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Tasmota/tasmota/xdrv_27_shutter.ino

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/*
xdrv_27_shutter.ino - Shutter/Blind support for Tasmota
Copyright (C) 2019 Stefan Bode
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_SHUTTER
/*********************************************************************************************\
* Shutter or Blind support using two consecutive relays
\*********************************************************************************************/
#define XDRV_27 27
#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, 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 "|"
D_CMND_SHUTTER_OPENTIME "|" D_CMND_SHUTTER_CLOSETIME "|" D_CMND_SHUTTER_RELAY "|"
D_CMND_SHUTTER_SETHALFWAY "|" D_CMND_SHUTTER_SETCLOSE "|" D_CMND_SHUTTER_INVERT "|" D_CMND_SHUTTER_CLIBRATION "|"
D_CMND_SHUTTER_MOTORDELAY "|" D_CMND_SHUTTER_FREQUENCY;
void (* const ShutterCommand[])(void) PROGMEM = {
&CmndShutterOpen, &CmndShutterClose, &CmndShutterStop, &CmndShutterPosition,
&CmndShutterOpenTime, &CmndShutterCloseTime, &CmndShutterRelay,
&CmndShutterSetHalfway, &CmndShutterSetClose, &CmndShutterInvert, &CmndShutterCalibration , &CmndShutterMotorDelay,
&CmndShutterFrequency};
const char JSON_SHUTTER_POS[] PROGMEM = "\"" D_PRFX_SHUTTER "%d\":{\"Position\":%d,\"direction\":%d}";
const char MSG_SHUTTER_POS[] PROGMEM = "SHT: " D_PRFX_SHUTTER " %d: Real. %d, Start: %d, Stop: %d, dir %d, motordelay %d, rtc: %s [s], freq %d";
#include <Ticker.h>
Ticker TickerShutter;
struct SHUTTER {
power_t mask = 0; // bit mask with 11 at the position of relays that belong to at least ONE shutter
power_t old_power = 0; // preserve old bitmask for power to extract the relay that changes.
power_t switched_relay = 0; // bitmatrix that contain the relays that was lastly changed.
uint32_t time[MAX_SHUTTERS]; // operating time of the shutter in 0.05sec
int32_t open_max[MAX_SHUTTERS]; // max value on maximum open calculated
int32_t target_position[MAX_SHUTTERS]; // position to go to
int32_t start_position[MAX_SHUTTERS]; // position before a movement is started. init at start
int32_t real_position[MAX_SHUTTERS]; // value between 0 and Shutter.open_max
uint16_t open_time[MAX_SHUTTERS]; // duration to open the shutter. 112 = 11.2sec
uint16_t close_time[MAX_SHUTTERS]; // duration to close the shutter. 112 = 11.2sec
uint16_t close_velocity[MAX_SHUTTERS]; // in relation to open velocity. higher value = faster
int8_t direction[MAX_SHUTTERS]; // 1 == UP , 0 == stop; -1 == down
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 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 i)
{
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][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][i] = messwerte[k] * 1000 / messwerte[4];
}
}
}
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 ( 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][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;
}
}
return realpos;
}
}
uint8_t ShutterRealToPercentPosition(int32_t realpos, uint8_t i)
{
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 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[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[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;
}
}
return (realpercent < 0 ? 0 : (realpercent > 100 ? 0 : realpercent));
}
}
void ShutterInit(void)
{
shutters_present = 0;
Shutter.mask = 0;
//Initialize to get relay that changed
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++) {
// 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) {
shutters_present++;
// Determine shutter types
Shutter.mask |= 3 << (Settings.shutter_startrelay[i] -1) ;
