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WREN C5 ESPHome

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Dave Williams | DitroniX | G8PUO
2026-06-18 15:46:25 +01:00
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commit 9567674451
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YAML Examples/WREN C5/Basic Examples/wren-c5-input-test.yaml
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esphome:
name: wren-c5
esp32:
board: esp32-c5-devkitc-1
variant: esp32c5
framework:
type: esp-idf
# WREN C5 Test
output:
- platform: gpio
pin: GPIO27
id: blue_led
light:
- platform: binary
output: blue_led
id: heartbeat
interval:
- interval: 500ms
then:
- light.toggle: heartbeat
binary_sensor:
- platform: gpio
id: in_1a
name: "IN 1A"
pin:
number: GPIO8
mode:
input: true
pulldown: true
- platform: gpio
id: in_1b
name: "IN 1B"
pin:
number: GPIO9
mode:
input: true
pulldown: true
- platform: gpio
id: in_2a
name: "IN 2A"
pin:
number: GPIO14
mode:
input: true
pulldown: true
- platform: gpio
id: in_2b
name: "IN 2B"
pin:
number: GPIO13
mode:
input: true
pulldown: true
- platform: gpio
id: sflag
name: "Motor Driver Fault"
pin:
number: GPIO10
mode:
input: true
pulldown: true
# Enable Home Assistant API
api:
encryption:
key: "xxxx="
ota:
- platform: esphome
password: "xxxx"
wifi:
ssid: !secret wifi_ssid
password: !secret wifi_password
# Enable fallback hotspot (captive portal) in case wifi connection fails
ap:
ssid: "Wren-C5-Test Fallback Hotspot"
password: "xxxx"
captive_portal:
logger:
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esphome:
name: wren-c5
esp32:
board: esp32-c5-devkitc-1
variant: esp32c5
framework:
type: esp-idf
# WREN C5 Test
i2c:
sda: GPIO2
scl: GPIO3
scan: true
switch:
- platform: gpio
id: rs485_enable
pin: GPIO23
restore_mode: ALWAYS_ON
output:
- platform: gpio
pin: GPIO27
id: blue_led
light:
- platform: binary
output: blue_led
id: heartbeat
interval:
- interval: 500ms
then:
- light.toggle: heartbeat
binary_sensor:
- platform: gpio
id: in_1a
name: "IN 1A"
pin:
number: GPIO8
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_1A ON"
on_release:
- logger.log: "IN_1A OFF"
- platform: gpio
id: in_1b
name: "IN 1B"
pin:
number: GPIO9
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_1B ON"
on_release:
- logger.log: "IN_1B OFF"
- platform: gpio
id: in_2a
name: "IN 2A"
pin:
number: GPIO14
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_2A ON"
on_release:
- logger.log: "IN_2A OFF"
- platform: gpio
id: in_2b
name: "IN 2B"
pin:
number: GPIO13
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_2B ON"
on_release:
- logger.log: "IN_2B OFF"
- platform: gpio
id: sflag
name: "Motor Driver Fault"
pin:
number: GPIO10
mode:
input: true
pulldown: true
on_press:
- logger.log: "Motor Driver Fault ACTIVE"
on_release:
- logger.log: "Motor Driver Fault CLEARED"
- platform: gpio
id: en1
name: "EN1"
pin:
number: GPIO5
mode:
input: true
on_press:
- logger.log: "EN1 ON"
on_release:
- logger.log: "EN1 OFF"
- platform: gpio
id: en2
name: "EN2"
pin:
number: GPIO6
mode:
input: true
on_press:
- logger.log: "EN2 ON"
on_release:
- logger.log: "EN2 OFF"
sensor:
- platform: adc
pin: GPIO4
name: "Supply Voltage"
attenuation: auto
update_interval: 1s
filters:
- multiply: 44.4444
- platform: tmp102
name: "Board Temperature"
address: 0x4A
update_interval: 10s
# Enable Home Assistant API
logger:
api:
encryption:
key: "wpRoSCFY6EyL1dVRgLK0Y8VgaEnkMzv7Q2RPWz6dOTs="
ota:
- platform: esphome
password: "0fe134e07d92f95b9194d6d19807d619"
wifi:
ssid: !secret wifi_ssid
password: !secret wifi_password
# Enable fallback hotspot (captive portal) in case wifi connection fails
ap:
