Support Stepper-motors connected to A4988-stepper-driver-circuit

lib/A4988_Stepper/README.adoc

@@ -0,0 +1,19 @@
+Stepper Library for Tasmota
+
+This Class allows you to control bipolar stepper motors. To use it you will need an A4988-StepperDriverCircuit, connected at least with 2 GPIO's (direction and step) and of cause a stepper motor.
+
+== License ==
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA

lib/A4988_Stepper/keywords.txt

@@ -0,0 +1,24 @@
+#######################################
+# Syntax Coloring Map For Test
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+A4988_Stepper	KEYWORD1	A4988_Stepper
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+doMove	KEYWORD2
+doRotate	KEYWORD2
+setRPM	KEYWORD2
+setSPR	KEYWORD2
+setMIC	KEYWORD2
+version	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################

lib/A4988_Stepper/library.properties

@@ -0,0 +1,9 @@
+name=A4988_Stepper
+version=0.0.1
+author=Tim Leuschner
+maintainer=Tim Leuschner <tim@feuer.land>
+sentence=Allows Tasmota to control stepper motors, connected to A4988-StepperDriverCircuit.
+paragraph=This library allows you to control bipolar stepper motors, controlled by A4988-stepperDriverCircuit.
+category=Device Control
+url=
+architectures=*

