mirror of https://github.com/arendst/Tasmota.git
321 lines
11 KiB
Arduino
321 lines
11 KiB
Arduino
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/*
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xsns_22_sr04.ino - SR04 ultrasonic sensor support for Sonoff-Tasmota
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Copyright (C) 2019 Nuno Ferreira and Theo Arends
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifdef USE_A4988_Stepper
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#include <A4988_Stepper.h>
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/*********************************************************************************************\
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* Stepper mötör on driver A4988
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*
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* - https://www.dfrobot.com/wiki/index.php/Weather-proof_Ultrasonic_Sensor_SKU_:_SEN0207
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\*********************************************************************************************/
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#define XDRV_98 98
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enum A4988Errors { A4988_NO_ERROR, A4988_NO_JSON_COMMAND, A4988_INVALID_JSON};
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short A4988_dir_pin = pin[GPIO_MAX];
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short A4988_stp_pin = pin[GPIO_MAX];
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short A4988_ms1_pin = pin[GPIO_MAX];
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short A4988_ms2_pin = pin[GPIO_MAX];
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short A4988_ms3_pin = pin[GPIO_MAX];
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short A4988_ena_pin = pin[GPIO_MAX];
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int A4988_spr = 0;
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float A4988_rpm = 0;
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short A4988_mic = 0;
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A4988_Stepper* myA4988 = nullptr;
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void A4988Init(void)
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{
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A4988_dir_pin = pin[GPIO_A4988_DIR];
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A4988_stp_pin = pin[GPIO_A4988_STP];
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A4988_ena_pin = pin[GPIO_A4988_ENA];
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A4988_ms1_pin = pin[GPIO_A4988_MS1];
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A4988_ms2_pin = pin[GPIO_A4988_MS2];
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A4988_ms3_pin = pin[GPIO_A4988_MS3];
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A4988_spr = 200;
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A4988_rpm = 30;
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A4988_mic = 1;
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myA4988 = new A4988_Stepper( A4988_spr
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, A4988_rpm
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, A4988_mic
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, A4988_dir_pin
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, A4988_stp_pin
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, A4988_ena_pin
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, A4988_ms1_pin
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, A4988_ms2_pin
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, A4988_ms3_pin );
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A4988_spr = myA4988->getSPR();
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A4988_rpm = myA4988->getRPM();
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A4988_mic = myA4988->getMIC();
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if ((A4988_ms1_pin < 99)&&(A4988_ms2_pin < 99)&&(A4988_ms3_pin < 99)&&(A4988_ena_pin<99)) {
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AddLog_P2(LOG_LEVEL_INFO, PSTR("STP: A4988-Driver initialized (%dSPR, %dRPM,%dMIC). Pins: Dir[%d] Stp[%d] Ena[%d] MS1[%d] MS2[%d] MS3[%d]"),A4988_spr, A4988_rpm, A4988_mic, A4988_dir_pin,A4988_stp_pin,A4988_ena_pin,A4988_ms1_pin,A4988_ms2_pin,A4988_ms3_pin);
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} else {
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if ((A4988_ena_pin<99)) {
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AddLog_P2(LOG_LEVEL_INFO, PSTR("STP: A4988-Driver initialized (%dSPR, %dRPM,%dMIC). Pins: Dir[%d] Stp[%d] Ena[%d] MicroStepping hardwired"),A4988_spr, A4988_rpm, A4988_mic, A4988_dir_pin,A4988_stp_pin,A4988_ena_pin);
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} else {
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AddLog_P2(LOG_LEVEL_INFO, PSTR("STP: A4988-Driver initialized (%dSPR, %dRPM,%dMIC). Pins: Dir[%d] Stp[%d] motor permanently on, MicroStepping hardwired"),A4988_spr, A4988_rpm, A4988_mic, A4988_dir_pin,A4988_stp_pin,A4988_ena_pin);
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}
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}
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}
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const char kA4988Commands[] PROGMEM = "MOTOR|"
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"doMove|doRotate|doTurn|setSPR|setRPM|setMIC|getSPR|getRPM|getMIC|doVader";
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void (* const A4988Command[])(void) PROGMEM = { &CmndMOTOR, &CmndDoMove, &CmndDoRotate, &CmndDoTurn, &CmndSetSPR, &CmndSetRPM, &CmndSetMic , &CmndGetSPR, &CmndGetRPM, &CmndGetMIC, &CmndDoVader };
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uint32_t MOTORCmndJson(void)
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{
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// ArduinoJSON entry used to calculate jsonBuf: JSON_OBJECT_SIZE(3) + 40 = 96
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// MOTOR { "command": "doMove", "value": 200 }
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// MOTOR { "command": "doRotate", "value": 200 }
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// MOTOR { "command": "doTurn", "value": 200 }
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char dataBufUc[XdrvMailbox.data_len];
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UpperCase(dataBufUc, XdrvMailbox.data);
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RemoveSpace(dataBufUc);
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if (strlen(dataBufUc) < 8) {
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return A4988_INVALID_JSON;
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}
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StaticJsonBuffer<40> jsonBuf;
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JsonObject &root = jsonBuf.parseObject(dataBufUc);
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if (!root.success()) {
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return A4988_INVALID_JSON;
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}
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char parm_uc[10];
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const char *command = root[PSTR(parm_uc, PSTR(D_JSON_MOTOR_COMMAND))];
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const char *commandval = root[PSTR(parm_uc, PSTR(D_JSON_MOTOR_VALUE))];
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if (!(command && commandval)) {
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return A4988_INVALID_JSON;
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}
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AddLog_P2(LOG_LEVEL_DEBUG, PSTR("MOTOR: command: '%s', value: '%s'"),command, commandval);
