ESPHome Device Builder
1077 lines
32 KiB
YAML
1077 lines
32 KiB
YAML
#:########################################################################################:#
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# TITLE: ASTRONOMICAL CLOCK STEPPER
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# zorruno.com layout v1.1 2026
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#:########################################################################################:#
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# REPO:
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# https://home.fox.co.nz/gitea/zorruno/zorruno-homeassistant/src/branch/master/esphome/esp-astroclockstepper.yaml
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#:########################################################################################:#
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# VERSIONS:
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# V1.2 2026-06-22 Added DHCP IPv4 address flash sequence on onboard LED after WiFi connects
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# V1.1 2026-06-22 Added onboard D1 Mini LED flash on each motor step
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# V1.0 2026-06-22 Initial Version
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#:########################################################################################:#
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# HARDWARE:
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# ESP8266 D1 Mini Clone
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# 5V 28BYJ-48 Stepper Motor
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# Keyestudio / ULN2003 style 5V stepper driver board
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#
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# Stepper Driver:
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# - IN1: GPIO14 / D5
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# - IN2: GPIO12 / D6
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# - IN3: GPIO13 / D7
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# - IN4: GPIO15 / D8
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# - VCC: 5V motor supply
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# - GND: Common GND with ESP8266
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#
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# Physical Buttons:
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# - Fast Forward: GPIO5 / D1
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# - Slow Forward: GPIO4 / D2
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# - Fast Reverse: GPIO0 / D3
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# - Slow Reverse: GPIO16 / D0
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#
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# Button board:
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# - Uses built-in 103 pull-up resistors, 10k ohm
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# - Buttons should pull the GPIO pin to GND when pressed
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# - Pull-ups must go to 3.3V, not 5V
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#
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# Onboard Step LED:
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# - GPIO2 / D4
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# - Active-low on most D1 Mini boards
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#:########################################################################################:#
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# OPERATION NOTES:
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# - Normal rotation starts automatically after boot.
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# - Default rotation is one full revolution every 365.2422 days.
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# - Default step count is 4096 steps per full revolution.
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# - Normal movement is extremely slow, about one step every 2.14 hours.
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# - Motor coils are powered only while stepping, then released.
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# - No holding torque is used.
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# - Web template switches mimic held physical buttons.
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# - Manual movement only applies while a physical button or web switch is held/on.
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# - Position counter wraps back to zero after one full rotation.
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# - Onboard D1 Mini LED flashes briefly every time a motor step is issued.
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# - After WiFi connects, the onboard LED flashes the DHCP IPv4 address.
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# - IPv4 flash sequence is decimal digit based.
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# - A digit of 0 is represented as 10 flashes.
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#:########################################################################################:#
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# OFFLINE NOTES:
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# a) Home Assistant OFFLINE, but Network ONLINE
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# - Device remains controllable via local web portal
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# - HA entities unavailable until HA returns
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# b) WiFi/Network OFFLINE
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# - No HA API or web control available
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# - Physical buttons continue to work
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# - Normal motor timing continues from device uptime
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# - Fallback AP / captive portal should become available from network_common_dhcp.yaml
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# c) Device power loss / reboot
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# - V1 does not restore exact astronomical position after reboot
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# - Re-align manually using the web or physical button controls
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#:########################################################################################:#
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#:########################################################################################:#
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# SUBSTITUTIONS: Specific device variable substitutions
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# If NOT using a secrets file, just replace these with the passwords etc (in quotes)
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#:########################################################################################:#
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substitutions:
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# Device Naming
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device_name: "esp-astroclockstepper1"
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friendly_name: "Astronomical Clock Stepper"
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description_comment: "Astronomical Clock Stepper :: ESP8266 D1 Mini with 28BYJ-48 Stepper Motor (Layout V1.1)"
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device_area: "Standalone"
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# Project Naming
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project_name: "zorruno.Astronomical Clock Stepper"
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project_version: "v1.2"
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# Passwords & Secrets (Unfortunately, you cannot use substitutions inside secret names)
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api_key: !secret esp-api_key
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ota_pass: !secret esp-ota_pass
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# Device Settings
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log_level: "INFO"
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sensor_update_interval: "1s"
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calculated_sensor_update_interval: "60s"
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# Astronomical Clock Settings
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rotation_days: "365.2422"
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steps_per_rotation: "4096"
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normal_direction_name: "Clockwise"
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# Use 1 for normal direction.
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# Use -1 if the motor rotates the wrong way.
