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https://github.com/fhem/fhem-mirror.git
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new module FRM_STEPPER
git-svn-id: https://svn.fhem.de/fhem/trunk@5128 2b470e98-0d58-463d-a4d8-8e2adae1ed80
This commit is contained in:
ntruchsess
parent
6dddd99102
commit
2d86b5e030
@ -325,6 +325,8 @@ sub FRM_DoInit($) {
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$main::defs{$name}{onewire_pins} = join(",", sort{$a<=>$b}(@$onewirepins)) if (defined $onewirepins and scalar @$onewirepins);
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my $encoderpins = $device->{metadata}{encoder_pins};
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$main::defs{$name}{encoder_pins} = join(",", sort{$a<=>$b}(@$encoderpins)) if (defined $encoderpins and scalar @$encoderpins);
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my $stepperpins = $device->{metadata}{stepper_pins};
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$main::defs{$name}{stepper_pins} = join(",", sort{$a<=>$b}(@$stepperpins)) if (defined $stepperpins and scalar @$stepperpins);
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if (defined $device->{metadata}{analog_resolutions}) {
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my @analog_resolutions;
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foreach my $pin (sort{$a<=>$b}(keys %{$device->{metadata}{analog_resolutions}})) {
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@ -353,6 +355,13 @@ sub FRM_DoInit($) {
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}
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$main::defs{$name}{encoder_resolutions} = join(",",@encoder_resolutions) if (scalar @encoder_resolutions);
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}
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if (defined $device->{metadata}{stepper_resolutions}) {
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my @stepper_resolutions;
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foreach my $pin (sort{$a<=>$b}(keys %{$device->{metadata}{stepper_resolutions}})) {
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push @stepper_resolutions,$pin.":".$device->{metadata}{stepper_resolutions}{$pin};
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}
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$main::defs{$name}{stepper_resolutions} = join(",",@stepper_resolutions) if (scalar @stepper_resolutions);
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}
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$found = 1;
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} else {
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select (undef,undef,undef,0.01);
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@ -79,11 +79,11 @@ FRM_ROTENC_Init($$)
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sub
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FRM_ROTENC_observer
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{
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my ( $data, $hash ) = @_;
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my ( $encoder, $value, $hash ) = @_;
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my $name = $hash->{NAME};
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Log3 $name,5,"onEncoderMessage for pins ".$hash->{PINA}.",".$hash->{PINB}." encoder: ".$data->{encoderNum}." position: ".$data->{value}."\n";
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Log3 $name,5,"onEncoderMessage for pins ".$hash->{PINA}.",".$hash->{PINB}." encoder: ".$encoder." position: ".$value."\n";
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main::readingsBeginUpdate($hash);
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main::readingsBulkUpdate($hash,"position",$data->{value}, 1);
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main::readingsBulkUpdate($hash,"position",$value, 1);
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main::readingsEndUpdate($hash,1);
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}
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325
fhem/FHEM/20_FRM_STEPPER.pm
Executable file
325
fhem/FHEM/20_FRM_STEPPER.pm
Executable file
@ -0,0 +1,325 @@
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#############################################
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package main;
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use strict;
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use warnings;
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#add FHEM/lib to @INC if it's not allready included. Should rather be in fhem.pl than here though...
