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Merge pull request #7264 from stefanbode/patch-5 

new features
This commit is contained in:
Theo Arends 2019-12-20 15:21:08 +01:00 committed by GitHub
parent 46696f8ba0 a2b4b1b06d
commit d7563831be
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 142 additions and 111 deletions
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tasmota/xdrv_27_shutter.ino
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@ -27,11 +27,13 @@
#define D_SHUTTER "SHUTTER"
const uint16_t MOTOR_STOP_TIME = 500; // in mS
const uint8_t steps_per_second = 20; // FUNC_EVERY_50_MSECOND
uint8_t calibrate_pos[6] = {0,30,50,70,90,100};
uint16_t messwerte[5] = {30,50,70,90,100};
uint16_t last_execute_step;
enum ShutterModes { SHT_OFF_OPEN__OFF_CLOSE, SHT_OFF_ON__OPEN_CLOSE, SHT_PULSE_OPEN__PULSE_CLOSE };
enum ShutterModes { SHT_OFF_OPEN__OFF_CLOSE, SHT_OFF_ON__OPEN_CLOSE, SHT_PULSE_OPEN__PULSE_CLOSE, SHT_OFF_ON__OPEN_CLOSE_STEPPER,};
const char kShutterCommands[] PROGMEM = D_PRFX_SHUTTER "|"
D_CMND_SHUTTER_OPEN "|" D_CMND_SHUTTER_CLOSE "|" D_CMND_SHUTTER_STOP "|" D_CMND_SHUTTER_POSITION "|"
@ -68,43 +70,51 @@ struct SHUTTER {
uint8_t mode = 0; // operation mode definition. see enum type above SHT_OFF_OPEN__OFF_CLOSE, SHT_OFF_ON__OPEN_CLOSE, SHT_PULSE_OPEN__PULSE_CLOSE
int16_t motordelay[MAX_SHUTTERS]; // initial motorstarttime in 0.05sec.
int16_t pwm_frequency; // frequency of PWN for stepper motors
uint16_t max_pwm_frequency = 1000; // maximum of PWM frequency that can be used. depend on the motor and drivers
uint16_t max_pwm_frequency = 1000; // maximum of PWM frequency for openig the shutter. depend on the motor and drivers
uint16_t max_close_pwm_frequency[MAX_SHUTTERS];// maximum of PWM frequency for closeing the shutter. depend on the motor and drivers
uint8_t skip_relay_change; // avoid overrun at endstops
int32_t accelerator[MAX_SHUTTERS]; // speed of ramp-up, ramp down of shutter
} Shutter;
void ShutterRtc50mS(void)
{
for (uint32_t i = 0; i < shutters_present; i++) {
Shutter.time[i]++;
if (Shutter.accelerator[i]) {
Shutter.pwm_frequency += Shutter.accelerator[i];
Shutter.pwm_frequency = tmax(0,tmin(Shutter.direction[i]==1 ? Shutter.max_pwm_frequency : Shutter.max_close_pwm_frequency[i],Shutter.pwm_frequency));
analogWriteFreq(Shutter.pwm_frequency);
analogWrite(pin[GPIO_PWM1+i], 50);
}
}
}
int32_t ShutterPercentToRealPosition(uint8_t percent,uint8_t index)
int32_t ShutterPercentToRealPosition(uint8_t percent,uint8_t i)
{
if (Settings.shutter_set50percent[index] != 50) {
return percent <= 5 ? Settings.shuttercoeff[2][index] * percent : Settings.shuttercoeff[1][index] * percent + Settings.shuttercoeff[0][index];
if (Settings.shutter_set50percent[i] != 50) {
return percent <= 5 ? Settings.shuttercoeff[2][i] * percent : Settings.shuttercoeff[1][i] * percent + Settings.shuttercoeff[0][i];
} else {
int32_t realpos;
// check against DIV 0
for (uint8_t j=0 ; j < 5 ; j++) {
if (Settings.shuttercoeff[j][index] == 0) {
if (Settings.shuttercoeff[j][i] == 0) {
