From 40da54a0ecaf28fee697830d7d6732b3cc9d6ccb Mon Sep 17 00:00:00 2001 From: stefanbode Date: Sat, 14 Dec 2019 12:09:35 +0100 Subject: [PATCH] New functions shutter: ramp up/down, MQTT reporting - code optimization - shuttermotordelay now defines ramp up and ramp down duration - shutterposition reported through MQTT during movement (HASS support) - improved stop (no underrun anymore) --- tasmota/xdrv_27_shutter.ino | 107 ++++++++++++++++++------------------ 1 file changed, 54 insertions(+), 53 deletions(-) diff --git a/tasmota/xdrv_27_shutter.ino b/tasmota/xdrv_27_shutter.ino index 2338639a1..7194788b7 100644 --- a/tasmota/xdrv_27_shutter.ino +++ b/tasmota/xdrv_27_shutter.ino @@ -46,6 +46,7 @@ void (* const ShutterCommand[])(void) PROGMEM = { &CmndShutterFrequency}; const char JSON_SHUTTER_POS[] PROGMEM = "\"" D_PRFX_SHUTTER "%d\":{\"Position\":%d,\"direction\":%d}"; +const char MSG_SHUTTER_POS[] PROGMEM = "SHT: " D_PRFX_SHUTTER " %d: Real. %d, Stop: %d, dir %d, pulsetimer: %d, motordelay %d, rtc: %s [s], freq %d"; #include @@ -147,8 +148,6 @@ void ShutterInit(void) Shutter.old_power = power; bool relay_in_interlock = false; - AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Accuracy digits: %d"), Settings.shutter_accuracy); - for (uint32_t i = 0; i < MAX_SHUTTERS; i++) { // upgrade to 0.1sec calculation base. if ( Settings.shutter_accuracy == 0) { @@ -223,6 +222,9 @@ void ShutterInit(void) // terminate loop at first INVALID shutter. break; } + if (shutters_present < 4) { + Shutter.max_pwm_frequency = Settings.shuttercoeff[4][4]; + } Settings.shutter_accuracy = 1; } } @@ -237,22 +239,25 @@ void ShutterUpdatePosition(void) if (Shutter.direction[i] != 0) { //char stemp1[20]; - // frequency start at 0. Stepper will start moving with first change of the Speed - // Counter should be initiated to 0 to count movement. - // 0..1000 in step 100 = 10 steps with 0.05 sec = 0.5sec total ramp time from start to - // full speed. - if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE && pin[GPIO_PWM1+i] < 99 && Shutter.pwm_frequency != Shutter.max_pwm_frequency) { - Shutter.pwm_frequency += Shutter.max_pwm_frequency/20; - Shutter.pwm_frequency = (Shutter.pwm_frequency > Shutter.max_pwm_frequency ? Shutter.max_pwm_frequency : Shutter.pwm_frequency); + + if (pin[GPIO_PWM1+i] < 99 && pin[GPIO_CNTR1+i] < 99 ) { + // Calculate position with counter. Much more accurate and no need for motordelay workaround + // aading some counters to stop early + Shutter.real_position[i] = Shutter.start_position[i] + ( ((int32_t)RtcSettings.pulse_counter[i]+Shutter.max_pwm_frequency/100) * Shutter.direction[i] * 2000 / Shutter.max_pwm_frequency ); + //AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: real %d, start %d, counter %d, max_freq %d, dir %d, freq %d"),Shutter.real_position[i], Shutter.start_position[i] ,RtcSettings.pulse_counter[i],Shutter.max_pwm_frequency , Shutter.direction[i] ,Shutter.max_pwm_frequency ); + } else { + Shutter.real_position[i] = Shutter.start_position[i] + ( (Shutter.time[i] - Shutter.motordelay[i]) * (Shutter.direction[i] > 0 ? 