lib/A4988_Stepper/src/A4988_Stepper.cpp

@@ -0,0 +1,174 @@
+/* This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * Drives a bipolar motor, controlled by A4988 stepper driver circuit
+ */
+
+#include "Arduino.h"
+#include "A4988_Stepper.h"
+#include <stdlib.h>
+A4988_Stepper::A4988_Stepper( int   m_spr
+                          , int   m_rpm
+                          , short m_mic
+                          , short m_dir_pin
+                          , short m_stp_pin
+                          , short m_ena_pin
+                          , short m_ms1_pin
+                          , short m_ms2_pin
+                          , short m_ms3_pin ) {
+  last_time     = 0; // time stamp in us of the last step taken
+  motor_SPR     = m_spr; // StepsPerRevolution
+  motor_RPM     = m_rpm; // RoundsPerMinute
+  motor_MIC     = m_mic; // Microsteps w/o effect if MS1-MS3 not connected - then full steps anyway
+  motor_dir_pin = m_dir_pin;
+  motor_stp_pin = m_stp_pin;
+  motor_ena_pin = m_ena_pin;
+  motor_ms1_pin = m_ms1_pin;
+  motor_ms2_pin = m_ms2_pin;
+  motor_ms3_pin = m_ms3_pin;
+
+  adjustDelay();
+  adjustPins();
+  adjustMicrosteps();
+}
+
+void A4988_Stepper::adjustPins(void) {
+   // setup the pins on the microcontroller:
+   pinMode(motor_dir_pin, OUTPUT);
+   pinMode(motor_stp_pin, OUTPUT);
+   if (motor_ena_pin <99) {
+     pinMode(motor_ena_pin, OUTPUT);
+     digitalWrite(motor_ena_pin, HIGH);
+   }
+
+   if ((motor_ms1_pin<99)&&(motor_ms2_pin<99)&&(motor_ms3_pin<99)) {
+     pinMode(motor_ms1_pin, OUTPUT);
+     pinMode(motor_ms2_pin, OUTPUT);
+     pinMode(motor_ms3_pin, OUTPUT);
+   }
+}
+
+void A4988_Stepper::adjustMicrosteps() {
+   if ((motor_ms1_pin<99)&&(motor_ms2_pin<99)&&(motor_ms3_pin<99)) {
+     switch (motor_MIC){
+       case 1:
+         digitalWrite(motor_ms1_pin, LOW);
+         digitalWrite(motor_ms2_pin, LOW);
+         digitalWrite(motor_ms3_pin, LOW);
+       break;
+       case 2:
+         digitalWrite(motor_ms1_pin, HIGH);
+         digitalWrite(motor_ms2_pin, LOW);
+         digitalWrite(motor_ms3_pin, LOW);
+       break;
+          digitalWrite(motor_ms1_pin, LOW);
+          digitalWrite(motor_ms2_pin, HIGH);
+          digitalWrite(motor_ms3_pin, LOW);
+       case 4:
+          digitalWrite(motor_ms1_pin, HIGH);
+          digitalWrite(motor_ms2_pin, HIGH);
+          digitalWrite(motor_ms3_pin, LOW);
+       break;
+       case 8:
+          digitalWrite(motor_ms1_pin, LOW);
+          digitalWrite(motor_ms2_pin, LOW);
+          digitalWrite(motor_ms3_pin, HIGH);
+       break;
+       case 16:
+          digitalWrite(motor_ms1_pin, HIGH);
+          digitalWrite(motor_ms2_pin, HIGH);
+          digitalWrite(motor_ms3_pin, HIGH);
+       break;
+     }
+   } else {
+     motor_MIC = 1;
+   }
+}
+
+ void A4988_Stepper::adjustDelay(void) {
+   motor_delay = 60L * 1000L * 1000L / motor_SPR / motor_RPM / motor_MIC;
+ }
+
+void A4988_Stepper::setMIC(short oneToSixteen) {
+   motor_MIC = oneToSixteen;
+   adjustMicrosteps();
+ }
+
+ short A4988_Stepper::getMIC(void) {
+     return motor_MIC;
+ }
+
+ void A4988_Stepper::setRPM(int howManyRounds) {
+   motor_RPM = howManyRounds;
+   adjustDelay();
+ }
+
+ int A4988_Stepper::getRPM(void) {
+   return motor_RPM;
+ }
+
+void A4988_Stepper::setSPR(int howManySteps){
+  motor_SPR = howManySteps;
+  adjustDelay();
+}
+
+int A4988_Stepper::getSPR(void) {
+  return motor_SPR;
+}
+
+void A4988_Stepper::enable(){
+  if (motor_ena_pin < 99) {digitalWrite(motor_ena_pin, LOW);}
+}
+
+void A4988_Stepper::disable(){
+  if (motor_ena_pin < 99) {digitalWrite(motor_ena_pin, HIGH);}
+}
+
+void A4988_Stepper::doMove(long howManySteps)
+{
+  long steps_togo = abs(howManySteps);  // how many steps to take
+  bool lastStepWasHigh = false;
+  digitalWrite(motor_dir_pin, howManySteps>0?LOW:HIGH);
+  enable();
+  while (steps_togo > 0) {
+    delay(0); // don't get watchdoged in loop
+    unsigned long now = micros();
+    // move if delay has passed:
+    if (now - last_time >= motor_delay) {
+      digitalWrite(motor_stp_pin, lastStepWasHigh?LOW:HIGH);
+      lastStepWasHigh = !lastStepWasHigh;
+      // remeber step-time if last signal was HIGH we can pull low after 50ms as only HIGH actually moves the stepper
+      last_time = lastStepWasHigh?now-50:now;
+      if (!lastStepWasHigh) steps_togo--; // same here - only HIGH moves, if pulled LOW step is completed...
+    }
+  }
+  disable();
+}
+
+void A4988_Stepper::doRotate(long howManyDegrees)
+{ long  lSteps = 0;
+  lSteps = motor_SPR*motor_MIC*howManyDegrees/360;
+  doMove(lSteps);
+}
+
+void A4988_Stepper::doTurn(float howManyTimes)
+{ long lSteps = 0;
+  lSteps = howManyTimes*motor_SPR;
+  doMove(lSteps);
+}
+
+int A4988_Stepper::version(void)
+{
+  return 1;
+}