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BEGIN {
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if (!grep(/FHEM\/lib$/,@INC)) {
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foreach my $inc (grep(/FHEM$/,@INC)) {
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push @INC,$inc."/lib";
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};
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};
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};
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use Device::Firmata::Constants qw/ :all /;
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#####################################
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my %sets = (
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"reset" => "noArg",
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"position" => "",
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"step" => "",
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);
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my %gets = (
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"position" => "noArg",
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);
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sub
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FRM_STEPPER_Initialize($)
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{
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my ($hash) = @_;
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$hash->{SetFn} = "FRM_STEPPER_Set";
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$hash->{GetFn} = "FRM_STEPPER_Get";
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$hash->{DefFn} = "FRM_Client_Define";
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$hash->{InitFn} = "FRM_STEPPER_Init";
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$hash->{UndefFn} = "FRM_Client_Undef";
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$hash->{AttrFn} = "FRM_STEPPER_Attr";
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$hash->{StateFn} = "FRM_STEPPER_State";
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$hash->{AttrList} = "restoreOnReconnect:on,off restoreOnStartup:on,off speed acceleration deceleration IODev $main::readingFnAttributes";
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main::LoadModule("FRM");
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}
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sub
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FRM_STEPPER_Init($$)
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{
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my ($hash,$args) = @_;
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my $u = "wrong syntax: define <name> FRM_STEPPER [DRIVER|TWO_WIRE|FOUR_WIRE] directionPin stepPin [motorPin3 motorPin4] stepsPerRev [id]";
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return $u unless defined $args;
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my $driver = shift @$args;
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return $u unless ( $driver eq 'DRIVER' or $driver eq 'TWO_WIRE' or $driver eq 'FOUR_WIRE' );
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return $u if (($driver eq 'DRIVER' or $driver eq 'TWO_WIRE') and (scalar(@$args) < 3 or scalar(@$args) > 4));
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return $u if (($driver eq 'FOUR_WIRE') and (scalar(@$args) < 5 or scalar(@$args) > 6));
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$hash->{DRIVER} = $driver;
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$hash->{PIN1} = shift @$args;
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$hash->{PIN2} = shift @$args;
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if ($driver eq 'FOUR_WIRE') {
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$hash->{PIN3} = shift @$args;
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$hash->{PIN4} = shift @$args;
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}
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$hash->{STEPSPERREV} = shift @$args;
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$hash->{STEPPERNUM} = shift @$args;
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eval {
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FRM_Client_AssignIOPort($hash);
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my $firmata = FRM_Client_FirmataDevice($hash);
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$firmata->stepper_config(
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$hash->{STEPPERNUM},
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$driver,
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$hash->{STEPSPERREV},
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$hash->{PIN1},
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$hash->{PIN2},
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$hash->{PIN3},
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$hash->{PIN4});
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$firmata->observe_stepper(0, \&FRM_STEPPER_observer, $hash );
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};
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if ($@) {
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$@ =~ /^(.*)( at.*FHEM.*)$/;
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$hash->{STATE} = "error initializing: ".$1;
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return "error initializing '".$hash->{NAME}."': ".$1;
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}
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$hash->{POSITION} = 0;
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$hash->{DIRECTION} = 0;
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$hash->{STEPS} = 0;
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if (! (defined AttrVal($hash->{NAME},"stateFormat",undef))) {
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$main::attr{$hash->{NAME}}{"stateFormat"} = "position";
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}
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main::readingsSingleUpdate($hash,"state","Initialized",1);
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return undef;
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}
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sub
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FRM_STEPPER_observer
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{
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my ( $stepper, $hash ) = @_;
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my $name = $hash->{NAME};
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Log3 $name,5,"onStepperMessage for pins ".$hash->{PIN1}.",".$hash->{PIN2}.(defined ($hash->{PIN3}) ? ",".$hash->{PIN3} : ",-").(defined ($hash->{PIN4}) ? ",".$hash->{PIN4} : ",-")." stepper: ".$stepper;
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my $position = $hash->{DIRECTION} ? $hash->{POSITION} - $hash->{STEPS} : $hash->{POSITION} + $hash->{STEPS};
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$hash->{POSITION} = $position;
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$hash->{DIRECTION} = 0;
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$hash->{STEPS} = 0;
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main::readingsSingleUpdate($hash,"position",$position,1);
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}
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sub
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FRM_STEPPER_Set
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{
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my ($hash, @a) = @_;
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return "Need at least one parameters" if(@a < 2);
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shift @a;
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my $name = $hash->{NAME};
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my $command = shift @a;
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if(!defined($sets{$command})) {
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my @commands = ();
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foreach my $key (sort keys %sets) {
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push @commands, $sets{$key} ? $key.":".join(",",$sets{$key}) : $key;
