#
# PUCON_RK_MIX H-stepper test with pigpio wavform generation
#
from time import sleep
import pigpio

ENA = 21		# enable GPIO pin
DIR = 20		# Direction GPIO Pin
STEP = 16		# Step GPIO Pin
# SWITCH = 16  # GPIO pin of switch

# Connect to pigpiod daemon
pi = pigpio.pi()

# Set up pins as an output
pi.set_mode(DIR, pigpio.OUTPUT)
pi.set_mode(STEP, pigpio.OUTPUT)

# Set up input switch
# pi.set_mode(SWITCH, pigpio.INPUT)
# pi.set_pull_up_down(SWITCH, pigpio.PUD_UP)

def generate_ramp(ramp):
    """Generate ramp wave forms.
    ramp:  List of [Frequency, Steps]
    """
    pi.wave_clear()     # clear existing waves
    length = len(ramp)  # number of ramp levels
    wid = [-1] * length

    # Generate a wave per ramp level
    for i in range(length):
        frequency = ramp[i][0]
        micros = int(500000 / frequency)
        wf = []
        wf.append(pigpio.pulse(1 << STEP, 0, micros))  # pulse on
        wf.append(pigpio.pulse(0, 1 << STEP, micros))  # pulse off
        pi.wave_add_generic(wf)
        wid[i] = pi.wave_create()

    # Generate a chain of waves
    chain = []
    for i in range(length):
        steps = ramp[i][1]
        x = steps & 255
        y = steps >> 8
        chain += [255, 0, wid[i], 255, 1, x, y]

    pi.wave_chain(chain)  # Transmit chain.
    print("wave of length {0} transmitted".format(len(ramp)))


# MODE = (14, 15, 18)   # Microstep Resolution GPIO Pins
# RESOLUTION = {'Full': (0, 0, 0),
#               'Half': (1, 0, 0),
#               '1/4': (0, 1, 0),
#               '1/8': (1, 1, 0),
#               '1/16': (0, 0, 1),
#               '1/32': (1, 0, 1)}

# for i in range(3):
#    pi.write(MODE[i], RESOLUTION['Full'][i])

# Set duty cycle and frequency
# pi.set_PWM_dutycycle(STEP, 128)  # PWM 1/2 On 1/2 Off
# pi.set_PWM_frequency(STEP, 500)  # 500 pulses per second
# pi.write(ENA,pigpio.LOW)

try:
	generate_ramp([[320, 200],
                               [500, 400],
                               [800, 500],
                               [1000, 700],
                               [1600, 900],
                               [2000, 1000]])
	
	while True:
#        pi.write(DIR, pi.read(SWITCH))  # Set direction
		sleep(.1)

except KeyboardInterrupt:
    print ("\nCtrl-C pressed.  Stopping PIGPIO and exiting...")
finally:
#    pi.set_PWM_dutycycle(STEP, 0)  # PWM off
    pi.stop()