lib/A4988_Stepper/src/A4988_Stepper.h

@@ -0,0 +1,73 @@
+/* This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * Drives a bipolar motor, controlled by A4988 stepper driver circuit
+ */
+
+#ifndef A4988_Stepper_h
+#define A4988_Stepper_h
+
+class A4988_Stepper {
+  public:
+    // constructor:
+    A4988_Stepper( int motor_spr
+              ,   int motor_rpm
+              , short motor_mic
+              , short motor_dir_pin
+              , short motor_stp_pin
+              , short motor_ena_pin
+              , short motor_ms1_pin
+              , short motor_ms2_pin
+              , short motor_ms3_pin
+              );
+
+    void  setRPM  (int   whatRPM     );
+    int   getRPM  (void              );
+
+    void  setMIC  (short OneToSixteen);
+    short getMIC  (void              );
+
+    void  setSPR  (int   howMany     );
+    int   getSPR  (void              );
+
+    void  doMove  (long steps_to_move);
+    void  doRotate(long degrs_to_turn);
+    void  doTurn  (float howManyTimes);
+
+    void  enable  (void              );
+    void  disable (void              );
+
+    int   version (void              );
+
+  private:
+    void adjustDelay(void);
+    void adjustPins(void);
+    void adjustMicrosteps(void);
+    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
+
+    // motor pins:
+    short motor_dir_pin;
+    short motor_stp_pin;
+    short motor_ena_pin;
+    short motor_ms1_pin;
+    short motor_ms2_pin;
+    short motor_ms3_pin;
+
+    unsigned long last_time;  // timestamp of last pincycle of last step
+};
+
+#endif

sonoff/i18n.h

@@ -456,6 +456,14 @@
   #define D_JSON_ZIGBEEZNPSENT "ZigbeeZNPSent"
   #define D_JSON_ZIGBEEZCLRECEIVED "ZigbeeZCLReceived"
   #define D_JSON_ZIGBEEZCLSENT "ZigbeeZCLSent"
+
+  // Commands xdrv_98_A4988.ino
+  #ifdef USE_A4988_Stepper
+    #define D_CMND_MOTOR "MOTOR"
+    #define D_JSON_MOTOR_COMMAND "Command"
+    #define D_JSON_MOTOR_VALUE "Value"
+  #endif
+
 /********************************************************************************************/
 
 #define D_ASTERISK_PWD "****"

sonoff/language/bg-BG.h

@@ -597,6 +597,13 @@
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
 
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
+
 // Units
 #define D_UNIT_AMPERE "A"
 #define D_UNIT_CENTIMETER "cm"

sonoff/language/cs-CZ.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/de-DE.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/el-GR.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/en-GB.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/es-ES.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/fr-FR.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/he-HE.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/hu-HU.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/it-IT.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/ko-KO.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/nl-NL.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/pl-PL.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/pt-BR.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/pt-PT.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/ru-RU.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "А"

sonoff/language/sk-SK.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/sv-SE.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/tr-TR.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "A"

sonoff/language/uk-UK.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "А"

sonoff/language/zh-CN.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "安"

sonoff/language/zh-TW.h

@@ -596,6 +596,12 @@
 #define D_SENSOR_IBEACON_RX    "iBeacon RX"
 #define D_SENSOR_RDM6300_RX    "RDM6300 RX"
 #define D_SENSOR_CC1101_CS     "CC1101 CS"
+#define D_SENSOR_A4988_DIR   "A4988 DIR"
+#define D_SENSOR_A4988_STP   "A4988 STP"
+#define D_SENSOR_A4988_ENA   "A4988 ENA"
+#define D_SENSOR_A4988_MS1   "A4988 MS1"
+#define D_SENSOR_A4988_MS2   "A4988 MS2"
+#define D_SENSOR_A4988_MS3   "A4988 MS3"
 
 // Units
 #define D_UNIT_AMPERE "安"

sonoff/my_user_config.h

@@ -527,6 +527,7 @@
 #define USE_SM16716                              // Add support for SM16716 RGB LED controller (+0k7 code)
 
