Tasmota/tasmota/xdrv_34_wemos_motor_v1.ino

294 lines
7.6 KiB
C++

/*
xdrv_34_wemos_motor_v1.ino - Support for I2C WEMOS motor shield (6612FNG)
Copyright (C) 2021 Denis Sborets, Theo Arends, Peter Franck
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_I2C
#ifdef USE_WEMOS_MOTOR_V1
/*********************************************************************************************\
* WEMOS_MOTOR_V1 - DC motor driver shield (6612FNG) v 1.0.0
* WEMOS_MOTOR_V2 - DC motor driver shield (6612FNG) v 2.0.0 (#define WEMOS_MOTOR_V2)
*
* I2C Address: 0x30
*
* Command format:
* driver44 <command>,<motor>,<direction>{,<duty>}
* command:
* RESET - reset a motor shield
* SETMOTOR - set motor state
* motor:
* 0 - motor A
* 1 - motor B
* 2 - both motors (V2 only)
* direction:
* 0 - short break
* 1 - CCW
* 2 - CW
* 3 - stop
* 4 - standby
* duty (optional):
* 0 - 100% (100% by default)
\*********************************************************************************************/
#define XDRV_34 34
#define XI2C_44 44 // See I2CDEVICES.md
#ifndef WEMOS_MOTOR_V1_ADDR
#define WEMOS_MOTOR_V1_ADDR 0x30 // Default I2C address 0x30
#endif
#ifndef WEMOS_MOTOR_V1_FREQ
#define WEMOS_MOTOR_V1_FREQ 1000 // Default frequency
#endif
#define MOTOR_A 0
#define MOTOR_B 1
#define SHORT_BRAKE 0
#define CCW 1
#define CW 2
#define STOP 3
#define STANDBY 4
#ifdef WEMOS_MOTOR_V2 // Support latest Lolin board
// #define DEBUG_WEMOS_MOTOR // be more verbose
#define WEMOS_MOTOR_PID_V2 0x02 // Product ID of V2.0.0
#define WMTR_V2_BUFFSZ 5 // I2C command buffer size
enum WEMOS_MOTOR_V2_CMD
{
WV2_GET_SLAVE_STATUS = 0x01,
WV2_RESET_SLAVE,
WV2_CHANGE_I2C_ADDRESS,
WV2_CHANGE_STATUS,
WV2_CHANGE_FREQ,
WV2_CHANGE_DUTY
};
enum WEMOS_MOTOR_V2_STATUS
{
WV2_MOTOR_STATUS_STOP = 0x00,
WV2_MOTOR_STATUS_CCW,
WV2_MOTOR_STATUS_CW,
WV2_MOTOR_STATUS_SHORT_BRAKE,
WV2_MOTOR_STATUS_STANDBY
};
enum WEMOS_MOTOR_V2_CHANNEL
{
WV2_MOTOR_CH_A=0x00,
WV2_MOTOR_CH_B,
WV2_MOTOR_CH_BOTH
};
const char WemosMotorDriver[] = "WEMOS_MOTOR_V2";
#else // WEMOS_MOTOR_V2
const char WemosMotorDriver[] = "WEMOS_MOTOR_V1";
#endif // WEMOS_MOTOR_V2
struct WMOTORV1 {
bool detected = false;
uint8_t motor;
} WMotorV1;
void WMotorV1Detect(void)
{
if (I2cSetDevice(WEMOS_MOTOR_V1_ADDR)) {
#ifdef WEMOS_MOTOR_V2
uint8_t i2c_data[WMTR_V2_BUFFSZ];
// Check product ID & version
i2c_data[0] = WV2_GET_SLAVE_STATUS;
WMotorV2command(i2c_data, 1);
if (i2c_data[0] == WEMOS_MOTOR_PID_V2) {
#ifdef DEBUG_WEMOS_MOTOR
AddLog(LOG_LEVEL_INFO, PSTR("WEM: %s Rev. %u found"), WemosMotorDriver, i2c_data[1]);
#endif // DEBUG_WEMOS_MOTOR
} else { return; }
#endif // WEMOS_MOTOR_V2
WMotorV1.detected = true;
I2cSetActiveFound(WEMOS_MOTOR_V1_ADDR, WemosMotorDriver);
WMotorV1Reset();
}
}
void WMotorV1Reset(void)
{
WMotorV1SetFrequency(WEMOS_MOTOR_V1_FREQ);
}
void WMotorV1SetFrequency(uint32_t freq)
{
#ifdef WEMOS_MOTOR_V2
uint8_t i2c_data[WMTR_V2_BUFFSZ];
i2c_data[0] = WV2_CHANGE_FREQ;
i2c_data[1] = WV2_MOTOR_CH_BOTH;
i2c_data[2] = (uint8_t)(freq & 0xff);
i2c_data[3] = (uint8_t)((freq >> 8) & 0xff);
i2c_data[4] = (uint8_t)((freq >> 16) & 0xff);
WMotorV2command(i2c_data, 5);
#else // WEMOS_MOTOR_V2
Wire.beginTransmission(WEMOS_MOTOR_V1_ADDR);
Wire.write(((byte)(freq >> 16)) & (byte)0x0f);
Wire.write((byte)(freq >> 16));
Wire.write((byte)(freq >> 8));
Wire.write((byte)freq);