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switch (command)
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{ case "doMove": {
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long stepsPlease = 1;
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stepsPlease = strtoul(commandval,nullptr,10);
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myA4988->doMove(stepsPlease); break;
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}
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case "doRotate" : {
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long degrsPlease = 1;
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degrsPlease = strtoul(commandval,nullptr,10);
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AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Rotating %d degrs"), degrsPlease);
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myA4988->doRotate(degrsPlease); break;
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}
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case "doTurn" : {
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float turnsPlease = 0;
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turnsPlease = strtod(commandval,nullptr);
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AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Turning %d times"), turnsPlease);
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myA4988->doTurn(turnsPlease); break;
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}
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default:
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ResponseCmndChar(D_JSON_PROTOCOL_NOT_SUPPORTED);
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}
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return A4988_NO_ERROR;
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}
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void CmndMOTOR(void){
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if (XdrvMailbox.data_len) {
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if (strstr(XdrvMailbox.data, "{") == nullptr) {
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error = A4988_NO_JSON_COMMAND;
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} else {
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error = MOTORCmndJson();
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}
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}
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A4988CmndResponse(error);
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}
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void A4988CmndResponse(uint32_t error){
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}
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void CmndGetSPR(void) {
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AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: SPR = %d steps"), myA4988->getSPR());
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}
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void CmndGetRPM(void) {
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AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: RPM = %d rounds"), myA4988->getRPM());
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}
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void CmndGetMIC(void) {
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AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: MIC = %d steps"), myA4988->getMIC());
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}
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void CmndDoMove(void)
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{
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if (XdrvMailbox.data_len > 0) {
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long stepsPlease = 1;
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stepsPlease = strtoul(XdrvMailbox.data,nullptr,10);
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AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Moving %d steps"), stepsPlease);
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myA4988->doMove(stepsPlease);
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} else {
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AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Moving 25 steps"));
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myA4988->doMove(25);
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}
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ResponseCmndDone();
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}
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void CmndDoRotate(void)
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{
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if (XdrvMailbox.data_len > 0) {
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long degrsPlease = 1;
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degrsPlease = strtoul(XdrvMailbox.data,nullptr,10);
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AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Rotating %d degrs"), degrsPlease);
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myA4988->doRotate(degrsPlease);
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} else {
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AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Moving 45 degrs"));
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myA4988->doRotate(45);
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}
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ResponseCmndDone();
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}
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void CmndDoTurn(void)
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{
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if (XdrvMailbox.data_len > 0) {
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float turnsPlease = 0;
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turnsPlease = strtod(XdrvMailbox.data,nullptr);
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AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Turning %d times"), turnsPlease);
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myA4988->doTurn(turnsPlease);
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} else {
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AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Turning 0.25 times"));
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myA4988->doRotate(0.25);
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}
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ResponseCmndDone();
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}
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void CmndSetRPM(void)
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{
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short rpmPlease = 60;
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if (XdrvMailbox.data_len > 0) {
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rpmPlease = strtoul(XdrvMailbox.data,nullptr,10);
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}
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AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: RPM set to %d"), rpmPlease);
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myA4988->setRPM(rpmPlease);
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ResponseCmndDone();
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}
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void CmndSetSPR(void)
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{
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int sprPlease = 200;
