mirror of https://github.com/arendst/Tasmota.git
Merge pull request #13677 from stefanbode/patch-2
Fixed Tilt Movement + Enhancement PWM Servo
This commit is contained in:
Theo Arends
GitHub
commit
ee75cab504
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@ -94,11 +94,14 @@ struct SHUTTER {
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uint16_t close_velocity_max; // maximum of PWM change during closeing. Defines velocity on opening. Steppers and Servos only
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int32_t accelerator; // speed of ramp-up, ramp down of shutters with velocity control. Steppers and Servos only
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int8_t tilt_config[5]; // tilt_min, tilt_max, duration, tilt_closed_value, tilt_opened_value
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int8_t tilt_real_pos; // -90 to 90
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int16_t tilt_target_pos;
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int16_t tilt_start_pos;
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int8_t tilt_real_pos; // -90 to 90
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int8_t tilt_target_pos; // target positon for movements of the tilt
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int8_t tilt_start_pos; // saved start position before shutter moves
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uint8_t tilt_velocity; // degree rotation per step 0.05sec
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uint16_t venetian_delay = 0; // Delay in steps before venetian shutter start physical moving. Based on tilt position
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int8_t tiltmoving; // 0 operating move, 1 = operating tilt
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uint16_t venetian_delay = 0; // Delay in steps before venetian shutter start physical moving. Based on tilt position
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uint16_t min_realPositionChange = 0; // minimum change of the position before the shutter operates. different for PWM and time based operations
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uint16_t min_TiltChange = 0; // minimum change of the tilt before the shutter operates. different for PWM and time based operations
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} Shutter[MAX_SHUTTERS];
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struct SHUTTERGLOBAL {
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@ -108,8 +111,7 @@ struct SHUTTERGLOBAL {
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uint8_t position_mode = 0; // how to calculate actual position: SHT_TIME, SHT_COUNTER, SHT_PWM_VALUE, SHT_PWM_TIME
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uint8_t skip_relay_change; // avoid overrun at endstops
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uint8_t start_reported = 0; // indicates of the shutter start was reported through MQTT JSON
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uint16_t open_velocity_max = 1000; // maximum of PWM change during opening. Defines velocity on opening. Steppers and Servos only
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uint16_t venetian_delay = 0;
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uint16_t open_velocity_max = RESOLUTION; // maximum of PWM change during opening. Defines velocity on opening. Steppers and Servos only
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} ShutterGlobal;
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#define SHT_DIV_ROUND(__A, __B) (((__A) + (__B)/2) / (__B))
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@ -327,6 +329,10 @@ void ShutterInit(void)
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Shutter[i].tilt_real_pos = Settings->shutter_tilt_pos[i];
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Shutter[i].tilt_velocity = Shutter[i].tilt_config[2] > 0 ? (Shutter[i].tilt_config[1]-Shutter[i].tilt_config[0])/Shutter[i].tilt_config[2] : 1;
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Shutter[i].close_velocity_max = ShutterGlobal.open_velocity_max*Shutter[i].open_time / Shutter[i].close_time;
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Shutter[i].min_realPositionChange = 2 * tmax(ShutterGlobal.open_velocity_max, Shutter[i].close_velocity_max);
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Shutter[i].min_TiltChange = 2 * Shutter[i].tilt_velocity;
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switch (ShutterGlobal.position_mode) {
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case SHT_PWM_VALUE:
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@ -334,14 +340,15 @@ void ShutterInit(void)
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// Initiate pwm range with defaults if not already set.