Wire.endTransmission();
#endif // WEMOS_MOTOR_V2
}
void WMotorV1SetMotor(uint8_t motor, uint8_t dir, float pwm_val)
{
#ifdef WEMOS_MOTOR_V2
uint8_t i2c_data[WMTR_V2_BUFFSZ];
// send command
uint8_t cmd = dir;
if (cmd == 0 || cmd == 3) {
cmd ^= 3; // short brake and stop swapped
}
i2c_data[0] = WV2_CHANGE_STATUS;
i2c_data[1] = (uint8_t)motor;
i2c_data[2] = (uint8_t)cmd;
WMotorV2command(i2c_data, 3);
#ifdef DEBUG_WEMOS_MOTOR
AddLog(LOG_LEVEL_INFO, PSTR("WEM: Ch: %u Cmd: %u"), motor, cmd);
#endif // DEBUG_WEMOS_MOTOR
// set duty cycle
uint16_t duty = (pwm_val > 100.0) ? 10000 : (uint16_t)(pwm_val * 100);
#ifdef DEBUG_WEMOS_MOTOR
AddLog(LOG_LEVEL_INFO, PSTR("WEM: Duty: %u"), duty);
#endif // DEBUG_WEMOS_MOTOR
i2c_data[0] = WV2_CHANGE_DUTY;
i2c_data[1] = (uint8_t)motor;
i2c_data[2] = (uint8_t)(duty & 0xff);
i2c_data[3] = (uint8_t)((duty >> 8) & 0xff);
WMotorV2command(i2c_data,4);
#else // WEMOS_MOTOR_V2
Wire.beginTransmission(WEMOS_MOTOR_V1_ADDR);
Wire.write(motor | (byte)0x10);
Wire.write(dir);
uint16_t _pwm_val = uint16_t(pwm_val * 100);
if (_pwm_val > 10000) {
_pwm_val = 10000;
}
Wire.write((byte)(_pwm_val >> 8));
Wire.write((byte)_pwm_val);
Wire.endTransmission();
#endif // WEMOS_MOTOR_V2
}
bool WMotorV1Command(void)
{
uint8_t args_count = 0;
if (XdrvMailbox.data_len > 0) {
args_count = 1;
} else {
return false;
}
for (uint32_t idx = 0; idx < XdrvMailbox.data_len; idx++) {
if (' ' == XdrvMailbox.data[idx]) {
XdrvMailbox.data[idx] = ',';
}
if (',' == XdrvMailbox.data[idx]) {
args_count++;
}
}
UpperCase(XdrvMailbox.data, XdrvMailbox.data);
char *command = strtok(XdrvMailbox.data, ",");
if (strcmp(command, "RESET") == 0) {
#ifdef WEMOS_MOTOR_V2 // do a 'real' reset
uint8_t i2c_data[WMTR_V2_BUFFSZ];
i2c_data[0] = WV2_RESET_SLAVE;
WMotorV2command(i2c_data, 1);
#endif // WEMOS_MOTOR_V2
WMotorV1Reset();
Response_P(PSTR("{\"%s\":{\"RESET\":\"OK\"}}"), WemosMotorDriver);
return true;
}
if (strcmp(command, "SETMOTOR") == 0) {
if (args_count >= 3) {
int motor = atoi(strtok(NULL, ","));
int dir = atoi(strtok(NULL, ","));
int duty = 100;
if (args_count == 4) {
duty = atoi(strtok(NULL, ","));
}
WMotorV1SetMotor(motor, dir, duty);
Response_P(PSTR("{\"%s\":{\"SETMOTOR\":\"OK\"}}"), WemosMotorDriver);
return true;
}
}
return false;
}
#ifdef WEMOS_MOTOR_V2
void WMotorV2command(uint8_t *data, uint8_t len) // process V2 request
{
int i;
Wire.beginTransmission(WEMOS_MOTOR_V1_ADDR);
for (i = 0; i < len; i++) {
Wire.write(data[i]);
}
Wire.endTransmission();
if (data[0] == WV2_GET_SLAVE_STATUS) {
Wire.requestFrom(WEMOS_MOTOR_V1_ADDR, 2);
} else {
Wire.requestFrom(WEMOS_MOTOR_V1_ADDR, 1);
}
i = 0;
bzero(data, WMTR_V2_BUFFSZ);
while (Wire.available())
{
data[i] = Wire.read();
i++;
}
}
#endif // WEMOS_MOTOR_V2
/*********************************************************************************************\
* Interface
\*********************************************************************************************/
bool Xdrv34(uint8_t function)
{
if (!I2cEnabled(XI2C_44)) { return false; }
bool result = false;
if (FUNC_INIT == function) {
WMotorV1Detect();
}
else if (WMotorV1.detected) {
switch (function) {
case FUNC_COMMAND_DRIVER:
if (XI2C_44 == XdrvMailbox.index) {
result = WMotorV1Command();
}
break;
}
}
return result;
}
#endif // USE_WEMOS_MOTOR_V1
#endif // USE_IC2