AddLog_P2(LOG_LEVEL_ERROR, PSTR("SHT: RESET/INIT CALIBRATION MATRIX DIV 0"));
for (uint8_t k=0 ; k < 5 ; k++) {
Settings.shuttercoeff[k][index] = messwerte[k] * 1000 / messwerte[4];
Settings.shuttercoeff[k][i] = messwerte[k] * 1000 / messwerte[4];
}
}
}
for (uint8_t i=0 ; i < 5 ; i++) {
if (percent*10 > Settings.shuttercoeff[i][index]) {
realpos = Shutter.open_max[index] * calibrate_pos[i+1] / 100;
//AddLog_P2(LOG_LEVEL_INFO, PSTR("Realposition TEMP1: %d, %% %d, coeff %d"), realpos, percent, Settings.shuttercoeff[i][index]);
for (uint8_t l=0 ; l < 5 ; l++) {
if (percent*10 > Settings.shuttercoeff[l][i]) {
realpos = Shutter.open_max[i] * calibrate_pos[l+1] / 100;
//AddLog_P2(LOG_LEVEL_INFO, PSTR("Realposition TEMP1: %d, %% %d, coeff %d"), realpos, percent, Settings.shuttercoeff[l][i]);
} else {
if ( i == 0) {
realpos = percent * Shutter.open_max[index] * calibrate_pos[i+1] / Settings.shuttercoeff[i][index] / 10;
if ( l == 0) {
realpos = percent * Shutter.open_max[i] * calibrate_pos[l+1] / Settings.shuttercoeff[l][i] / 10;
} else {
//uint16_t addon = ( percent*10 - Settings.shuttercoeff[i-1][index] ) * Shutter_Open_Max[index] * (calibrate_pos[i+1] - calibrate_pos[i]) / (Settings.shuttercoeff[i][index] -Settings.shuttercoeff[i-1][index]) / 100;
//AddLog_P2(LOG_LEVEL_INFO, PSTR("Realposition TEMP2: %d, %% %d, coeff %d"), addon, (calibrate_pos[i+1] - calibrate_pos[i]), (Settings.shuttercoeff[i][index] -Settings.shuttercoeff[i-1][index]));
realpos += ( percent*10 - Settings.shuttercoeff[i-1][index] ) * Shutter.open_max[index] * (calibrate_pos[i+1] - calibrate_pos[i]) / (Settings.shuttercoeff[i][index] -Settings.shuttercoeff[i-1][index]) / 100;
//uint16_t addon = ( percent*10 - Settings.shuttercoeff[i-1][i] ) * Shutter_Open_Max[i] * (calibrate_pos[l+1] - calibrate_pos[l]) / (Settings.shuttercoeff[l][i] -Settings.shuttercoeff[l-1][l]) / 100;
//AddLog_P2(LOG_LEVEL_INFO, PSTR("Realposition TEMP2: %d, %% %d, coeff %d"), addon, (calibrate_pos[l+1] - calibrate_pos[l]), (Settings.shuttercoeff[l][i] -Settings.shuttercoeff[l-1][l]));
realpos += ( percent*10 - Settings.shuttercoeff[l-1][i] ) * Shutter.open_max[i] * (calibrate_pos[l+1] - calibrate_pos[l]) / (Settings.shuttercoeff[l][i] -Settings.shuttercoeff[l-1][i]) / 100;
}
break;
}
@ -113,25 +123,25 @@ int32_t ShutterPercentToRealPosition(uint8_t percent,uint8_t index)
}
}
uint8_t ShutterRealToPercentPosition(int32_t realpos, uint8_t index)
uint8_t ShutterRealToPercentPosition(int32_t realpos, uint8_t i)
{
if (Settings.shutter_set50percent[index] != 50) {
return Settings.shuttercoeff[2][index] * 5 > realpos ? realpos / Settings.shuttercoeff[2][index] : (realpos-Settings.shuttercoeff[0][index]) / Settings.shuttercoeff[1][index];
if (Settings.shutter_set50percent[i] != 50) {
return Settings.shuttercoeff[2][i] * 5 > realpos ? realpos / Settings.shuttercoeff[2][i] : (realpos-Settings.shuttercoeff[0][i]) / Settings.shuttercoeff[1][i];
} else {
int16_t realpercent;
for (uint8_t i=0 ; i < 5 ; i++) {
if (realpos > Shutter.open_max[index] * calibrate_pos[i+1] / 100) {
realpercent = Settings.shuttercoeff[i][index] /10;