for (uint32_t j = 0; j < MAX_INTERLOCKS * Settings.flag.interlock; j++) { // CMND_INTERLOCK - Enable/disable interlock
//AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Interlock state i=%d %d, flag %d, , shuttermask %d, maskedIL %d"),i, Settings.interlock[i], Settings.flag.interlock,Shutter.mask, Settings.interlock[i]&Shutter.mask);
if (Settings.interlock[j] && Settings.interlock[j] & Shutter.mask) {
//AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Relay in Interlock group"));
relay_in_interlock = true;
}
}
if (relay_in_interlock) {
if (Settings.pulse_timer[i] > 0) {
Shutter.mode = SHT_PULSE_OPEN__PULSE_CLOSE;
} else {
Shutter.mode = SHT_OFF_OPEN__OFF_CLOSE;
}
} else {
Shutter.mode = SHT_OFF_ON__OPEN_CLOSE;
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);
}
}
TickerShutter.attach_ms(50, ShutterRtc50mS );
// default the 50 percent should not have any impact without changing it. set to 60
Settings.shutter_set50percent[i] = Settings.shutter_set50percent[i] > 0 ? Settings.shutter_set50percent[i] : 50;
// use 10 sec. as default to allow everybody to play without deep initialize
Shutter.open_time[i] = Settings.shutter_opentime[i] > 0 ? Settings.shutter_opentime[i] : 100;
Shutter.close_time[i] = Settings.shutter_closetime[i] > 0 ? Settings.shutter_closetime[i] : 100;
// 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) {
Settings.shuttercoeff[1][i] = Shutter.open_max[i] * (100 - Settings.shutter_set50percent[i] ) / 5000;
Settings.shuttercoeff[0][i] = Shutter.open_max[i] - (Settings.shuttercoeff[1][i] * 100);
Settings.shuttercoeff[2][i] = (Settings.shuttercoeff[0][i] + 5 * Settings.shuttercoeff[1][i]) / 5;
}
Shutter.mask |= 3 << (Settings.shutter_startrelay[i] -1) ;
Shutter.real_position[i] = ShutterPercentToRealPosition(Settings.shutter_position[i], i);
//Shutter.real_position[i] = Settings.shutter_position[i] <= 5 ? Settings.shuttercoeff[2][i] * Settings.shutter_position[i] : Settings.shuttercoeff[1][i] * Settings.shutter_position[i] + Settings.shuttercoeff[0,i];
Shutter.start_position[i] = Shutter.real_position[i];
Shutter.motordelay[i] = Settings.shutter_motordelay[i];
char shutter_open_chr[10];
dtostrfd((float)Shutter.open_time[i] / 10 , 1, shutter_open_chr);
char shutter_close_chr[10];
dtostrfd((float)Shutter.close_time[i] / 10, 1, shutter_close_chr);
AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Shutter %d (Relay:%d): Init. Pos: %d [%d %%], Open Vel.: 100 Close Vel.: %d , Max Way: %d, Opentime %s [s], Closetime %s [s], CoeffCalc: c0: %d, c1 %d, c2: %d, c3: %d, c4: %d, binmask %d, is inverted %d, shuttermode %d,motordelay %d"),
i+1, Settings.shutter_startrelay[i], Shutter.real_position[i], Settings.shutter_position[i], Shutter.close_velocity[i], Shutter.open_max[i], shutter_open_chr, shutter_close_chr,
Settings.shuttercoeff[0][i], Settings.shuttercoeff[1][i], Settings.shuttercoeff[2][i], Settings.shuttercoeff[3][i], Settings.shuttercoeff[4][i],
Shutter.mask, Settings.shutter_invert[i], Shutter.mode, Shutter.motordelay[i]);
} else {
// terminate loop at first INVALID shutter.
break;
}
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) {
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] = 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.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:
// we have a momentary switch here. Needs additional pulse on same relay after the end
if (SRC_PULSETIMER == last_source || SRC_SHUTTER == last_source || SRC_WEBGUI == last_source) {
ExecuteCommandPower(cur_relay, 1, SRC_SHUTTER);
} else {
last_source = SRC_SHUTTER;
}
break;
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) {
// Relay is on and need to be switched off.
