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https://github.com/esphome/esphome.git
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57 lines
1.4 KiB
C++
57 lines
1.4 KiB
C++
#include "a4988.h"
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#include "esphome/core/log.h"
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namespace esphome {
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namespace a4988 {
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static const char *const TAG = "a4988.stepper";
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void A4988::setup() {
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ESP_LOGCONFIG(TAG, "Setting up A4988...");
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if (this->sleep_pin_ != nullptr) {
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this->sleep_pin_->setup();
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this->sleep_pin_->digital_write(false);
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this->sleep_pin_state_ = false;
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}
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this->step_pin_->setup();
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this->step_pin_->digital_write(false);
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this->dir_pin_->setup();
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this->dir_pin_->digital_write(false);
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}
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void A4988::dump_config() {
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ESP_LOGCONFIG(TAG, "A4988:");
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LOG_PIN(" Step Pin: ", this->step_pin_);
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LOG_PIN(" Dir Pin: ", this->dir_pin_);
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LOG_PIN(" Sleep Pin: ", this->sleep_pin_);
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LOG_STEPPER(this);
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}
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void A4988::loop() {
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bool at_target = this->has_reached_target();
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if (this->sleep_pin_ != nullptr) {
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bool sleep_rising_edge = !sleep_pin_state_ & !at_target;
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this->sleep_pin_->digital_write(!at_target);
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this->sleep_pin_state_ = !at_target;
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if (sleep_rising_edge) {
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delayMicroseconds(1000);
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}
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}
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if (at_target) {
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this->high_freq_.stop();
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} else {
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this->high_freq_.start();
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}
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int32_t dir = this->should_step_();
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if (dir == 0)
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return;
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this->dir_pin_->digital_write(dir == 1);
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delayMicroseconds(50);
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this->step_pin_->digital_write(true);
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delayMicroseconds(5);
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this->step_pin_->digital_write(false);
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}
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} // namespace a4988
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} // namespace esphome
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