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}
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return "Unknown argument $command, choose one of " . join(" ", @commands);
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}
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COMMAND_HANDLER: {
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$command eq "reset" and do {
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$hash->{POSITION} = 0;
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main::readingsSingleUpdate($hash,"position",0,1);
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last;
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};
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$command eq "position" and do {
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my $position = $hash->{POSITION};
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my $value = shift @a;
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my $direction = $value < $position ? 1 : 0;
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my $steps = $direction ? $position - $value : $value - $position;
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my $speed = shift @a;
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$speed = AttrVal($name,"speed",30) unless (defined $speed);
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my $accel = shift @a;
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$accel = AttrVal($name,"acceleration",undef) unless (defined $accel);
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my $decel = shift @a;
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$decel = AttrVal($name,"deceleration",undef) unless (defined $decel);
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$hash->{DIRECTION} = $direction;
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$hash->{STEPS} = $steps;
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eval {
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# $stepperNum, $direction, $numSteps, $stepSpeed, $accel, $decel
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FRM_Client_FirmataDevice($hash)->stepper_step($hash->{STEPPERNUM},$direction,$steps,$speed,$accel,$decel);
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};
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last;
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};
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$command eq "step" and do {
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my $value = shift @a;
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my $direction = $value < 0 ? 1 : 0;
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my $steps = abs $value;
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my $speed = shift @a;
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$speed = AttrVal($name,"speed",100) unless (defined $speed);
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my $accel = shift @a;
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$accel = AttrVal($name,"acceleration",undef) unless (defined $accel);
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my $decel = shift @a;
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$decel = AttrVal($name,"deceleration",undef) unless (defined $decel);
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$hash->{DIRECTION} = $direction;
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$hash->{STEPS} = $steps;
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eval {
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# $stepperNum, $direction, $numSteps, $stepSpeed, $accel, $decel
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FRM_Client_FirmataDevice($hash)->stepper_step($hash->{STEPPERNUM},$direction,$steps,$speed,$accel,$decel);
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};
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last;
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};
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}
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}
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sub
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FRM_STEPPER_Get
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{
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my ($hash, @a) = @_;
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return "Need at least one parameters" if(@a < 2);
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shift @a;
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my $name = $hash->{NAME};
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my $command = shift @a;
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return "Unknown argument $command, choose one of " . join(" ", sort keys %gets) unless defined($gets{$command});
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}
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sub FRM_STEPPER_State($$$$)
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{
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my ($hash, $tim, $sname, $sval) = @_;
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STATEHANDLER: {
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$sname eq "value" and do {
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if (AttrVal($hash->{NAME},"restoreOnStartup","on") eq "on") {
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FRM_STEPPER_Set($hash,$hash->{NAME},$sval);
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}
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last;
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}
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}
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}
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sub
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FRM_STEPPER_Attr($$$$) {
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my ($command,$name,$attribute,$value) = @_;
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if ($command eq "set") {
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ARGUMENT_HANDLER: {
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$attribute eq "IODev" and do {
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my $hash = $main::defs{$name};
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if (!defined ($hash->{IODev}) or $hash->{IODev}->{NAME} ne $value) {
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$hash->{IODev} = $defs{$value};
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FRM_Init_Client($hash) if (defined ($hash->{IODev}));
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}
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last;
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};
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$main::attr{$name}{$attribute}=$value;
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}
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}
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}
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1;
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=pod
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=begin html
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<a name="FRM_STEPPER"></a>
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<h3>FRM_STEPPER</h3>
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<ul>
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represents a stepper-motor attached to digital-i/o pins of an <a href="http://www.arduino.cc">Arduino</a> running <a href="http://www.firmata.org">Firmata</a><br>
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Requires a defined <a href="#FRM">FRM</a>-device to work.<br><br>
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<a name="FRM_STEPPERdefine"></a>
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<b>Define</b>
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<ul>
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<code>define <name> FRM_STEPPER [DRIVER|TWO_WIRE|FOUR_WIRE] <directionPin> <stepPin> [motorPin3 motorPin4] stepsPerRev [stepper-id]</code><br>
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Defines the FRM_STEPPER device.
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<li>[DRIVER|TWO_WIRE|FOUR_WIRE] defines the control-sequence being used to drive the motor.