ExecuteCommandPower(cur_relay, 0, SRC_SHUTTER);
}
break;
}
Settings.shutter_position[i] = ShutterRealToPercentPosition(Shutter.real_position[i], i);
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];
// sending MQTT result to broker
snprintf_P(scommand, sizeof(scommand),PSTR(D_SHUTTER "%d"), i+1);
GetTopic_P(stopic, STAT, mqtt_topic, scommand);
Response_P("%d", Settings.shutter_invert[i] ? 100 - Settings.shutter_position[i]: Settings.shutter_position[i]);
MqttPublish(stopic, Settings.flag.mqtt_power_retain); // CMND_POWERRETAIN
Shutter.direction[i] = 0;
uint8_t position = Settings.shutter_invert[i] ? 100 - Settings.shutter_position[i]: Settings.shutter_position[i];
Response_P(PSTR("{"));
ResponseAppend_P(JSON_SHUTTER_POS, i+1, position, 0 /*Shutter.direction[i]*/);
ResponseJsonEnd();
MqttPublishPrefixTopic_P(RESULT_OR_TELE, mqtt_data);
XdrvRulesProcess();
}
}
}
}
bool ShutterState(uint8_t device)
{
device--;
device &= 3;
return (Settings.flag3.shutter_mode && // SetOption80 - Enable shutter support
(Shutter.mask & (1 << (Settings.shutter_startrelay[device]-1))) );
}
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[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 (Shutter.mode == SHT_OFF_ON__OPEN_CLOSE_STEPPER) {
Shutter.pwm_frequency = 0;
analogWriteFreq(Shutter.pwm_frequency);
analogWrite(pin[GPIO_PWM1+i], 0);
// can be operated without counter, but then not that acurate.
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[i] = target_pos;
Shutter.start_position[i] = Shutter.real_position[i];
Shutter.time[i] = 0;
Shutter.skip_relay_change = 0;
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"), i, Shutter.start_position[i], Shutter.target_position[i], Shutter.direction[i]);
}
void ShutterWaitForMotorStop(uint8_t i)
{
AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Wait for Motorstop.."));
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 > 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+i], 50);
delay(50);
}
analogWrite(pin[GPIO_PWM1+i], 0);
Shutter.real_position[i] = ShutterCounterBasedPosition(i);
} else {
ExecuteCommandPower(Settings.shutter_startrelay[i], 0, SRC_SHUTTER);
delay(MOTOR_STOP_TIME);
}
} else {
delay(MOTOR_STOP_TIME);
}
}
void ShutterReportPosition(void)
{
uint16_t shutter_moving = 0;
for (uint8_t i = 0; i < shutters_present; i++) {
//AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Shutter %d: Real Pos: %d"), i+1,Shutter.real_position[i]);
if (Shutter.direction[i] != 0) {
char stemp2[10];
uint8_t position = ShutterRealToPercentPosition(Shutter.real_position[i], i);
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);
Response_P(PSTR("{"));
ResponseAppend_P(JSON_SHUTTER_POS, i+1, Settings.shutter_invert[i] ? 100-position : position, Shutter.direction[i]);
ResponseJsonEnd();
MqttPublishPrefixTopic_P(RESULT_OR_TELE, mqtt_data);
}
}
if (rules_flag.shutter_moving > shutter_moving) {
rules_flag.shutter_moved = 1;
} else {
rules_flag.shutter_moved = 0;
}
rules_flag.shutter_moving = shutter_moving;
//AddLog_P2(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: rules_flag.shutter_moving: %d, moved %d"), rules_flag.shutter_moving, rules_flag.shutter_moved);
}
int32_t ShutterCounterBasedPosition(uint8 i)
{
return ((int32_t)RtcSettings.pulse_counter[i]*Shutter.direction[i]*2000 / Shutter.max_pwm_frequency)+Shutter.start_position[i];
}
void ShutterRelayChanged(void)
{
// Shutter.switched_relay = binary relay that was recently changed and cause an Action
// powerstate_local = binary powermatrix and relays from shutter: 0..3
// relays_changed = bool if one of the relays that belong to the shutter changed not by shutter or pulsetimer
char stemp1[10];
for (uint32_t i = 0; i < shutters_present; i++) {
power_t powerstate_local = (power >> (Settings.shutter_startrelay[i] -1)) & 3;
//uint8 manual_relays_changed = ((Shutter.switched_relay >> (Settings.shutter_startrelay[i] -1)) & 3) && SRC_IGNORE != last_source && SRC_SHUTTER != last_source && SRC_PULSETIMER != last_source ;
uint8 manual_relays_changed = ((Shutter.switched_relay >> (Settings.shutter_startrelay[i] -1)) & 3) && SRC_SHUTTER != last_source && SRC_PULSETIMER != last_source ;
//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 || Shutter.mode == SHT_OFF_ON__OPEN_CLOSE_STEPPER) {
ShutterWaitForMotorStop(i);
switch (powerstate_local) {
case 1:
ShutterStartInit(i, 1, Shutter.open_max[i]);
break;
case 3:
ShutterStartInit(i, -1, 0);
break;
default:
//AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Shutter %d: Switch OFF motor."),i);
Shutter.target_position[i] = Shutter.real_position[i];
}
} else {