//AddLog_P2(LOG_LEVEL_INFO, PSTR("Realpercent TEMP1: %d, %% %d, coeff %d"), realpercent, realpos, Shutter_Open_Max[index] * calibrate_pos[i+1] / 100);
for (uint8_t j=0 ; j < 5 ; j++) {
if (realpos > Shutter.open_max[i] * calibrate_pos[j+1] / 100) {
realpercent = Settings.shuttercoeff[j][i] /10;
//AddLog_P2(LOG_LEVEL_INFO, PSTR("Realpercent TEMP1: %d, %% %d, coeff %d"), realpercent, realpos, Shutter_Open_Max[i] * calibrate_pos[i+1] / 100);
} else {
if ( i == 0) {
realpercent = ( realpos - (Shutter.open_max[index] * calibrate_pos[i] / 100) ) * 10 * Settings.shuttercoeff[i][index] / calibrate_pos[i+1] / Shutter.open_max[index];
realpercent = ( realpos - (Shutter.open_max[i] * calibrate_pos[j] / 100) ) * 10 * Settings.shuttercoeff[j][i] / calibrate_pos[j+1] / Shutter.open_max[i];
} else {
//uint16_t addon = ( realpos - (Shutter_Open_Max[index] * calibrate_pos[i] / 100) ) * 10 * (Settings.shuttercoeff[i][index] - Settings.shuttercoeff[i-1][index]) / (calibrate_pos[i+1] - calibrate_pos[i])/ Shutter_Open_Max[index];
//uint16_t addon = ( percent*10 - Settings.shuttercoeff[i-1][index] ) * Shutter_Open_Max[index] * (calibrate_pos[i+1] - calibrate_pos[i]) / (Settings.shuttercoeff[i][index] -Settings.shuttercoeff[i-1][index]) / 100;
//AddLog_P2(LOG_LEVEL_INFO, PSTR("Realpercent TEMP2: %d, delta %d, %% %d, coeff %d"), addon,( realpos - (Shutter_Open_Max[index] * calibrate_pos[i] / 100) ) , (calibrate_pos[i+1] - calibrate_pos[i])* Shutter_Open_Max[index]/100, (Settings.shuttercoeff[i][index] -Settings.shuttercoeff[i-1][index]));
realpercent += ( realpos - (Shutter.open_max[index] * calibrate_pos[i] / 100) ) * 10 * (Settings.shuttercoeff[i][index] - Settings.shuttercoeff[i-1][index]) / (calibrate_pos[i+1] - calibrate_pos[i]) / Shutter.open_max[index] ;
//uint16_t addon = ( realpos - (Shutter_Open_Max[i] * calibrate_pos[i] / 100) ) * 10 * (Settings.shuttercoeff[i][i] - Settings.shuttercoeff[i-1][i]) / (calibrate_pos[i+1] - calibrate_pos[i])/ Shutter_Open_Max[i];
//uint16_t addon = ( percent*10 - Settings.shuttercoeff[i-1][i] ) * Shutter_Open_Max[i] * (calibrate_pos[i+1] - calibrate_pos[i]) / (Settings.shuttercoeff[i][i] -Settings.shuttercoeff[i-1][i]) / 100;
//AddLog_P2(LOG_LEVEL_INFO, PSTR("Realpercent TEMP2: %d, delta %d, %% %d, coeff %d"), addon,( realpos - (Shutter_Open_Max[i] * calibrate_pos[i] / 100) ) , (calibrate_pos[i+1] - calibrate_pos[i])* Shutter_Open_Max[i]/100, (Settings.shuttercoeff[i][i] -Settings.shuttercoeff[i-1][i]));
realpercent += ( realpos - (Shutter.open_max[i] * calibrate_pos[j] / 100) ) * 10 * (Settings.shuttercoeff[j][i] - Settings.shuttercoeff[j-1][i]) / (calibrate_pos[j+1] - calibrate_pos[j]) / Shutter.open_max[i] ;
}
break;
}
@ -148,12 +158,11 @@ void ShutterInit(void)
Shutter.old_power = power;
bool relay_in_interlock = false;
// if shutter 4 is unused
if (Settings.shutter_startrelay[MAX_SHUTTERS] == 0) {
Shutter.max_pwm_frequency = Settings.shuttercoeff[4][3] > 0 ? Settings.shuttercoeff[4][3] : Shutter.max_pwm_frequency;
}
for (uint32_t i = 0; i < MAX_SHUTTERS; i++) {
// upgrade to 0.1sec calculation base.