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<ul>
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<li>DRIVER: motor is attached via a smart circuit that is controlled via two lines: 1 line defines the direction to turn, the other triggers one step per impluse.</li>
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<li>FOUR_WIRE: motor is attached via four wires each driving one coil individually.</li>
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<li>TWO_WIRE: motor is attached via two wires. This mode makes use of the fact that at any time two of the four motor
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coils are the inverse of the other two so by using an inverting circuit to drive the motor the number of control connections can be reduced from 4 to 2.</li>
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</ul>
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</li>
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<li>
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<ul>
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<li>The sequence of control signals for 4 control wires is as follows:<br>
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<br>
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<code>
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Step C0 C1 C2 C3<br>
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1 1 0 1 0<br>
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2 0 1 1 0<br>
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3 0 1 0 1<br>
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4 1 0 0 1<br>
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</code>
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</li>
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<li>The sequence of controls signals for 2 control wires is as follows:<br>
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(columns C1 and C2 from above):<br>
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<br>
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<code>
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Step C0 C1<br>
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1 0 1<br>
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2 1 1<br>
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3 1 0<br>
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4 0 0<br>
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</code>
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</li>
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</ul>
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</li>
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<li>
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If your stepper-motor does not move or does move but only in a single direction you will have to rearrage the pin-numbers to match the control sequence.<br>
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that can be archived either by rearranging the physical connections, or by mapping the connection to the pin-definitions in FRM_STEPPERS define:<br>
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e.g. the widely used cheap 28byj-48 you can get for few EUR on eBay including a simple ULN2003 driver interface may be defined by<br>
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<code>define stepper FRM_STEPPER FOUR_WIRE 7 5 6 8 64 0</code><br>
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when being connected to the arduio with:<br>
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<code>motor pin1 <-> arduino pin5<br>
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motor pin2 <-> arduino pin6<br>
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motor pin3 <-> arduino pin7<br>
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motor pin4 <-> arduino pin8<br>
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motor pin5 <-> ground</code><br>
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</li>
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</ul>
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<br>
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<a name="FRM_STEPPERset"></a>
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<b>Set</b><br>
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<ul>
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<code>set <name> reset</code>
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<li>resets the reading 'position' to 0 without moving the motor</li>
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<br>
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<code>set <name> position <position> [speed] [acceleration] [deceleration]</code>
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<li>moves the motor to the absolute position specified. positive or negative integer<br>
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speed (10 * revolutions per minute, optional), defaults to 30, higher numbers are faster) At 2048 steps per revolution (28byj-48) a speed of 30 results in 3 rev/min<br>
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acceleration and deceleration are optional.<br>
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</li>
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<br>
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<code>set <name> step <stepstomove> [speed] [accel] [decel]</code>
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<li>moves the motor the number of steps specified. positive or negative integer<br>
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speed, accelleration and deceleration are optional.<br>
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</li>
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</ul>
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<a name="FRM_STEPPERget"></a>
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<b>Get</b><br>
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<ul>
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N/A
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</ul><br>
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<a name="FRM_STEPPERattr"></a>
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<b>Attributes</b><br>
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<ul>
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<li>restoreOnStartup <on|off></li>