if (Shutter.direction[i] != 0 && (!powerstate_local || (powerstate_local && Shutter.mode == SHT_PULSE_OPEN__PULSE_CLOSE))) {
Shutter.target_position[i] = Shutter.real_position[i];
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Shutter %d: Switch OFF motor. Target: %ld, source: %s, powerstate_local %ld, Shutter.switched_relay %d, manual change %d"), i+1, Shutter.target_position[i], GetTextIndexed(stemp1, sizeof(stemp1), last_source, kCommandSource), powerstate_local,Shutter.switched_relay,manual_relays_changed);
} else {
last_source = SRC_SHUTTER; // avoid switch off in the next loop
if (powerstate_local == 2) { // testing on CLOSE relay, if ON
// close with relay two
ShutterWaitForMotorStop(i);
ShutterStartInit(i, -1, 0);
} else {
// opens with relay one
ShutterWaitForMotorStop(i);
ShutterStartInit(i, 1, Shutter.open_max[i]);
}
}
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Shutter %d: Target: %ld, powerstatelocal %d"), i+1, Shutter.target_position[i], powerstate_local);
}
}
}
}
void ShutterSetPosition(uint8_t device, uint8_t position)
{
char svalue[32]; // Command and number parameter
snprintf_P(svalue, sizeof(svalue), PSTR(D_PRFX_SHUTTER D_CMND_SHUTTER_POSITION "%d %d"), device, position);
ExecuteCommand(svalue, SRC_IGNORE);
}
/*********************************************************************************************\
* Commands
\*********************************************************************************************/
void CmndShutterOpen(void)
{
//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;
}
XdrvMailbox.payload = 100;
last_source = SRC_WEBGUI;
CmndShutterPosition();
}
void CmndShutterClose(void)
{
//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;
}
XdrvMailbox.payload = 0;
XdrvMailbox.data_len = 0;
last_source = SRC_WEBGUI;
CmndShutterPosition();
}
void CmndShutterStop(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
if ( XdrvMailbox.index == 1 && XdrvMailbox.payload != -99) {
XdrvMailbox.index = XdrvMailbox.payload;
}
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[i]);
// set stop position 10 steps ahead (0.5sec to allow normal stop)
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 {
ResponseCmndDone();
}
}
}
void CmndShutterPosition(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
uint32_t index = XdrvMailbox.index-1;
//limit the payload
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Pos. in: payload %s (%d), payload %d, idx %d, src %d"), XdrvMailbox.data , XdrvMailbox.data_len, XdrvMailbox.payload , XdrvMailbox.index, last_source );
if (XdrvMailbox.data_len > 1 && XdrvMailbox.payload <=0) {
UpperCase(XdrvMailbox.data, XdrvMailbox.data);
if (!strcmp(XdrvMailbox.data,"UP")) { CmndShutterOpen(); }
if (!strcmp(XdrvMailbox.data,"DOWN")) { CmndShutterClose(); }
if (!strcmp(XdrvMailbox.data,"STOP")) { CmndShutterStop(); }
return;
}
int8_t target_pos_percent = XdrvMailbox.payload < 0 ? 0 : (XdrvMailbox.payload > 100 ? 100 : XdrvMailbox.payload);
// webgui still send also on inverted shutter the native position.
target_pos_percent = Settings.shutter_invert[index] && SRC_WEBGUI != last_source ? 100 - target_pos_percent : target_pos_percent;
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);
}
if ( (target_pos_percent >= 0) && (target_pos_percent <= 100) && abs(Shutter.target_position[index] - Shutter.real_position[index] ) / Shutter.close_velocity[index] > 2) {
int8_t new_shutterdirection = Shutter.real_position[index] < Shutter.target_position[index] ? 1 : -1;
if (Shutter.direction[index] == -new_shutterdirection ) {
// direction need to be changed. on momentary switches first stop the Shutter
if (Shutter.mode == SHT_PULSE_OPEN__PULSE_CLOSE) {
// code for momentary shutters only small switch on to stop Shutter
ExecuteCommandPower(Settings.shutter_startrelay[index] + (new_shutterdirection == 1 ? 0 : 1), 1, SRC_SHUTTER);
delay(100);
} else {
if (Shutter.mode == SHT_OFF_OPEN__OFF_CLOSE) {
ExecuteCommandPower(Settings.shutter_startrelay[index] + (new_shutterdirection == 1 ? 1 : 0), 0, SRC_SHUTTER);
ShutterWaitForMotorStop(index);
}
}
}
if (Shutter.direction[index] != new_shutterdirection ) {
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);
ShutterStartInit(index, new_shutterdirection, Shutter.target_position[index]);
// Code for shutters with circuit safe configuration, switch the direction Relay
ExecuteCommandPower(Settings.shutter_startrelay[index] +1, new_shutterdirection == 1 ? 0 : 1, SRC_SHUTTER);
// power on
ExecuteCommandPower(Settings.shutter_startrelay[index], 1, SRC_SHUTTER);
} else {
// now start the motor for the right direction, work for momentary and normal shutters.