ssid: "Wren-C5-Test Fallback Hotspot"
password: "TvK7hKo0fKDu"
captive_portal:
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esphome:
name: wren-c5
esp32:
board: esp32-c5-devkitc-1
variant: esp32c5
framework:
type: esp-idf
# WREN C5 Test
i2c:
sda: GPIO2
scl: GPIO3
scan: true
switch:
- platform: gpio
id: rs485_enable
pin: GPIO23
restore_mode: ALWAYS_ON
output:
- platform: gpio
pin: GPIO27
id: blue_led
light:
- platform: binary
output: blue_led
id: heartbeat
interval:
- interval: 500ms
then:
- light.toggle: heartbeat
binary_sensor:
- platform: gpio
id: in_1a
name: "IN 1A"
pin:
number: GPIO8
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_1A ON"
on_release:
- logger.log: "IN_1A OFF"
- platform: gpio
id: in_1b
name: "IN 1B"
pin:
number: GPIO9
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_1B ON"
on_release:
- logger.log: "IN_1B OFF"
- platform: gpio
id: in_2a
name: "IN 2A"
pin:
number: GPIO14
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_2A ON"
on_release:
- logger.log: "IN_2A OFF"
- platform: gpio
id: in_2b
name: "IN 2B"
pin:
number: GPIO13
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_2B ON"
on_release:
- logger.log: "IN_2B OFF"
- platform: gpio
id: sflag
name: "Motor Driver Fault"
pin:
number: GPIO10
mode:
input: true
pulldown: true
on_press:
- logger.log: "Motor Driver Fault ACTIVE"
on_release:
- logger.log: "Motor Driver Fault CLEARED"
- platform: gpio
id: en1
name: "EN1"
pin:
number: GPIO5
mode:
input: true
on_press:
- logger.log: "EN1 ON"
on_release:
- logger.log: "EN1 OFF"
- platform: gpio
id: en2
name: "EN2"
pin:
number: GPIO6
mode:
input: true
on_press:
- logger.log: "EN2 ON"
on_release:
- logger.log: "EN2 OFF"
sensor:
- platform: adc
pin: GPIO4
name: "Supply Voltage"
attenuation: auto
update_interval: 1s
filters:
- multiply: 44.4444
# Enable Home Assistant API
api:
encryption:
key: "xxxx="
ota:
- platform: esphome
password: "xxxx"
wifi:
ssid: !secret wifi_ssid
password: !secret wifi_password
# Enable fallback hotspot (captive portal) in case wifi connection fails
ap:
ssid: "Wren-C5-Test Fallback Hotspot"
password: "xxxx"
captive_portal:
logger:
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esphome:
name: wren-c5
esp32:
board: esp32-c5-devkitc-1
variant: esp32c5
framework:
type: esp-idf
# WREN C5 Test
output:
- platform: gpio
pin: GPIO27
id: blue_led
light:
- platform: binary
output: blue_led
id: heartbeat
interval:
- interval: 500ms
then:
- light.toggle: heartbeat
binary_sensor:
- platform: gpio
id: in_1a
name: "IN 1A"
pin:
number: GPIO8
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_1A ON"
on_release:
- logger.log: "IN_1A OFF"
- platform: gpio
id: in_1b
name: "IN 1B"
pin:
number: GPIO9
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_1B ON"
on_release:
- logger.log: "IN_1B OFF"
- platform: gpio
id: in_2a
name: "IN 2A"
pin:
number: GPIO14
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_2A ON"
on_release:
- logger.log: "IN_2A OFF"
- platform: gpio
id: in_2b
name: "IN 2B"
pin:
number: GPIO13
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_2B ON"
on_release:
- logger.log: "IN_2B OFF"
- platform: gpio
id: sflag
name: "Motor Driver Fault"
pin:
number: GPIO10
mode:
input: true
pulldown: true
on_press:
- logger.log: "Motor Driver Fault ACTIVE"
on_release:
- logger.log: "Motor Driver Fault CLEARED"
- platform: gpio
id: en1
name: "EN1"
pin:
number: GPIO5
mode:
input: true
on_press:
- logger.log: "EN1 ON"
on_release:
- logger.log: "EN1 OFF"
- platform: gpio
id: en2
name: "EN2"
pin:
number: GPIO6
mode:
input: true
on_press:
- logger.log: "EN2 ON"
on_release:
- logger.log: "EN2 OFF"
