From 88db2e27bbf6c082af988eaecc51b711bcdbf141 Mon Sep 17 00:00:00 2001 From: stefanbode Date: Mon, 22 Feb 2021 16:54:58 +0100 Subject: [PATCH 1/2] refactor acceleration function for stepper & servo --- tasmota/xdrv_27_shutter.ino | 46 +++++++++++++++++++------------------ 1 file changed, 24 insertions(+), 22 deletions(-) diff --git a/tasmota/xdrv_27_shutter.ino b/tasmota/xdrv_27_shutter.ino index 171d7406c70a..922c9d76bff5 100644 --- a/tasmota/xdrv_27_shutter.ino +++ b/tasmota/xdrv_27_shutter.ino @@ -45,8 +45,8 @@ int32_t velocity_change_per_step_max = 0; int32_t min_runtime_ms = 0; int32_t current_stop_way = 0; int32_t next_possible_stop_position = 0; -int32_t toBeAcc = 0; - +int32_t current_real_position = 0; +int32_t current_pwm_velocity = 0; const uint8_t MAX_MODES = 7; enum Shutterposition_mode {SHT_UNDEF, SHT_TIME, SHT_TIME_UP_DOWN, SHT_TIME_GARAGE, SHT_COUNTER, SHT_PWM_VALUE, SHT_PWM_TIME,}; @@ -125,8 +125,10 @@ void ShutterUpdateVelocity(uint8_t i) { // No Logging allowed. Part of RTC Timer // will be calles through RTC every 50ms. - Shutter[i].pwm_velocity += Shutter[i].accelerator; - Shutter[i].pwm_velocity = tmax(0,tmin(Shutter[i].direction==1 ? ShutterGlobal.open_velocity_max : Shutter[i].close_velocity_max,Shutter[i].pwm_velocity)); + // do not allow accellerator to stop movement + Shutter[i].pwm_velocity = tmax(velocity_change_per_step_max, Shutter[i].pwm_velocity+Shutter[i].accelerator); + Shutter[i].pwm_velocity = tmin(Shutter[i].direction==1 ? ShutterGlobal.open_velocity_max : Shutter[i].close_velocity_max,Shutter[i].pwm_velocity); + // respect hard coded SDK limit of 100Hz on PWM frequency. if (ShutterGlobal.position_mode == SHT_COUNTER) { Shutter[i].pwm_velocity = tmax(100,Shutter[i].pwm_velocity); } @@ -376,22 +378,21 @@ void ShutterCalculateAccelerator(uint8_t i) switch (ShutterGlobal.position_mode) { case SHT_COUNTER: case SHT_PWM_VALUE: + current_real_position = Shutter[i].real_position; + current_pwm_velocity = Shutter[i].pwm_velocity; // calculate max velocity allowed in this direction velocity_max = Shutter[i].direction == 1 ? ShutterGlobal.open_velocity_max : Shutter[i].close_velocity_max; // calculate max change of velocyty based on the defined motordelay in steps velocity_change_per_step_max = velocity_max / (Shutter[i].motordelay>0 ? Shutter[i].motordelay : 1); // minimumtime required from current velocity to stop - min_runtime_ms = Shutter[i].pwm_velocity * 1000 / STEPS_PER_SECOND / velocity_change_per_step_max; - // decellartion way from current velocity - current_stop_way = (min_runtime_ms * (Shutter[i].pwm_velocity+velocity_change_per_step_max)/100 - Shutter[i].pwm_velocity)*RESOLUTION/ShutterGlobal.open_velocity_max * Shutter[i].direction ; - next_possible_stop_position = Shutter[i].real_position + current_stop_way ; - toBeAcc = 0; + min_runtime_ms = current_pwm_velocity * 1000 / STEPS_PER_SECOND / velocity_change_per_step_max; + // decellaration way from current velocity + current_stop_way = min_runtime_ms * STEPS_PER_SECOND * (current_pwm_velocity + velocity_change_per_step_max) * Shutter[i].direction / 2 / ShutterGlobal.open_velocity_max - (Shutter[i].accelerator<0?Shutter[i].direction*1000*current_pwm_velocity/ShutterGlobal.open_velocity_max:0); + next_possible_stop_position = current_real_position + current_stop_way ; // ensure that the accelerotor kicks in at least one step BEFORE it is to late and a hard stop required. - if (Shutter[i].accelerator < 0 || (next_possible_stop_position * Shutter[i].direction) +RESOLUTION*Shutter[i].pwm_velocity/ShutterGlobal.open_velocity_max>= Shutter[i].target_position * Shutter[i].direction ) { - // 10 times the deviation is the p-value of this simple p-regulator - toBeAcc = 100+(Shutter[i].direction*(next_possible_stop_position-Shutter[i].target_position)*velocity_max/Shutter[i].pwm_velocity*10/RESOLUTION); - Shutter[i].accelerator = - tmin(tmax( velocity_change_per_step_max*toBeAcc/100 , (velocity_change_per_step_max*9/10)), (velocity_change_per_step_max*11/10)); - } else if ( Shutter[i].accelerator > 0 && Shutter[i].pwm_velocity == velocity_max) { + if (next_possible_stop_position * Shutter[i].direction > Shutter[i].target_position * Shutter[i].direction ) { + Shutter[i].accelerator = -velocity_change_per_step_max; + } else if ( Shutter[i].accelerator > 0 && current_pwm_velocity == velocity_max) { Shutter[i].accelerator = 0; } break; @@ -406,8 +407,9 @@ void ShutterDecellerateForStop(uint8_t i) case SHT_COUNTER: int16_t missing_steps; Shutter[i].accelerator = -(ShutterGlobal.open_velocity_max / (Shutter[i].motordelay>4 ? (Shutter[i].motordelay*11)/10 : 4) ); - while (Shutter[i].pwm_velocity > -2*Shutter[i].accelerator || (ShutterGlobal.position_mode == SHT_COUNTER && Shutter[i].pwm_velocity > 100) ) { - delay(50); + + while (Shutter[i].pwm_velocity > -2*Shutter[i].accelerator && Shutter[i].pwm_velocity != 100) { + delay(50); AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Velocity %ld, Delta %d"), Shutter[i].pwm_velocity, Shutter[i].accelerator ); // Control will be done in RTC Ticker. @@ -421,8 +423,8 @@ void ShutterDecellerateForStop(uint8_t i) } analogWrite(Pin(GPIO_PWM1, i), 0); // removed with 8.3 because of reset caused by watchog Shutter[i].real_position = ShutterCalculatePosition(i); - AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Real %d, Pulsecount %d, Start %d"), Shutter[i].real_position,RtcSettings.pulse_counter[i], Shutter[i].start_position); - + AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Remain steps %d"), missing_steps); + AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Real %d, Pulsecount %d, tobe %d, Start %d"), Shutter[i].real_position,RtcSettings.pulse_counter[i], (uint32_t)(Shutter[i].target_position-Shutter[i].start_position)*Shutter[i].direction*ShutterGlobal.open_velocity_max/RESOLUTION/STEPS_PER_SECOND, Shutter[i].start_position); } Shutter[i].direction = 0; Shutter[i].pwm_velocity = 0; @@ -487,11 +489,11 @@ void ShutterUpdatePosition(void) XdrvRulesProcess(); ShutterGlobal.start_reported = 1; } - AddLog_P(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Time %d, toBA %d, cStop %d, cVelo %d, mVelo %d, aVelo %d, mRun %d, aPos %d, nStop %d, Trgt %d, mVelo %d, Dir %d"), - Shutter[i].time, toBeAcc, current_stop_way, Shutter[i].pwm_velocity, velocity_max, Shutter[i].accelerator, min_runtime_ms, Shutter[i].real_position, + AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Time %d, cStop %d, cVelo %d, mVelo %d, aVelo %d, mRun %d, aPos %d, nStop %d, Trgt %d, mVelo %d, Dir %d"), + Shutter[i].time, current_stop_way, current_pwm_velocity, velocity_max, Shutter[i].accelerator, min_runtime_ms, current_real_position, next_possible_stop_position, Shutter[i].target_position, velocity_change_per_step_max, Shutter[i].direction); - if ( Shutter[i].real_position * Shutter[i].direction >= Shutter[i].target_position * Shutter[i].direction || (ShutterGlobal.position_mode == SHT_COUNTER && Shutter[i].accelerator <0 && Shutter[i].pwm_velocity+Shutter[i].accelerator<=100)) { + if ( Shutter[i].real_position * Shutter[i].direction >= Shutter[i].target_position * Shutter[i].direction || (ShutterGlobal.position_mode == SHT_COUNTER && Shutter[i].accelerator <0 && Shutter[i].pwm_velocity+Shutter[i].accelerator<100)) { if (Shutter[i].direction != 0) { Shutter[i].lastdirection = Shutter[i].direction; } @@ -878,7 +880,7 @@ void ShutterSetPosition(uint32_t device, uint32_t position) void ShutterToggle(bool dir) { - AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Payload toggle: %d, i %d, dir %d"), XdrvMailbox.payload, XdrvMailbox.index, dir); + AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Payload toggle: %d, i %d, dir %d, lastdir %d"), XdrvMailbox.payload, XdrvMailbox.index, dir, Shutter[XdrvMailbox.index-1].lastdirection); if ((1 == XdrvMailbox.index) && (XdrvMailbox.payload != -99)) { XdrvMailbox.index = XdrvMailbox.payload; } From 1e4c31c10b0cadea76cff5c64e57cc4ed3e815fd Mon Sep 17 00:00:00 2001 From: Krzysztof Malisiewicz Date: Tue, 23 Feb 2021 08:08:28 +0100 Subject: [PATCH 2/2] Fix LM75AD detection on different address then 0x48. --- tasmota/xsns_26_lm75ad.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tasmota/xsns_26_lm75ad.ino b/tasmota/xsns_26_lm75ad.ino index 73c6140ccf60..82df8a294928 100644 --- a/tasmota/xsns_26_lm75ad.ino +++ b/tasmota/xsns_26_lm75ad.ino @@ -56,7 +56,7 @@ void LM75ADDetect(void) if (I2cActive(lm75ad_address)) { continue; } if (!I2cSetDevice(lm75ad_address)) { - break; // do not make the next step without a confirmed device on the bus + continue; // do not make the next step without a confirmed device on the bus } uint16_t buffer; if (I2cValidRead16(&buffer, lm75ad_address, LM75_THYST_REGISTER)) {