/* xdrv_25_a4988_stepper.ino - A4988 StepMotorDriverCircuit- support for Tasmota Copyright (C) 2021 Tim Leuscher 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 . */ #ifdef USE_A4988_STEPPER /*********************************************************************************************\ * A4988 Stepper motor driver circuit \*********************************************************************************************/ #define XDRV_25 25 #include short A4988_dir_pin = 0; short A4988_stp_pin = 0; short A4988_ms1_pin = 0; short A4988_ms2_pin = 0; short A4988_ms3_pin = 0; short A4988_ena_pin = 0; int A4988_spr = 0; float A4988_rpm = 0; short A4988_mis = 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_MS1, 1); A4988_ms3_pin = Pin(GPIO_A4988_MS1, 2); A4988_spr = 200; A4988_rpm = 30; A4988_mis = 1; myA4988 = new A4988_Stepper( A4988_spr , A4988_rpm , A4988_mis , A4988_dir_pin , A4988_stp_pin , A4988_ena_pin , A4988_ms1_pin , A4988_ms2_pin , A4988_ms3_pin ); } const char kA4988Commands[] PROGMEM = "Motor|" // prefix "Move|Rotate|Turn|MIS|SPR|RPM"; void (* const A4988Command[])(void) PROGMEM = { &CmndDoMove,&CmndDoRotate,&CmndDoTurn,&CmndSetMIS,&CmndSetSPR,&CmndSetRPM}; void CmndDoMove(void) { if (XdrvMailbox.data_len > 0) { long stepsPlease = strtoul(XdrvMailbox.data,nullptr,10); myA4988->doMove(stepsPlease); ResponseCmndDone(); } } void CmndDoRotate(void) { if (XdrvMailbox.data_len > 0) { long degrsPlease = strtoul(XdrvMailbox.data,nullptr,10); myA4988->doRotate(degrsPlease); ResponseCmndDone(); } } void CmndDoTurn(void) { if (XdrvMailbox.data_len > 0) { float turnsPlease = strtod(XdrvMailbox.data,nullptr); myA4988->doTurn(turnsPlease); ResponseCmndDone(); } } void CmndSetMIS(void) { if (PinUsed(GPIO_A4988_MS1) && PinUsed(GPIO_A4988_MS1, 1) && PinUsed(GPIO_A4988_MS1, 2) && (XdrvMailbox.data_len > 0)) { short newMIS = strtoul(XdrvMailbox.data,nullptr,10); myA4988->setMIS(newMIS); ResponseCmndDone(); } } void CmndSetSPR(void) { if (XdrvMailbox.data_len > 0) { int newSPR = strtoul(XdrvMailbox.data,nullptr,10); myA4988->setSPR(newSPR); ResponseCmndDone(); } } void CmndSetRPM(void) { if (XdrvMailbox.data_len > 0) { short newRPM = strtoul(XdrvMailbox.data,nullptr,10); myA4988->setRPM(newRPM); ResponseCmndDone(); } } /*********************************************************************************************\ * Interface \*********************************************************************************************/ bool Xdrv25(uint32_t function) { bool result = false; if (PinUsed(GPIO_A4988_DIR) && PinUsed(GPIO_A4988_STP)) { switch (function) { case FUNC_INIT: A4988Init(); break; case FUNC_COMMAND: result = DecodeCommand(kA4988Commands, A4988Command); break; } } return result; } #endif // USE_A4988_STEPPER