sensor:
- platform: adc
pin: GPIO4
name: "Supply Voltage"
attenuation: auto
update_interval: 1s
filters:
- multiply: 44.4444
# Enable Home Assistant API
api:
encryption:
key: "xxxx="
ota:
- platform: esphome
password: "xxxx"
wifi:
ssid: !secret wifi_ssid
password: !secret wifi_password
# Enable fallback hotspot (captive portal) in case wifi connection fails
ap:
ssid: "Wren-C5-Test Fallback Hotspot"
password: "xxxx"
captive_portal:
logger:
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esphome:
name: wren-c5
esp32:
board: esp32-c5-devkitc-1
variant: esp32c5
framework:
type: esp-idf
# WREN C5 Test
output:
- platform: gpio
pin: GPIO27
id: blue_led
light:
- platform: binary
output: blue_led
id: heartbeat
interval:
- interval: 500ms
then:
- light.toggle: heartbeat
binary_sensor:
- platform: gpio
id: in_1a
name: "IN 1A"
pin:
number: GPIO8
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_1A ON"
on_release:
- logger.log: "IN_1A OFF"
- platform: gpio
id: in_1b
name: "IN 1B"
pin:
number: GPIO9
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_1B ON"
on_release:
- logger.log: "IN_1B OFF"
- platform: gpio
id: in_2a
name: "IN 2A"
pin:
number: GPIO14
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_2A ON"
on_release:
- logger.log: "IN_2A OFF"
- platform: gpio
id: in_2b
name: "IN 2B"
pin:
number: GPIO13
mode:
input: true
pulldown: true
on_press:
- logger.log: "IN_2B ON"
on_release:
- logger.log: "IN_2B OFF"
- platform: gpio
id: sflag
name: "Motor Driver Fault"
pin:
number: GPIO10
mode:
input: true
pulldown: true
on_press:
- logger.log: "Motor Driver Fault ACTIVE"
on_release:
- logger.log: "Motor Driver Fault CLEARED"
- platform: gpio
id: en1
name: "EN1"
pin:
number: GPIO5
mode:
input: true
on_press:
- logger.log: "EN1 ON"
on_release:
- logger.log: "EN1 OFF"
- platform: gpio
id: en2
name: "EN2"
pin:
number: GPIO6
mode:
input: true
on_press:
- logger.log: "EN2 ON"
on_release:
- logger.log: "EN2 OFF"
# Enable Home Assistant API
api:
encryption:
key: "xxxx="
ota:
- platform: esphome
password: "xxxx"
wifi:
ssid: !secret wifi_ssid
password: !secret wifi_password
# Enable fallback hotspot (captive portal) in case wifi connection fails
ap:
ssid: "Wren-C5-Test Fallback Hotspot"
password: "xxxx"
captive_portal:
logger:
YAML Examples/WREN C5/README.md
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# WREN | ESP32-C5 Recliner Linear Motor Controller | IoT Home Automation
## **WREN C5 - ESPHome Example Code**
This is a working development code for WREN, within Home Assistant.
### **Code Development**
Being primarily a hardware engineer and not understanding YAML, I have enlisted some help.
Have used the help of GROK and ChatGPT in the process of understanding more on AI help and importantly ESPHome YAML. Then after a number of iterations, learning and testing, I have formed a working 'wren-c5-esphome' code.
The important point of the code is to read the controller inputs, drive the motors and importantly recognise a fault condition.
### **Basic Examples**
During development, I took baby steps in understanding how YAML worked and how to integrate the various elements of the WREN board. These examples have been included for your information, in the Basic Examples folder.
### **TCA6408A Driver**
Rather than continue development of a TCA6408A component, I have taken a lambda approach and created code within the YAML , which drives the GPIO Expander. This makes is much easier - as a starting point, due to being self contained.
### **Required Editing**
The code should work as it is but you will ideally need to update the footer ESPHome API details, which I have xxxx out.