 //#define USE_HRE                                  // Add support for Badger HR-E Water Meter (+1k4 code)
+#define USE_A4988_Stepper                                  // Add support for A4988 Stepper-Motors-Driver-circuit
 
 /*********************************************************************************************\
  * Debug features

sonoff/sonoff_post.h

@@ -257,6 +257,7 @@ char* ToHex_P(const unsigned char * in, size_t insz, char * out, size_t outsz, c
 #undef USE_RF_SENSOR                          // Disable support for RF sensor receiver (434MHz or 868MHz) (+0k8 code)
 #undef USE_SM16716                            // Disable support for SM16716 RGB LED controller (+0k7 code)
 #undef USE_HRE                                // Disable support for Badger HR-E Water Meter (+1k4 code)
+#undef USE_A4988_Stepper                      // Disable support for A4988_Stepper
 #undef DEBUG_THEO                             // Disable debug code
 #undef USE_DEBUG_DRIVER                       // Disable debug code
 #endif  // FIRMWARE_CLASSIC
@@ -386,6 +387,7 @@ char* ToHex_P(const unsigned char * in, size_t insz, char * out, size_t outsz, c
 #undef USE_RF_SENSOR                          // Disable support for RF sensor receiver (434MHz or 868MHz) (+0k8 code)
 #undef USE_SM16716                            // Disable support for SM16716 RGB LED controller (+0k7 code)
 #undef USE_HRE                                // Disable support for Badger HR-E Water Meter (+1k4 code)
+#undef USE_A4988_Stepper                      // Disable support for A4988_Stepper
 #undef DEBUG_THEO                             // Disable debug code
 #undef USE_DEBUG_DRIVER                       // Disable debug code
 
@@ -480,6 +482,7 @@ char* ToHex_P(const unsigned char * in, size_t insz, char * out, size_t outsz, c
 #undef USE_RF_SENSOR                          // Disable support for RF sensor receiver (434MHz or 868MHz) (+0k8 code)
 #undef USE_SM16716                            // Disable support for SM16716 RGB LED controller (+0k7 code)
 #undef USE_HRE                                // Disable support for Badger HR-E Water Meter (+1k4 code)
+#undef USE_A4988_Stepper                      // Disable support for A4988_Stepper
 #undef DEBUG_THEO                             // Disable debug code
 #undef USE_DEBUG_DRIVER                       // Disable debug code
 #endif  // FIRMWARE_BASIC
@@ -561,6 +564,7 @@ char* ToHex_P(const unsigned char * in, size_t insz, char * out, size_t outsz, c
 #undef USE_RF_SENSOR                          // Disable support for RF sensor receiver (434MHz or 868MHz) (+0k8 code)
 #undef USE_SM16716                            // Disable support for SM16716 RGB LED controller (+0k7 code)
 #undef USE_HRE                                // Disable support for Badger HR-E Water Meter (+1k4 code)
+#undef USE_A4988_Stepper                      // Disable support for A4988_Stepper
 #undef DEBUG_THEO                             // Disable debug code
 #undef USE_DEBUG_DRIVER                       // Disable debug code
 #endif  // FIRMWARE_MINIMAL

sonoff/sonoff_template.h

@@ -194,6 +194,12 @@ enum UserSelectablePins {
   GPIO_RDM6300_RX,     // RDM6300 RX
   GPIO_IBEACON_TX,     // HM17 IBEACON TX
   GPIO_IBEACON_RX,     // HM17 IBEACON RX
+  GPIO_A4988_DIR,      // A4988 direction pin
+  GPIO_A4988_STP,      // A4988 step pin
+  GPIO_A4988_ENA,      // A4988 enabled pin
+  GPIO_A4988_MS1,      // A4988 microstep pin1
+  GPIO_A4988_MS2,      // A4988 microstep pin2
+  GPIO_A4988_MS3,      // A4988 microstep pin3
   GPIO_SENSOR_END };
 
