Module13.2 Stepmotor Driver

Example

Initialize the I2C address and frequency configuration for the stepper motors, set the rotation direction for Motor X and Motor Y, read the device's firmware version and I2C address, then enter a control loop to perform reset operations on Motors X and Y, enable/disable motor operation, and toggle their activation states at predefined time intervals.

from m5stack import *
from m5ui import *
from uiflow import *
import module

import time

setScreenColor(0x000000)

stepmotor = module.get(module.STEPMOTORDRIVER)

stepmotor.initDevice(0x27)
stepmotor.setStepPulse(500, 0)
stepmotor.setStepPulse(500, 1)
stepmotor.setStepPulse(500, 2)
stepmotor.setStepDir(0, 1)
stepmotor.setStepDir(1, 1)
stepmotor.enableMotor(1)
print(stepmotor.readStatus(0XFE))
print(stepmotor.readStatus(0XFF))
while True:
  stepmotor.resetMotor(0, 1)
  wait(2)
  stepmotor.resetMotor(1, 1)
  wait(2)
  stepmotor.enableMotor(0)
  wait(2)
  stepmotor.enableMotor(1)
  wait(2)
  stepmotor.resetMotor(0, 0)
  wait(2)
  stepmotor.resetMotor(1, 0)
  wait(2)
  wait_ms(2)

API

stepmotor.enableMotor(0)

• Disable the running state of all stepper motors

stepmotor.initDevice(0x27)

• Initialize the I2C address of the stepper motor driver to 0x27

stepmotor.modbus_init(26, 34, 115200, 1, 1)

• Initialize the communication parameters of the stepper motor driver as follows：
  • Tx 26：指定用于发送数据的引脚编号
  • Rx 34：指定用于接收数据的引脚编号
  • baudrate 115200：设定 Modbus 通信的波特率为115200bps
  • mode Master：设置通信模式为主模式
  • slave addr 1：指定从设备的地址为1

stepmotor.readStatus(0XFE)

• Read the firmware version number of the stepper motor driver

stepmotor.readFaultPinStatus(0)

• Read the fault status of a specified motor

stepmotor.readIOstatus()

• Read the input/output (IO) states of all limit switches

stepmotor.readPinStatus(0)

• Read the state of a specific limit switch to determine if it is triggered

stepmotor.resetMotor(0, 1)

• Reset motor X and set its state to TRUE

stepmotor.setI2cAddress(0x27)

• Set the I2C communication address of the stepper motor driver to 0x27

stepmotor.setMicroStepSelect(0)

• Set the microstepping mode of the stepper motor to "full-step" mode

stepmotor.singleMotorCtrl(0, 0)

• Set the state of a single motor to pause

stepmotor.setStepDir(0, 0)

• Set the running direction of motor X to "reverse"

stepmotor.setStepPulse(500, 0)

• Set the pulse frequency of motor X to 500Hz

modbus.read_coils(1, 1, 0)

• Read the coil status from a slave device with address 1

modbus.read_discrete_inputs(1, 1, 0)

• Read discrete inputs starting from Modbus slave device address 1

modbus.read_holding_registers(1, 1, 0, True)

• Read holding registers from a slave device with address

modbus.read_input_registers(1, 1, 0, True)

• Read input registers from a Modbus slave device with address

modbus.write_multiple_coils(1, 1, 0)

• Write output values to multiple coils of a slave device with address

modbus.write_multiple_registers(1, 1, 0, True)

• Write values to multiple registers of a slave device with address

modbus.write_single_coil(1, 1, 0)

• Write a value to a single coil of a slave device with address

modbus.write_single_register(1, 1, 0, True)

• Write a value to a single holding register of a slave device with address

print((str('code:') + str((1))))

• Define the function codes used in Modbus communication, set here as READ_COILS_STATUS, which indicates reading coil status
  • READ_COILS_STATUS：Read coil status
  • READ_INPUT_STATUS：Read input status
  • READ_HOLDING_REGISTERS：Read holding registers
  • READ_INPUT_REGISTERS： Read input registers
  • WRITE_SINGLE_COIL：Write to a single coil
  • WRITE_SINGLE_REGISTER：Write to a single holding register
  • WRITE_MULTIPLE_COILS：Write to multiple coils
  • WRITE_MULTIPLE_REGISTERS：Write to multiple holding registers

modbus.find_address

• Get the address of the Modbus slave device

modbus.find_function

• Get the function code currently used in the Modbus request

modbus.find_quantity

• Get the number of registers or coils to be read or written

modbus.function_init(1, 0, 0)

• this statement initializes the function code operation of the Modbus slave device, setting the starting address to 0

modbus.receive_req_create_pdu()

• Receive an Application Data Unit (ADU) request, which is the data frame transmitted in the Modbus protocol

modbus.create_slave_response(0)

• Send an ADU response, which contains the response data from the Modbus slave device

modbus.update_process(1, 0, 0, [0, 0, 0])

• Update the function code of the Modbus slave device

modbus._mdbus_uart.any()

• Check if there is data in the UART buffer

modbus._mdbus_uart.read()

• Read all available data from the UART buffer

modbus._mdbus_uart.readline()

• Read a line of data from the UART

modbus._mdbus_uart.read(10)

• Read a specified number of characters from the UART

modbus._mdbus_uart.write('')

• Write data to the UART for data transmission in serial communication

modbus._mdbus_uart.write(''+"\r\n")

• Write a line of data to the UART and automatically add a newline character

modbus._mdbus_uart.write(bytes([0, 0, 0]))

• Send raw data through the UART