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<li>restoreOnReconnect <on|off></li>
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<li><a href="#IODev">IODev</a><br>
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Specify which <a href="#FRM">FRM</a> to use. (Optional, only required if there is more
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than one FRM-device defined.)
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</li>
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<li>>speed (same meaning as in 'set position')</li>
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<li>acceleration (same meaning as in 'set position')</li>
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<li>deceleration (same meaning as in 'set position')</li>
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<li><a href="#eventMap">eventMap</a><br></li>
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<li><a href="#readingFnAttributes">readingFnAttributes</a><br></li>
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</ul>
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</ul>
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<br>
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=end html
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=cut
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@ -19,7 +19,7 @@ Version 0.50
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=cut
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our $VERSION = '0.53';
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our $VERSION = '0.54';
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our $DEBUG = 0;
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@ -214,6 +214,7 @@ use constant (
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EXTENDED_ANALOG => 0x6F, # analog write (PWM, Servo, etc) to any pin
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SERVO_CONFIG => 0x70, # set max angle, minPulse, maxPulse, freq
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STRING_DATA => 0x71, # a string message with 14-bits per char
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STEPPER_DATA => 0x72, # control a stepper motor
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ONEWIRE_DATA => 0x73, # OneWire read/write/reset/select/skip/search request + read/search reply
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SHIFT_DATA => 0x75, # shiftOut config/data message (34 bits)
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I2C_REQUEST => 0x76, # send an I2C read/write request
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@ -233,7 +234,8 @@ use constant (
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SERVO => 0x04, # digital pin in Servo output mode
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SHIFT => 0x05, # shiftIn/shiftOut mode
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I2C => 0x06, # pin included in I2C setup
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ONEWIRE => 0x07,
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ONEWIRE => 0x07, # pin configured for 1-Wire commuication
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STEPPER => 0x08, # pin configured for stepper motor
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# Deprecated entries
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deprecated => [
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@ -267,6 +269,7 @@ use constant (
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EXTENDED_ANALOG => 0x6F, # analog write (PWM, Servo, etc) to any pin
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SERVO_CONFIG => 0x70, # set max angle, minPulse, maxPulse, freq
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STRING_DATA => 0x71, # a string message with 14-bits per char
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STEPPER_DATA => 0x72, # control a stepper motor
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ONEWIRE_DATA => 0x73, # OneWire read/write/reset/select/skip/search request + read/search reply
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SHIFT_DATA => 0x75, # shiftOut config/data message (34 bits)
|
||||
I2C_REQUEST => 0x76, # send an I2C read/write request
|
||||
@ -286,8 +289,8 @@ use constant (
|
||||
SERVO => 0x04, # digital pin in Servo output mode
|
||||
SHIFT => 0x05, # shiftIn/shiftOut mode
|
||||
I2C => 0x06, # pin included in I2C setup
|
||||
ONEWIRE => 0x07,
|
||||
|
||||
ONEWIRE => 0x07, # pin configured for 1-Wire commuication
|
||||
STEPPER => 0x08, # pin configured for stepper motor
|
||||
# Deprecated entries
|
||||
deprecated => [
|
||||
qw( FIRMATA_STRING SYSEX_I2C_REQUEST SYSEX_I2C_REPLY SYSEX_SAMPLING_INTERVAL )
|
||||
|
||||
@ -28,6 +28,8 @@ use Device::Firmata::Base
|
||||
analog_resolutions => {},
|
||||
pwm_resolutions => {},
|
||||
servo_resolutions => {},
|
||||
stepper_resolutions => {},
|
||||
encoder_resolutions => {},
|
||||
ports => [],
|
||||
pins => {},
|
||||
pin_modes => {},
|
||||
@ -87,6 +89,8 @@ sub detach {
|
||||
$self->{sysex_observer} = undef;
|
||||
$self->{i2c_observer} = undef;
|
||||
$self->{onewire_observer} = [];
|
||||
$self->{stepper_observer} = [];
|
||||
$self->{encoder_observer} = [];
|
||||
$self->{scheduler_observer} = undef;
|
||||
$self->{tasks} = [];
|
||||
$self->{metadata} = {};
|
||||
@ -111,6 +115,8 @@ sub system_reset {
|
||||
$self->{sysex_observer} = undef;
|
||||
$self->{i2c_observer} = undef;
|
||||
$self->{onewire_observer} = [];
|
||||
$self->{stepper_observer} = [];
|
||||
$self->{encoder_observer} = [];
|
||||
$self->{scheduler_observer} = undef;
|
||||
$self->{tasks} = [];
|
||||
$self->{metadata} = {};
|
||||
@ -279,9 +285,11 @@ sub sysex_handle {
|
||||
}
|
||||
if ($capabilities->{$pin}->{PIN_STEPPER+0}) {
|
||||
push @stepperpins, $pin;
|
||||
$self->{metadata}{stepper_resolutions}{$pin} = $capabilities->{$pin}->{PIN_STEPPER+0}->{resolution};
|
||||
}
|
||||
if ($capabilities->{$pin}->{PIN_ENCODER+0}) {
|
||||
push @encoderpins, $pin;
|
||||
$self->{metadata}{encoder_resolutions}{$pin} = $capabilities->{$pin}->{PIN_ENCODER+0}->{resolution};
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -347,18 +355,22 @@ sub sysex_handle {
|
||||
}
|
||||
last;
|
||||
};
|
||||
|
||||
|
||||
$sysex_message->{command_str} eq 'STEPPER_DATA' and do {
|
||||
#TODO implement handling of STEPPER_DATA and call observer.