100 : -Shutter.close_velocity[i])); + } + + if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE && pin[GPIO_PWM1+i] < 99) { + uint16_t freq_change = Shutter.max_pwm_frequency/(Shutter.motordelay[i]+1); + // ramp up phase. calculate frequency + Shutter.pwm_frequency = tmin(freq_change * Shutter.time[i],Shutter.max_pwm_frequency); + // ramp down at the end of the movement time will not be exactly motordelay + Shutter.pwm_frequency = tmax(tmin(freq_change * (Shutter.target_position[i]-Shutter.real_position[i])*Shutter.direction[i]/30, Shutter.pwm_frequency),10); analogWriteFreq(Shutter.pwm_frequency); analogWrite(pin[GPIO_PWM1+i], 50); } - - Shutter.real_position[i] = Shutter.start_position[i] + ( (Shutter.time[i] - Shutter.motordelay[i]) * (Shutter.direction[i] > 0 ? 100 : -Shutter.close_velocity[i])); - // avoid real position leaving the boundaries. - // Shutter.real_position[i] = Shutter.real_position[i] < 0 ? 0 : (Shutter.real_position[i] > Shutter.open_max[i] ? Shutter.open_max[i] : Shutter.real_position[i]) ; - - if (Shutter.real_position[i] * Shutter.direction[i] >= Shutter.target_position[i] * Shutter.direction[i] ) { // calculate relay number responsible for current movement. //AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Stop Condition detected: real: %d, Target: %d, direction: %d"),Shutter.real_position[i], Shutter.target_position[i],Shutter.direction[i]); @@ -273,22 +278,16 @@ void ShutterUpdatePosition(void) // see wiki to connect PWM and COUNTER if (pin[GPIO_PWM1+i] < 99 && pin[GPIO_CNTR1+i] < 99 ) { int16_t missing_steps = ((Shutter.target_position[i]-Shutter.start_position[i])*Shutter.direction[i]*Shutter.max_pwm_frequency/2000) - RtcSettings.pulse_counter[i]; - Shutter.pwm_frequency = 0; - //slow down for acurate position - analogWriteFreq(500); - analogWrite(pin[GPIO_PWM1+i], 50); //prepare for stop PWM - Shutter.motordelay[i] = -2 + Shutter.motordelay[i] + missing_steps/(Shutter.max_pwm_frequency/20); - Shutter.motordelay[i] = Shutter.motordelay[i] > 0 ? Shutter.motordelay[i] : 0; - AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Missing steps %d, adjust motordelay %d, counter %d, temp realpos %d"), missing_steps, Shutter.motordelay[i],RtcSettings.pulse_counter[i] ,Shutter.real_position[i]); - Settings.shutter_motordelay[i]=Shutter.motordelay[i]; - analogWriteFreq(0); + AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Remain steps %d, counter %d, freq %d"), missing_steps, RtcSettings.pulse_counter[i] ,Shutter.pwm_frequency); + Shutter.pwm_frequency = 0; + analogWriteFreq(Shutter.pwm_frequency); while (RtcSettings.pulse_counter[i] < (uint32_t)(Shutter.target_position[i]-Shutter.start_position[i])*Shutter.direction[i]*Shutter.max_pwm_frequency/2000) { delay(1); } analogWrite(pin[GPIO_PWM1+i], 0); Shutter.real_position[i] = ((int32_t)RtcSettings.pulse_counter[i]*Shutter.direction[i]*2000 / Shutter.max_pwm_frequency)+Shutter.start_position[i]; - //AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT:Realpos %d, pulsecount %d, startpos %d, int32 %d"), Shutter.real_position[i],RtcSettings.pulse_counter[i], Shutter.start_position[i], ((int32_t)RtcSettings.pulse_counter[i]*Shutter.direction[i]*2000 / Shutter.max_pwm_frequency)); + AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT:Real %d, pulsecount %d, start %d"), Shutter.real_position[i],RtcSettings.pulse_counter[i], Shutter.start_position[i]); } if ((1 << (Settings.shutter_startrelay[i]-1)) & power) { @@ -307,7 +306,7 @@ void ShutterUpdatePosition(void) Settings.shutter_position[i] = ShutterRealToPercentPosition(Shutter.real_position[i], i); dtostrfd((float)Shutter.time[i] / 20, 1, stemp2); - AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Shutter %d: Real Pos. %d, Stoppos: %ld, relay: %d, direction %d, pulsetimer: %d, motordelay %d, rtcshutter: %s [s]"), i+1, Shutter.real_position[i], Settings.shutter_position[i], cur_relay -1, Shutter.direction[i], Settings.pulse_timer[cur_relay -1], Shutter.motordelay[i],stemp2); + AddLog_P2(LOG_LEVEL_DEBUG, PSTR(MSG_SHUTTER_POS), i+1, Shutter.real_position[i], Settings.shutter_position[i], Shutter.direction[i], Settings.pulse_timer[cur_relay -1], Shutter.motordelay[i],stemp2,Shutter.pwm_frequency); Shutter.start_position[i] = Shutter.real_position[i]; // sending MQTT result to broker @@ -339,24 +338,10 @@ bool ShutterState(uint8_t device) void ShutterStartInit(uint8_t index, int8_t direction, int32_t target_pos) { //AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: dir %d, delta1 %d, delta2 %d, grant %d"),direction, (Shutter.open_max[index] - Shutter.real_position[index]) / Shutter.close_velocity[index], Shutter.real_position[index] / Shutter.close_velocity[index], 2+Shutter.motordelay[index]); - if (direction == 1 && (Shutter.open_max[index] - Shutter.real_position[index]) / Shutter.close_velocity[index] <= 2+Shutter.motordelay[index]) { - // shutter alread 100% cannot move further - // store relay number variable + if ( ( direction == 1 && (Shutter.open_max[index] - Shutter.real_position[index]) / 100 <= 2 ) + || ( direction == -1 && Shutter.real_position[index] / Shutter.close_velocity[index] <= 2)) { Shutter.skip_relay_change = 1 ; - //AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: 100%% endstop already reached: Relay %d"),Shutter.skip_relay_change); - - } else if (direction == -1 && Shutter.real_position[index] / Shutter.close_velocity[index] <= 2+Shutter.motordelay[index]) { - // shutter already at 0% connot move into minus - // store relay number variable - Shutter.skip_relay_change = 1; - //AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: 0%% endstop already reached: Relay %d"),Shutter.skip_relay_change); - } else { - Shutter.direction[index] = direction; - Shutter.target_position[index] = target_pos; - Shutter.start_position[index] = Shutter.real_position[index]; - Shutter.time[index] = 0; - Shutter.skip_relay_change = 0; if (pin[GPIO_PWM1+index] < 99) { Shutter.pwm_frequency = 0; analogWriteFreq(Shutter.pwm_frequency); @@ -366,6 +351,12 @@ void ShutterStartInit(uint8_t index, int8_t direction, int32_t target_pos) RtcSettings.pulse_counter[index] = 0; } } + Shutter.target_position[index] = target_pos; + Shutter.start_position[index] = Shutter.real_position[index]; + Shutter.time[index] = 0; + Shutter.skip_relay_change = 0; + Shutter.direction[index] = direction; + //AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: real %d, start %d, counter %d, max_freq %d, dir %d, freq %d"),Shutter.real_position[index], Shutter.start_position[index] ,RtcSettings.pulse_counter[index],Shutter.max_pwm_frequency , Shutter.direction[index] ,Shutter.max_pwm_frequency ); } //AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Start shutter: %d from %d to %d in directin %d"), index, Shutter.start_position[index], Shutter.target_position[index], Shutter.direction[index]); } @@ -380,13 +371,19 @@ void ShutterReportPosition(void) { uint16_t shutter_moving = 0; for (uint8_t i = 0; i < shutters_present; i++) { + //AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Shutter %d: Real Pos: %d"), i+1,Shutter.real_position[i]); if (Shutter.direction[i] != 0) { char stemp1[20]; char stemp2[10]; + uint8_t position = ShutterRealToPercentPosition(Shutter.real_position[i], i); dtostrfd((float)Shutter.time[i] / 20, 2, stemp2); shutter_moving = 