Optimizations

include/FlipFlat.h

@@ -6,9 +6,11 @@
 #include <Streaming.h>
 #include <EasyButton.h>
 #include <AccelStepper.h>
+#include <TMCStepper.h>
 
 #define DEBUG       0
-#define UNIPOLAR    0
+#define TMC2130
+//#define UNIPOLAR    
 
 #ifdef ESP32
 #define BRIGHT_PLUS GPIO_NUM_34
@@ -21,16 +23,16 @@
 #endif
 
 #ifdef __AVR_ATmega32U4__
-#define BRIGHT_PLUS 15 
-#define BRIGHT_MIN  14
+#define BRIGHT_PLUS 19 
+#define BRIGHT_MIN  20
 #define PWM         9  
-#define COVER_FF    16
+#define COVER_FF    18
 
 #define FF_SERIAL   Serial  
 #define LOG_SERIAL  Serial1
 #endif
 
-#if UNIPOLAR
+#ifdef UNIPOLAR
 #define STEP_PIN1   5
 #define STEP_PIN2   6
 #define STEP_PIN3   7
@@ -39,10 +41,19 @@
 #else
 #define STEP_PIN    7
 #define DIR_PIN     8
-#define STEPS       200 // steps per revolution for the motor
 #endif
 
-#define OPEN_ANGLE  270.0
+#ifdef TMC2130
+#define R_SENSE     0.11f
+#define CS_PIN      6
+#define EN_PIN      5
+#endif
+
+#define MAX_SPEED   200
+#define STEPS       200 // steps per revolution for the motor
+#define MICROSTEPS  4
+
+#define COVER_ANGLE 270.0
 
 enum devices {
   FLAT_MAN_L = 10,
@@ -62,32 +73,48 @@ enum lightStatuses {
 };
 
 enum shutterStatuses {
-  NEITHER_OPEN_NOR_CLOSED = 0, // ie not open or closed...could be moving
+  NEITHER_OPENED_NOR_CLOSED = 0, // ie not open or closed...could be moving
   CLOSED,
-  OPEN,
+  OPENED,
   TIMED_OUT
 };
 
 enum motorDirections {
-  OPENING = 0,
-  CLOSING,
-  NONE
+  CLOSING = -1,
+  IDLE,
+  OPENING
+};
+
+enum commands 
+{
+  NONE,
+  PING,
+  OPEN,
+  CLOSE,
+  LIGHT_ON,
+  LIGHT_OFF,
+  SET_BRIGHTNESS,
+  GET_BRIGHTNESS,
+  STATUS,
+  VERSION
 };
 
 
+void initializeStepper();
 void setupSerial();
 void handleSerial();
-void handleCoverSwitch();
+void handleCoverButton();
 
 void increaseBrightness();
 void decreaseBrightness();
 void setBrightness(int newBrightness);
 void openFlipFlat();
 void closeFlipFlat();
-void rotateMotor(float newAngle);
+void rotateMotor(int direction);
 
 void processCommand(const char* cmd, const char *data);
 void parseCommand();
+void sendCommandResponse();
 
 #if DEBUG
 #ifndef LOG

platformio.ini

@@ -13,6 +13,7 @@ lib_deps =
 	https://github.com/janelia-arduino/Streaming.git
 	evert-arias/EasyButton@^2.0.1
 	waspinator/AccelStepper@^1.64
+	https://github.com/teemuatlut/TMCStepper.git
 
 [env:ESP32]
 platform = espressif32

src/FlipFlat.cpp

@@ -10,14 +10,12 @@ int deviceId = FLIP_FLAT; // set this to FLAT_MAN if you want to remove or not u
 int motorStatus = STOPPED;
 int lightStatus = OFF;
 int coverStatus = CLOSED;
-int motorDirection = NONE;
-float currentAngle = 0.0;
-
+int motorDirection = IDLE;
+uint32_t steps = STEPS / 360.0 * COVER_ANGLE * MICROSTEPS;
 int brightness = 0;
+int lastCommand = CLOSE;
 
-EasyButton brightness_plus(BRIGHT_PLUS);
-EasyButton brightness_min(BRIGHT_MIN);
-EasyButton cover_control(COVER_FF);
+EasyButton coverButton(COVER_FF);
 
 #if UNIPOLAR
 AccelStepper stepper(AccelStepper::FULL4WIRE, STEP_PIN1, STEP_PIN3, STEP_PIN2, STEP_PIN4);
@@ -25,6 +23,8 @@ AccelStepper stepper(AccelStepper::FULL4WIRE, STEP_PIN1, STEP_PIN3, STEP_PIN2, S
 AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);
 #endif
 
+TMC2130Stepper driver = TMC2130Stepper(CS_PIN, R_SENSE);
+
 void setup()
 {
   setupSerial();
@@ -32,64 +32,47 @@ void setup()
   LOG("Debug mode");
   LOG("Starting FlipFlat");
 
