Tasmota/tasmota/xdrv_25_A4988_Stepper.ino

139 lines
3.9 KiB
C++

/*
xdrv_25_a4988_stepper.ino - A4988 StepMotorDriverCircuit- support for Tasmota
Copyright (C) 2020 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 <http://www.gnu.org/licenses/>.
*/
#ifdef USE_A4988_STEPPER
/*********************************************************************************************\
* A4988 Stepper motor driver circuit
\*********************************************************************************************/
#define XDRV_25 25
#include <A4988_Stepper.h>
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(uint8_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