Материализуя идеи

mpsse_test.ess code

/// FTxxxx MPSSE script test.
/// Controlling 28BYJ-48 stepper motor with direct GPIO writes.
///

// Orange - C0
// Yellow - C1
// Pink   - C2
// Blue   - C3
//

// Half-step phases
const c_phases2 = [
  0x01,
  0x03,
  0x02,
  0x06,
  0x04,
  0x0C,
  0x08,
  0x09
];

// Full step phases
const c_phases = [
  0x09,
  0x03,
  0x06,
  0x0C
];

const c_stepsPerRound = 512; // Internal gear steps count is 64 per 360deg, while outer gear has additional ratio of 1:63.68395

const c_pinHold = 1;

// Enumerate available MPSSE devices
var devInfos = EsFtdiDriver::enumerate(
      false,  //< Do not include busy devices
      true    //< Include only MPSSE-capable devices
    );

if( !devInfos#countGet() )
  throw "Could not find any non-busy MPSSE-capable devices";

// Take the first found device and open it  
var dev = EsFtdiDriver::deviceCreate(
  EsFtdiDeviceKind$$MPSSE_I2C,
  devInfos[0]
);
  
if( !dev )
  throw EsStr::format(
    "Could not create MPSSE device of type %s for %s",
    EsFtdiDeviceKind$$MPSSE_I2C$$label,
    devInfos[0]
  );

if( !dev.open() )
  throw EsStr::format(
    "Could not open MPSSE device %s",
    devInfos[0]
  );

// Set OS systicks period to 1 ms
var systick = EsUtilities::systickChange(
  1
);

var task = new EsProgressMonitorTask("gpiotask");

var dir = 0x0F;

// Zero-out GPIO pins
dev.GPIOwrite(
  dir,
  0
);

var phase, step, stepsPerRound;

// Rotate 1 full round forward in halfsteps
task.attachTo(__scriptHost$progressMonitor);

stepsPerRound = c_stepsPerRound*c_phases2#countGet();
task$range = stepsPerRound;
task$position = 0;
task$text = "Rotating stepper motor forward 1 round in halfsteps";
phase = 0;
for(step = 0; step < stepsPerRound; ++step )
{
  dev.GPIOwrite(
    dir,
    c_phases2[ phase++ ]
  );
  if( phase > 7 )
    phase = 0;
  
  task$position = step;

  EsThreadWorker::sleep(
    c_pinHold
  );
}

// Zero-out GPIO pins
dev.GPIOwrite(
  dir,
  0
);

stepsPerRound = c_stepsPerRound*c_phases#countGet();
task$range = stepsPerRound;
task$position = 0;
task$text = "Rotating stepper motor forward 1 round in fullfsteps";
phase = 0;
for(step = 0; step < stepsPerRound; ++step )
{
  dev.GPIOwrite(
    dir,
    c_phases[ phase++ ]
  );
  if( phase > 3 )
    phase = 0;
  
  task$position = step;

  EsThreadWorker::sleep(c_pinHold);
}

// Zero-out GPIO pins
dev.GPIOwrite(
  dir,
  0
);

stepsPerRound = c_stepsPerRound*c_phases2#countGet();
task$range = stepsPerRound;
task$position = 0;
task$text = "Rotating stepper motor backwards 1 round in halfsteps";
phase = 7;
for(step = 0; step < stepsPerRound; ++step )
{
  dev.GPIOwrite(
    dir,
    c_phases2[ phase-- ]
  );
  if( phase < 0 )
    phase = 7;
  
  task$position = step;

  EsThreadWorker::sleep(c_pinHold);
}

// Zero-out GPIO pins
dev.GPIOwrite(
  dir,
  0
);

stepsPerRound = c_stepsPerRound*c_phases#countGet();
task$range = stepsPerRound;
task$position = 0;
task$text = "Rotating stepper motor backwards 1 round in fullsteps";
phase = 3;
for(step = 0; step < stepsPerRound; ++step )
{
  dev.GPIOwrite(
    dir,
    c_phases[ phase-- ]
  );
  if( phase < 0 )
    phase = 3;
  
  task$position = step;

  EsThreadWorker::sleep(c_pinHold);
}

// Zero-out GPIO pins
dev.GPIOwrite(
  dir,
  0
);
task = null;

dev.close();

// Restore OS systicks
EsUtilities::systickRestore( systick );