Motor driver with feedback input (Airflow regulator Dospel)

items pulling reworked

lighthub/modules/out_motor.cpp

@@ -0,0 +1,246 @@
+#ifndef MOTOR_DISABLE
+
+#include "modules/out_motor.h"
+#include "Arduino.h"
+#include "options.h"
+#include "Streaming.h"
+
+#include "item.h"
+
+static int driverStatus = CST_UNKNOWN;
+
+void out_Motor::getConfig()
+{
+  pinUp=item->getArg(0);
+  if(pinUp<=0 || pinFeedback>=PINS_COUNT) pinUp=32;
+
+  pinDown=item->getArg(1);
+  if (pinDown<=0 || pinFeedback>=PINS_COUNT) pinDown=33;
+
+  pinFeedback=item->getArg(2);
+  if (pinFeedback<0 || pinFeedback>=PINS_COUNT) pinFeedback=0;
+
+  feedbackOpen=item->getArg(3);
+  if (feedbackOpen<=0 || feedbackOpen>1024) feedbackOpen=0;
+
+  feedbackClosed=item->getArg(4);
+  if (feedbackClosed<0 || feedbackClosed>1024) feedbackClosed=1024;
+
+  maxOnTime=item->getArg(5);
+  if (maxOnTime<=0) maxOnTime=10000;
+  }
+
+
+int  out_Motor::Setup()
+{
+getConfig();
+Serial.println("Motor Init");
+digitalWrite(pinUp,LOW);
+digitalWrite(pinDown,LOW);
+pinMode(pinFeedback, INPUT);
+item->setExt(0);
+item->clearFlag(ACTION_NEEDED);
+driverStatus = CST_INITIALIZED;
+return 1;
+}
+
+int  out_Motor::Stop()
+{
+Serial.println("Motor De-Init");
+digitalWrite(pinUp,LOW);
+digitalWrite(pinDown,LOW);
+item->setExt(0);
+driverStatus = CST_UNKNOWN;
+return 1;
+}
+
+int  out_Motor::Status()
+{
+return driverStatus;
+}
+
+int out_Motor::isActive()
+{
+return item->getVal();
+}
+
+int out_Motor::Poll(short cause)
+{
+int curPos = -1;
+int targetPos = -1;
+int dif;
+if (!item->getFlag(ACTION_NEEDED)) return 0;
+
+uint32_t motorOfftime = item->getExt();
+
+switch (item->getCmd())
+{
+  case CMD_ON:
+  case CMD_XON:
+  targetPos = item->getVal();
+  break;
+
+  case CMD_OFF:
+  case CMD_HALT:
+  targetPos = 0;
+  break;
+}
+
+if (pinFeedback && (g_APinDescription[pinFeedback].ulPinAttribute & PIN_ATTR_ANALOG) == PIN_ATTR_ANALOG)
+{
+curPos=map(analogRead(pinFeedback),feedbackClosed,feedbackOpen,0,100);
+if (curPos<0) curPos=0;
+if (curPos>100) curPos=100;
+}
+
+if (motorOfftime && motorOfftime<millis()) //Time over
+  {dif = 0; debugSerial<<F("Motor timeout")<<endl;}
+else if (curPos>=0)
+  dif=targetPos-curPos;
+else
+  dif=targetPos-50; // Have No feedback
+
+
+
+if (dif<-POS_ERR)
+{
+
+  digitalWrite(pinDown,LOW);
+  if (!item->getExt())item->setExt(millis()+maxOnTime);
+
+  //
+  //PINS_COUNT
+  //PIN_ATTR_ANALOG
+  //  uint32_t attr = g_APinDescription[pinUp].ulPinAttribute;
+  //  if ((attr & PIN_ATTR_PWM) == PIN_ATTR_PWM) ;
+
+if (digitalPinHasPWM(pinUp))
+    {
+      int velocity = map(-dif, 0, 10, 0, 255);
+      if (velocity>255) velocity=255;
+      analogWrite(pinUp,velocity);
+    }
+else
+   {
+     digitalWrite(pinUp,HIGH);
+   }
+}
+else
+
+if (dif>POS_ERR)
+{
+digitalWrite(pinUp,LOW);
+
+if (!item->getExt()) item->setExt(millis()+maxOnTime);
+if (digitalPinHasPWM(pinDown))
+{
+  int velocity = map(dif, 0, 10, 0, 255);
+  if (velocity>255) velocity=255;
+  analogWrite(pinDown,velocity);
+}
+else
+{
+ digitalWrite(pinDown,HIGH);
+}
+
+}
+else //Target zone
+{
+  digitalWrite(pinUp,LOW);
+  digitalWrite(pinDown,LOW);
+  item->setExt(0);
+  item->clearFlag(ACTION_NEEDED);
+
+}
+
+
+return 0;
+};
+
+int out_Motor::getChanType()
+{
+   return CH_PWM;
+}
+
+
+
+int out_Motor::Ctrl(short cmd, short n, int * Parameters, boolean send, int suffixCode, char* subItem)
+{
+int chActive = item->isActive();
+bool toExecute = (chActive>0);
+long st;
+if (cmd>0 && !suffixCode) suffixCode=S_CMD; //if some known command find, but w/o correct suffix - got it
+
+item->setFlag(ACTION_NEEDED);
+
+switch(suffixCode)
+{
+case S_NOTFOUND:
+  // turn on  and set
+toExecute = true;
+debugSerial<<F("Forced execution");
+case S_SET:
+          if (!Parameters || n==0) return 0;
+          item->setVal(st=Parameters[0]); //Store
+          if (toExecute)
+          {
+            if (chActive>0 && !st) item->setCmd(CMD_OFF);
+            if (chActive==0 && st) item->setCmd(CMD_ON);
+            item->SendStatus(SEND_COMMAND | SEND_PARAMETERS | SEND_DEFFERED);
+            item->setExt(millis()+maxOnTime); //Extend motor time
+          }
+          else    item->SendStatus(SEND_PARAMETERS | SEND_DEFFERED);
+
+          return 1;
+          //break;
+
+case S_CMD:
+      item->setCmd(cmd);
+      switch (cmd)
+          {
+          case CMD_ON:
+
+            /*
+            if (chActive>0 && send)
+                               {
+                                 SendStatus(SEND_COMMAND);
+                                 return 1;
+                               }
+            */
+           //retrive stored values
+           st = item->getVal();
+
+
+            if (st && (st<MIN_VOLUME)) st=INIT_VOLUME;
+            item->setVal(st);
+
+            if (st)  //Stored smthng
+            {
+              if (send) item->SendStatus(SEND_COMMAND | SEND_PARAMETERS);
+              debugSerial<<F("Restored: ")<<st<<endl;
+            }
+            else
+            {
+              debugSerial<<st<<F(": No stored values - default\n");
+              // Store
+              st=100;
+              item->setVal(st);
+              if (send) item->SendStatus(SEND_COMMAND | SEND_PARAMETERS );
+            }
+            item->setExt(millis()+maxOnTime); //Extend motor time
+            return 1;
+
+            case CMD_OFF:
+              if (send) item->SendStatus(SEND_COMMAND);
+              item->setExt(millis()+maxOnTime); //Extend motor time
+            return 1;
+
+} //switch cmd
+
+break;
+} //switch suffix
+debugSerial<<F("Unknown cmd")<<endl;
+return 0;
+}
+
+#endif