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it compiles...

This commit is contained in:
Tim Leuschner 2019-09-07 20:38:06 +02:00
parent 549fd7d84c
commit 179d74ab08
4 changed files with 49 additions and 60 deletions
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4
lib/A4988_Stepper/src/A4988_Stepper.cpp
View File

@ -92,12 +92,12 @@ void A4988_Stepper::adjustMicrosteps() {
break;
}
} else {
motor_MIC = 1;
motor_MIS = 1;
}
}
void A4988_Stepper::adjustDelay(void) {
motor_delay = 60L * 1000L * 1000L / motor_SPR / motor_RPM / motor_MIC;
motor_delay = 60L * 1000L * 1000L / motor_SPR / motor_RPM / motor_MIS;
}
void A4988_Stepper::setMIS(short oneToSixteen) {

2
lib/A4988_Stepper/src/A4988_Stepper.h
View File

@ -57,7 +57,7 @@ class A4988_Stepper {
unsigned long motor_delay; // delay between steps, in ms
int motor_SPR; // Steps Per Revolution
int motor_RPM; // Rounds Per Minute
short motor_MIC; // Micro Steps
short motor_MIS; // Micro Steps
// motor pins:
short motor_dir_pin;

3
sonoff/i18n.h
View File

@ -462,6 +462,9 @@
#define D_CMND_MOTOR "MOTOR"
#define D_JSON_MOTOR_COMMAND "Command"
#define D_JSON_MOTOR_VALUE "Value"
#define D_JSON_MOTOR_MOVE "doMove"
#define D_JSON_MOTOR_ROTATE "doRotate"
#define D_JSON_MOTOR_TURN "doTurn"
#endif
/********************************************************************************************/

