StepMotorDriver Module

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:

Micropython Example:

# SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
#
# SPDX-License-Identifier: MIT

import os, sys, io
import M5
from M5 import *
from module import StepMotorDriverModule
import time


stepmotor_driver_0 = None


DIR = None


def setup():
    global stepmotor_driver_0, DIR

    M5.begin()
    Widgets.fillScreen(0x222222)

    stepmotor_driver_0 = StepMotorDriverModule(
        address=0x27, step_pin=(16, 12, 15), dir_pin=(17, 13, 0)
    )
    print(stepmotor_driver_0.get_all_limit_switch_state())
    print(stepmotor_driver_0.get_limit_switch_state(0))
    print(stepmotor_driver_0.get_fault_io_state(StepMotorDriverModule.MOTOR_X))
    print(stepmotor_driver_0.get_firmware_version())
    stepmotor_driver_0.reset_motor(
        StepMotorDriverModule.MOTOR_X, StepMotorDriverModule.MOTOR_STATE_ENABLE
    )
    stepmotor_driver_0.set_motor_state(StepMotorDriverModule.MOTOR_STATE_ENABLE)
    stepmotor_driver_0.set_microstep(StepMotorDriverModule.STEP_FULL)
    stepmotor_driver_0.set_motor_direction(StepMotorDriverModule.MOTOR_X, 1)
    stepmotor_driver_0.set_motor_pwm_freq(StepMotorDriverModule.MOTOR_X, 1000)
    stepmotor_driver_0.motor_control(StepMotorDriverModule.MOTOR_X, 1)
    DIR = 0


def loop():
    global stepmotor_driver_0, DIR
    M5.update()
    if DIR:
        stepmotor_driver_0.set_motor_direction(StepMotorDriverModule.MOTOR_X, 1)
    else:
        stepmotor_driver_0.set_motor_direction(StepMotorDriverModule.MOTOR_X, 0)
    DIR = not DIR
    time.sleep(2)


if __name__ == "__main__":
    try:
        setup()
        while True:
            loop()
    except (Exception, KeyboardInterrupt) as e:
        try:
            from utility import print_error_msg

            print_error_msg(e)
        except ImportError:
            print("please update to latest firmware")

UIFLOW2 Example:

step_motor_driver.m5f2

class StepMotorDriverModule

Constructors

class StepMotorDriverModule(address, step_pin, dir_pin)

Initialize the StepMotorDriverModule.

Parameters:

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

UIFLOW2:

Methods

StepMotorDriverModule.reset_motor(motor_id, state)

Reset the motor.

Parameters:

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

UIFLOW2:

StepMotorDriverModule.set_motor_state(state)

Enable or disable the motor.

Parameters:: state (bool) – The state of the motor.

UIFLOW2:

StepMotorDriverModule.set_microstep(step)

Set the microstep.

Parameters:: 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:

StepMotorDriverModule.set_motor_pwm_freq(motor_id, freq)

Set the motor pwm freq.

Parameters:

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

UIFLOW2:

StepMotorDriverModule.set_motor_direction(motor_id, direction)

Set the motor direction.

Parameters:

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

UIFLOW2:

StepMotorDriverModule.get_all_limit_switch_state()

Get all io state.

UIFLOW2:

StepMotorDriverModule.get_limit_switch_state(switch_id)

Get the io state.

Parameters:: switch_id (int) – The io id.

UIFLOW2:

StepMotorDriverModule.get_fault_io_state(motor_id)

Get the fault io state.

Parameters:: motor_id (int) – The motor id. Options: - X: StepMotorDriverModule.MOTOR_X - Y: StepMotorDriverModule.MOTOR_Y - Z: StepMotorDriverModule.MOTOR_Z

UIFLOW2:

StepMotorDriverModule.motor_control(motor_id, state)

Control the motor to rotate/stop.

Parameters:

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

UIFLOW2:

StepMotorDriverModule.get_firmware_version()

Get the firmware version.

UIFLOW2:

StepMotorDriverModule.set_i2c_address(new_address)

Set the i2c address.

Parameters:: new_address (int) – The new address.

UIFLOW2:

Constants

StepMotorDriverModule.MOTOR_X

StepMotorDriverModule.MOTOR_Y

StepMotorDriverModule.MOTOR_Z

Motor IDs

StepMotorDriverModule.MOTOR_STATE_ENABLE

StepMotorDriverModule.MOTOR_STATE_DISABLE

Motor states

StepMotorDriverModule.INPUT_REG

StepMotorDriverModule.OUTPUT_REG

StepMotorDriverModule.POLINV_REG

StepMotorDriverModule.CONFIG_REG

StepMotorDriverModule.FAULT_REG

StepMotorDriverModule.RESET_REG

StepMotorDriverModule.FIRM_REG

StepMotorDriverModule.I2C_REG

Register addresses

StepMotorDriverModule.STEP_FULL

StepMotorDriverModule.STEP1_2

StepMotorDriverModule.STEP1_4

StepMotorDriverModule.STEP1_8

StepMotorDriverModule.STEP1_16

StepMotorDriverModule.STEP1_32

Microstep values