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https://github.com/esphome/esphome.git
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90 lines
2.3 KiB
C++
90 lines
2.3 KiB
C++
#include "uln2003.h"
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#include "esphome/core/log.h"
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namespace esphome {
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namespace uln2003 {
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static const char *const TAG = "uln2003.stepper";
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void ULN2003::setup() {
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this->pin_a_->setup();
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this->pin_b_->setup();
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this->pin_c_->setup();
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this->pin_d_->setup();
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this->loop();
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}
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void ULN2003::loop() {
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int dir = this->should_step_();
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if (dir == 0 && this->has_reached_target()) {
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this->high_freq_.stop();
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if (this->sleep_when_done_) {
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this->pin_a_->digital_write(false);
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this->pin_b_->digital_write(false);
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this->pin_c_->digital_write(false);
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this->pin_d_->digital_write(false);
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// do not write pos
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return;
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}
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} else {
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this->high_freq_.start();
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this->current_uln_pos_ += dir;
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}
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this->write_step_(this->current_uln_pos_);
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}
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void ULN2003::dump_config() {
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ESP_LOGCONFIG(TAG, "ULN2003:");
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LOG_PIN(" Pin A: ", this->pin_a_);
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LOG_PIN(" Pin B: ", this->pin_b_);
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LOG_PIN(" Pin C: ", this->pin_c_);
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LOG_PIN(" Pin D: ", this->pin_d_);
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ESP_LOGCONFIG(TAG, " Sleep when done: %s", YESNO(this->sleep_when_done_));
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const char *step_mode_s = "";
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switch (this->step_mode_) {
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case ULN2003_STEP_MODE_FULL_STEP:
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step_mode_s = "FULL STEP";
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break;
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case ULN2003_STEP_MODE_HALF_STEP:
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step_mode_s = "HALF STEP";
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break;
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case ULN2003_STEP_MODE_WAVE_DRIVE:
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step_mode_s = "WAVE DRIVE";
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break;
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}
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ESP_LOGCONFIG(TAG, " Step Mode: %s", step_mode_s);
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}
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void ULN2003::write_step_(int32_t step) {
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int32_t n = this->step_mode_ == ULN2003_STEP_MODE_HALF_STEP ? 8 : 4;
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auto i = static_cast<uint32_t>((step % n + n) % n);
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uint8_t res = 0;
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switch (this->step_mode_) {
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case ULN2003_STEP_MODE_FULL_STEP: {
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// AB, BC, CD, DA
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res |= 1 << i;
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res |= 1 << ((i + 1) % 4);
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break;
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}
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case ULN2003_STEP_MODE_HALF_STEP: {
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// A, AB, B, BC, C, CD, D, DA
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res |= 1 << (i >> 1);
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res |= 1 << (((i + 1) >> 1) & 0x3);
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break;
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}
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case ULN2003_STEP_MODE_WAVE_DRIVE: {
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// A, B, C, D
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res |= 1 << i;
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break;
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}
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}
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this->pin_a_->digital_write((res >> 0) & 1);
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this->pin_b_->digital_write((res >> 1) & 1);
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this->pin_c_->digital_write((res >> 2) & 1);
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this->pin_d_->digital_write((res >> 3) & 1);
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}
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} // namespace uln2003
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} // namespace esphome
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