100
sonoff/xdrv_25_A4988_Stepper.ino
View File

@ -38,7 +38,7 @@ short A4988_ms3_pin = pin[GPIO_MAX];
short A4988_ena_pin = pin[GPIO_MAX];
int A4988_spr = 0;
float A4988_rpm = 0;
short A4988_mic = 0;
short A4988_mis = 0;
A4988_Stepper* myA4988 = nullptr;
@ -67,12 +67,12 @@ void A4988Init(void)
A4988_rpm = myA4988->getRPM();
A4988_mis = myA4988->getMIS();
if ((A4988_ms1_pin < 99)&&(A4988_ms2_pin < 99)&&(A4988_ms3_pin < 99)&&(A4988_ena_pin<99)) {
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);
AddLog_P2(LOG_LEVEL_INFO, PSTR("STP: A4988-Driver initialized (%dSPR, %dRPM,%dMIS). Pins: Dir[%d] Stp[%d] Ena[%d] MS1[%d] MS2[%d] MS3[%d]"),A4988_spr, A4988_rpm, A4988_mis, A4988_dir_pin,A4988_stp_pin,A4988_ena_pin,A4988_ms1_pin,A4988_ms2_pin,A4988_ms3_pin);
} else {
if ((A4988_ena_pin<99)) {
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);
AddLog_P2(LOG_LEVEL_INFO, PSTR("STP: A4988-Driver initialized (%dSPR, %dRPM,%dMIS). Pins: Dir[%d] Stp[%d] Ena[%d] MicroStepping hardwired"),A4988_spr, A4988_rpm, A4988_mis, A4988_dir_pin,A4988_stp_pin,A4988_ena_pin);
} else {
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);
AddLog_P2(LOG_LEVEL_INFO, PSTR("STP: A4988-Driver initialized (%dSPR, %dRPM,%dMIS). Pins: Dir[%d] Stp[%d] motor permanently on, MicroStepping hardwired"),A4988_spr, A4988_rpm, A4988_mis, A4988_dir_pin,A4988_stp_pin,A4988_ena_pin);
}
}
}
@ -80,65 +80,44 @@ void A4988Init(void)
const char kA4988Commands[] PROGMEM = "MOTOR|"
"doMove|doRotate|doTurn|setSPR|setRPM|setMIC|getSPR|getRPM|getMIC|doVader";
void (* const A4988Command[])(void) PROGMEM = { &CmndMOTOR, &CmndDoMove, &CmndDoRotate, &CmndDoTurn, &CmndSetSPR, &CmndSetRPM, &CmndSetMic , &CmndGetSPR, &CmndGetRPM, &CmndGetMIC, &CmndDoVader };
void (* const A4988Command[])(void) PROGMEM = { &CmndMOTOR, &CmndDoMove, &CmndDoRotate, &CmndDoTurn, &CmndSetSPR, &CmndSetRPM, &CmndSetMIS , &CmndGetSPR, &CmndGetRPM, &CmndGetMIS, &CmndDoVader };
uint32_t MOTORCmndJson(void)
{
// ArduinoJSON entry used to calculate jsonBuf: JSON_OBJECT_SIZE(3) + 40 = 96
// MOTOR { "command": "doMove", "value": 200 }
// MOTOR { "command": "doRotate", "value": 200 }
// MOTOR { "command": "doTurn", "value": 200 }
// MOTOR {"Command":"doMove","Value":200}
// MOTOR {"Command":"doRotate","Value":360}
// MOTOR {"Command":"doTurn","Value":1.0}
char dataBufUc[XdrvMailbox.data_len];
UpperCase(dataBufUc, XdrvMailbox.data);
RemoveSpace(dataBufUc);
if (strlen(dataBufUc) < 8) {
return A4988_INVALID_JSON;
}
if (strlen(dataBufUc) < 8) { return A4988_INVALID_JSON; }
StaticJsonBuffer<40> jsonBuf;
JsonObject &root = jsonBuf.parseObject(dataBufUc);
if (!root.success()) {
return A4988_INVALID_JSON;
}
DynamicJsonBuffer jsonBuf;
JsonObject &json = jsonBuf.parseObject(dataBufUc);
if (!json.success()) { return A4988_INVALID_JSON; }
char parm_uc[10];
const char *command = root[PSTR(parm_uc, PSTR(D_JSON_MOTOR_COMMAND))];
const char *commandval = root[PSTR(parm_uc, PSTR(D_JSON_MOTOR_VALUE))];
if (!(command && commandval)) {
return A4988_INVALID_JSON;
}
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("MOTOR: command: '%s', value: '%s'"),command, commandval);
switch (command)
{ case "doMove": {
long stepsPlease = 1;
stepsPlease = strtoul(commandval,nullptr,10);
myA4988->doMove(stepsPlease); break;
}
case "doRotate" : {
long degrsPlease = 1;
degrsPlease = strtoul(commandval,nullptr,10);
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Rotating %d degrs"), degrsPlease);
myA4988->doRotate(degrsPlease); break;
}
case "doTurn" : {
float turnsPlease = 0;
turnsPlease = strtod(commandval,nullptr);
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Turning %d times"), turnsPlease);
myA4988->doTurn(turnsPlease); break;
}
default:
ResponseCmndChar(D_JSON_PROTOCOL_NOT_SUPPORTED);
}
return A4988_NO_ERROR;
if (json.containsKey(D_JSON_MOTOR_MOVE )){
long stepsPlease = 50;
stepsPlease = strtoul(json[D_JSON_MOTOR_MOVE],nullptr,10);
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Moving %d steps"), stepsPlease);
myA4988->doMove(stepsPlease);
} else if (json.containsKey(D_JSON_MOTOR_ROTATE )){
long degrsPlease = 45;
degrsPlease = strtoul(json[D_JSON_MOTOR_ROTATE],nullptr,10);
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Rotating %d degrs"), degrsPlease);
myA4988->doRotate(degrsPlease);
} else if (json.containsKey(D_JSON_MOTOR_TURN )){
float turnsPlease = 0.25;
turnsPlease = strtod(json[D_JSON_MOTOR_TURN],nullptr);
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Turning %d times"), turnsPlease);
myA4988->doTurn(turnsPlease);
} else return A4988_NO_JSON_COMMAND;
return A4988_NO_ERROR;
}
void CmndMOTOR(void){
uint32_t error;
if (XdrvMailbox.data_len) {
if (strstr(XdrvMailbox.data, "{") == nullptr) {
error = A4988_NO_JSON_COMMAND;
@ -150,6 +129,13 @@ void CmndMOTOR(void){
}
void A4988CmndResponse(uint32_t error){
switch (error) {
case A4988_NO_JSON_COMMAND:
ResponseCmndChar(D_JSON_INVALID_JSON);
break;
default: // A4988_NO_ERROR
ResponseCmndDone();
}
}
@ -161,8 +147,8 @@ void CmndGetRPM(void) {
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: RPM = %d rounds"), myA4988->getRPM());
}
void CmndGetMIC(void) {
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: MIC = %d steps"), myA4988->getMIC());
void CmndGetMIS(void) {
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: MIS = %d steps"), myA4988->getMIS());
}
void CmndDoMove(void)
@ -232,11 +218,11 @@ void CmndSetSPR(void)
void CmndSetMIS(void)
{
if ((pin[GPIO_A4988_MS1] < 99) && (pin[GPIO_A4988_MS2] < 99) && (pin[GPIO_A4988_MS3] < 99)) {
short micPlease = 1;
short misPlease = 1;
if (XdrvMailbox.data_len > 0) {
micPlease = strtoul(XdrvMailbox.data,nullptr,10);
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Microsteps set to %d"), micPlease);
myA4988->setMIC(micPlease);
misPlease = strtoul(XdrvMailbox.data,nullptr,10);
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Microsteps set to %d"), misPlease);
myA4988->setMIS(misPlease);
}
} else {
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"));