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normal_direction_multiplier: "1"
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# Manual Movement Speeds
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manual_fast_rotation_seconds: "30"
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manual_slow_rotation_seconds: "300"
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# Coil Release
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coil_release_ms: "500"
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# Step LED
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onboard_step_led_pin: GPIO2
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step_led_flash_ms: "25"
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# DHCP IP Address LED Flash Settings
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ip_flash_enabled: "true"
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ip_flash_repeat_count: "5"
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ip_flash_zero_digit_blinks: "10"
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ip_flash_loop_interval: "25ms"
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# Suggested human-countable timing
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ip_flash_on_ms: "200"
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ip_flash_between_flash_gap_ms: "450"
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ip_flash_digit_gap_ms: "1500"
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ip_flash_octet_gap_ms: "3500"
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ip_flash_repeat_gap_ms: "8000"
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# Stepper Output Pins
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stepper_in1_pin: GPIO14
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stepper_in2_pin: GPIO12
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stepper_in3_pin: GPIO13
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stepper_in4_pin: GPIO15
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# Physical Button Input Pins
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button_fast_forward_pin: GPIO5
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button_slow_forward_pin: GPIO4
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button_fast_reverse_pin: GPIO0
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button_slow_reverse_pin: GPIO16
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# Entity Naming
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web_fast_forward_name: "Web Fast Forward"
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web_slow_forward_name: "Web Slow Forward"
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web_fast_reverse_name: "Web Fast Reverse"
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web_slow_reverse_name: "Web Slow Reverse"
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physical_fast_forward_name: "Physical Fast Forward"
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physical_slow_forward_name: "Physical Slow Forward"
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physical_fast_reverse_name: "Physical Fast Reverse"
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physical_slow_reverse_name: "Physical Slow Reverse"
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zero_position_name: "Zero Position Counter"
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replay_ip_flash_name: "Replay IP Address Flash"
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#:########################################################################################:#
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# PACKAGES: Included Common Packages
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# https://esphome.io/components/packages.html
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#:########################################################################################:#
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packages:
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#### WIFI, Network (DHCP/IPV6 etc), Fallback AP, Safemode ####
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common_wifi: !include
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file: common/network_common_dhcp.yaml
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vars:
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local_device_name: "${device_name}"
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local_ota_pass: "${ota_pass}"
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#### HOME ASSISTANT API (choose encryption or no encryption options) ####
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common_api: !include
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file: common/api_common.yaml
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#file: common/api_common_noencryption.yaml
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vars:
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local_api_key: "${api_key}"
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#### MQTT ####
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#common_mqtt: !include
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# file: common/mqtt_common.yaml
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# vars:
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# local_device_name: "${device_name}"
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#### WEB PORTAL ####
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#common_webportal: !include common/webportal_common.yaml
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common_webportal: !include common/webportal_common_nopasswd.yaml
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#### SNTP (Only use if you want/need accurate timeclocks) ####
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#common_sntp: !include common/sntp_common.yaml
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#### DIAGNOSTICS Sensors ####
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diag_basic: !include common/include_basic_diag_sensors.yaml
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#diag_more: !include common/include_more_diag_sensors.yaml
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#diag_debug: !include common/include_debug_diag_sensors.yaml
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#diag_resetcount: !include common/include_resetcount_diag_sensors.yaml
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#:########################################################################################:#
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# ESPHOME:
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# https://esphome.io/components/esphome.html
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#:########################################################################################:#
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esphome:
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name: "${device_name}"
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friendly_name: "${friendly_name}"
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comment: "${description_comment}"
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area: "${device_area}"
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project:
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name: "${project_name}"
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version: "${project_version}"
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on_boot:
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priority: -100
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then:
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- output.turn_off: onboard_step_led
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- logger.log:
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level: INFO
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format: "Astronomical Clock Stepper started. Normal rotation is %s days per full revolution."
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args:
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- '"${rotation_days}"'
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# Wait for WiFi/DHCP, then flash the assigned IPv4 address.
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# This does not stop the main stepper scheduler from running.