-  LOG("Setup PWM pin");
-  pinMode(PWM, OUTPUT);
-
-  LOG("Setup brightness buttons");
-  brightness_plus.begin();
-  brightness_plus.onPressed(increaseBrightness);
-  brightness_min.begin();
-  brightness_min.onPressed(decreaseBrightness);
-
   LOG("Setup open-close button");
-  cover_control.begin();
-  cover_control.onPressed(handleCoverSwitch);
+  coverButton.begin();
+  coverButton.onPressed(handleCoverButton);
 
   LOG("Initializing stepper");
-  stepper.setMaxSpeed(1000);
-  stepper.setAcceleration(50);
-  stepper.setSpeed(200);
-  //stepper.moveTo(STEPS);
+  initializeStepper();
 }
 
 void loop()
 {
-  brightness_plus.read();
-  brightness_min.read();
-  cover_control.read();
+  coverButton.read();
 
   if (FF_SERIAL.available() > 0) // all incoming communications are fixed length at 6 bytes including the \r
   {
     LOG("Command received");
     parseCommand();
   }
+  sendCommandResponse();
 
   stepper.run();
-}
 
-void increaseBrightness()
-{
-  LOG("Brightness+ is pressed");
-
-  brightness++;
-
-  setBrightness(brightness);
 }
 
-void decreaseBrightness()
+void initializeStepper()
 {
-  LOG("Brightness- is pressed");
-
-  brightness--;
-
-  setBrightness(brightness);
-}
-
-void setBrightness(int newBrightness)
-{
-  LOG1("Setting brightness to ", newBrightness);
-
-  analogWrite(PWM, newBrightness);
+  SPI.begin();
+
+  pinMode(CS_PIN, OUTPUT);
+  digitalWrite(CS_PIN, HIGH);
+
+  driver.begin();          // Initiate pins and registeries
+  driver.rms_current(600); // Set stepper current to 600mA. The command is the same as command TMC2130.setCurrent(600, 0.11, 0.5);
+  driver.en_pwm_mode(1);   // Enable extremely quiet stepping
+  driver.pwm_autoscale(1);
+  driver.microsteps(MICROSTEPS);
+
+  stepper.setMaxSpeed(MAX_SPEED);
+  stepper.setAcceleration(1000);
+  stepper.setEnablePin(EN_PIN);
+  stepper.setPinsInverted(false, false, true);
+  stepper.enableOutputs();
 }
 
 void parseCommand()
@@ -129,7 +112,7 @@ void processCommand(const char *cmd, const char *data)
   */
   case 'P':
     LOG("Ping received");
-    FF_SERIAL << F("*P") << deviceId << F("OOO\n");
+    lastCommand = PING;
     break;
 
   /*
@@ -141,7 +124,7 @@ void processCommand(const char *cmd, const char *data)
   */
   case 'O':
     LOG("Open received");
-    FF_SERIAL << F("*O") << deviceId << F("OOO\n");
+    lastCommand = OPEN;
     openFlipFlat();
     break;
 
@@ -154,7 +137,7 @@ void processCommand(const char *cmd, const char *data)
   */
   case 'C':
     LOG("Close received");
-    FF_SERIAL << F("*C") << deviceId << F("OOO\n");
+    lastCommand = CLOSE;
     closeFlipFlat();
     break;
 
@@ -165,10 +148,10 @@ void processCommand(const char *cmd, const char *data)
       ii = deviceId
   */
   case 'L':
-    LOG("Turn on received");
-    FF_SERIAL << F("*L") << deviceId << F("OOO\n");
+    LOG("Light on received");
     lightStatus = ON;
-    setBrightness(brightness);
+    lastCommand = LIGHT_ON;
+    // setBrightness(brightness);
     break;
 
   /*
@@ -179,9 +162,9 @@ void processCommand(const char *cmd, const char *data)
   */
   case 'D':
     LOG("Turn off received");
-    FF_SERIAL << F("*D") << deviceId << F("OOO\n");
     lightStatus = OFF;
-    setBrightness(0);
+    lastCommand = LIGHT_OFF;
+    // setBrightness(0);
     break;
 
   /*
@@ -194,13 +177,9 @@ void processCommand(const char *cmd, const char *data)
   */
   case 'B':
     LOG("Set brightness received");
-    FF_SERIAL << F("*B") << deviceId << _WIDTHZ(brightness, 3) << F("\n");
-
     brightness = atoi(data);
-
-    if (lightStatus == ON)
-      setBrightness(brightness);
-
+    lastCommand = SET_BRIGHTNESS;
+    // setBrightness(brightness);
     break;
 
   /*
@@ -212,7 +191,7 @@ void processCommand(const char *cmd, const char *data)
   */
   case 'J':
     LOG("Get brightness received");
-    FF_SERIAL << F("*J") << deviceId << _WIDTHZ(brightness, 3) << F("\n");
+    lastCommand = GET_BRIGHTNESS;
     break;
 