if ( Settings.shutter_accuracy == 0) {
Settings.shutter_closetime[i] = Settings.shutter_closetime[i] * 10;
Settings.shutter_opentime[i] = Settings.shutter_opentime[i] * 10;
}
// set startrelay to 1 on first init, but only to shutter 1. 90% usecase
Settings.shutter_startrelay[i] = (Settings.shutter_startrelay[i] == 0 && i == 0? 1 : Settings.shutter_startrelay[i]);
if (Settings.shutter_startrelay[i] && Settings.shutter_startrelay[i] <9) {
@ -177,7 +186,8 @@ void ShutterInit(void)
}
} else {
Shutter.mode = SHT_OFF_ON__OPEN_CLOSE;
if (pin[GPIO_PWM1+i] < 99) {
if (pin[GPIO_PWM1+i] < 99 && pin[GPIO_CNTR1+i]) {
Shutter.mode = SHT_OFF_ON__OPEN_CLOSE_STEPPER;
Shutter.pwm_frequency = 0;
analogWriteFreq(Shutter.pwm_frequency);
analogWrite(pin[GPIO_PWM1+i], 50);
@ -195,6 +205,8 @@ void ShutterInit(void)
// Update Calculation 20 because time interval is 0.05 sec
Shutter.open_max[i] = 200 * Shutter.open_time[i];
Shutter.close_velocity[i] = Shutter.open_max[i] / Shutter.close_time[i] / 2 ;
Shutter.max_close_pwm_frequency[i] = Shutter.max_pwm_frequency*Shutter.open_time[i]/Shutter.close_time[i];
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Shutter %d Closefreq: %d"),i, Shutter.max_close_pwm_frequency[i]);
// calculate a ramp slope at the first 5 percent to compensate that shutters move with down part later than the upper part
if (Settings.shutter_set50percent[i] != 50) {
@ -222,43 +234,54 @@ void ShutterInit(void)
// terminate loop at first INVALID shutter.
break;
}
if (shutters_present < 4) {
Shutter.max_pwm_frequency = Settings.shuttercoeff[4][4] > 0 ? Settings.shuttercoeff[4][4] : Shutter.max_pwm_frequency;
}
Settings.shutter_accuracy = 1;
}
}
void ShutterUpdatePosition(void)
{
char scommand[CMDSZ];
char stopic[TOPSZ];
char stemp2[10];
for (uint32_t i = 0; i < shutters_present; i++) {
if (Shutter.direction[i] != 0) {
if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE && pin[GPIO_PWM1+i] < 99 && pin[GPIO_CNTR1+i] < 99 ) {
int32_t stop_position_delta = 20;
if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE_STEPPER) {
// Calculate position with counter. Much more accurate and no need for motordelay workaround
// adding some steps to stop early
Shutter.real_position[i] = Shutter.direction[i] * 20 + ShutterCounterBasedPosition(i);;
//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 );
Shutter.real_position[i] = ShutterCounterBasedPosition(i);
int32_t max_frequency = Shutter.direction[i] == 1 ? Shutter.max_pwm_frequency : Shutter.max_close_pwm_frequency[i];
int32_t max_freq_change_per_sec = Shutter.max_pwm_frequency*steps_per_second / (Shutter.motordelay[i]>0 ? Shutter.motordelay[i] : 1);
int32_t min_runtime_ms = Shutter.pwm_frequency*1000 / max_freq_change_per_sec;
int32_t velocity = Shutter.direction[i] == 1 ? 100 : Shutter.close_velocity[i];
int32_t minstopway = min_runtime_ms * velocity / 100 * Shutter.pwm_frequency / max_frequency * Shutter.direction[i] ;
int32_t next_possible_stop = Shutter.real_position[i] + minstopway ;
stop_position_delta =200 * Shutter.pwm_frequency/max_frequency + Shutter.direction[i] * (next_possible_stop - Shutter.target_position[i]);
//Shutter.accelerator[i] = tmin(tmax(max_freq_change_per_sec*(100-(Shutter.direction[i]*(Shutter.target_position[i]-next_possible_stop) ))/2000 , max_freq_change_per_sec*9/200), max_freq_change_per_sec*11/200);
//int32_t act_freq_change = max_freq_change_per_sec/20;
