feat: sync all micropython board configurations and scripts

mixly/boards/default/micropython_k210_mixgoai/build/lib/ms32006.py

@@ -0,0 +1,143 @@
+"""
+MS32006
+
+Micropython  library for the MS32006 step diever 
+=======================================================
+#Changed from circuitpython to micropython       20211206
+
+dahanzimin From the Mixly Team 
+ 
+"""
+
+import time
+from micropython import const
+
+
+MS32006_REG_RESET = const(0x00)  # 复位
+MS32006_FCLK = const(
+    25000000
+)  # 芯片输入时钟选择，此参数与运动速度有关。 范围是：5-30MHZ
+
+ADDRESS_A = 0x10
+ADDRESS_B = 0x18
+MOT_FULL = 0
+MOT_HALF = 1
+MOT_A = 0
+MOT_B = 4
+MOT_N = 0
+MOT_CW = 1
+MOT_CCW = 2
+MOT_P = 3
+
+
+class MS32006:
+
+    _buffer = bytearray(2)
+
+    def __init__(self, i2c_bus, addr=ADDRESS_A, mode=MOT_FULL):
+        self._device = i2c_bus
+        self._address = addr
+        self.reset()
+        self.mode = mode
+
+    def _read_u8(self, address):
+        self._buffer[0] = address & 0xFF
+        self._device.writeto(self._address, self._buffer)
+        self._device.readfrom_into(self._address, self._buffer)
+        return self._buffer[0]
+
+    def _write_u8(self, address, val):
+        self._buffer[0] = address & 0xFF
+        self._buffer[1] = val & 0xFF
+        self._device.writeto(self._address, self._buffer)
+
+    def reset(self):
+        self._write_u8(MS32006_REG_RESET, 0x00)
+        time.sleep(0.1)
+        self._write_u8(MS32006_REG_RESET, 0xC1)
+
+    def move(self, moto, mot_dir, mot_pps, mot_step):
+        readstate_0H = self._read_u8(0x00)
+        readstate_9H = self._read_u8(0x09)
+        speed_data = MS32006_FCLK // mot_pps // 128  # 设置速度 xx pps  128是固定参数
+
+        if speed_data < 32:  # 限定转速
+            speed_data = 32
+        elif speed_data > 16383:
+            speed_data = 16383
+
+        mot_speed_l = speed_data & 0x00FF  # 取低8位
+        mot_speed_h = speed_data // 0x100  # 取高6位
+
+        if self.mode == MOT_FULL:  # 设置整步、半步驱动模式
+            mot_speed_h |= 0x80
+        else:
+            mot_speed_h &= 0x7F
+
+        if mot_step > 2047:
+            raise AttributeError("Reach the set upper limit, up to 2047 step")
+
+        mot_step_l = mot_step & 0x00FF
+        mot_step_h = mot_step // 0x100
+        mot_step_h |= 0x80
+
+        if mot_dir == MOT_CW:
+            mot_step_h &= 0xBF
+        else:
+            mot_step_h |= 0x40
+        self._write_u8(0x01 + moto, mot_speed_l)
+        self._write_u8(0x02 + moto, mot_speed_h)
+        self._write_u8(0x03 + moto, mot_step_l)
+        self._write_u8(0x04 + moto, mot_step_h)
+
+        if moto == MOT_A:
+            self._write_u8(0x00, readstate_0H & 0xFB)
+            self._write_u8(0x09, readstate_9H | 0x80)
+        else:
+            self._write_u8(0x00, readstate_0H & 0xFD)
+            self._write_u8(0x09, readstate_9H | 0x40)
+
+    def close(self, moto):  # 停止并关闭输出
+        if moto == MOT_A:
+            self._write_u8(0x04, 0x00)
+        else:
+            self._write_u8(0x08, 0x00)
+
+    def stop(self, moto):  # 此停止函数，强制让电机停止
+        readstate = self._read_u8(0x00)
+        if moto == MOT_A:
+            self._write_u8(0x00, readstate | 0x04)
+        else:
+            self._write_u8(0x00, readstate | 0x02)
+
+    def readstep(self, moto):  # 读取电机运动步数
+        if moto == MOT_A:
+            rdb = self._read_u8(0x0B)
+            rdc = self._read_u8(0x0C)
+        else:
+            rdb = self._read_u8(0x0D)
+            rdc = self._read_u8(0x0E)
+        return (rdb * 0x100 + rdc) & 0xFFF
+
+    def readbusy(self, moto):  # 读取电机缓存是否有数据
+        if moto == MOT_A:
+            busy = (self._read_u8(0x0B) >> 6) & 1
+        else:
+            busy = (self._read_u8(0x0D) >> 6) & 1
+        return bool(busy)
+
+    def readwork(self, moto):  # 读取电机是否在运行
+        if moto == MOT_A:
+            busy = (self._read_u8(0x0B) >> 4) & 1
+        else:
+            busy = (self._read_u8(0x0D) >> 4) & 1
+        return bool(busy)
+
+    def dc_motor(self, state, speed):  # 直流电机驱动
+        if (state == MOT_CW) | (state == MOT_CCW):
+            speed_st = speed * 127 // 100 | 0x80
+            self._write_u8(0x0A, speed_st)
+
+        readstate = self._read_u8(0x09) & 0xA0
+        state_st = (state << 2) | 0x03 | readstate
+        self._write_u8(0x09, state_st)