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Settings->shutter_pwmrange[0][i] = Settings->shutter_pwmrange[0][i] > 0 ? Settings->shutter_pwmrange[0][i] : pwm_servo_min;
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Settings->shutter_pwmrange[1][i] = Settings->shutter_pwmrange[1][i] > 0 ? Settings->shutter_pwmrange[1][i] : pwm_servo_max;
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Shutter[i].min_realPositionChange = 0;
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Shutter[i].min_TiltChange = 0;
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break;
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}
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Shutter[i].close_velocity_max = ShutterGlobal.open_velocity_max*Shutter[i].open_time / Shutter[i].close_time;
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AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Shtr%d min realpos_chg: %d, min tilt_chg %d"),i+1,Shutter[i].min_realPositionChange,Shutter[i].min_TiltChange);
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//AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Shtr%d Openvel %d, Closevel: %d"),i, ShutterGlobal.open_velocity_max, Shutter[i].close_velocity_max);
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AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Shtr%d Init. Pos %d, Inverted %d, Locked %d, End stop time enabled %d, webButtons inverted %d, delay: %d"),
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AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Shtr%d Init. Pos %d, Inv %d, Locked %d, Endstop enab %d, webButt inv %d, Motordel: %d"),
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i+1, Shutter[i].real_position,
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(Settings->shutter_options[i]&1) ? 1 : 0, (Settings->shutter_options[i]&2) ? 1 : 0, (Settings->shutter_options[i]&4) ? 1 : 0, (Settings->shutter_options[i]&8) ? 1 : 0), Shutter[i].motordelay;
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(Settings->shutter_options[i]&1) ? 1 : 0, (Settings->shutter_options[i]&2) ? 1 : 0, (Settings->shutter_options[i]&4) ? 1 : 0, (Settings->shutter_options[i]&8) ? 1 : 0, Shutter[i].motordelay);
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} else {
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// terminate loop at first INVALID Shutter[i].
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@ -380,7 +387,8 @@ void ShutterReportPosition(bool always, uint32_t index)
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//AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: rules_flag.shutter_moving: %d, moved %d"), TasmotaGlobal.rules_flag.shutter_moving, TasmotaGlobal.rules_flag.shutter_moved);
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}
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void ShutterLimitRealAndTargetPositions(uint32_t i) {
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void ShutterLimitRealAndTargetPositions(uint32_t i)
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{
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if (Shutter[i].real_position<0) Shutter[i].real_position = 0;
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if (Shutter[i].real_position>Shutter[i].open_max) Shutter[i].real_position = Shutter[i].open_max;
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if (Shutter[i].target_position<0) Shutter[i].target_position = 0;
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@ -461,7 +469,8 @@ void ShutterDecellerateForStop(uint8_t i)
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}
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}
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void ShutterPowerOff(uint8_t i) {
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void ShutterPowerOff(uint8_t i)
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{
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AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Stop Shutter %d. Switchmode %d"), i+1,Shutter[i].switch_mode); // fix log to indicate correct shutter number
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ShutterDecellerateForStop(i);
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switch (Shutter[i].switch_mode) {
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@ -490,15 +499,18 @@ void ShutterPowerOff(uint8_t i) {
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// Store current PWM value to ensure proper position after reboot.
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switch (ShutterGlobal.position_mode) {
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case SHT_PWM_VALUE:
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char scmnd[20];
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#ifdef SHUTTER_CLEAR_PWM_ONSTOP
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// free the PWM servo lock on stop.
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snprintf_P(scmnd, sizeof(scmnd), PSTR(D_CMND_PWM "%d 0" ), i+1);
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#else
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snprintf_P(scmnd, sizeof(scmnd), PSTR(D_CMND_PWM "%d %d" ), i+1,Shutter[i].pwm_value);
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#endif
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ExecuteCommand(scmnd, SRC_BUTTON);
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break;
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Shutter[i].pwm_value = SHT_DIV_ROUND((Settings->shutter_pwmrange[1][i]-Settings->shutter_pwmrange[0][i]) * Shutter[i].target_position , Shutter[i].open_max)+Settings->shutter_pwmrange[0][i];
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analogWrite(Pin(GPIO_PWM1, i), Shutter[i].pwm_value);
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AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: PWM final %d"),Shutter[i].pwm_value);
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char scmnd[20];
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#ifdef SHUTTER_CLEAR_PWM_ONSTOP
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// free the PWM servo lock on stop.