   /*
@@ -226,7 +205,7 @@ void processCommand(const char *cmd, const char *data)
   */
   case 'S':
     LOG("Get status recived");
-    FF_SERIAL << F("*S") << deviceId << motorStatus << lightStatus << coverStatus << F("\n");
+    lastCommand = STATUS;
     break;
 
   /*
@@ -237,62 +216,51 @@ void processCommand(const char *cmd, const char *data)
   */
   case 'V': // get firmware version
     LOG("Get firmware version received");
-    FF_SERIAL << F("*V") << deviceId << F("001") << F("\n");
+    lastCommand = VERSION;
     break;
   }
 }
 
 void openFlipFlat()
 {
-  if (coverStatus != OPEN)
+  if (coverStatus != OPENED)
   {
     LOG("Turn light off");
-    setBrightness(0);
+    // setBrightness(0);
 
     motorDirection = OPENING;
-    rotateMotor(OPEN_ANGLE);
+    rotateMotor(motorDirection);
   }
 }
 
+
 void closeFlipFlat()
 {
   LOG("Closing FlipFlat");
-  if (coverStatus != CLOSED)
+  if (coverStatus == OPENED)
   {
     motorDirection = CLOSING;
-    rotateMotor(OPEN_ANGLE);
+    rotateMotor(motorDirection);
   }
   else
   {
-    LOG("FlipFlap already closed");
+    LOG("FlipFlap not opened");
   }
 }
 
-void rotateMotor(float angle)
+
+void rotateMotor(int direction)
 {
-  if (motorDirection == OPENING)
+  if (stepper.distanceToGo() == 0)
   {
     motorStatus = RUNNING;
-    coverStatus = NEITHER_OPEN_NOR_CLOSED;
-
-    stepper.move(STEPS * angle / 360.0);
+    coverStatus = NEITHER_OPENED_NOR_CLOSED;
 
-    coverStatus = OPEN;
+    stepper.move(direction * steps);
   }
-  else
-  {
-    if (motorDirection == CLOSING)
-    {
-      motorStatus = RUNNING;
-      coverStatus = NEITHER_OPEN_NOR_CLOSED;
-
-      stepper.move(-STEPS * angle / 360.0);
 
-      coverStatus = CLOSED;
-    }
-  }
   motorStatus = STOPPED;
-  motorDirection = NONE;
+  motorDirection = IDLE;
 }
 
 void setupSerial()
@@ -314,7 +282,7 @@ void setupSerial()
   LOG("FlipFlat Serial up and running");
 }
 
-void handleCoverSwitch()
+void handleCoverButton()
 {
   switch (coverStatus)
   {
@@ -322,11 +290,73 @@ void handleCoverSwitch()
     LOG("Opening cover");
     openFlipFlat();
     break;
-  case OPEN:
+  case OPENED:
     LOG("Closing cover");
     closeFlipFlat();
     break;
   default:
     LOG("Cover not open or closed");
   }
-}
+}
+
+void sendCommandResponse()
+{
+  switch (lastCommand)
+  {
+  case PING:
+    FF_SERIAL << F("*P") << deviceId << F("OOO\n");
+    lastCommand = NONE;
+    break;
+    
+  case OPEN:
+    if (stepper.distanceToGo() == 0)
+    {
+      FF_SERIAL << F("*O") << deviceId << F("OOO\n");
+      lastCommand = NONE;
+    }
+    break;
+
+  case CLOSE:
+    if (stepper.distanceToGo() == 0)
+    {
+      FF_SERIAL << F("*C") << deviceId << F("OOO\n");
+      lastCommand = NONE;
+    }
+    break;
+
+  case LIGHT_ON:
+    FF_SERIAL << F("*L") << deviceId << F("OOO\n");
+    lastCommand = NONE;
+    break;
+
+  case LIGHT_OFF:
+    FF_SERIAL << F("*D") << deviceId << F("OOO\n");
+    lastCommand = NONE;
+    break;
+
+  case SET_BRIGHTNESS:
+    FF_SERIAL << F("*B") << deviceId << _WIDTHZ(brightness, 3) << F("\n");
+    lastCommand = NONE;
+    break;
+    
+  case GET_BRIGHTNESS:
+    FF_SERIAL << F("*J") << deviceId << _WIDTHZ(brightness, 3) << F("\n");
+    lastCommand = NONE;
+    break;
+        
+  case STATUS:
+    FF_SERIAL << F("*S") << deviceId << motorStatus << lightStatus << coverStatus << F("\n");
+    lastCommand = NONE;
+    break;
+              
+  case VERSION:
+    FF_SERIAL << F("*V") << deviceId << F("AVG") << F("\n");
+    lastCommand = NONE;
+    break;
+
+  default:
+    lastCommand = NONE;
+    break;
+  }
+
+}