mirror of
https://github.com/fhem/fhem-mirror.git
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334 lines
10 KiB
Perl
Executable File
334 lines
10 KiB
Perl
Executable File
##############################################
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# $Id$
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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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my $hash = $main::defs{$name};
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eval {
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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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if ($main::init_done and (!defined ($hash->{IODev}) or $hash->{IODev}->{NAME} ne $value)) {
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FRM_Client_AssignIOPort($hash,$value);
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FRM_Init_Client($hash) if (defined ($hash->{IODev}));
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}
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last;
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};
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}
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}
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};
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if ($@) {
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$@ =~ /^(.*)( at.*FHEM.*)$/;
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$hash->{STATE} = "error setting $attribute to $value: ".$1;
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return "cannot $command attribute $attribute to $value for $name: ".$1;
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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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