AddLog_P2(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: time: %d, velocity %d, minstopway %d,cur_freq %d, max_frequency %d, act_freq_change %d, min_runtime_ms %d, act.pos %d, next_stop %d, target: %d"),Shutter.time[i],velocity,minstopway,
Shutter.pwm_frequency,max_frequency, Shutter.accelerator[i],min_runtime_ms,Shutter.real_position[i], next_possible_stop,Shutter.target_position[i]);
if (Shutter.accelerator[i] < 0 || next_possible_stop * Shutter.direction[i] > Shutter.target_position[i] * Shutter.direction[i] ) {
Shutter.accelerator[i] = - tmin(tmax(max_freq_change_per_sec*(100-(Shutter.direction[i]*(Shutter.target_position[i]-next_possible_stop) ))/2000 , max_freq_change_per_sec*9/200), max_freq_change_per_sec*12/200);
//AddLog_P2(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Ramp down: acc: %d"), Shutter.accelerator[i]);
} else if ( Shutter.accelerator[i] > 0 && Shutter.pwm_frequency == max_frequency) {
Shutter.accelerator[i] = 0;
}
} 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);
}
if (Shutter.real_position[i] * Shutter.direction[i] >= Shutter.target_position[i] * Shutter.direction[i] ) {
if ( Shutter.real_position[i] * Shutter.direction[i] + stop_position_delta >= 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]);
uint8_t cur_relay = Settings.shutter_startrelay[i] + (Shutter.direction[i] == 1 ? 0 : 1) ;
int16_t missing_steps;
switch (Shutter.mode) {
case SHT_PULSE_OPEN__PULSE_CLOSE:
@ -269,29 +292,34 @@ void ShutterUpdatePosition(void)
last_source = SRC_SHUTTER;
}
break;
case SHT_OFF_ON__OPEN_CLOSE:
// This is a failsafe configuration. Relay1 ON/OFF Relay2 -1/1 direction
// Only allow PWM microstepping if PWM and COUNTER are defined.
// 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];
//prepare for stop PWM
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] = ShutterCounterBasedPosition(i);
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]);
case SHT_OFF_ON__OPEN_CLOSE_STEPPER:
missing_steps = ((Shutter.target_position[i]-Shutter.start_position[i])*Shutter.direction[i]*Shutter.max_pwm_frequency/2000) - RtcSettings.pulse_counter[i];
//prepare for stop PWM
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Remain steps %d, counter %d, freq %d"), missing_steps, RtcSettings.pulse_counter[i] ,Shutter.pwm_frequency);
Shutter.accelerator[i] = 0;
Shutter.pwm_frequency = Shutter.pwm_frequency > 250 ? 250 : Shutter.pwm_frequency;
analogWriteFreq(Shutter.pwm_frequency);
analogWrite(pin[GPIO_PWM1+i], 50);
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] = ShutterCounterBasedPosition(i);
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) {
ExecuteCommandPower(Settings.shutter_startrelay[i], 0, SRC_SHUTTER);
ExecuteCommandPower(Settings.shutter_startrelay[i]+1, 0, SRC_SHUTTER);
}
break;
case SHT_OFF_ON__OPEN_CLOSE:
if ((1 << (Settings.shutter_startrelay[i]-1)) & power) {
ExecuteCommandPower(Settings.shutter_startrelay[i], 0, SRC_SHUTTER);
ExecuteCommandPower(Settings.shutter_startrelay[i]+1, 0, SRC_SHUTTER);
}
break;
case SHT_OFF_OPEN__OFF_CLOSE:
// avoid switching OFF a relay already OFF
if ((1 << (cur_relay-1)) & power) {
@ -302,7 +330,7 @@ void ShutterUpdatePosition(void)
}
Settings.shutter_position[i] = ShutterRealToPercentPosition(Shutter.real_position[i], i);
dtostrfd((float)Shutter.time[i] / 20, 1, stemp2);
dtostrfd((float)Shutter.time[i] / steps_per_second, 1, stemp2);