|
||||
my $stepperNum = $data->{stepperNum};
|
||||
my $observer = $self->{stepper_observer}[$stepperNum];
|
||||
if (defined $observer) {
|
||||
$observer->{method}( $stepperNum, $observer->{context} );
|
||||
};
|
||||
last;
|
||||
};
|
||||
|
||||
|
||||
$sysex_message->{command_str} eq 'ENCODER_DATA' and do {
|
||||
foreach my $encoder_data ( @$data ) {
|
||||
my $encoderNum = $encoder_data->{encoderNum};
|
||||
my $observer = $self->{encoder_observer}[$encoderNum];
|
||||
if (defined $observer) {
|
||||
$observer->{method}( $encoder_data, $observer->{context} );
|
||||
$observer->{method}( $encoderNum, $encoder_data->{value}, $observer->{context} );
|
||||
}
|
||||
};
|
||||
last;
|
||||
@ -769,6 +781,20 @@ sub onewire_command_series {
|
||||
return $self->{io}->data_write($self->{protocol}->packet_onewire_request( $pin, $args ));
|
||||
}
|
||||
|
||||
sub stepper_config {
|
||||
my ( $self, $stepperNum, $interface, $stepsPerRev, $directionPin, $stepPin, $motorPin3, $motorPin4 ) = @_;
|
||||
die "unsupported mode 'STEPPER' for pin '".$directionPin."'" unless $self->is_supported_mode($directionPin,PIN_STEPPER);
|
||||
die "unsupported mode 'STEPPER' for pin '".$stepPin."'" unless $self->is_supported_mode($stepPin,PIN_STEPPER);
|
||||
die "unsupported mode 'STEPPER' for pin '".$motorPin3."'" unless (!(defined $motorPin3) or $self->is_supported_mode($motorPin3,PIN_STEPPER));
|
||||
die "unsupported mode 'STEPPER' for pin '".$motorPin4."'" unless (!(defined $motorPin4) or $self->is_supported_mode($motorPin4,PIN_STEPPER));
|
||||
return $self->{io}->data_write($self->{protocol}->packet_stepper_config( $stepperNum, $interface, $stepsPerRev, $directionPin, $stepPin, $motorPin3, $motorPin4 ));
|
||||
}
|
||||
|
||||
sub stepper_step {
|
||||
my ( $self, $stepperNum, $direction, $numSteps, $stepSpeed, $accel, $decel ) = @_;
|
||||
return $self->{io}->data_write($self->{protocol}->packet_stepper_step( $stepperNum, $direction, $numSteps, $stepSpeed, $accel, $decel ));
|
||||
}
|
||||
|
||||
sub encoder_attach {
|
||||
my ( $self, $encoderNum, $pinA, $pinB ) = @_;
|
||||
die "unsupported mode 'ENCODER' for pin '".$pinA."'" unless $self->is_supported_mode($pinA,PIN_ENCODER);
|
||||
@ -872,7 +898,12 @@ sub observe_onewire {
|
||||
}
|
||||
|
||||
sub observe_stepper {
|
||||
#TODO implement observe_stepper
|
||||
my ( $self, $stepperNum, $observer, $context ) = @_;
|
||||
#TODO validation? die "unsupported mode 'STEPPER' for pin '".$pin."'" unless ($self->is_supported_mode($pin,PIN_STEPPER));
|
||||
$self->{stepper_observer}[$stepperNum] = {
|
||||
method => $observer,
|
||||
context => $context,
|
||||
};
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
@ -78,6 +78,12 @@ our $STEPPER_COMMANDS = {
|
||||
STEPPER_STEP => 1,
|
||||
};
|
||||
|
||||
our $STEPPER_INTERFACES = {
|
||||
DRIVER => 1,
|
||||
TWO_WIRE => 2,
|
||||
FOUR_WIRE => 4,
|
||||
};
|
||||
|
||||
our $ENCODER_COMMANDS = {
|
||||
ENCODER_ATTACH => 0,
|
||||
ENCODER_REPORT_POSITION => 1,
|
||||
@ -305,12 +311,12 @@ sub sysex_parse {
|
||||
$return_data = $self->handle_scheduler_response($sysex_data);