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- wait_until:
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condition:
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wifi.connected:
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- delay: 3s
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- script.execute: start_ip_flash_script
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#:########################################################################################:#
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# ESP PLATFORM AND FRAMEWORK:
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# https://esphome.io/components/esp8266.html
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#:########################################################################################:#
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esp8266:
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board: d1_mini
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restore_from_flash: true
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preferences:
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flash_write_interval: 5min
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mdns:
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disabled: false
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#:########################################################################################:#
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# LOGGING:
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# https://esphome.io/components/logger.html
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#:########################################################################################:#
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logger:
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level: "${log_level}"
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baud_rate: 0
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#:########################################################################################:#
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# GLOBALS:
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# Internal position, timing, mode, held-button state, and IP flash state
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# https://esphome.io/components/globals.html
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#:########################################################################################:#
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globals:
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- id: current_position_step
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type: int
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restore_value: no
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initial_value: "0"
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- id: current_phase_index
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type: int
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restore_value: no
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initial_value: "0"
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- id: last_loop_ms
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type: uint32_t
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restore_value: no
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initial_value: "0"
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- id: last_step_ms
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type: uint32_t
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restore_value: no
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initial_value: "0"
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- id: step_accumulator_ms
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type: double
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restore_value: no
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initial_value: "0.0"
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- id: coils_are_on
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type: bool
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restore_value: no
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initial_value: "false"
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- id: step_led_is_on
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type: bool
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restore_value: no
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initial_value: "false"
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- id: step_led_started_ms
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type: uint32_t
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restore_value: no
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initial_value: "0"
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# 0 = Normal
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# 1 = Fast Forward
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# 2 = Slow Forward
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# 3 = Fast Reverse
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# 4 = Slow Reverse
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- id: current_motion_mode
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type: int
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restore_value: no
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initial_value: "0"
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# Physical Button States
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- id: physical_fast_forward_active
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type: bool
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restore_value: no
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initial_value: "false"
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- id: physical_slow_forward_active
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type: bool
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restore_value: no
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initial_value: "false"
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- id: physical_fast_reverse_active
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type: bool
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restore_value: no
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initial_value: "false"
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- id: physical_slow_reverse_active
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type: bool
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restore_value: no
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initial_value: "false"
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# Web Button States
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- id: web_fast_forward_active
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type: bool
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restore_value: no
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initial_value: "false"
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- id: web_slow_forward_active
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type: bool
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restore_value: no
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initial_value: "false"
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- id: web_fast_reverse_active
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type: bool
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restore_value: no
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initial_value: "false"
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- id: web_slow_reverse_active
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type: bool
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restore_value: no
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initial_value: "false"
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# IP Address Flash State
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- id: ip_flash_active
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type: bool
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restore_value: no
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initial_value: "false"
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- id: ip_flash_led_is_on
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type: bool
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restore_value: no
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initial_value: "false"
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- id: ip_flash_next_action_ms
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type: uint32_t
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restore_value: no
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initial_value: "0"
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- id: ip_flash_repeats_completed
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type: int
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restore_value: no
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initial_value: "0"
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- id: ip_flash_octet_index
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type: int
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restore_value: no
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initial_value: "0"
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- id: ip_flash_digit_index
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type: int
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restore_value: no
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initial_value: "0"
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- id: ip_flash_blinks_completed
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type: int
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restore_value: no
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initial_value: "0"
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- id: ip_flash_octet_0
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type: int
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restore_value: no
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initial_value: "0"
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- id: ip_flash_octet_1
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type: int
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restore_value: no
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initial_value: "0"
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- id: ip_flash_octet_2
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type: int
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restore_value: no
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initial_value: "0"
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- id: ip_flash_octet_3
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type: int
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restore_value: no
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initial_value: "0"
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#:########################################################################################:#
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# OUTPUT:
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# Stepper driver GPIO outputs and onboard step LED
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# https://esphome.io/components/output/gpio.html
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#:########################################################################################:#
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output:
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- platform: gpio
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id: stepper_in1
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pin: ${stepper_in1_pin}
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- platform: gpio
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id: stepper_in2
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pin: ${stepper_in2_pin}
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- platform: gpio
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id: stepper_in3
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pin: ${stepper_in3_pin}
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- platform: gpio
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id: stepper_in4
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pin: ${stepper_in4_pin}
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# D1 Mini onboard LED GPIO2 / D4 and active-low
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- platform: gpio
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id: onboard_step_led
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pin:
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number: ${onboard_step_led_pin}
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inverted: true
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#:########################################################################################:#
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# SCRIPT:
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# Utility scripts
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# https://esphome.io/components/script.html
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#:########################################################################################:#
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script:
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- id: start_ip_flash_script
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mode: restart
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then:
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- lambda: |-
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const bool IP_FLASH_ENABLED = ${ip_flash_enabled};
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if (!IP_FLASH_ENABLED) {
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ESP_LOGI("ip_flash", "IP flash is disabled.");
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return;
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}
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if (WiFi.status() != WL_CONNECTED) {
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ESP_LOGW("ip_flash", "WiFi is not connected. Cannot flash IP address.");
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return;
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}
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IPAddress ip = WiFi.localIP();
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if (ip[0] == 0 && ip[1] == 0 && ip[2] == 0 && ip[3] == 0) {
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ESP_LOGW("ip_flash", "Invalid IPv4 address 0.0.0.0. Cannot flash IP address.");
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return;
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}
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id(ip_flash_octet_0) = ip[0];
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id(ip_flash_octet_1) = ip[1];
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id(ip_flash_octet_2) = ip[2];
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id(ip_flash_octet_3) = ip[3];
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id(ip_flash_repeats_completed) = 0;
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id(ip_flash_octet_index) = 0;
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id(ip_flash_digit_index) = 0;
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id(ip_flash_blinks_completed) = 0;
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id(ip_flash_led_is_on) = false;
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id(ip_flash_next_action_ms) = millis();
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id(ip_flash_active) = true;
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// Keep the IP flash sequence visually clean.
