160 lines
6.0 KiB
Python
160 lines
6.0 KiB
Python
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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"""
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# @Time : 2026/1/4 15:06
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# @Author : reenrr
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# @File : stepper_motor_test.py
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# @Desc : 线条厂控制步进电机
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"""
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import time
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from periphery import GPIO
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import sys
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sys.setswitchinterval(0.000001) # 减小线程切换间隔
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# --------------
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# 硬件参数配置（必须与你的设备匹配！）
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# --------------
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# 1. 脉冲（PUL）引脚配置 → GPIO32
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PUL_Pin = 32
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# 2. 方向（DIR）引脚配置 → GPIO33
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DIR_Pin = 33
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# 3. LCDA257C驱动器核心参数（关键！与拨码/软件设置一致）
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PULSES_PER_ROUND = 400 # 每圈脉冲数（按驱动器细分拨码调整）
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PULSE_FREQUENCY = 5000 # 初始测试频率（建议从500开始逐步调高）
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# 4. LCDA257C时序参数（遵循手册要求，不可低于最小值）
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MIN_DIR_DELAY_US = 10 # DIR提前PUL的最小延迟（>8us）
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PULSE_LOW_MIN_US = 2 # 脉冲低电平最小宽度（≥2us）
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PULSE_HIGH_MIN_US = 2 # 脉冲高电平最小宽度（≥2us）
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# 5. 方向电平定义（可根据实际测试调整）
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CLOCKWISE_LEVEL = True # 顺时针→DIR高电平
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COUNTER_CLOCKWISE_LEVEL = False # 逆时针→DIR低电平
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def init_stepper() -> tuple[GPIO, GPIO]:
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"""初始化PUL和DIR引脚（输出模式，适配LCDA257C）"""
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try:
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# 初始化脉冲引脚（输出模式）
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pul_gpio = GPIO(PUL_Pin, "out")
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# 初始化方向引脚（输出模式）
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dir_gpio = GPIO(DIR_Pin, "out")
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# 初始状态：脉冲低电平，方向低电平（驱动器空闲状态）
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pul_gpio.write(False)
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dir_gpio.write(False)
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print(f"✅ PUL引脚初始化完成：{PUL_Pin}引脚")
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print(f"✅ DIR引脚初始化完成：{DIR_Pin}引脚")
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return pul_gpio, dir_gpio
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except FileNotFoundError:
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raise RuntimeError(f"GPIO芯片不存在！检查 {PUL_Pin} 是否存在（命令：ls /dev/gpiochip*）")
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except PermissionError:
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raise RuntimeError("GPIO权限不足！请用 sudo 运行程序（sudo python test.py）")
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except Exception as e:
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raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
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def rotate(pul_gpio: GPIO, dir_gpio: GPIO, rounds: float, direction: str = "clockwise",
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test_freq: int = PULSE_FREQUENCY):
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"""
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控制LCDA257C驱动器旋转（优化版脉冲发送，解决频率不生效问题）
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:param pul_gpio: PUL引脚GPIO对象
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:param dir_gpio: DIR引脚GPIO对象
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:param rounds: 旋转圈数（正数，可小数）
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:param direction: 方向（clockwise/counterclockwise）
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:param test_freq: 本次旋转使用的脉冲频率（覆盖全局默认值）
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"""
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# 1. 参数合法性校验
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if rounds <= 0:
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print("❌ 圈数必须为正数！")
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return
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if test_freq < 100:
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print("❌ 频率过低（≥100Hz），请调整test_freq参数！")
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return
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# 2. 设置旋转方向（严格遵循DIR提前时序）
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if direction == "clockwise":
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dir_gpio.write(CLOCKWISE_LEVEL)
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print(f"\n=== 顺时针旋转 {rounds} 圈（目标频率：{test_freq}Hz）===")
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elif direction == "counterclockwise":
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dir_gpio.write(COUNTER_CLOCKWISE_LEVEL)
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print(f"\n=== 逆时针旋转 {rounds} 圈（目标频率：{test_freq}Hz）===")
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else:
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print("❌ 方向参数错误！仅支持 clockwise/counterclockwise")
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return
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# DIR电平设置后，延迟≥8us（满足LCDA257C时序要求）
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time.sleep(MIN_DIR_DELAY_US / 1_000_000)
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# 3. 计算脉冲参数（确保高低电平≥最小宽度）
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total_pulses = int(rounds * PULSES_PER_ROUND)
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pulse_period = 1.0 / test_freq # 脉冲周期（秒）
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# 确保高低电平宽度不低于驱动器要求（避免脉冲识别失败）
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high_period = max(pulse_period / 2, PULSE_HIGH_MIN_US / 1_000_000)
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low_period = max(pulse_period / 2, PULSE_LOW_MIN_US / 1_000_000)
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# 打印参数（便于调试）
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print(f"总脉冲数：{total_pulses} | 理论高电平：{high_period * 1e6:.1f}us | 理论低电平：{low_period * 1e6:.1f}us")
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# 4. 优化版脉冲发送（解决Python高频延时不准问题）
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start_total = time.perf_counter() # 高精度计时（统计实际频率）
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for _ in range(total_pulses):
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# 高电平（直接sleep，避免while循环的调度延迟）
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pul_gpio.write(True)
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time.sleep(high_period)
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# 低电平
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pul_gpio.write(False)
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time.sleep(low_period)
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end_total = time.perf_counter()
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# 5. 计算实际频率（验证是否达到目标）
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actual_duration = end_total - start_total
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actual_freq = total_pulses / actual_duration if actual_duration > 0 else 0
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print(f"✅ 旋转完成 | 实际频率：{actual_freq:.0f}Hz | 耗时：{actual_duration:.2f}秒")
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def motor_test_demo():
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"""电机测试示例（逐步提升频率，验证转速变化）"""
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pul_gpio = None
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dir_gpio = None
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try:
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# 初始化引脚
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pul_gpio, dir_gpio = init_stepper()
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print("\n=== 步进电机频率测试程序启动 ===")
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while True:
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print(f"\n===== 测试频率：{PULSE_FREQUENCY}Hz =====")
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# 远离电机方向 顺时针
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rotate(pul_gpio, dir_gpio, rounds=10.0, direction="clockwise")
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time.sleep(5) #
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# 靠近电机方向 逆时针
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rotate(pul_gpio, dir_gpio, rounds=10.0, direction="counterclockwise")
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time.sleep(5) #
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except Exception as e:
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print(f"\n❌ 程序异常：{str(e)}")
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finally:
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# 安全释放GPIO资源（必须执行，避免引脚电平残留）
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if pul_gpio:
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pul_gpio.write(False)
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pul_gpio.close()
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print("\n✅ PUL引脚已关闭（低电平）")
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if dir_gpio:
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dir_gpio.write(False)
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dir_gpio.close()
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print("✅ DIR引脚已关闭（低电平）")
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print("✅ 程序退出完成")
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if __name__ == '__main__':
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# 运行测试demo（必须sudo执行）
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motor_test_demo()
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