 // Programmer selectable GPIO functionality
@@ -267,6 +273,7 @@ const char kSensorNames[] PROGMEM =
   D_SENSOR_ZIGBEE_TXD "|" D_SENSOR_ZIGBEE_RXD "|"
   D_SENSOR_RDM6300_RX "|"
   D_SENSOR_IBEACON_TX "|" D_SENSOR_IBEACON_RX "|"
+  D_SENSOR_A4988_DIR "|" D_SENSOR_A4988_STP "|" D_SENSOR_A4988_ENA "|" D_SENSOR_A4988_MS1 "|" D_SENSOR_A4988_MS2 "|" D_SENSOR_A4988_MS3 "|"
   ;
 
 // User selectable ADC0 functionality
@@ -689,6 +696,15 @@ const uint8_t kGpioNiceList[] PROGMEM = {
   GPIO_HRE_CLOCK,
   GPIO_HRE_DATA,
 #endif
+#ifdef USE_A4988_Stepper
+  GPIO_A4988_DIR,     // A4988 direction pin
+  GPIO_A4988_STP,     // A4988 step pin
+  // folowing are not mandatory
+  GPIO_A4988_ENA,     // A4988 enabled pin
+  GPIO_A4988_MS1,     // A4988 microstep pin1
+  GPIO_A4988_MS2,     // A4988 microstep pin2
+  GPIO_A4988_MS3,     // A4988 microstep pin3
+#endif
 };
 
 const uint8_t kModuleNiceList[] PROGMEM = {

sonoff/support_features.ino

@@ -438,7 +438,9 @@ void GetFeatures(void)
 #ifdef USE_IBEACON
   feature5 |= 0x00000004;  // xsns_52_ibeacon.ino
 #endif
-//  feature5 |= 0x00000008;
+#ifdef USE_A4988_Stepper
+  feature5 |= 0x00000008;  // xdrv_98_A4988.ino
+#endif
 
 //  feature5 |= 0x00000010;
 //  feature5 |= 0x00000020;