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id(step_led_is_on) = false;
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id(onboard_step_led).turn_off();
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ESP_LOGI(
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"ip_flash",
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"Flashing IPv4 address %u.%u.%u.%u on onboard LED. Repeats: %d",
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ip[0],
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ip[1],
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ip[2],
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ip[3],
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${ip_flash_repeat_count}
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);
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#:########################################################################################:#
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# SWITCH:
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# Web held-button controls
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# https://esphome.io/components/switch/template.html
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#:########################################################################################:#
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switch:
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- platform: template
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name: "${web_fast_forward_name}"
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id: web_fast_forward_switch
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icon: mdi:fast-forward
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optimistic: true
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restore_mode: ALWAYS_OFF
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turn_on_action:
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- switch.turn_off: web_slow_forward_switch
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- switch.turn_off: web_fast_reverse_switch
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- switch.turn_off: web_slow_reverse_switch
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- globals.set:
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id: web_fast_forward_active
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value: "true"
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turn_off_action:
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- globals.set:
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id: web_fast_forward_active
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value: "false"
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- platform: template
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name: "${web_slow_forward_name}"
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id: web_slow_forward_switch
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icon: mdi:play-speed
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optimistic: true
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restore_mode: ALWAYS_OFF
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turn_on_action:
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- switch.turn_off: web_fast_forward_switch
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- switch.turn_off: web_fast_reverse_switch
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- switch.turn_off: web_slow_reverse_switch
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- globals.set:
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id: web_slow_forward_active
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value: "true"
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turn_off_action:
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- globals.set:
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id: web_slow_forward_active
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value: "false"