AddLog_P2(LOG_LEVEL_INFO, PSTR("SHT: Start in dir %d"), Shutter.direction[index]);
ShutterStartInit(index, new_shutterdirection, Shutter.target_position[index]);
ExecuteCommandPower(Settings.shutter_startrelay[index] + (new_shutterdirection == 1 ? 0 : 1), 1, SRC_SHUTTER);
//AddLog_P2(LOG_LEVEL_DEBUG, PSTR("SHT: Delay6 5s, xdrv %d"), XdrvMailbox.payload);
}
Shutter.switched_relay = 0;
}
} else {
target_pos_percent = ShutterRealToPercentPosition(Shutter.real_position[index], index);
}
XdrvMailbox.index = index +1; // Fix random index for ShutterClose
ResponseCmndIdxNumber(Settings.shutter_invert[index] ? 100 - target_pos_percent : target_pos_percent);
}
}
void CmndShutterOpenTime(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
if (XdrvMailbox.data_len > 0) {
Settings.shutter_opentime[XdrvMailbox.index -1] = (uint16_t)(10 * CharToFloat(XdrvMailbox.data));
ShutterInit();
}
char time_chr[10];
dtostrfd((float)(Settings.shutter_opentime[XdrvMailbox.index -1]) / 10, 1, time_chr);
ResponseCmndIdxChar(time_chr);
}
}
void CmndShutterCloseTime(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
if (XdrvMailbox.data_len > 0) {
Settings.shutter_closetime[XdrvMailbox.index -1] = (uint16_t)(10 * CharToFloat(XdrvMailbox.data));
ShutterInit();
}
char time_chr[10];
dtostrfd((float)(Settings.shutter_closetime[XdrvMailbox.index -1]) / 10, 1, time_chr);
ResponseCmndIdxChar(time_chr);
}
}
void CmndShutterMotorDelay(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
if (XdrvMailbox.data_len > 0) {
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]) / steps_per_second, 2, time_chr);
ResponseCmndIdxChar(time_chr);
}
}
void CmndShutterRelay(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= MAX_SHUTTERS)) {
if ((XdrvMailbox.payload >= 0) && (XdrvMailbox.payload <= 64)) {
Settings.shutter_startrelay[XdrvMailbox.index -1] = XdrvMailbox.payload;
if (XdrvMailbox.payload > 0) {
Shutter.mask |= 3 << (XdrvMailbox.payload - 1);
} else {
Shutter.mask ^= 3 << (Settings.shutter_startrelay[XdrvMailbox.index -1] - 1);
}
Settings.shutter_startrelay[XdrvMailbox.index -1] = XdrvMailbox.payload;
ShutterInit();
// if payload is 0 to disable the relay there must be a reboot. Otherwhise does not work
}
ResponseCmndIdxNumber(Settings.shutter_startrelay[XdrvMailbox.index -1]);
}
}
void CmndShutterSetHalfway(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
if ((XdrvMailbox.payload >= 0) && (XdrvMailbox.payload <= 100)) {
Settings.shutter_set50percent[XdrvMailbox.index -1] = Settings.shutter_invert[XdrvMailbox.index -1] ? 100 - XdrvMailbox.payload : XdrvMailbox.payload;
ShutterInit();
}
ResponseCmndIdxNumber(Settings.shutter_invert[XdrvMailbox.index -1] ? 100 - Settings.shutter_set50percent[XdrvMailbox.index -1] : Settings.shutter_set50percent[XdrvMailbox.index -1]);
}
}
void CmndShutterFrequency(void)
{
if ((XdrvMailbox.payload > 0) && (XdrvMailbox.payload <= 20000)) {
Shutter.max_pwm_frequency = XdrvMailbox.payload;
if (shutters_present < 4) {
Settings.shuttercoeff[4][3] = Shutter.max_pwm_frequency;
}
ShutterInit();
ResponseCmndNumber(XdrvMailbox.payload); // ????