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snprintf_P(scmnd, sizeof(scmnd), PSTR(D_CMND_PWM "%d 0" ), i+1);
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#else
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snprintf_P(scmnd, sizeof(scmnd), PSTR(D_CMND_PWM "%d %d" ), i+1,Shutter[i].pwm_value);
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#endif
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ExecuteCommand(scmnd, SRC_BUTTON);
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break;
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}
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if (Shutter[i].direction !=0) {
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Shutter[i].direction = 0;
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@ -508,7 +520,6 @@ void ShutterPowerOff(uint8_t i) {
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void ShutterUpdatePosition(void)
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{
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char scommand[CMDSZ];
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char stopic[TOPSZ];
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for (uint32_t i = 0; i < TasmotaGlobal.shutters_present; i++) {
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@ -518,12 +529,13 @@ void ShutterUpdatePosition(void)
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XdrvRulesProcess(0);
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ShutterGlobal.start_reported = 1;
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}
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AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Time %d, cStop %d, cVelo %d, mVelo %d, aVelo %d, mRun %d, aPos %d, aPos2 %d, nStop %d, Trgt %d, mVelo %d, Dir %d, Tilt %d"),
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AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Time %d, cStop %d, cVelo %d, mVelo %d, aVelo %d, mRun %d, aPos %d, aPos2 %d, nStop %d, Trgt %d, mVelo %d, Dir %d, Tilt %d, TrgtTilt: %d, Tiltmove: %d"),
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Shutter[i].time, current_stop_way, current_pwm_velocity, velocity_max, Shutter[i].accelerator, min_runtime_ms, current_real_position,Shutter[i].real_position,
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next_possible_stop_position, Shutter[i].target_position, velocity_change_per_step_max, Shutter[i].direction,Shutter[i].tilt_real_pos);
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next_possible_stop_position, Shutter[i].target_position, velocity_change_per_step_max, Shutter[i].direction,Shutter[i].tilt_real_pos, Shutter[i].tilt_target_pos,
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Shutter[i].tiltmoving);
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if ( (Shutter[i].real_position * Shutter[i].direction >= Shutter[i].target_position * Shutter[i].direction &&
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Shutter[i].tilt_real_pos * Shutter[i].direction * Shutter[i].tilt_config[2] >= Shutter[i].tilt_target_pos * Shutter[i].direction * Shutter[i].tilt_config[2])
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if ( ((Shutter[i].real_position * Shutter[i].direction >= Shutter[i].target_position * Shutter[i].direction && Shutter[i].tiltmoving==0) ||
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((int16_t)Shutter[i].tilt_real_pos * Shutter[i].direction * Shutter[i].tilt_config[2] >= (int16_t)Shutter[i].tilt_target_pos * Shutter[i].direction * Shutter[i].tilt_config[2] && Shutter[i].tiltmoving==1))
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|| (ShutterGlobal.position_mode == SHT_COUNTER && Shutter[i].accelerator <0 && Shutter[i].pwm_velocity+Shutter[i].accelerator<PWM_MIN)) {
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if (Shutter[i].direction != 0) {
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Shutter[i].lastdirection = Shutter[i].direction;
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@ -536,12 +548,16 @@ void ShutterUpdatePosition(void)
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// manage venetian blinds
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Shutter[i].tilt_target_pos = Settings->shutter_position[i] == 0 ? Shutter[i].tilt_config[0] : Shutter[i].tilt_target_pos;
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Shutter[i].tilt_target_pos = Settings->shutter_position[i] == 100 ? Shutter[i].tilt_config[1] : Shutter[i].tilt_target_pos;
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if (abs(Shutter[i].tilt_real_pos - Shutter[i].tilt_target_pos) > 10) {
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AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Tilt does not match akt %d, target %d"),Shutter[i].tilt_real_pos,Shutter[i].tilt_target_pos);
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if (abs(Shutter[i].tilt_real_pos - Shutter[i].tilt_target_pos) > Shutter[i].min_TiltChange) {
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AddLog(LOG_LEVEL_INFO, PSTR("SHT: Tilt not match %d -> %d"),Shutter[i].tilt_real_pos,Shutter[i].tilt_target_pos);
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XdrvMailbox.payload = -99;
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XdrvMailbox.index = i+1;
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Shutter[i].tiltmoving = 1;
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CmndShutterPosition();
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return;
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} else {
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Settings->shutter_tilt_pos[i] = Shutter[i].tilt_real_pos;
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Shutter[i].tiltmoving = 0;
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}
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ShutterLogPos(i);
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@ -558,7 +574,8 @@ void ShutterUpdatePosition(void)
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}
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}
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bool ShutterState(uint32_t device) {