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- platform: template
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name: "${web_fast_reverse_name}"
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id: web_fast_reverse_switch
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icon: mdi:rewind
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optimistic: true
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restore_mode: ALWAYS_OFF
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turn_on_action:
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- switch.turn_off: web_fast_forward_switch
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- switch.turn_off: web_slow_forward_switch
|
|
- switch.turn_off: web_slow_reverse_switch
|
|
- globals.set:
|
|
id: web_fast_reverse_active
|
|
value: "true"
|
|
turn_off_action:
|
|
- globals.set:
|
|
id: web_fast_reverse_active
|
|
value: "false"
|
|
|
|
- platform: template
|
|
name: "${web_slow_reverse_name}"
|
|
id: web_slow_reverse_switch
|
|
icon: mdi:rewind-outline
|
|
optimistic: true
|
|
restore_mode: ALWAYS_OFF
|
|
turn_on_action:
|
|
- switch.turn_off: web_fast_forward_switch
|
|
- switch.turn_off: web_slow_forward_switch
|
|
- switch.turn_off: web_fast_reverse_switch
|
|
- globals.set:
|
|
id: web_slow_reverse_active
|
|
value: "true"
|
|
turn_off_action:
|
|
- globals.set:
|
|
id: web_slow_reverse_active
|
|
value: "false"
|
|
|
|
|
|
#:########################################################################################:#
|
|
# BINARY SENSORS:
|
|
# Physical button inputs using external 103 / 10k pull-ups
|
|
# https://esphome.io/components/binary_sensor/gpio.html
|
|
#:########################################################################################:#
|
|
binary_sensor:
|
|
- platform: gpio
|
|
name: "${physical_fast_forward_name}"
|
|
id: physical_fast_forward_button
|
|
pin:
|
|
number: ${button_fast_forward_pin}
|
|
mode: INPUT
|
|
inverted: true
|
|
filters:
|
|
- delayed_on: 20ms
|
|
- delayed_off: 20ms
|
|
on_press:
|
|
- globals.set:
|
|
id: physical_fast_forward_active
|
|
value: "true"
|
|
on_release:
|
|
- globals.set:
|
|
id: physical_fast_forward_active
|
|
value: "false"
|
|
|
|
- platform: gpio
|
|
name: "${physical_slow_forward_name}"
|
|
id: physical_slow_forward_button
|
|
pin:
|
|
number: ${button_slow_forward_pin}
|
|
mode: INPUT
|
|
inverted: true
|
|
filters:
|
|
- delayed_on: 20ms
|
|
- delayed_off: 20ms
|
|
on_press:
|
|
- globals.set:
|
|
id: physical_slow_forward_active
|
|
value: "true"
|
|
on_release:
|
|
- globals.set:
|
|
id: physical_slow_forward_active
|
|
value: "false"
|
|
|
|
- platform: gpio
|
|
name: "${physical_fast_reverse_name}"
|
|
id: physical_fast_reverse_button
|
|
pin:
|
|
number: ${button_fast_reverse_pin}
|
|
mode: INPUT
|
|
inverted: true
|
|
filters:
|
|
- delayed_on: 20ms
|
|
- delayed_off: 20ms
|
|
on_press:
|
|
- globals.set:
|
|
id: physical_fast_reverse_active
|
|
value: "true"
|
|
on_release:
|
|
- globals.set:
|
|
id: physical_fast_reverse_active
|
|
value: "false"
|
|
|
|
- platform: gpio
|
|
name: "${physical_slow_reverse_name}"
|
|
id: physical_slow_reverse_button
|
|
pin:
|
|
number: ${button_slow_reverse_pin}
|
|
mode: INPUT
|
|
inverted: true
|
|
filters:
|
|
- delayed_on: 20ms
|
|
- delayed_off: 20ms
|
|
on_press:
|
|
- globals.set:
|
|
id: physical_slow_reverse_active
|
|
value: "true"
|
|
on_release:
|
|
- globals.set:
|
|
id: physical_slow_reverse_active
|
|
value: "false"
|
|
|
|
|
|
#:########################################################################################:#
|
|
# BUTTON:
|
|
# Utility buttons
|
|
# https://esphome.io/components/button/template.html
|
|
#:########################################################################################:#
|
|
button:
|
|
- platform: template
|
|
name: "${zero_position_name}"
|
|
id: zero_position_counter_button
|
|
icon: mdi:counter
|
|
on_press:
|
|
- globals.set:
|
|
id: current_position_step
|
|
value: "0"
|
|
- globals.set:
|
|
id: current_phase_index
|
|
value: "0"
|
|