AddLog_P2(LOG_LEVEL_INFO, MSG_SHUTTER_POS, i+1, Shutter.real_position[i], Shutter.start_position[i], Shutter.target_position[i], Shutter.direction[i], Shutter.motordelay[i],stemp2,Shutter.pwm_frequency);
Shutter.start_position[i] = Shutter.real_position[i];
@ -332,50 +360,51 @@ bool ShutterState(uint8_t device)
(Shutter.mask & (1 << (Settings.shutter_startrelay[device]-1))) );
}
void ShutterStartInit(uint8_t index, int8_t direction, int32_t target_pos)
void ShutterStartInit(uint8_t i, 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]) / 100 <= 2 )
|| ( direction == -1 && Shutter.real_position[index] / Shutter.close_velocity[index] <= 2)) {
//AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: dir %d, delta1 %d, delta2 %d, grant %d"),direction, (Shutter.open_max[i] - Shutter.real_position[i]) / Shutter.close_velocity[i], Shutter.real_position[i] / Shutter.close_velocity[i], 2+Shutter.motordelay[i]);
if ( ( direction == 1 && (Shutter.open_max[i] - Shutter.real_position[i]) / 100 <= 2 )
|| ( direction == -1 && Shutter.real_position[i] / Shutter.close_velocity[i] <= 2)) {
Shutter.skip_relay_change = 1 ;
} else {
if (pin[GPIO_PWM1+index] < 99) {
if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE_STEPPER) {
Shutter.pwm_frequency = 0;
analogWriteFreq(Shutter.pwm_frequency);
analogWrite(pin[GPIO_PWM1+index], 0);
analogWrite(pin[GPIO_PWM1+i], 0);
// can be operated without counter, but then not that acurate.
if (pin[GPIO_CNTR1+index] < 99) {
RtcSettings.pulse_counter[index] = 0;
if (pin[GPIO_CNTR1+i] < 99) {
RtcSettings.pulse_counter[i] = 0;
}
Shutter.accelerator[i] = Shutter.max_pwm_frequency / (Shutter.motordelay[i]>0 ? Shutter.motordelay[i] : 1);
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Ramp up: %d"), Shutter.accelerator[i]);
}
Shutter.target_position[index] = target_pos;
Shutter.start_position[index] = Shutter.real_position[index];
Shutter.time[index] = 0;
Shutter.target_position[i] = target_pos;
Shutter.start_position[i] = Shutter.real_position[i];
Shutter.time[i] = 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 );
Shutter.direction[i] = direction;
//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 );
}
//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]);
//AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Start shutter: %d from %d to %d in directin %d"), i, Shutter.start_position[i], Shutter.target_position[i], Shutter.direction[i]);
}
void ShutterWaitForMotorStop(uint8_t index)
void ShutterWaitForMotorStop(uint8_t i)
{
AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Wait for Motorstop.."));
if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE) {
if (pin[GPIO_PWM1+index] < 99 && pin[GPIO_CNTR1+index] < 99 ) {
if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE || Shutter.mode == SHT_OFF_ON__OPEN_CLOSE_STEPPER) {
if ( Shutter.mode = SHT_OFF_ON__OPEN_CLOSE_STEPPER) {
//AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Frequency change %d"), Shutter.pwm_frequency);
while (Shutter.pwm_frequency > 100) {
Shutter.pwm_frequency = tmax(Shutter.pwm_frequency-(Shutter.max_pwm_frequency/(Shutter.motordelay[index]+1)) , 0);
while (Shutter.pwm_frequency > 0) {
Shutter.accelerator[i] = 0;
Shutter.pwm_frequency = tmax(Shutter.pwm_frequency-((Shutter.direction[i] == 1 ? Shutter.max_pwm_frequency : Shutter.max_close_pwm_frequency[i])/(Shutter.motordelay[i]+1)) , 0);
analogWriteFreq(Shutter.pwm_frequency);
analogWrite(pin[GPIO_PWM1+index], 50);
analogWrite(pin[GPIO_PWM1+i], 50);