|
||||
last;
|
||||
};
|
||||
|
||||
|
||||
$command == $protocol_commands->{STEPPER_DATA} and do {
|
||||
#TODO implement and call handle_stepper_response
|
||||
$return_data = $self->handle_stepper_response($sysex_data);
|
||||
last;
|
||||
};
|
||||
|
||||
|
||||
$command == $protocol_commands->{ENCODER_DATA} and do {
|
||||
$return_data = $self->handle_encoder_response($sysex_data);
|
||||
last;
|
||||
@ -867,18 +873,68 @@ sub handle_scheduler_response {
|
||||
}
|
||||
}
|
||||
|
||||
#TODO packet_stepper_config
|
||||
# stepper_data 0
|
||||
# stepper_config 1
|
||||
# devicenum 2 (0 < devicenum < 6)
|
||||
# interface (DRIVER | TWO_WIRE | FOUR_WIRE) 3
|
||||
# stepsPerRev 4+5 (14bit)
|
||||
# directionPin 6
|
||||
# stepPin 7
|
||||
# motorPin3 8 (interface FOUR_WIRE only)
|
||||
# motorPin4 9 (interface FOUR_WIRE only)
|
||||
|
||||
sub packet_stepper_config {
|
||||
my ( $self ) = @_;
|
||||
my $packet = $self->packet_sysex_command('STEPPER_DATA', $STEPPER_COMMANDS->{STEPPER_CONFIG});
|
||||
my ( $self, $stepperNum, $interface, $stepsPerRev, $directionPin, $stepPin, $motorPin3, $motorPin4 ) = @_;
|
||||
|
||||
die "invalid stepper interface ".$interface unless defined ($STEPPER_INTERFACES->{$interface});
|
||||
my @configdata = ($stepperNum,$STEPPER_INTERFACES->{$interface});
|
||||
|
||||
push_value_as_two_7bit($stepsPerRev, \@configdata);
|
||||
push @configdata, $directionPin;
|
||||
push @configdata, $stepPin;
|
||||
|
||||
if ($interface eq 'FOUR_WIRE') {
|
||||
push @configdata, $motorPin3;
|
||||
push @configdata, $motorPin4;
|
||||
}
|
||||
my $packet = $self->packet_sysex_command('STEPPER_DATA',$STEPPER_COMMANDS->{STEPPER_CONFIG},@configdata);
|
||||
return $packet;
|
||||
}
|
||||
|
||||
#TODO packet_stepper_step
|
||||
# stepper_data 0
|
||||
# stepper_step 1
|
||||
# devicenum 2
|
||||
# stepDirection 3 0/>0
|
||||
# numSteps 4,5,6 (21bit)
|
||||
# stepSpeed 7,8 (14bit)
|
||||
# accel 9,10 (14bit, optional, aber nur zusammen mit decel)
|
||||
# decel 11,12 (14bit, optional, aber nur zusammen mit accel)
|
||||
|
||||
sub packet_stepper_step {
|
||||
my ( $self ) = @_;
|
||||
my $packet = $self->packet_sysex_command('STEPPER_DATA', $STEPPER_COMMANDS->{STEPPER_STEP});
|
||||
my ( $self, $stepperNum, $direction, $numSteps, $stepSpeed, $accel, $decel ) = @_;
|
||||
my @stepdata = ($stepperNum, $direction);
|
||||
push @stepdata, $numSteps & 0x7f;
|
||||
push @stepdata, ($numSteps >> 7) & 0x7f;
|
||||
push @stepdata, ($numSteps >> 14) & 0x7f;
|
||||
push_value_as_two_7bit($stepSpeed, \@stepdata);
|
||||
if (defined $accel and defined $decel) {
|
||||
push_value_as_two_7bit($accel, \@stepdata);
|
||||
push_value_as_two_7bit($decel, \@stepdata);
|
||||
}
|
||||
my $packet = $self->packet_sysex_command('STEPPER_DATA', $STEPPER_COMMANDS->{STEPPER_STEP},@stepdata);
|
||||
return $packet;
|
||||
}
|
||||
|
||||
sub handle_stepper_response {
|
||||
my ( $self, $sysex_data ) = @_;
|
||||
|
||||
my $stepperNum = shift @$sysex_data;
|
||||
return {
|
||||
stepperNum => $stepperNum,
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