- globals.set:
|
|
id: step_accumulator_ms
|
|
value: "0.0"
|
|
- logger.log:
|
|
level: INFO
|
|
format: "Position counter zeroed."
|
|
|
|
- platform: template
|
|
name: "${replay_ip_flash_name}"
|
|
id: replay_ip_flash_button
|
|
icon: mdi:ip-network
|
|
on_press:
|
|
- script.execute: start_ip_flash_script
|
|
|
|
|
|
#:########################################################################################:#
|
|
# SENSOR:
|
|
# Position and calculated movement sensors
|
|
# https://esphome.io/components/sensor/template.html
|
|
#:########################################################################################:#
|
|
sensor:
|
|
- platform: template
|
|
name: "Position Days"
|
|
id: position_days_sensor
|
|
icon: mdi:calendar-clock
|
|
unit_of_measurement: "days"
|
|
accuracy_decimals: 4
|
|
update_interval: "${sensor_update_interval}"
|
|
lambda: |-
|
|
return ((double) id(current_position_step) * ${rotation_days}) / ${steps_per_rotation};
|
|
|
|
- platform: template
|
|
name: "Position Step"
|
|
id: position_step_sensor
|
|
icon: mdi:counter
|
|
accuracy_decimals: 0
|
|
update_interval: "${sensor_update_interval}"
|
|
lambda: |-
|
|
return id(current_position_step);
|
|
|
|
- platform: template
|
|
name: "Days Per Step"
|
|
id: days_per_step_sensor
|
|
icon: mdi:calendar-arrow-right
|
|
unit_of_measurement: "days/step"
|
|
accuracy_decimals: 8
|
|
update_interval: "${calculated_sensor_update_interval}"
|
|
lambda: |-
|
|
return ${rotation_days} / ${steps_per_rotation};
|
|
|
|
- platform: template
|
|
name: "Hours Per Step"
|
|
id: hours_per_step_sensor
|
|
icon: mdi:timer-outline
|
|
unit_of_measurement: "h/step"
|
|
accuracy_decimals: 8
|
|
update_interval: "${calculated_sensor_update_interval}"
|
|
lambda: |-
|
|
return (${rotation_days} * 24.0) / ${steps_per_rotation};
|
|
|
|
- platform: template
|
|
name: "Normal Step Interval"
|
|
id: normal_step_interval_sensor
|
|
icon: mdi:timer-cog-outline
|
|
unit_of_measurement: "s/step"
|
|
accuracy_decimals: 4
|
|
update_interval: "${calculated_sensor_update_interval}"
|
|
lambda: |-
|
|
return (${rotation_days} * 24.0 * 60.0 * 60.0) / ${steps_per_rotation};
|
|
|
|
|
|
#:########################################################################################:#
|
|
# TEXT SENSOR:
|
|
# Human-readable status sensors
|
|
# https://esphome.io/components/text_sensor/template.html
|
|
#:########################################################################################:#
|
|
text_sensor:
|
|
- platform: template
|
|
name: "Motion Mode"
|
|
id: motion_mode_text_sensor
|
|
icon: mdi:rotate-3d-variant
|
|
update_interval: "${sensor_update_interval}"
|
|
lambda: |-
|
|
switch (id(current_motion_mode)) {
|
|
case 1:
|
|
return {"Fast Forward"};
|
|
case 2:
|
|
return {"Slow Forward"};
|
|
case 3:
|
|
return {"Fast Reverse"};
|
|
case 4:
|
|
return {"Slow Reverse"};
|
|
case 0:
|
|
default:
|
|
return {"Normal"};
|
|
}
|
|
|
|
- platform: template
|
|
name: "Normal Direction"
|
|
id: normal_direction_text_sensor
|
|
icon: mdi:rotate-right
|
|
update_interval: "${calculated_sensor_update_interval}"
|
|
lambda: |-
|
|
return {"${normal_direction_name}"};
|
|
|
|
|
|
#:########################################################################################:#
|
|
# INTERVAL:
|
|
# Stepper scheduler and IP flash scheduler
|
|
# https://esphome.io/components/interval.html
|
|
#:########################################################################################:#
|
|
interval:
|
|
- interval: 5ms
|
|
then:
|
|
- lambda: |-
|
|
const int STEPS_PER_ROTATION = ${steps_per_rotation};
|
|
const int NORMAL_DIRECTION_MULTIPLIER = ${normal_direction_multiplier};
|
|
|
|
const double NORMAL_STEP_INTERVAL_MS =
|
|
(${rotation_days} * 24.0 * 60.0 * 60.0 * 1000.0) / ${steps_per_rotation};
|
|
|
|
const double FAST_STEP_INTERVAL_MS =
|
|
(${manual_fast_rotation_seconds} * 1000.0) / ${steps_per_rotation};
|
|
|
|
const double SLOW_STEP_INTERVAL_MS =
|
|
(${manual_slow_rotation_seconds} * 1000.0) / ${steps_per_rotation};
|
|
|
|