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bool ShutterState(uint32_t device)
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{
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if (device > 4) { return false; }
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device--;
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device &= 3;
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@ -583,9 +600,10 @@ void ShutterAllowPreStartProcedure(uint8_t i)
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void ShutterStartInit(uint32_t i, int32_t direction, int32_t target_pos)
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{
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//AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: dir %d, delta1 %d, delta2 %d, grant %d"),direction, (Shutter[i].open_max - Shutter[i].real_position) / Shutter[i].close_velocity, Shutter[i].real_position / Shutter[i].close_velocity, 2+Shutter[i].motordelay);
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if ( ( ( (1 == direction) && ((Shutter[i].open_max - Shutter[i].real_position) / 100 <= 2))
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|| ( (-1 == direction) && (Shutter[i].real_position / Shutter[i].close_velocity <= 2)) ) && abs(Shutter[i].tilt_real_pos-Shutter[i].tilt_target_pos)/Shutter[i].tilt_velocity <= 2) {
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AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: dir %d, delta1 %d, delta2 %d"),direction, (Shutter[i].open_max - Shutter[i].real_position) / Shutter[i].close_velocity, Shutter[i].real_position / Shutter[i].close_velocity);
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if ( ( ( (1 == direction) && ((Shutter[i].open_max - Shutter[i].real_position) <= Shutter[i].min_realPositionChange))
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|| ( (-1 == direction) && (Shutter[i].real_position <= Shutter[i].min_realPositionChange)) )
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&& abs(Shutter[i].tilt_real_pos-Shutter[i].tilt_target_pos) <= Shutter[i].min_TiltChange) {
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ShutterGlobal.skip_relay_change = 1;
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} else {
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Shutter[i].pwm_velocity = 0;
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@ -614,10 +632,10 @@ void ShutterStartInit(uint32_t i, int32_t direction, int32_t target_pos)
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Shutter[i].venetian_delay = (Shutter[i].direction > 0 ? Shutter[i].tilt_config[1]-Shutter[i].tilt_real_pos : Shutter[i].tilt_real_pos-Shutter[i].tilt_config[0]) * Shutter[i].tilt_config[2] / (Shutter[i].tilt_config[1]-Shutter[i].tilt_config[0]);
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//AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: real %d, start %d, counter %d,freq_max %d, dir %d, freq %d"),Shutter[i].real_position, Shutter[i].start_position ,RtcSettings.pulse_counter[i],ShutterGlobal.open_velocity_max , Shutter[i].direction ,ShutterGlobal.open_velocity_max );
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//AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: %d VenetianDelay: %d, Pos: %d, Dir: %d, Delta: %d, Durat: %d, Start: %d, Target: %d"),
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//i, Shutter[i].venetian_delay, Shutter[i].tilt_real_pos,Shutter[i].direction,(Shutter[i].tilt_config[1]-Shutter[i].tilt_config[0]), Shutter[i].tilt_config[2],Shutter[i].tilt_start_pos,Shutter[i].tilt_target_pos);
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// i, Shutter[i].venetian_delay, Shutter[i].tilt_real_pos,Shutter[i].direction,(Shutter[i].tilt_config[1]-Shutter[i].tilt_config[0]), Shutter[i].tilt_config[2],Shutter[i].tilt_start_pos,Shutter[i].tilt_target_pos);
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}
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}
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//AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Start shtr%d from %d to %d in direction %d"), i, Shutter[i].start_position, Shutter[i].target_position, Shutter[i].direction);
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AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Start shtr%d from %d to %d in direction %d"), i, Shutter[i].start_position, Shutter[i].target_position, Shutter[i].direction);
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}
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int32_t ShutterCalculatePosition(uint32_t i)
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@ -636,7 +654,7 @@ int32_t ShutterCalculatePosition(uint32_t i)
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Shutter[i].tilt_real_pos = (Shutter[i].tilt_start_pos + ((Shutter[i].direction * (int16_t)Shutter[i].time * (Shutter[i].tilt_config[1]-Shutter[i].tilt_config[0])) / Shutter[i].tilt_config[2]));
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} else {
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Shutter[i].tilt_real_pos = Shutter[i].direction == 1 ? Shutter[i].tilt_config[1] : Shutter[i].tilt_config[0];
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}
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}
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}
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return Shutter[i].start_position + ( (Shutter[i].time - tmin(Shutter[i].venetian_delay+Shutter[i].motordelay, Shutter[i].time)) * (Shutter[i].direction > 0 ? RESOLUTION : -Shutter[i].close_velocity));
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break;
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@ -691,6 +709,7 @@ void ShutterRelayChanged(void)
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case SHT_COUNTER:
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case SHT_PWM_VALUE:
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case SHT_PWM_TIME:
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//AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: power off manual change"));
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ShutterPowerOff(i);
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switch (powerstate_local) {