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if (XdrvMailbox.data_len > 0) {
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sprPlease = strtoul(XdrvMailbox.data,nullptr,10);
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}
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AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: SPR set to %d"), sprPlease);
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myA4988->setSPR(sprPlease);
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ResponseCmndDone();
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}
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void CmndSetMic(void)
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{
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if ((pin[GPIO_A4988_MS1] < 99) && (pin[GPIO_A4988_MS2] < 99) && (pin[GPIO_A4988_MS3] < 99)) {
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short micPlease = 1;
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if (XdrvMailbox.data_len > 0) {
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micPlease = strtoul(XdrvMailbox.data,nullptr,10);
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AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Microsteps set to %d"), micPlease);
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myA4988->setMIC(micPlease);
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}
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} else {
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AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Microsteps constant = 1. You'll have to define GPIO's for MS1-MS3 and connect them to A4988 or hardwire A4988 itself"));
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}
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ResponseCmndDone();
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}
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void CmndDoVader(void){
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myA4988->enable();
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myA4988->setRPM(25); myA4988->doMove( 30); delay(5);
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myA4988->setRPM(25); myA4988->doMove(-30); delay(5);
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myA4988->setRPM(25); myA4988->doMove( 30); delay(5);
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myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
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myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
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myA4988->setRPM(25); myA4988->doMove( 50); delay(5);
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myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
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myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
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myA4988->setRPM(25); myA4988->doMove(-50); delay(5);//
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myA4988->setRPM(38); myA4988->doMove( 31); delay(5);
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myA4988->setRPM(38); myA4988->doMove(-31); delay(5);
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myA4988->setRPM(38); myA4988->doMove( 31); delay(5);
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myA4988->setRPM(38); myA4988->doMove(-31); delay(5);
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myA4988->setRPM(41); myA4988->doMove( 21); delay(5);
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myA4988->setRPM(30); myA4988->doMove(-21); delay(5);
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myA4988->setRPM(25); myA4988->doMove( 30); delay(5);
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myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
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myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
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myA4988->setRPM(25); myA4988->doMove(-50); delay(5);//
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myA4988->setRPM(50); myA4988->doMove( 40); delay(5);
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myA4988->setRPM(25); myA4988->doMove(-20); delay(5);
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myA4988->setRPM(25); myA4988->doMove( 15); delay(5);
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myA4988->setRPM(50); myA4988->doMove(-40); delay(5);
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myA4988->setRPM(48); myA4988->doMove( 35); delay(5);
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myA4988->setRPM(45); myA4988->doMove(-25); delay(5);
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myA4988->setRPM(41); myA4988->doMove( 25); delay(5);
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myA4988->setRPM(38); myA4988->doMove(-26); delay(5);
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myA4988->setRPM(41); myA4988->doMove( 25); delay(5);
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myA4988->setRPM(25); myA4988->doMove( 25); delay(5);
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myA4988->setRPM(41); myA4988->doMove(-35); delay(5);
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myA4988->setRPM(38); myA4988->doMove( 25); delay(5);
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myA4988->setRPM(36); myA4988->doMove(-25); delay(5);
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myA4988->setRPM(33); myA4988->doMove( 25); delay(5);
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myA4988->setRPM(30); myA4988->doMove(-27); delay(5);
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myA4988->setRPM(33); myA4988->doMove( 25); delay(5);
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myA4988->setRPM(33); myA4988->doMove( 25); delay(5);
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myA4988->setRPM(38); myA4988->doMove(-30); delay(5);
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myA4988->setRPM(18); myA4988->doMove( 10); delay(5);
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myA4988->setRPM(18); myA4988->doMove(-10); delay(5);
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myA4988->setRPM(25); myA4988->doMove( 20); delay(5);
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myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
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myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
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myA4988->setRPM(25); myA4988->doMove(-50); delay(5);
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myA4988->setRPM(20); myA4988->doMove( 25); delay(5);
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myA4988->setRPM(30); myA4988->doMove(-20); delay(5);
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myA4988->setRPM(25); myA4988->doMove( 50); delay(5);
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myA4988->disable();
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AddLog_P2(LOG_LEVEL_INFO, PSTR("Stepper: may the force be with you!"));
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|
ResponseCmndDone();
|
||
|
|
}
|
||
|
|
|
||
|
|
/*********************************************************************************************\
|
||
|
|
* Interface
|
||
|
|
\*********************************************************************************************/
|
||
|
|
bool Xdrv98(uint8_t function)
|
||
|
|
{
|
||
|
|
bool result = false;
|
||
|
|
|
||
|
|
if ((pin[GPIO_A4988_DIR] < 99) && (pin[GPIO_A4988_STP] < 99)) {
|
||
|
|
switch (function) {
|
||
|
|
case FUNC_INIT:
|
||
|
|
A4988Init();
|
||
|
|
break;
|
||
|
|
case FUNC_COMMAND:
|
||
|
|
result = DecodeCommand(kA4988Commands, A4988Command);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|