-and-highlighting-code-blocks).
+```
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. installed the library with pip
+2. ran the function '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Versions**
+- Raspberry Pi Version
+- OS Version
+- Version of this library
+- TMC2209 version and manufacturer
+
+**Additional context**
+Add any other context about the problem here.

.github/workflows/pylint.yml

@@ -1,13 +1,13 @@
 name: Pylint
 
-on: [push]
+on: [push, pull_request]
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     strategy:
       matrix:
-        python-version: ["3.8", "3.9", "3.10"]
+        python-version: ["3.7", "3.9", "3.12"]
     steps:
     - uses: actions/checkout@v3
     - name: Set up Python ${{ matrix.python-version }}

.github/workflows/unittest.yml

@@ -1,13 +1,13 @@
 name: Unittest
 
-on: [push]
+on: [push, pull_request]
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     strategy:
       matrix:
-        python-version: ["3.8", "3.9", "3.10"]
+        python-version: ["3.7", "3.9", "3.12"]
     steps:
     - uses: actions/checkout@v3
     - name: Set up Python ${{ matrix.python-version }}
@@ -19,7 +19,6 @@ jobs:
         python -m pip install --upgrade pip
         pip install RPi.GPIO
         pip install Mock.GPIO
-        pip install mock
         pip install pyserial
     - name: Run unittests
       run: |

CHANGELOG.md

@@ -1,5 +1,11 @@
 # Changelog
 
+## version 0.4.2
+
+- added support for Nvidia Jetson
+- added seperate file for GPIO board imports
+- changed min python version to 3.7
+
 ## version 0.4.1
 
 - removed dependency enum34

README.md

@@ -3,6 +3,7 @@
 [![PyPI python version TMC-2209-Raspberry-Pi](https://badgen.net/pypi/python/TMC-2209-Raspberry-Pi)](https://pypi.org/project/TMC-2209-Raspberry-Pi)
 [![PyPI version TMC-2209-Raspberry-Pi](https://badgen.net/pypi/v/TMC-2209-Raspberry-Pi)](https://pypi.org/project/TMC-2209-Raspberry-Pi)
 [![PyPI downloads TMC-2209-Raspberry-Pi](https://img.shields.io/pypi/dm/TMC-2209-Raspberry-Pi)](https://pypi.org/project/TMC-2209-Raspberry-Pi)
+[![GitHub issues](https://img.shields.io/github/issues/Chr157i4n/TMC2209_Raspberry_Pi.svg)](https://GitHub.com/Chr157i4n/TMC2209_Raspberry_Pi/issues/)
 
 \
 \
@@ -61,10 +62,10 @@ Pin TMC2209 | connect to | Function
 -- | -- | --
 TX or PDN_UART with 1kOhm | TX of Raspberry Pi | send data to TMC via UART
 RX or PDN_UART directly | RX of Raspberry Pi | receive data from TMC via UART
+VDD | 3,3V of Raspberry Pi | optional, for more stable logic voltage
+GND | GND of Raspberry Pi | GND for VDD and Signals
 VM | 12V or 24V of power supply | power for the motor
 GND | GND of power supply | power for the motor
-VDD | 3,3V of Raspberry Pi | optional, for more stable logic voltage
-GND2 | GND of Raspberry Pi | GND for VDD and Signals
 EN | GPIO21 of Raspberry Pi | enable the motor output
 STEP | GPIO16 of Raspberry Pi | moves the motor one step per pulse
 DIR | GPIO20 of Raspberry Pi | set the direction of the motor

demo/debug_script_01_uart_connection.py

@@ -22,8 +22,13 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-tmc = TMC_2209(21, 16, 20, skip_uart_init=True)
-
+if BOARD == "RASPBERRY_PI":
+    tmc = TMC_2209(21, 16, 20, skip_uart_init=True)
+elif BOARD == "NVIDIA_JETSON":
+    tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", skip_uart_init=True)
+else:
+    # just in case
+    tmc = TMC_2209(21, 16, 20, skip_uart_init=True)
 
 
 

demo/demo_script_01_uart_connection.py

@@ -22,10 +22,13 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-tmc = TMC_2209(21, 16, 20)
-
-
-
+if BOARD == "RASPBERRY_PI":
+    tmc = TMC_2209(21, 16, 20)
+elif BOARD == "NVIDIA_JETSON":
+    tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
+else:
+    # just in case
+    tmc = TMC_2209(21, 16, 20)
 
 
 #-----------------------------------------------------------------------

demo/demo_script_02_pin_connection.py

@@ -22,7 +22,16 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-tmc = TMC_2209(21, 16, 20)
+if BOARD == "RASPBERRY_PI":
+    tmc = TMC_2209(21, 16, 20)
+elif BOARD == "NVIDIA_JETSON":
+    tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
+else:
+    # just in case
+    tmc = TMC_2209(21, 16, 20)
+
+
+
 
