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https://github.com/arendst/Tasmota.git
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continuous improvement (#19897)
- servo fix on movement during operation. position did not behave as expected if position change before stop - enhanced minimum change on stepper shutter depending on motordelay
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@ -674,17 +674,21 @@ void ShutterInit(void)
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Shutter[i].tilt_target_pos = Shutter[i].tilt_real_pos = ShutterSettings.shutter_tilt_pos[i];
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Shutter[i].tilt_velocity = Shutter[i].tilt_config[2] > 0 ? ((Shutter[i].tilt_config[1] - Shutter[i].tilt_config[0]) / Shutter[i].tilt_config[2]) + 1 : 1;
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Shutter[i].close_velocity_max = ShutterGlobal.open_velocity_max*Shutter[i].open_time / Shutter[i].close_time;
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//servo can make any movement without time restriction
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Shutter[i].min_realPositionChange = 0;
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if (ShutterGlobal.position_mode != SHT_PWM_VALUE) {
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Shutter[i].min_realPositionChange = 2 * tmax(ShutterGlobal.open_velocity_max, Shutter[i].close_velocity_max);
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}
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Shutter[i].min_TiltChange = 2 * Shutter[i].tilt_velocity;
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//servo can make any movement without time restriction
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Shutter[i].min_realPositionChange = 2 * tmax(ShutterGlobal.open_velocity_max, Shutter[i].close_velocity_max);
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switch (ShutterGlobal.position_mode) {
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case SHT_PWM_VALUE:
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Shutter[i].min_realPositionChange = 0;
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break;
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case SHT_COUNTER:
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Shutter[i].min_realPositionChange = SHT_DIV_ROUND(Shutter[i].min_realPositionChange, Shutter[i].motordelay);
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break;
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}
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AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Shtr%d min realpos_chg: %d, min tilt_chg %d"), i+1, Shutter[i].min_realPositionChange, Shutter[i].min_TiltChange);
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AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Shtr%d Openvel %d, Closevel: %d"), i+1, ShutterGlobal.open_velocity_max, Shutter[i].close_velocity_max);
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AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Shtr%d Openvel %d, Closevel: %d"), i+1, ShutterGlobal.open_velocity_max, Shutter[i].close_velocity_max);
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AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Shtr%d Init. Pos %d, Inv %d, Locked %d, Endstop enab %d, webButt inv %d, Motordel: %d"),
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i+1, Shutter[i].real_position,
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(ShutterSettings.shutter_options[i] & 1) ? 1 : 0, (ShutterSettings.shutter_options[i] & 2) ? 1 : 0, (ShutterSettings.shutter_options[i] & 4) ? 1 : 0, (ShutterSettings.shutter_options[i] & 8) ? 1 : 0, Shutter[i].motordelay);
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@ -810,10 +814,7 @@ void ShutterPowerOff(uint8_t i)
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// Store current PWM value to ensure proper position after reboot.
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switch (ShutterGlobal.position_mode) {
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case SHT_PWM_VALUE:
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Shutter[i].pwm_value = SHT_DIV_ROUND((ShutterSettings.shutter_pwmrange[1][i]-ShutterSettings.shutter_pwmrange[0][i]) * Shutter[i].target_position , Shutter[i].open_max)+ShutterSettings.shutter_pwmrange[0][i];
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//analogWrite(Pin(GPIO_PWM1, i), Shutter[i].pwm_value);
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TasmotaGlobal.pwm_value[i] = Shutter[i].pwm_value;
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AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: PWM final %d"),Shutter[i].pwm_value);
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pwm_apply = true;
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char scmnd[20];
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#ifdef SHUTTER_CLEAR_PWM_ONSTOP
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@ -990,12 +991,7 @@ void ShutterRtc50mS(void)
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case SHT_PWM_VALUE:
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ShutterUpdateVelocity(i);
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Shutter[i].real_position += Shutter[i].direction > 0 ? Shutter[i].pwm_velocity : (Shutter[i].direction < 0 ? -Shutter[i].pwm_velocity : 0);
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// avoid overshoot on servo if changes are very small
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if ((Shutter[i].direction > 0 && Shutter[i].real_position > Shutter[i].target_position)
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|| (Shutter[i].direction < 0 && Shutter[i].real_position < Shutter[i].target_position)) {
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Shutter[i].real_position = Shutter[i].target_position;
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}
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Shutter[i].pwm_value = SHT_DIV_ROUND((ShutterSettings.shutter_pwmrange[1][i]-ShutterSettings.shutter_pwmrange[0][i]) * Shutter[i].real_position , Shutter[i].open_max)+ShutterSettings.shutter_pwmrange[0][i];
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Shutter[i].pwm_value = SHT_DIV_ROUND((ShutterSettings.shutter_pwmrange[1][i] - ShutterSettings.shutter_pwmrange[0][i]) * Shutter[i].real_position , Shutter[i].open_max) + ShutterSettings.shutter_pwmrange[0][i];
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TasmotaGlobal.pwm_value[i] = Shutter[i].pwm_value;
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pwm_apply = true;
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break;
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