delay(50);
}
Shutter.pwm_frequency = 0;
analogWriteFreq(Shutter.pwm_frequency);
analogWrite(pin[GPIO_PWM1+index], 0);
Shutter.real_position[index] = ShutterCounterBasedPosition(index);
analogWrite(pin[GPIO_PWM1+i], 0);
Shutter.real_position[i] = ShutterCounterBasedPosition(i);
} else {
ExecuteCommandPower(Settings.shutter_startrelay[index], 0, SRC_SHUTTER);
ExecuteCommandPower(Settings.shutter_startrelay[i], 0, SRC_SHUTTER);
delay(MOTOR_STOP_TIME);
}
} else {
@ -391,7 +420,7 @@ void ShutterReportPosition(void)
if (Shutter.direction[i] != 0) {
char stemp2[10];
uint8_t position = ShutterRealToPercentPosition(Shutter.real_position[i], i);
dtostrfd((float)Shutter.time[i] / 20, 2, stemp2);
dtostrfd((float)Shutter.time[i] / steps_per_second, 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, MSG_SHUTTER_POS, i+1, Shutter.real_position[i], Shutter.start_position[i], Shutter.target_position[i], Shutter.direction[i], Shutter.motordelay[i],stemp2,Shutter.pwm_frequency);
@ -430,7 +459,7 @@ void ShutterRelayChanged(void)
//AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Shutter %d: source: %s, powerstate_local %ld, Shutter.switched_relay %d, manual change %d"), i+1, GetTextIndexed(stemp1, sizeof(stemp1), last_source, kCommandSource), powerstate_local,Shutter.switched_relay,manual_relays_changed);
if (manual_relays_changed) {
//Shutter.skip_relay_change = true;
if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE) {
if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE || Shutter.mode == SHT_OFF_ON__OPEN_CLOSE_STEPPER) {
ShutterWaitForMotorStop(i);
switch (powerstate_local) {
case 1:
@ -478,7 +507,7 @@ void ShutterSetPosition(uint8_t device, uint8_t position)
void CmndShutterOpen(void)
{
//AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Payload close: %d, index %d"), XdrvMailbox.payload, XdrvMailbox.index);
//AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Payload close: %d, i %d"), XdrvMailbox.payload, XdrvMailbox.i);
if ( XdrvMailbox.index == 1 && XdrvMailbox.payload != -99) {
XdrvMailbox.index = XdrvMailbox.payload;
}
@ -489,7 +518,7 @@ void CmndShutterOpen(void)
void CmndShutterClose(void)
{
//AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Payload open: %d, index %d"), XdrvMailbox.payload, XdrvMailbox.index);
//AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Payload open: %d, i %d"), XdrvMailbox.payload, XdrvMailbox.i);
if ( XdrvMailbox.index == 1 && XdrvMailbox.payload != -99) {
XdrvMailbox.index = XdrvMailbox.payload;
}
@ -505,14 +534,14 @@ void CmndShutterStop(void)
if ( XdrvMailbox.index == 1 && XdrvMailbox.payload != -99) {
XdrvMailbox.index = XdrvMailbox.payload;
}
uint32_t index = XdrvMailbox.index -1;
if (Shutter.direction[index] != 0) {
uint32_t i = XdrvMailbox.index -1;
if (Shutter.direction[i] != 0) {
AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Stop moving %d: dir: %d"), XdrvMailbox.index, Shutter.direction[index]);
AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Stop moving %d: dir: %d"), XdrvMailbox.index, Shutter.direction[i]);
// 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);
//XdrvMailbox.payload = Settings.shuttercoeff[2][index] * 5 > temp_realpos ? temp_realpos / Settings.shuttercoeff[2][index] : (temp_realpos-Settings.shuttercoeff[0,index]) / Settings.shuttercoeff[1][index];
int32_t temp_realpos = Shutter.start_position[i] + ( (Shutter.time[i]+10) * (Shutter.direction[i] > 0 ? 100 : -Shutter.close_velocity[i]));