 
 

demo/demo_script_03_basic_movement.py

@@ -22,7 +22,14 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-tmc = TMC_2209(21, 16, 20, loglevel=Loglevel.DEBUG)
+if BOARD == "RASPBERRY_PI":
+    tmc = TMC_2209(21, 16, 20, loglevel=Loglevel.DEBUG)
+elif BOARD == "NVIDIA_JETSON":
+    tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", loglevel=Loglevel.DEBUG)
+else:
+    # just in case
+    tmc = TMC_2209(21, 16, 20, loglevel=Loglevel.DEBUG)
+
 
 
 

demo/demo_script_04_stallguard.py

@@ -22,7 +22,16 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-tmc = TMC_2209(21, 16, 20)
+if BOARD == "NVIDIA_JETSON":
+    raise NotImplementedError('''
+Not implemented. Needs refinement.\nNvidia Jetson has nuances with the parameter pull_up_down for pin_stallguard:
+https://github.com/NVIDIA/jetson-gpio/issues/5''')
+
+if BOARD == "RASPBERRY_PI":
+    tmc = TMC_2209(21, 16, 20)
+else:
+    # just in case
+    tmc = TMC_2209(21, 16, 20)
 
 
 

demo/demo_script_05_vactual.py

@@ -22,8 +22,13 @@
 # initiate the TMC_2209 class
 # use your pin for pin_en here
 #-----------------------------------------------------------------------
-tmc = TMC_2209(21)
-
+if BOARD == "RASPBERRY_PI":
+    tmc = TMC_2209(21, 16, 20)
+elif BOARD == "NVIDIA_JETSON":
+    tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
+else:
+    # just in case
+    tmc = TMC_2209(21, 16, 20)
 
 
 

demo/demo_script_06_multiple_drivers.py

@@ -2,6 +2,7 @@
 #pylint: disable=unused-wildcard-import
 #pylint: disable=unused-import
 #pylint: disable=duplicate-code
+#pylint: disable=broad-exception-raised
 """
 test file for testing multiple drivers via one UART connection
 """
@@ -22,8 +23,20 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-tmc1 = TMC_2209(21, 16, 20, driver_address=0)
-tmc2 = TMC_2209(26, 13, 19, driver_address=1)
+# Multiple driver not tested
+if BOARD == "RASPBERRY_PI":
+    tmc1 = TMC_2209(21, 16, 20, driver_address=0)
+    tmc2 = TMC_2209(26, 13, 19, driver_address=1)
+elif BOARD == "NVIDIA_JETSON":
+    # tmc1 = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", driver_address=0)
+    raise Exception("Not tested for Nvidia Jetson, use with caution")
+else:
+    # just in case
+    tmc1 = TMC_2209(21, 16, 20, driver_address=0)
+    tmc2 = TMC_2209(26, 13, 19, driver_address=1)
+
+
+
 
 
 

demo/demo_script_07_threads.py

@@ -20,7 +20,13 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-tmc1 = TMC_2209(21, 16, 20, driver_address=0)
+if BOARD == "RASPBERRY_PI":
+    tmc1 = TMC_2209(21, 16, 20)
+elif BOARD == "NVIDIA_JETSON":
+    tmc1 = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
+else:
+    # just in case
+    tmc1 = TMC_2209(21, 16, 20)
 
 tmc_driverlist = [tmc1]
 

setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = TMC_2209_Raspberry_Pi
-version = 0.4.1
+version = 0.4.2
 author = Christian Köhlke
 author_email = [email protected]
 description = this is a Python libary to drive a stepper motor with a Trinamic TMC2209 stepper driver and a Raspberry Pi
@@ -22,7 +22,7 @@ classifiers =
 package_dir =
     = src
 packages = find:
-python_requires = >=3.6
+python_requires = >=3.7
 install_requires =
     RPi.GPIO
     pyserial

src/TMC_2209/TMC_2209_StepperDriver.py

@@ -15,10 +15,7 @@
 
 import time
 import statistics
-try:
-    from RPi import GPIO
-except:
-    from Mock import GPIO
+from ._TMC_2209_GPIO_board import GPIO, BOARD
 from ._TMC_2209_uart import TMC_UART as tmc_uart
 from ._TMC_2209_logger import TMC_logger, Loglevel
 from ._TMC_2209_move import MovementAbsRel, MovementPhase, StopMode
@@ -59,6 +56,7 @@ class TMC_2209:
         test_dir_step_en, test_step, test_uart, test_stallguard_threshold
     )
 
