初始化提交

boards/default_src/micropython/origin/build/lib/ms32006.py

@@ -0,0 +1,137 @@
+"""
+MS32006
+
+Micropython  library for the MS32006 step diever 
+=======================================================
+#Changed from circuitpython to micropython       20211206
+#Fix register read / write bug 				     20211215
+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, reg):
+		return  self._device.readfrom_mem(self._address, reg, 1)[0] 
+		
+	def _write_u8(self, reg, val):
+		self._device.writeto_mem(self._address,reg,val.to_bytes(1, 'little'))
+
+	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=100):   #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)
+		
+	
+