sonoff/xdrv_25_A4988_Stepper.ino

@@ -0,0 +1,320 @@
+
+/*
+  xsns_22_sr04.ino - SR04 ultrasonic sensor support for Sonoff-Tasmota
+
+  Copyright (C) 2019  Nuno Ferreira and Theo Arends
+
+  This program is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  This program is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifdef USE_A4988_Stepper
+#include <A4988_Stepper.h>
+/*********************************************************************************************\
+ * Stepper mötör on driver A4988
+ *
+ * - https://www.dfrobot.com/wiki/index.php/Weather-proof_Ultrasonic_Sensor_SKU_:_SEN0207
+\*********************************************************************************************/
+
+#define XDRV_98          98
+
+enum A4988Errors { A4988_NO_ERROR, A4988_NO_JSON_COMMAND, A4988_INVALID_JSON};
+
+short A4988_dir_pin = pin[GPIO_MAX];
+short A4988_stp_pin = pin[GPIO_MAX];
+short A4988_ms1_pin = pin[GPIO_MAX];
+short A4988_ms2_pin = pin[GPIO_MAX];
+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;
+
+A4988_Stepper* myA4988 = nullptr;
+
+void A4988Init(void)
+{
+  A4988_dir_pin = pin[GPIO_A4988_DIR];
+  A4988_stp_pin = pin[GPIO_A4988_STP];
+  A4988_ena_pin = pin[GPIO_A4988_ENA];
+  A4988_ms1_pin = pin[GPIO_A4988_MS1];
+  A4988_ms2_pin = pin[GPIO_A4988_MS2];
+  A4988_ms3_pin = pin[GPIO_A4988_MS3];
+  A4988_spr     = 200;
+  A4988_rpm     = 30;
+  A4988_mic     = 1;
+
+  myA4988 = new A4988_Stepper( A4988_spr
+                            , A4988_rpm
+                            , A4988_mic
+                            , A4988_dir_pin
+                            , A4988_stp_pin
+                            , A4988_ena_pin
+                            , A4988_ms1_pin
+                            , A4988_ms2_pin
+                            , A4988_ms3_pin );
+  A4988_spr     = myA4988->getSPR();
+  A4988_rpm     = myA4988->getRPM();
+  A4988_mic     = myA4988->getMIC();
+  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);
+  } 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);
+    } 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);
+    }
+  }
+}
+
+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 };
+
+
+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 }
+
+  char dataBufUc[XdrvMailbox.data_len];
+  UpperCase(dataBufUc, XdrvMailbox.data);
+  RemoveSpace(dataBufUc);
+  if (strlen(dataBufUc) < 8) {
+    return A4988_INVALID_JSON;
+  }
+
+  StaticJsonBuffer<40> jsonBuf;
+  JsonObject &root = jsonBuf.parseObject(dataBufUc);
+  if (!root.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;
+}
+
+void CmndMOTOR(void){
+  if (XdrvMailbox.data_len) {
+    if (strstr(XdrvMailbox.data, "{") == nullptr) {
+      error = A4988_NO_JSON_COMMAND;
+    } else {
+      error = MOTORCmndJson();
+    }
+  }
+  A4988CmndResponse(error);
+}
+
+void A4988CmndResponse(uint32_t error){
+
+}
+
+void CmndGetSPR(void) {
+  AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: SPR = %d steps"), myA4988->getSPR());
+}
+
+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 CmndDoMove(void)
+{
+  if (XdrvMailbox.data_len > 0) {
+    long stepsPlease = 1;
+    stepsPlease = strtoul(XdrvMailbox.data,nullptr,10);
+    AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Moving %d steps"), stepsPlease);
+    myA4988->doMove(stepsPlease);
+  } else {
+    AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Moving 25 steps"));
+    myA4988->doMove(25);
+  }
+  ResponseCmndDone();
+}
+
+void CmndDoRotate(void)
+{
+  if (XdrvMailbox.data_len > 0) {
+    long degrsPlease = 1;
+    degrsPlease = strtoul(XdrvMailbox.data,nullptr,10);
+    AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Rotating %d degrs"), degrsPlease);
+    myA4988->doRotate(degrsPlease);
+  } else {
+    AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Moving 45 degrs"));
+    myA4988->doRotate(45);
+  }
+  ResponseCmndDone();
+}
+
+void CmndDoTurn(void)
+{
+  if (XdrvMailbox.data_len > 0) {
+    float turnsPlease = 0;
+    turnsPlease = strtod(XdrvMailbox.data,nullptr);
+    AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Turning %d times"), turnsPlease);
+    myA4988->doTurn(turnsPlease);
+  } else {