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case 1:
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@ -734,7 +753,8 @@ void ShutterRelayChanged(void)
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} // for (uint32_t i = 0; i < TasmotaGlobal.shutters_present; i++)
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}
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bool ShutterButtonIsSimultaneousHold(uint32_t button_index, uint32_t shutter_index) {
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bool ShutterButtonIsSimultaneousHold(uint32_t button_index, uint32_t shutter_index)
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{
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// check for simultaneous shutter button hold
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uint32 min_shutterbutton_hold_timer = -1; // -1 == max(uint32)
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for (uint32_t i = 0; i < MAX_SHUTTER_KEYS; i++) {
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@ -1074,7 +1094,6 @@ void CmndShutterIncDec(void)
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}
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}
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void CmndShutterPosition(void)
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{
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if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= TasmotaGlobal.shutters_present)) {
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@ -1121,17 +1140,21 @@ void CmndShutterPosition(void)
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AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: lastsource %d:, real %d, target %d, tiltreal: %d, tilttarget: %d, payload %d"), TasmotaGlobal.last_source, Shutter[index].real_position ,Shutter[index].target_position,Shutter[index].tilt_real_pos, Shutter[index].tilt_target_pos,target_pos_percent);
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}
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if ( (target_pos_percent >= 0) && (target_pos_percent <= 100) &&
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(abs(Shutter[index].target_position - Shutter[index].real_position ) / Shutter[index].close_velocity > 2 ||
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abs(Shutter[index].tilt_target_pos - Shutter[index].tilt_real_pos ) / Shutter[index].tilt_velocity > 2) ) {
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(abs(Shutter[index].target_position - Shutter[index].real_position ) > Shutter[index].min_realPositionChange ||
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abs(Shutter[index].tilt_target_pos - Shutter[index].tilt_real_pos ) > Shutter[index].min_TiltChange) ) {
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if (Settings->shutter_options[index] & 4) {
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if (0 == target_pos_percent) Shutter[index].target_position -= 1 * RESOLUTION * STEPS_PER_SECOND;
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if (100 == target_pos_percent) Shutter[index].target_position += 1 * RESOLUTION * STEPS_PER_SECOND;
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}
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int8_t new_shutterdirection = Shutter[index].real_position < Shutter[index].target_position ? 1 : -1;
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if (Shutter[index].real_position == Shutter[index].target_position) {
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int8_t new_shutterdirection;
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if (abs(Shutter[index].target_position - Shutter[index].real_position ) > Shutter[index].min_realPositionChange) {
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new_shutterdirection = Shutter[index].real_position < Shutter[index].target_position ? 1 : -1;
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} else {
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new_shutterdirection = Shutter[index].tilt_real_pos < Shutter[index].tilt_target_pos ? 1 : -1;
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}
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if (Shutter[index].direction == -new_shutterdirection) {
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//AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Stop shutter to reverse direction"));
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ShutterPowerOff(index);
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}
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if (Shutter[index].direction != new_shutterdirection) {
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@ -1203,6 +1226,7 @@ void CmndShutterStopPosition(void)
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}
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}
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}
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void CmndShutterOpenTime(void)
|
||||
{
|
||||
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= TasmotaGlobal.shutters_present)) {
|
||||
|
|
@ -1423,8 +1447,8 @@ void CmndShutterSetHalfway(void)
|
|||
void CmndShutterSetTilt(void)
|
||||
{
|
||||
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= TasmotaGlobal.shutters_present)) {
|
||||
if (XdrvMailbox.payload != -99 && XdrvMailbox.payload >= Shutter[XdrvMailbox.index -1].tilt_config[0] && XdrvMailbox.payload <= Shutter[XdrvMailbox.index -1].tilt_config[1] ) {
|
||||
Shutter[XdrvMailbox.index -1].tilt_target_pos = XdrvMailbox.payload;
|
||||
if (XdrvMailbox.payload != -99 ) {
|
||||
Shutter[XdrvMailbox.index -1].tilt_target_pos = tmin(tmax(XdrvMailbox.payload, Shutter[XdrvMailbox.index -1].tilt_config[0]), Shutter[XdrvMailbox.index -1].tilt_config[1]);
|
||||
XdrvMailbox.payload = -99;
|
||||
}
|
||||
if ((XdrvMailbox.data_len > 1) && (XdrvMailbox.payload <= 0)) {
|
||||
|
|
@ -1440,6 +1464,7 @@ void CmndShutterSetTilt(void)
|
|||
}
|
||||
XdrvMailbox.data[0] = '\0';
|
||||
ResponseCmndNumber(Shutter[XdrvMailbox.index -1].tilt_target_pos);
|
||||
Shutter[XdrvMailbox.index -1].tiltmoving = 1;
|
||||
CmndShutterPosition();
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue