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Merge pull request #6397 from Leuselator/development

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Expose motor-commands directly
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Theo Arends 2019-09-10 16:29:39 +02:00 committed by GitHub
commit 7e27eec94c
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1 changed files with 43 additions and 84 deletions
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127
sonoff/xdrv_25_A4988_Stepper.ino
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@ -22,8 +22,6 @@
#include <A4988_Stepper.h> #include <A4988_Stepper.h>
#define XDRV_25 25 #define XDRV_25 25
enum A4988Errors { A4988_NO_ERROR, A4988_NO_JSON_COMMAND, A4988_INVALID_JSON, A4988_MOVE, A4988_ROTATE, A4988_TURN};
short A4988_dir_pin = pin[GPIO_MAX]; short A4988_dir_pin = pin[GPIO_MAX];
short A4988_stp_pin = pin[GPIO_MAX]; short A4988_stp_pin = pin[GPIO_MAX];
short A4988_ms1_pin = pin[GPIO_MAX]; short A4988_ms1_pin = pin[GPIO_MAX];
@ -59,97 +57,58 @@ void A4988Init(void)
, A4988_ms3_pin ); , A4988_ms3_pin );
} }
const char kA4988Commands[] PROGMEM = "|" const char kA4988Commands[] PROGMEM = "Motor|" // prefix
"MOTOR"; "Move|Rotate|Turn|MIS|SPR|RPM";
void (* const A4988Command[])(void) PROGMEM = { &CmndMOTOR}; void (* const A4988Command[])(void) PROGMEM = {
&CmndDoMove,&CmndDoRotate,&CmndDoTurn,&CmndSetMIS,&CmndSetSPR,&CmndSetRPM};
uint32_t MOTORCmndJson(void) void CmndDoMove(void) {
{ if (XdrvMailbox.data_len > 0) {
// MOTOR {"doMove":200} long stepsPlease = strtoul(XdrvMailbox.data,nullptr,10);
// MOTOR {"doRotate":360} myA4988->doMove(stepsPlease);
// MOTOR {"doTurn":1.0} ResponseCmndDone();
uint32_t returnValue =A4988_NO_JSON_COMMAND; }
char parm_uc[12];
char dataBufUc[XdrvMailbox.data_len];
UpperCase(dataBufUc, XdrvMailbox.data);
RemoveSpace(dataBufUc);
if (strlen(dataBufUc) < 8) { returnValue =A4988_INVALID_JSON; }
DynamicJsonBuffer jsonBuf;
JsonObject &json = jsonBuf.parseObject(dataBufUc);
if (json.success()) {
UpperCase_P(parm_uc, PSTR(D_JSON_MOTOR_SPR));
if (json.containsKey(parm_uc)){
int howManySteps =strtoul(json[parm_uc],nullptr,10);
myA4988->setSPR(howManySteps);
returnValue = A4988_NO_ERROR;
}
UpperCase_P(parm_uc, PSTR(D_JSON_MOTOR_RPM));
if (json.containsKey(parm_uc)){
int howManyRounds =strtoul(json[parm_uc],nullptr,10);
myA4988->setRPM(howManyRounds);
returnValue = A4988_NO_ERROR;
}
UpperCase_P(parm_uc, PSTR(D_JSON_MOTOR_MIS));
if (json.containsKey(parm_uc)){
short oneToSixteen =strtoul(json[parm_uc],nullptr,10);
myA4988->setMIS(oneToSixteen);
returnValue = A4988_NO_ERROR;
}
UpperCase_P(parm_uc, PSTR(D_JSON_MOTOR_MOVE));
if (json.containsKey(parm_uc)){
long stepsPlease = strtoul(json[parm_uc],nullptr,10);
myA4988->doMove(stepsPlease);
returnValue = A4988_MOVE;
}
UpperCase_P(parm_uc, PSTR(D_JSON_MOTOR_ROTATE));
if (json.containsKey(parm_uc)){
long degrsPlease = strtoul(json[parm_uc],nullptr,10);
myA4988->doRotate(degrsPlease);
returnValue = A4988_ROTATE;
}
UpperCase_P(parm_uc, PSTR(D_JSON_MOTOR_TURN));
if (json.containsKey(parm_uc)){
float turnsPlease = strtod(json[parm_uc],nullptr);
myA4988->doTurn(turnsPlease);
returnValue = A4988_TURN;
}
} else returnValue =A4988_INVALID_JSON;
return returnValue;
} }
void CmndMOTOR(void){ void CmndDoRotate(void) {
uint32_t error; if (XdrvMailbox.data_len > 0) {
if (XdrvMailbox.data_len) { long degrsPlease = strtoul(XdrvMailbox.data,nullptr,10);
if (strstr(XdrvMailbox.data, "}") == nullptr) { myA4988->doRotate(degrsPlease);
error = A4988_NO_JSON_COMMAND; ResponseCmndDone();
} else {
error = MOTORCmndJson();
}
} }
A4988CmndResponse(error);
} }
void A4988CmndResponse(uint32_t error){ void CmndDoTurn(void) {
switch (error) { if (XdrvMailbox.data_len > 0) {
case A4988_NO_JSON_COMMAND: float turnsPlease = strtod(XdrvMailbox.data,nullptr);
ResponseCmndChar(PSTR("No command!")); myA4988->doTurn(turnsPlease);
break; ResponseCmndDone();
case A4988_MOVE:
ResponseCmndChar(PSTR("Stepping!"));
break;
case A4988_ROTATE:
ResponseCmndChar(PSTR("Rotating!"));
break;
case A4988_TURN:
ResponseCmndChar(PSTR("Turning!"));
break;
default: // A4988_NO_ERROR
ResponseCmndDone();
} }
}
void CmndSetMIS(void) {
if ((pin[GPIO_A4988_MS1] < 99) && (pin[GPIO_A4988_MS2] < 99) && (pin[GPIO_A4988_MS3] < 99) && (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();
}
} }
/*********************************************************************************************\ /*********************************************************************************************\