const uint32_t COIL_RELEASE_MS = ${coil_release_ms};
|
|
const uint32_t STEP_LED_FLASH_MS = ${step_led_flash_ms};
|
|
|
|
auto all_coils_off = [&]() {
|
|
id(stepper_in1).turn_off();
|
|
id(stepper_in2).turn_off();
|
|
id(stepper_in3).turn_off();
|
|
id(stepper_in4).turn_off();
|
|
id(coils_are_on) = false;
|
|
};
|
|
|
|
auto flash_step_led = [&](uint32_t now_ms) {
|
|
if (!id(ip_flash_active)) {
|
|
id(onboard_step_led).turn_on();
|
|
id(step_led_started_ms) = now_ms;
|
|
id(step_led_is_on) = true;
|
|
}
|
|
};
|
|
|
|
auto set_coils_for_phase = [&](int phase) {
|
|
const bool sequence[8][4] = {
|
|
{true, false, false, false},
|
|
{true, true, false, false},
|
|
{false, true, false, false},
|
|
{false, true, true, false},
|
|
{false, false, true, false},
|
|
{false, false, true, true },
|
|
{false, false, false, true },
|
|
{true, false, false, true }
|
|
};
|
|
|
|
phase = ((phase % 8) + 8) % 8;
|
|
|
|
if (sequence[phase][0]) {
|
|
id(stepper_in1).turn_on();
|
|
} else {
|
|
id(stepper_in1).turn_off();
|
|
}
|
|
|
|
if (sequence[phase][1]) {
|
|
id(stepper_in2).turn_on();
|
|
} else {
|
|
id(stepper_in2).turn_off();
|
|
}
|
|
|
|
if (sequence[phase][2]) {
|
|
id(stepper_in3).turn_on();
|
|
} else {
|
|
id(stepper_in3).turn_off();
|
|
}
|
|
|
|
if (sequence[phase][3]) {
|
|
id(stepper_in4).turn_on();
|
|
} else {
|
|
id(stepper_in4).turn_off();
|
|
}
|
|
|
|
id(coils_are_on) = true;
|
|
};
|
|
|
|
auto do_one_step = [&](int direction, uint32_t now_ms) {
|
|
if (direction >= 0) {
|
|
id(current_phase_index) = (id(current_phase_index) + 1) % 8;
|
|
id(current_position_step) = (id(current_position_step) + 1) % STEPS_PER_ROTATION;
|
|
} else {
|
|
id(current_phase_index) = (id(current_phase_index) + 7) % 8;
|
|
id(current_position_step) = (id(current_position_step) + STEPS_PER_ROTATION - 1) % STEPS_PER_ROTATION;
|
|
}
|
|
|
|
set_coils_for_phase(id(current_phase_index));
|
|
id(last_step_ms) = now_ms;
|
|
flash_step_led(now_ms);
|
|
};
|
|
|
|
const bool fast_forward_active =
|
|
id(physical_fast_forward_active) || id(web_fast_forward_active);
|
|
|
|
const bool slow_forward_active =
|
|
id(physical_slow_forward_active) || id(web_slow_forward_active);
|
|
|
|
const bool fast_reverse_active =
|
|
id(physical_fast_reverse_active) || id(web_fast_reverse_active);
|
|
|
|
const bool slow_reverse_active =
|
|
id(physical_slow_reverse_active) || id(web_slow_reverse_active);
|
|
|
|
int selected_mode = 0;
|
|
int selected_direction = NORMAL_DIRECTION_MULTIPLIER;
|
|
double selected_step_interval_ms = NORMAL_STEP_INTERVAL_MS;
|
|
|
|
if (fast_forward_active) {
|
|
selected_mode = 1;
|
|
selected_direction = NORMAL_DIRECTION_MULTIPLIER;
|
|
selected_step_interval_ms = FAST_STEP_INTERVAL_MS;
|
|
} else if (slow_forward_active) {
|
|
selected_mode = 2;
|
|
selected_direction = NORMAL_DIRECTION_MULTIPLIER;
|
|
selected_step_interval_ms = SLOW_STEP_INTERVAL_MS;
|
|
} else if (fast_reverse_active) {
|
|
selected_mode = 3;
|
|
selected_direction = -NORMAL_DIRECTION_MULTIPLIER;
|
|
selected_step_interval_ms = FAST_STEP_INTERVAL_MS;
|
|
} else if (slow_reverse_active) {
|
|
selected_mode = 4;
|
|
selected_direction = -NORMAL_DIRECTION_MULTIPLIER;
|
|
selected_step_interval_ms = SLOW_STEP_INTERVAL_MS;
|
|
}
|
|
|
|
const uint32_t now_ms = millis();
|
|
|
|
if (id(last_loop_ms) == 0) {
|
|
id(last_loop_ms) = now_ms;
|
|
id(current_motion_mode) = selected_mode;
|
|
id(step_accumulator_ms) = 0.0;
|
|
return;
|
|
}
|
|
|
|
const uint32_t elapsed_ms = now_ms - id(last_loop_ms);
|
|
id(last_loop_ms) = now_ms;
|
|
|
|
if (selected_mode != id(current_motion_mode)) {
|
|
id(current_motion_mode) = selected_mode;
|
|
id(step_accumulator_ms) = 0.0;
|
|
}
|
|
|
|
id(step_accumulator_ms) += (double) elapsed_ms;
|
|
|
|
if (id(step_accumulator_ms) >= selected_step_interval_ms) {
|
|
do_one_step(selected_direction, now_ms);
|
|
id(step_accumulator_ms) -= selected_step_interval_ms;
|
|
|
|
// If the loop was badly delayed, avoid trying to catch up with a burst
|
|
// of very fast steps that the motor may not physically follow.