XdrvMailbox.payload = ShutterRealToPercentPosition(temp_realpos, i);
//XdrvMailbox.payload = Settings.shuttercoeff[2][i] * 5 > temp_realpos ? temp_realpos / Settings.shuttercoeff[2][i] : (temp_realpos-Settings.shuttercoeff[0,i]) / Settings.shuttercoeff[1][i];
last_source = SRC_WEBGUI;
CmndShutterPosition();
} else {
@ -524,7 +553,7 @@ void CmndShutterStop(void)
void CmndShutterPosition(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
uint32_t index = XdrvMailbox.index -1;
uint32_t index = XdrvMailbox.index-1;
//limit the payload
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 );
@ -542,6 +571,7 @@ void CmndShutterPosition(void)
if (XdrvMailbox.payload != -99) {
//target_pos_percent = Settings.shutter_invert[index] ? 100 - target_pos_percent : target_pos_percent;
Shutter.target_position[index] = ShutterPercentToRealPosition(target_pos_percent, index);
Shutter.accelerator[index] = Shutter.max_pwm_frequency / (Shutter.motordelay[index]>0 ? Shutter.motordelay[index] : 1);
//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:, real %d, target %d, payload %d"), last_source, Shutter.real_position[index] ,Shutter.target_position[index],target_pos_percent);
}
@ -561,7 +591,7 @@ void CmndShutterPosition(void)
}
}
if (Shutter.direction[index] != new_shutterdirection ) {
if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE) {
if (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE || Shutter.mode == SHT_OFF_ON__OPEN_CLOSE_STEPPER) {
//AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Delay5 5s, xdrv %d"), XdrvMailbox.payload);
ShutterWaitForMotorStop(index);
ExecuteCommandPower(Settings.shutter_startrelay[index], 0, SRC_SHUTTER);
@ -617,11 +647,11 @@ void CmndShutterMotorDelay(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
if (XdrvMailbox.data_len > 0) {
Settings.shutter_motordelay[XdrvMailbox.index -1] = (uint16_t)(20 * CharToFloat(XdrvMailbox.data));
Settings.shutter_motordelay[XdrvMailbox.index -1] = (uint16_t)(steps_per_second * CharToFloat(XdrvMailbox.data));
ShutterInit();
}
char time_chr[10];
dtostrfd((float)(Settings.shutter_motordelay[XdrvMailbox.index -1]) / 20, 2, time_chr);
dtostrfd((float)(Settings.shutter_motordelay[XdrvMailbox.index -1]) / steps_per_second, 2, time_chr);
ResponseCmndIdxChar(time_chr);
}
}
@ -660,8 +690,9 @@ void CmndShutterFrequency(void)
if ((XdrvMailbox.payload > 0) && (XdrvMailbox.payload <= 20000)) {
Shutter.max_pwm_frequency = XdrvMailbox.payload;
if (shutters_present < 4) {
Settings.shuttercoeff[4][4] = Shutter.max_pwm_frequency;
Settings.shuttercoeff[4][3] = Shutter.max_pwm_frequency;
}
ShutterInit();
ResponseCmndNumber(XdrvMailbox.payload); // ????
} else {
ResponseCmndNumber(Shutter.max_pwm_frequency);
@ -707,8 +738,8 @@ void CmndShutterCalibration(void) // ????
messwerte[i] = field;
}
for (i=0 ; i < 5 ; i++) {
Settings.shuttercoeff[i][XdrvMailbox.index-1] = messwerte[i] * 1000 / messwerte[4];
AddLog_P2(LOG_LEVEL_INFO, PSTR("Settings.shuttercoeff: %d, i: %d, value: %d, messwert %d"), i,XdrvMailbox.index-1,Settings.shuttercoeff[i][XdrvMailbox.index-1], messwerte[i]);
Settings.shuttercoeff[i][XdrvMailbox.index -1] = messwerte[i] * 1000 / messwerte[4];
AddLog_P2(LOG_LEVEL_INFO, PSTR("Settings.shuttercoeff: %d, i: %d, value: %d, messwert %d"), i,XdrvMailbox.index -1,Settings.shuttercoeff[i][XdrvMailbox.index -1], messwerte[i]);
}
ShutterInit();
ResponseCmndIdxChar(XdrvMailbox.data);