StepMotorDriver Module
======================

.. include:: ../refs/module.step_motor_driver.ref

StepMotor Driver Module 13.2 V1.1 is a stepper motor driver adapted to M5 main control, using STM32+HR8825 stepper motor drive scheme, providing 3-way bipolar stepper motor control interface.

Support the following products:

|StepMotorDriverModule|

Micropython Example:

    .. literalinclude:: ../../../examples/module/step_motor_driver/step_motor_driver.py
        :language: python
        :linenos:


UIFLOW2 Example:

    |example.png|

.. only:: builder_html

    |step_motor_driver.m5f2|

class StepMotorDriverModule
---------------------------

Constructors
------------

.. class:: StepMotorDriverModule(address, step_pin, dir_pin)

    Initialize the StepMotorDriverModule.

    :param hex address: The I2C address of the device.
    :param tuple step_pin: The step pin (X, Y, Z) of the motor.
    :param tuple dir_pin: The dir pin (X, Y, Z) of the motor.

    UIFLOW2:

        |init.png|


Methods
-------

.. method:: StepMotorDriverModule.reset_motor(motor_id, state)

    Reset the motor.

    :param  motor_id: The motor to reset.
        Options:
        - ``X``: StepMotorDriverModule.MOTOR_X
        - ``Y``: StepMotorDriverModule.MOTOR_Y
        - ``Z``: StepMotorDriverModule.MOTOR_Z
    :param bool state: The state of the motor.

    UIFLOW2:

        |reset_motor.png|

.. method:: StepMotorDriverModule.set_motor_state(state)

    Enable or disable the motor.

    :param bool state: The state of the motor.

    UIFLOW2:

        |set_motor_state.png|

.. method:: StepMotorDriverModule.set_microstep(step)

    Set the microstep.

    :param  step: The microstep value.
        Options:
        - ``FULL``: StepMotorDriverModule.STEP_FULL
        - ``1/2``: StepMotorDriverModule.STEP1_2
        - ``1/4``: StepMotorDriverModule.STEP1_4
        - ``1/8``: StepMotorDriverModule.STEP1_8
        - ``1/16``: StepMotorDriverModule.STEP1_16
        - ``1/32``: StepMotorDriverModule.STEP1_32

    UIFLOW2:

        |set_microstep.png|

.. method:: StepMotorDriverModule.set_motor_pwm_freq(motor_id, freq)

    Set the motor pwm freq.

    :param  motor_id: The motor to set the freq.
        Options:
        - ``X``: StepMotorDriverModule.MOTOR_X
        - ``Y``: StepMotorDriverModule.MOTOR_Y
        - ``Z``: StepMotorDriverModule.MOTOR_Z
    :param int freq: The freq value.

    UIFLOW2:

        |set_motor_pwm_freq.png|

.. method:: StepMotorDriverModule.set_motor_direction(motor_id, direction)

    Set the motor direction.

    :param  motor_id: The motor to set the direction.
        Options:
        - ``X``: StepMotorDriverModule.MOTOR_X
        - ``Y``: StepMotorDriverModule.MOTOR_Y
        - ``Z``: StepMotorDriverModule.MOTOR_Z
    :param bool direction: The direction value.
        Options:
        - ``Positive``: 1
        - ``Negative``: 0

    UIFLOW2:

        |set_motor_direction.png|

.. method:: StepMotorDriverModule.get_all_limit_switch_state()

    Get all io state.


    UIFLOW2:

        |get_all_limit_switch_state.png|

.. method:: StepMotorDriverModule.get_limit_switch_state(switch_id)

    Get the io state.

    :param int switch_id: The io id.

    UIFLOW2:

        |get_limit_switch_state.png|

.. method:: StepMotorDriverModule.get_fault_io_state(motor_id)

    Get the fault io state.

    :param int motor_id: The motor id.
        Options:
        - ``X``: StepMotorDriverModule.MOTOR_X
        - ``Y``: StepMotorDriverModule.MOTOR_Y
        - ``Z``: StepMotorDriverModule.MOTOR_Z

    UIFLOW2:

        |get_fault_io_state.png|

.. method:: StepMotorDriverModule.motor_control(motor_id, state)

    Control the motor to rotate/stop.

    :param  motor_id: The motor id.
        Options:
        - ``X``: StepMotorDriverModule.MOTOR_X
        - ``Y``: StepMotorDriverModule.MOTOR_Y
        - ``Z``: StepMotorDriverModule.MOTOR_Z
    :param bool state: The state value.
        Options:
        - ``Rotate``: 1
        - ``Stop``: 0

    UIFLOW2:

        |motor_control.png|

.. method:: StepMotorDriverModule.get_firmware_version()

    Get the firmware version.


    UIFLOW2:

        |get_firmware_version.png|

.. method:: StepMotorDriverModule.set_i2c_address(new_address)

    Set the i2c address.

    :param int new_address: The new address.

    UIFLOW2:

        |set_i2c_address.png|



Constants
---------

    .. data:: StepMotorDriverModule.MOTOR_X
    .. data:: StepMotorDriverModule.MOTOR_Y
    .. data:: StepMotorDriverModule.MOTOR_Z

    Motor IDs

    .. data:: StepMotorDriverModule.MOTOR_STATE_ENABLE
    .. data:: StepMotorDriverModule.MOTOR_STATE_DISABLE

    Motor states

    .. data:: StepMotorDriverModule.INPUT_REG
    .. data:: StepMotorDriverModule.OUTPUT_REG
    .. data:: StepMotorDriverModule.POLINV_REG
    .. data:: StepMotorDriverModule.CONFIG_REG
    .. data:: StepMotorDriverModule.FAULT_REG
    .. data:: StepMotorDriverModule.RESET_REG
    .. data:: StepMotorDriverModule.FIRM_REG
    .. data:: StepMotorDriverModule.I2C_REG

    Register addresses

    .. data:: StepMotorDriverModule.STEP_FULL
    .. data:: StepMotorDriverModule.STEP1_2
    .. data:: StepMotorDriverModule.STEP1_4
    .. data:: StepMotorDriverModule.STEP1_8
    .. data:: StepMotorDriverModule.STEP1_16
    .. data:: StepMotorDriverModule.STEP1_32

    Microstep values