} else {
ResponseCmndNumber(Shutter.max_pwm_frequency);
}
}
void CmndShutterSetClose(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
Shutter.real_position[XdrvMailbox.index -1] = 0;
ShutterStartInit(XdrvMailbox.index -1, 0, 0);
Settings.shutter_position[XdrvMailbox.index -1] = 0;
ResponseCmndIdxChar(D_CONFIGURATION_RESET);
}
}
void CmndShutterInvert(void)
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
if ((XdrvMailbox.payload >= 0) && (XdrvMailbox.payload <= 1)) {
Settings.shutter_invert[XdrvMailbox.index -1] = XdrvMailbox.payload;
}
ResponseCmndIdxNumber(Settings.shutter_invert[XdrvMailbox.index -1]);
}
}
void CmndShutterCalibration(void) // ????
{
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= shutters_present)) {
if (XdrvMailbox.data_len > 0) {
uint32_t i = 0;
char *str_ptr;
char* version_dup = strdup(XdrvMailbox.data); // Duplicate the version_str as strtok_r will modify it.
// Loop through the version string, splitting on '.' seperators.
for (char *str = strtok_r(version_dup, " ", &str_ptr); str && i < 5; str = strtok_r(nullptr, " ", &str_ptr), i++) {
int field = atoi(str);
// The fields in a version string can only range from 1-255.
// and following value must be higher than previous one
if ((field <= 0) || (field > 255) || ( (i>0) && (field <= messwerte[i-1]) ) ) {
free(version_dup);
break;
}
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]);
}
ShutterInit();
ResponseCmndIdxChar(XdrvMailbox.data);
}
}
}
/*********************************************************************************************\
* Interface
\*********************************************************************************************/
bool Xdrv27(uint8_t function)
{
bool result = false;
if (Settings.flag3.shutter_mode) { // SetOption80 - Enable shutter support
switch (function) {
case FUNC_PRE_INIT:
ShutterInit();
break;
case FUNC_EVERY_50_MSECOND:
ShutterUpdatePosition();
break;
case FUNC_EVERY_SECOND:
//case FUNC_EVERY_250_MSECOND:
ShutterReportPosition();
break;
case FUNC_COMMAND:
result = DecodeCommand(kShutterCommands, ShutterCommand);
break;
case FUNC_JSON_APPEND:
for (uint8_t i = 0; i < shutters_present; i++) {
uint8_t position = Settings.shutter_invert[i] ? 100 - Settings.shutter_position[i]: Settings.shutter_position[i];
ResponseAppend_P(",");
ResponseAppend_P(JSON_SHUTTER_POS, i+1, position, Shutter.direction[i]);
#ifdef USE_DOMOTICZ
if ((0 == tele_period) && (0 == i)) {
DomoticzSensor(DZ_SHUTTER, position);
}
#endif // USE_DOMOTICZ
}
break;
case FUNC_SET_POWER:
char stemp1[10];
// extract the number of the relay that was switched and save for later in Update Position.
Shutter.switched_relay = XdrvMailbox.index ^ Shutter.old_power;
AddLog_P2(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Switched relay: %d by %s"), Shutter.switched_relay,GetTextIndexed(stemp1, sizeof(stemp1), last_source, kCommandSource));
ShutterRelayChanged();
Shutter.old_power = XdrvMailbox.index;
break;
case FUNC_SET_DEVICE_POWER:
if (Shutter.skip_relay_change ) {
uint8_t i;
for (i = 0; i < devices_present; i++) {
if (Shutter.switched_relay &1) {
break;
}
Shutter.switched_relay >>= 1;
}
//AddLog_P2(LOG_LEVEL_ERROR, PSTR("SHT: skip relay change: %d"),i+1);
result = true;
Shutter.skip_relay_change = 0;
AddLog_P2(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Skipping switch off relay %d"),i);
ExecuteCommandPower(i+1, 0, SRC_SHUTTER);
}
break;
}
}
return result;
}
#endif //USE_SHUTTER
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