+    BOARD = BOARD
     tmc_uart = None
     tmc_logger = None
     _pin_step = -1
@@ -124,16 +122,16 @@ def __init__(self, pin_en, pin_step=-1, pin_dir=-1, baudrate=115200, serialport=
         GPIO.setwarnings(False)
         GPIO.setmode(gpio_mode)
 
-        self.tmc_logger.log("EN Pin: {pin_en}", Loglevel.DEBUG)
+        self.tmc_logger.log(f"EN Pin: {pin_en}", Loglevel.DEBUG)
         self._pin_en = pin_en
         GPIO.setup(self._pin_en, GPIO.OUT, initial=GPIO.HIGH)
 
-        self.tmc_logger.log("STEP Pin: {pin_step}", Loglevel.DEBUG)
+        self.tmc_logger.log(f"STEP Pin: {pin_step}", Loglevel.DEBUG)
         if pin_step != -1:
             self._pin_step = pin_step
             GPIO.setup(self._pin_step, GPIO.OUT, initial=GPIO.LOW)
 
-        self.tmc_logger.log("DIR Pin: {pin_dir}", Loglevel.DEBUG)
+        self.tmc_logger.log(f"DIR Pin: {pin_dir}", Loglevel.DEBUG)
         if pin_dir != -1:
             self._pin_dir = pin_dir
             GPIO.setup(self._pin_dir, GPIO.OUT, initial=self._direction)

src/TMC_2209/_TMC_2209_GPIO_board.py

@@ -0,0 +1,77 @@
+#pylint: disable=unused-import
+#pylint: disable=ungrouped-imports
+"""
+Many boards have RaspberryPI-compatible PinOut,
+but require to import special GPIO module instead RPI.GPIO
+
+This module determines the type of board
+and import the corresponding GPIO module
+
+Can be extended to support BeagleBone or other boards
+"""
+
+from os.path import exists
+from ._TMC_2209_logger import TMC_logger, Loglevel
+
+BOARD = "UNKNOWN"
+dependencies_logger = TMC_logger(Loglevel.DEBUG, "DEPENDENCIES")
+
+if not exists('/proc/device-tree/model'):
+    from Mock import GPIO
+else:
+    with open('/proc/device-tree/model', encoding="utf-8") as f:
+        model = f.readline().lower()
+        if "raspberry" in model:
+            try:
+                from RPi import GPIO
+                BOARD = "RASPBERRY_PI"
+            except ModuleNotFoundError as err:
+                dependencies_logger.log(
+                    (f"ModuleNotFoundError: {err}\n"
+                    "Board is Raspberry PI but module RPi.GPIO isn`t installed.\n"
+                    "Follow the installation instructions in the link below to resolve the issue:\n"
+                    "https://sourceforge.net/p/raspberry-gpio-python/wiki/install/\n"
+                    "Exiting..."),
+                Loglevel.ERROR)
+                raise
+            except ImportError as err:
+                dependencies_logger.log(
+                    (f"ImportError: {err}\n"
+                    "Board is Raspberry PI but module RPi.GPIO isn`t installed.\n"
+                    "Follow the installation instructions in the link below to resolve the issue:\n"
+                    "https://sourceforge.net/p/raspberry-gpio-python/wiki/install/\n"
+                    "Exiting..."),
+                Loglevel.ERROR)
+                raise
+        elif "nvidia jetson" in model:
+            try:
+                from Jetson import GPIO
+                BOARD = "NVIDIA_JETSON"
+            except ModuleNotFoundError as err:
+                dependencies_logger.log(
+                    (f"ModuleNotFoundError: {err}\n"
+                    "Board is Nvidia Jetson but module jetson-gpio isn`t installed.\n"
+                    "Follow the installation instructions in the link below to resolve the issue:\n"
+                    "https://github.com/NVIDIA/jetson-gpio\n"
+                    "Exiting..."),
+                Loglevel.ERROR)
+                raise
+            except ImportError as err:
+                dependencies_logger.log(
+                    (f"ImportError: {err}\n"
+                    "Board is Nvidia Jetson but module jetson-gpio isn`t installed.\n"
+                    "Follow the installation instructions in the link below to resolve the issue:\n"
+                    "https://github.com/NVIDIA/jetson-gpio\n"
+                    "Exiting..."),
+                Loglevel.ERROR)
+                raise
+        else:
+            # just in case
+            dependencies_logger.log(
+                "The board is not recognized. Trying import default RPi.GPIO module...",
+                Loglevel.INFO)
+            BOARD = "UNKNOWN"
+            try:
+                from RPi import GPIO
+            except ImportError:
+                from Mock import GPIO