mirror of https://github.com/arendst/Tasmota.git
146 lines
4.6 KiB
C++
146 lines
4.6 KiB
C++
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/*
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xdrv_25_a4988_stepper.ino - A4988 StepMotorDriverCircuit- support for Tasmota
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Copyright (C) 2021 Tim Leuscher and Theo Arends
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifdef USE_A4988_STEPPER
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/*********************************************************************************************\
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* A4988 Stepper motor driver circuit
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\*********************************************************************************************/
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#define XDRV_25 25
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#include <A4988_Stepper.h>
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short A4988_dir_pin = 0;
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short A4988_stp_pin = 0;
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short A4988_ms1_pin = 0;
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short A4988_ms2_pin = 0;
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short A4988_ms3_pin = 0;
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short A4988_ena_pin = 0;
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int A4988_spr = 0;
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float A4988_rpm = 0;
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short A4988_mis = 0;
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A4988_Stepper* myA4988 = nullptr;
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void A4988Init(void)
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{
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A4988_dir_pin = Pin(GPIO_A4988_DIR);
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A4988_stp_pin = Pin(GPIO_A4988_STP);
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A4988_ena_pin = Pin(GPIO_A4988_ENA);
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A4988_ms1_pin = Pin(GPIO_A4988_MS1);
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A4988_ms2_pin = Pin(GPIO_A4988_MS1, 1);
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A4988_ms3_pin = Pin(GPIO_A4988_MS1, 2);
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A4988_spr = 200;
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A4988_rpm = 30;
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A4988_mis = 1;
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myA4988 = new A4988_Stepper( A4988_spr
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, A4988_rpm
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, A4988_mis
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, A4988_dir_pin
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, A4988_stp_pin
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, A4988_ena_pin
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, A4988_ms1_pin
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, A4988_ms2_pin
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, A4988_ms3_pin );
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}
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const char kA4988Commands[] PROGMEM = "Motor|" // prefix
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"Move|Rotate|Turn|MIS|SPR|RPM";
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void (* const A4988Command[])(void) PROGMEM = {
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&CmndDoMove,&CmndDoRotate,&CmndDoTurn,&CmndSetMIS,&CmndSetSPR,&CmndSetRPM};
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void CmndDoMove(void) {
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// Move the motor the given number of steps (positive values: clockwise, negative values: counterclockwise)
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if (XdrvMailbox.data_len > 0) {
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long stepsPlease = strtol(XdrvMailbox.data, nullptr, 10);
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myA4988->doMove(stepsPlease);
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ResponseCmndDone();
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}
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}
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void CmndDoRotate(void) {
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// Rotate the motor the given number of degrees (positive values: clockwise, negative values: counterclockwise)
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if (XdrvMailbox.data_len > 0) {
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long degrsPlease = strtol(XdrvMailbox.data, nullptr, 10);
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myA4988->doRotate(degrsPlease);
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ResponseCmndDone();
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}
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}
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void CmndDoTurn(void) {
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// Spin the motor the given number of turns (positive values: clockwise, negative values: counterclockwise)
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if (XdrvMailbox.data_len > 0) {
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// float turnsPlease = strtod(XdrvMailbox.data,nullptr);
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float turnsPlease = CharToFloat(XdrvMailbox.data); // Save 8k code size over strtod()
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myA4988->doTurn(turnsPlease);
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ResponseCmndDone();
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}
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}
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void CmndSetMIS(void) {
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// 1,2,4,8,16 Set micro stepping increment - 1/1 (full steps) to 1/16 (default = 1)
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if (PinUsed(GPIO_A4988_MS1) && PinUsed(GPIO_A4988_MS1, 1) && PinUsed(GPIO_A4988_MS1, 2) && (XdrvMailbox.payload > 0)) {
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// short newMIS = strtoul(XdrvMailbox.data,nullptr,10);
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myA4988->setMIS(XdrvMailbox.payload);
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ResponseCmndDone();
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}
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}
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void CmndSetSPR(void) {
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// Set the number of steps the given motor needs for one revolution (default = 200)
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if (XdrvMailbox.payload > 0) {
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// int newSPR = strtoul(XdrvMailbox.data,nullptr,10);
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myA4988->setSPR(XdrvMailbox.payload);
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ResponseCmndDone();
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}
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}
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void CmndSetRPM(void) {
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// Set revolutions per minute (default = 30)
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if (XdrvMailbox.payload > 0) {
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// short newRPM = strtoul(XdrvMailbox.data,nullptr,10);
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myA4988->setRPM(XdrvMailbox.payload);
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ResponseCmndDone();
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}
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}
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/*********************************************************************************************\
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* Interface
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\*********************************************************************************************/
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bool Xdrv25(uint32_t function)
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{
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bool result = false;
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if (PinUsed(GPIO_A4988_DIR) && PinUsed(GPIO_A4988_STP)) {
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switch (function) {
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case FUNC_INIT:
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A4988Init();
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break;
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case FUNC_COMMAND:
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result = DecodeCommand(kA4988Commands, A4988Command);
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break;
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}
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}
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return result;
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}
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#endif // USE_A4988_STEPPER
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