|
|
if (id(step_accumulator_ms) > selected_step_interval_ms) {
|
|
id(step_accumulator_ms) = 0.0;
|
|
}
|
|
}
|
|
|
|
if (
|
|
id(coils_are_on) &&
|
|
selected_mode == 0 &&
|
|
((uint32_t) (now_ms - id(last_step_ms)) >= COIL_RELEASE_MS)
|
|
) {
|
|
all_coils_off();
|
|
}
|
|
|
|
if (
|
|
!id(ip_flash_active) &&
|
|
id(step_led_is_on) &&
|
|
((uint32_t) (now_ms - id(step_led_started_ms)) >= STEP_LED_FLASH_MS)
|
|
) {
|
|
id(onboard_step_led).turn_off();
|
|
id(step_led_is_on) = false;
|
|
}
|
|
|
|
- interval: ${ip_flash_loop_interval}
|
|
then:
|
|
- lambda: |-
|
|
if (!id(ip_flash_active)) {
|
|
return;
|
|
}
|
|
|
|
const int IP_FLASH_REPEAT_COUNT = ${ip_flash_repeat_count};
|
|
const int IP_FLASH_ZERO_DIGIT_BLINKS = ${ip_flash_zero_digit_blinks};
|
|
|
|
const uint32_t IP_FLASH_ON_MS = ${ip_flash_on_ms};
|
|
const uint32_t IP_FLASH_BETWEEN_FLASH_GAP_MS = ${ip_flash_between_flash_gap_ms};
|
|
const uint32_t IP_FLASH_DIGIT_GAP_MS = ${ip_flash_digit_gap_ms};
|
|
const uint32_t IP_FLASH_OCTET_GAP_MS = ${ip_flash_octet_gap_ms};
|
|
const uint32_t IP_FLASH_REPEAT_GAP_MS = ${ip_flash_repeat_gap_ms};
|
|
|
|
const uint32_t now_ms = millis();
|
|
|
|
if ((int32_t) (now_ms - id(ip_flash_next_action_ms)) < 0) {
|
|
return;
|
|
}
|
|
|
|
auto get_octet = [&](int index) -> int {
|
|
switch (index) {
|
|
case 0:
|
|
return id(ip_flash_octet_0);
|
|
case 1:
|
|
return id(ip_flash_octet_1);
|
|
case 2:
|
|
return id(ip_flash_octet_2);
|
|
case 3:
|
|
default:
|
|
return id(ip_flash_octet_3);
|
|
}
|
|
};
|
|
|
|
auto get_digit_count = [&](int value) -> int {
|
|
if (value >= 100) {
|
|
return 3;
|
|
}
|
|
|
|
if (value >= 10) {
|
|
return 2;
|
|
}
|
|
|
|
return 1;
|
|
};
|
|
|
|
auto get_digit = [&](int value, int digit_index) -> int {
|
|
const int digit_count = get_digit_count(value);
|
|
|
|
if (digit_count == 3) {
|
|
if (digit_index == 0) {
|
|
return value / 100;
|
|
}
|
|
|
|
if (digit_index == 1) {
|
|
return (value / 10) % 10;
|
|
}
|
|
|
|
return value % 10;
|
|
}
|
|
|
|
if (digit_count == 2) {
|
|
if (digit_index == 0) {
|
|
return value / 10;
|
|
}
|
|
|
|
return value % 10;
|
|
}
|
|
|
|
return value;
|
|
};
|
|
|
|
const int current_octet = get_octet(id(ip_flash_octet_index));
|
|
const int current_digit_count = get_digit_count(current_octet);
|
|
const int current_digit = get_digit(current_octet, id(ip_flash_digit_index));
|
|
const int target_blinks =
|
|
current_digit == 0 ? IP_FLASH_ZERO_DIGIT_BLINKS : current_digit;
|
|
|
|
if (id(ip_flash_led_is_on)) {
|
|
id(onboard_step_led).turn_off();
|
|
id(ip_flash_led_is_on) = false;
|
|
id(ip_flash_blinks_completed)++;
|
|
|
|
if (id(ip_flash_blinks_completed) < target_blinks) {
|
|
id(ip_flash_next_action_ms) = now_ms + IP_FLASH_BETWEEN_FLASH_GAP_MS;
|
|
return;
|
|
}
|
|
|
|
id(ip_flash_blinks_completed) = 0;
|
|
id(ip_flash_digit_index)++;
|
|
|
|
if (id(ip_flash_digit_index) < current_digit_count) {
|
|
id(ip_flash_next_action_ms) = now_ms + IP_FLASH_DIGIT_GAP_MS;
|
|
return;
|
|
}
|
|
|
|
id(ip_flash_digit_index) = 0;
|
|
id(ip_flash_octet_index)++;
|
|
|
|
if (id(ip_flash_octet_index) < 4) {
|
|
id(ip_flash_next_action_ms) = now_ms + IP_FLASH_OCTET_GAP_MS;
|
|
return;
|
|
}
|
|
|
|
id(ip_flash_octet_index) = 0;
|
|
id(ip_flash_repeats_completed)++;
|
|
|
|
if (id(ip_flash_repeats_completed) >= IP_FLASH_REPEAT_COUNT) {
|
|
id(ip_flash_active) = false;
|
|
id(ip_flash_led_is_on) = false;
|
|
id(onboard_step_led).turn_off();
|
|
|
|
ESP_LOGI("ip_flash", "Finished flashing IPv4 address.");
|
|
return;
|
|
}
|
|
|
|
id(ip_flash_next_action_ms) = now_ms + IP_FLASH_REPEAT_GAP_MS;
|
|
return;
|
|
}
|
|
|
|
id(onboard_step_led).turn_on();
|
|
id(ip_flash_led_is_on) = true;
|
|
id(ip_flash_next_action_ms) = now_ms + IP_FLASH_ON_MS |