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