+    AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Turning 0.25 times"));
+    myA4988->doRotate(0.25);
+  }
+  ResponseCmndDone();
+}
+
+void CmndSetRPM(void)
+{
+  short rpmPlease = 60;
+  if (XdrvMailbox.data_len > 0) {
+    rpmPlease = strtoul(XdrvMailbox.data,nullptr,10);
+  }
+  AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: RPM set to %d"), rpmPlease);
+  myA4988->setRPM(rpmPlease);
+  ResponseCmndDone();
+}
+
+void CmndSetSPR(void)
+{
+  int sprPlease = 200;
+  if (XdrvMailbox.data_len > 0) {
+    sprPlease = strtoul(XdrvMailbox.data,nullptr,10);
+  }
+  AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: SPR set to %d"), sprPlease);
+  myA4988->setSPR(sprPlease);
+  ResponseCmndDone();
+}
+
+void CmndSetMic(void)
+{
+  if ((pin[GPIO_A4988_MS1] < 99) && (pin[GPIO_A4988_MS2] < 99) && (pin[GPIO_A4988_MS3] < 99)) {
+    short micPlease = 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);
+    }
+  } 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"));
+  }
+  ResponseCmndDone();
+}
+
+void CmndDoVader(void){
+  myA4988->enable();
+  myA4988->setRPM(25); myA4988->doMove( 30); delay(5);
+  myA4988->setRPM(25); myA4988->doMove(-30); delay(5);
+  myA4988->setRPM(25); myA4988->doMove( 30); delay(5);
+  myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
+  myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
+  myA4988->setRPM(25); myA4988->doMove( 50); delay(5);
+  myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
+  myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
+  myA4988->setRPM(25); myA4988->doMove(-50); delay(5);//
+  myA4988->setRPM(38); myA4988->doMove( 31); delay(5);
+  myA4988->setRPM(38); myA4988->doMove(-31); delay(5);
+  myA4988->setRPM(38); myA4988->doMove( 31); delay(5);
+  myA4988->setRPM(38); myA4988->doMove(-31); delay(5);
+  myA4988->setRPM(41); myA4988->doMove( 21); delay(5);
+  myA4988->setRPM(30); myA4988->doMove(-21); delay(5);
+  myA4988->setRPM(25); myA4988->doMove( 30); delay(5);
+  myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
+  myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
+  myA4988->setRPM(25); myA4988->doMove(-50); delay(5);//
+  myA4988->setRPM(50); myA4988->doMove( 40); delay(5);
+  myA4988->setRPM(25); myA4988->doMove(-20); delay(5);
+  myA4988->setRPM(25); myA4988->doMove( 15); delay(5);
+  myA4988->setRPM(50); myA4988->doMove(-40); delay(5);
+  myA4988->setRPM(48); myA4988->doMove( 35); delay(5);
+  myA4988->setRPM(45); myA4988->doMove(-25); delay(5);
+  myA4988->setRPM(41); myA4988->doMove( 25); delay(5);
+  myA4988->setRPM(38); myA4988->doMove(-26); delay(5);
+  myA4988->setRPM(41); myA4988->doMove( 25); delay(5);
+  myA4988->setRPM(25); myA4988->doMove( 25); delay(5);
+  myA4988->setRPM(41); myA4988->doMove(-35); delay(5);
+  myA4988->setRPM(38); myA4988->doMove( 25); delay(5);
+  myA4988->setRPM(36); myA4988->doMove(-25); delay(5);
+  myA4988->setRPM(33); myA4988->doMove( 25); delay(5);
+  myA4988->setRPM(30); myA4988->doMove(-27); delay(5);
+  myA4988->setRPM(33); myA4988->doMove( 25); delay(5);
+  myA4988->setRPM(33); myA4988->doMove( 25); delay(5);
+  myA4988->setRPM(38); myA4988->doMove(-30); delay(5);
+  myA4988->setRPM(18); myA4988->doMove( 10); delay(5);
+  myA4988->setRPM(18); myA4988->doMove(-10); delay(5);
+  myA4988->setRPM(25); myA4988->doMove( 20); delay(5);
+  myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
+  myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
+  myA4988->setRPM(25); myA4988->doMove(-50); delay(5);
+  myA4988->setRPM(20); myA4988->doMove( 25); delay(5);
+  myA4988->setRPM(30); myA4988->doMove(-20); delay(5);
+  myA4988->setRPM(25); myA4988->doMove( 50); delay(5);
+  myA4988->disable();
+  AddLog_P2(LOG_LEVEL_INFO, PSTR("Stepper: may the force be with you!"));
+  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

tools/decode-status.py

@@ -160,7 +160,7 @@ a_features = [[
     "USE_ADE7953","USE_SPS30","USE_VL53L0X","USE_MLX90614",
     "USE_MAX31865","USE_CHIRP","USE_SOLAX_X1","USE_PAJ7620"
     ],[
-    "USE_BUZZER","USE_RDM6300","USE_IBEACON","",
+    "USE_BUZZER","USE_RDM6300","USE_IBEACON","USE_A4988_Stepper",
     "","","","",
     "","","","",
     "","","","",