sub packet_encoder_attach {
|
||||
my ( $self,$encoderNum, $pinA, $pinB ) = @_;
|
||||
my $packet = $self->packet_sysex_command('ENCODER_DATA', $ENCODER_COMMANDS->{ENCODER_ATTACH}, $encoderNum, $pinA, $pinB);
|
||||
@ -904,7 +960,7 @@ sub packet_encoder_reset_position {
|
||||
}
|
||||
|
||||
sub packet_encoder_report_auto {
|
||||
my ( $self,$arg ) = @_; #TODO clarify encoder_report_auto $arg
|
||||
my ( $self,$arg ) = @_;
|
||||
my $packet = $self->packet_sysex_command('ENCODER_DATA', $ENCODER_COMMANDS->{ENCODER_REPORT_AUTO}, $arg);
|
||||
return $packet;
|
||||
}
|
||||
|
||||
@ -61,12 +61,15 @@ FHEM/17_SIS_PMS.pm painseeker http://forum.fhem.de Sonstiges
|
||||
FHEM/18_CUL_HOERMANN.pm rudolfkoenig http://forum.fhem.de SlowRF
|
||||
FHEM/19_Revolt.pm martinppp/mehf http://forum.fhem.de SlowRF
|
||||
FHEM/20_FRM_AD.pm ntruchsess http://forum.fhem.de Sonstiges
|
||||
FHEM/20_FRM_ROTENC.pm ntruchsess http://forum.fhem.de Sonstiges
|
||||
FHEM/20_FRM_I2C.pm ntruchsess http://forum.fhem.de Sonstiges
|
||||
FHEM/20_FRM_IN.pm ntruchsess http://forum.fhem.de Sonstiges
|
||||
FHEM/20_FRM_LCD.pm ntruchsess http://forum.fhem.de Sonstiges
|
||||
FHEM/20_FRM_OUT.pm ntruchsess http://forum.fhem.de Sonstiges
|
||||
FHEM/20_FRM_PWM.pm ntruchsess http://forum.fhem.de Sonstiges
|
||||
FHEM/20_FRM_RBG.pm ntruchsess http://forum.fhem.de Sonstiges
|
||||
FHEM/20_FRM_SERVO.pm ntruchsess http://forum.fhem.de Sonstiges
|
||||
FHEM/20_FRM_STEPPER.pm ntruchsess http://forum.fhem.de Sonstiges
|
||||
FHEM/20_OWFS.pm mfr69bs http://forum.fhem.de 1Wire (deprecated)
|
||||
FHEM/20_X10.pm borisneubert http://forum.fhem.de SlowRF
|
||||
FHEM/20_ROOMMATE.pm loredo http://forum.fhem.de Automatisierung
|
||||
@ -149,7 +152,7 @@ FHEM/70_USBWX.pm wherzig http://forum.fhem.de Sonstiges
|
||||
FHEM/70_VIERA.pm teevau http://forum.fhem.de Sonstiges
|
||||
FHEM/70_WS3600.pm Josch http://forum.fhem.de Sonstiges
|
||||
FHEM/70_XBMC.pm dennisb http://forum.fhem.de Multimedia
|
||||
FHEM/70_Pushover.pm Johannes_B http://forum.fhem.de Unterstützende Dienste
|
||||
FHEM/70_Pushover.pm Johannes_B http://forum.fhem.de Unterst<EFBFBD>tzende Dienste
|
||||
FHEM/71_LISTENLIVE.pm betateilchen http://forum.fhem.de Multimedia
|
||||
FHEM/71_YAMAHA_AVR.pm markusbloch http://forum.fhem.de Multimedia
|
||||
FHEM/71_YAMAHA_BD.pm markusbloch http://forum.fhem.de Multimedia
|
||||
@ -197,7 +200,7 @@ FHEM/98_RandomTimer.pm dietmar63 http://forum.fhem.de Unterstue
|
||||
FHEM/98_SVG.pm rudolfkoenig http://forum.fhem.de Frontends
|
||||
FHEM/98_THRESHOLD.pm damian-s http://forum.fhem.de Automatisierung
|
||||
FHEM/98_WeekdayTimer.pm dietmar63 http://forum.fhem.de Unterstuetzende Dienste
|
||||
FHEM/98_WOL.pm dietmar63 http://forum.fhem.de Unterstützende Dienste
|
||||
FHEM/98_WOL.pm dietmar63 http://forum.fhem.de Unterst<EFBFBD>tzende Dienste
|
||||
FHEM/98_XmlList.pm rudolfkoenig http://forum.fhem.de Automatisierung
|
||||
FHEM/98_autocreate.pm rudolfkoenig http://forum.fhem.de Automatisierung
|
||||
FHEM/98_average.pm rudolfkoenig http://forum.fhem.de Automatisierung
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user