137 lines
3.5 KiB
Python
137 lines
3.5 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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#Fix register read / write bug 20211215
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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(25000000) #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, reg):
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return self._device.readfrom_mem(self._address, reg, 1)[0]
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def _write_u8(self, reg, val):
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self._device.writeto_mem(self._address,reg,val.to_bytes(1, 'little'))
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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=100): #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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