1; //Settings.shutter_position[i] = Settings.shuttercoeff[2][i] * 5 > Shutter.real_position[i] ? Shutter.real_position[i] / Settings.shuttercoeff[2][i] : (Shutter.real_position[i]-Settings.shuttercoeff[0,i]) / Settings.shuttercoeff[1][i]; - AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Shutter %d: Real Pos: %d, Target %d, source: %s, start-pos: %d %%, direction: %d, motordelay %d, rtcshutter: %s [s]"), i+1,Shutter.real_position[i], Shutter.target_position[i], GetTextIndexed(stemp1, sizeof(stemp1), last_source, kCommandSource), Settings.shutter_position[i], Shutter.direction[i], Shutter.motordelay[i], stemp2 ); + AddLog_P2(LOG_LEVEL_INFO, PSTR(MSG_SHUTTER_POS), i+1, Shutter.real_position[i], Settings.shutter_position[i], Shutter.direction[i], Settings.pulse_timer[cur_relay -1], Shutter.motordelay[i],stemp2,Shutter.pwm_frequency); + Response_P(PSTR("{")); + ResponseAppend_P(JSON_SHUTTER_POS, i+1, position, Shutter.direction[i]); + ResponseJsonEnd(); + MqttPublishPrefixTopic_P(RESULT_OR_TELE, mqtt_data); } } if (rules_flag.shutter_moving > shutter_moving) { @@ -490,7 +487,7 @@ void CmndShutterStop(void) uint32_t index = XdrvMailbox.index -1; if (Shutter.direction[index] != 0) { - AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Stop moving shutter %d: direction: %d"), XdrvMailbox.index, Shutter.direction[index]); + AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Stop moving %d: dir: %d"), XdrvMailbox.index, Shutter.direction[index]); // set stop position 10 steps ahead (0.5sec to allow normal stop) int32_t temp_realpos = Shutter.start_position[index] + ( (Shutter.time[index]+10) * (Shutter.direction[index] > 0 ? 100 : -Shutter.close_velocity[index])); XdrvMailbox.payload = ShutterRealToPercentPosition(temp_realpos, index); @@ -508,7 +505,7 @@ void CmndShutterPosition(void) if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) { uint32_t index = XdrvMailbox.index -1; //limit the payload - AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Position in: payload %s (%d), payload %d, index %d, source %d"), XdrvMailbox.data , XdrvMailbox.data_len, XdrvMailbox.payload , XdrvMailbox.index, last_source ); + AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Pos. in: payload %s (%d), payload %d, idx %d, src %d"), XdrvMailbox.data , XdrvMailbox.data_len, XdrvMailbox.payload , XdrvMailbox.index, last_source ); if (XdrvMailbox.data_len > 1 && XdrvMailbox.payload <=0) { UpperCase(XdrvMailbox.data, XdrvMailbox.data); @@ -525,7 +522,7 @@ void CmndShutterPosition(void) //target_pos_percent = Settings.shutter_invert[index] ? 100 - target_pos_percent : target_pos_percent; Shutter.target_position[index] = ShutterPercentToRealPosition(target_pos_percent, index); //Shutter.target_position[index] = XdrvMailbox.payload < 5 ? Settings.shuttercoeff[2][index] * XdrvMailbox.payload : Settings.shuttercoeff[1][index] * XdrvMailbox.payload + Settings.shuttercoeff[0,index]; - AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: lastsource %d:, realpos %d, target %d, payload %d"), last_source, Shutter.real_position[index] ,Shutter.target_position[index],target_pos_percent); + AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: lastsource %d:, real %d, target %d, payload %d"), last_source, Shutter.real_position[index] ,Shutter.target_position[index],target_pos_percent); } if ( (target_pos_percent >= 0) && (target_pos_percent <= 100) && abs(Shutter.target_position[index] - Shutter.real_position[index] ) / Shutter.close_velocity[index] > 2) { int8_t new_shutterdirection = Shutter.real_position[index] < Shutter.target_position[index] ? 