_tmc_com_spi_ftdi.py

# pylint: disable=unused-import
# pylint: disable=too-few-public-methods
"""TmcComSpiFtdi stepper driver spi module."""

from pyftdi.spi import SpiPort
from .._tmc_exceptions import TmcComException, TmcDriverException
from ._tmc_com_spi_base import TmcComSpiBase, TmcLogger


class TmcComSpiFtdi(TmcComSpiBase):
    """TmcComSpiFtdi.

    this class is used to communicate with the TMC via SPI via FT232H
    USB adapter it can be used to change the settings of the TMC. like
    the current or the microsteppingmode
    """

    def __init__(self, spi_port: SpiPort):
        """constructor.

        Args:
            spi_port (SpiPort): pyftdi SpiPort object
        """
        super().__init__()

        self.spi = spi_port

    def init(self):
        """Init - SPI port is already configured via pyftdi."""

    def __del__(self):
        """Destructor."""
        self.deinit()

    def deinit(self):
        """Destructor."""

    def _spi_transfer(self, data: list) -> list:
        """Perform SPI transfer using pyftdi.

        Args:
            data: Data to send

        Returns:
            Received data
        """
        return list(self.spi.exchange(bytes(data), duplex=True))