mirror of https://github.com/arendst/Tasmota.git
294 lines
7.6 KiB
C++
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
|