1 : -1; @@ -541,18 +538,20 @@ void CmndShutterPosition(void) } } if (Shutter.direction[index] != new_shutterdirection ) { - ShutterStartInit(index, new_shutterdirection, Shutter.target_position[index]); + if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE) { ExecuteCommandPower(Settings.shutter_startrelay[index], 0, SRC_SHUTTER); //AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Delay5 5s, xdrv %d"), XdrvMailbox.payload); ShutterDelayForMotorStop(); + ShutterStartInit(index, new_shutterdirection, Shutter.target_position[index]); // Code for shutters with circuit safe configuration, switch the direction Relay ExecuteCommandPower(Settings.shutter_startrelay[index] +1, new_shutterdirection == 1 ? 0 : 1, SRC_SHUTTER); // power on ExecuteCommandPower(Settings.shutter_startrelay[index], 1, SRC_SHUTTER); } else { // now start the motor for the right direction, work for momentary and normal shutters. - AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Start shutter in direction %d"), Shutter.direction[index]); + AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Start in dir %d"), Shutter.direction[index]); + ShutterStartInit(index, new_shutterdirection, Shutter.target_position[index]); ExecuteCommandPower(Settings.shutter_startrelay[index] + (new_shutterdirection == 1 ? 0 : 1), 1, SRC_SHUTTER); //AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Delay6 5s, xdrv %d"), XdrvMailbox.payload); } @@ -615,7 +614,6 @@ void CmndShutterRelay(void) } else { Shutter.mask ^= 3 << (Settings.shutter_startrelay[XdrvMailbox.index -1] - 1); } - AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Relay %d is %d"), XdrvMailbox.index, XdrvMailbox.payload); Settings.shutter_startrelay[XdrvMailbox.index -1] = XdrvMailbox.payload; ShutterInit(); // if payload is 0 to disable the relay there must be a reboot. Otherwhise does not work @@ -630,10 +628,8 @@ void CmndShutterSetHalfway(void) if ((XdrvMailbox.payload >= 0) && (XdrvMailbox.payload <= 100)) { Settings.shutter_set50percent[XdrvMailbox.index -1] = Settings.shutter_invert[XdrvMailbox.index -1] ? 100 - XdrvMailbox.payload : XdrvMailbox.payload; ShutterInit(); - ResponseCmndIdxNumber(XdrvMailbox.payload); // ???? - } else { - ResponseCmndIdxNumber(Settings.shutter_set50percent[XdrvMailbox.index -1]); } + ResponseCmndIdxNumber(Settings.shutter_invert[XdrvMailbox.index -1] ? 100 - Settings.shutter_set50percent[XdrvMailbox.index -1] : Settings.shutter_set50percent[XdrvMailbox.index -1]); } } @@ -641,6 +637,9 @@ void CmndShutterFrequency(void) { if ((XdrvMailbox.payload >= 0) && (XdrvMailbox.payload <= 10000)) { Shutter.max_pwm_frequency = XdrvMailbox.payload; + if (shutters_present < 4) { + Settings.shuttercoeff[4][4] = Shutter.max_pwm_frequency; + } ResponseCmndNumber(XdrvMailbox.payload); // ???? } else { ResponseCmndNumber(Shutter.max_pwm_frequency); @@ -669,7 +668,7 @@ void CmndShutterInvert(void) void CmndShutterCalibration(void) // ???? { - if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= MAX_SHUTTERS)) { + if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) { if (XdrvMailbox.data_len > 0) { uint32_t i = 0; char *str_ptr; @@ -712,8 +711,10 @@ bool Xdrv27(uint8_t function) ShutterUpdatePosition(); break; case FUNC_EVERY_SECOND: + //case FUNC_EVERY_250_MSECOND: ShutterReportPosition(); break; + case FUNC_COMMAND: result = DecodeCommand(kShutterCommands, ShutterCommand); break;