## Enable Home Assistant API
api:
encryption:
key: "xxxx="
ota:
- platform: esphome
password: "xxxx"
wifi:
ssid: !secret wifi_ssid
password: !secret wifi_password
# Enable fallback hotspot (captive portal) in case wifi connection fails
ap:
ssid: "Wren-C5-Test Fallback Hotspot"
password: "xxxx"
## Documentation - WREN-C5 Motor Controller Firmware Overview
### Purpose
This firmware runs on the ESP32-C5 and provides control and monitoring for a dual-motor actuator system using a TCA6408A I²C GPIO expander and motor driver circuitry.
The firmware performs:
- Dual motor direction control
- Automatic enable control of motor drivers
- Motor fault detection
- Supply voltage monitoring
- Temperature monitoring
- Fault indication using a TCA6408A LED output
- Automatic recovery via ESP restart
- Wi-Fi telemetry through ESPHome
## Hardware Architecture
### ESP32-C5
The ESP32-C5 is the main controller and performs:
- Input monitoring
- Motor control logic
- Fault detection
- I²C communications
- Sensor monitoring
- ESPHome integration
### TCA6408A I/O Expander (I²C Address 0x21)
The TCA6408A provides eight output signals.
#### Output Mapping
Bit
Function
P0
EN1
P1
Motor 1 Extend
P2
Motor 1 Retract
P3
EN2
P4
Motor 2 Extend
P5
Motor 2 Retract
P6
Spare
P7
Status / Fault LED
The firmware configures all TCA6408A pins as outputs during boot.
## Motor Control Logic
###Motor Inputs
#### Motor 1
GPIO
Function
GPIO8
Motor 1 Extend
GPIO9
Motor 1 Retract
#### Motor 2
GPIO
Function
GPIO14
Motor 2 Extend
GPIO13
Motor 2 Retract
### Enable Logic
The motor driver enable signals are always controlled together.
When any motor command is active:
EN1 = HIGH
EN2 = HIGH
When no motor command is active:
EN1 = LOW
EN2 = LOW
This ensures both motor driver channels are enabled and disabled simultaneously.
### Direction Control
#### Motor 1
Input
Output
IN_1A
Extend
IN_1B
Retract
#### Motor 2
Input
Output
IN_2A
Extend
IN_2B
Retract
Outputs are updated continuously by the motor supervisor task.
# Fault Detection
The firmware contains multiple layers of fault detection.
### Motor Driver Fault (SFLAG)
#### Input
GPIO10
#### Behaviour
When SFLAG becomes active:
1. All TCA outputs immediately go LOW
2. EN1 goes LOW
3. EN2 goes LOW
4. All motor drive outputs go LOW
5. Fault state is latched
6. Fault LED flashes
7. ESP32 automatically restarts
Detection methods:
- GPIO interrupt (fastest)
- Supervisor polling backup
This provides rapid fault response even if an interrupt is missed.
### Supply Voltage Protection
The ADC continuously monitors supply voltage.
#### Input
GPIO4
#### Limits
Condition
Action
<10 V
Fault
>48 V
Fault
On fault:
- Motor outputs disabled
- Fault LED flashes
- System restarts
## Fault Indication
### TCA6408A LED
Bit 7 of the TCA6408A is used as the fault indicator.
#### Normal Operation
LED OFF
#### Fault Condition
LED flashes repeatedly
Pattern:
- ON 100 ms
- OFF 100 ms
- Repeated 20 times
After flashing completes:
- ESP restart occurs
## Heartbeat Indicator
ESP32 GPIO27 drives the onboard heartbeat LED.
Purpose:
- Visual indication firmware is running
- Visual indication scheduler is operating normally
Recommended pattern:
- ON 750 ms
- OFF 250 ms
## Sensor Monitoring
### TMP102 Temperature Sensor
I²C Address: 0x4A
Provides:
- Board temperature
- Thermal monitoring
- Home Assistant reporting
### Supply Voltage
ADC input:
GPIO4
Voltage divider scaling:
44.4444
Provides:
- Input voltage monitoring
- Fault detection
- Telemetry
### Wi-Fi RSSI
Reports wireless signal strength for diagnostics.
### Uptime
Reports controller runtime.
# Startup Sequence
1. ESP32 boots
2. TCA6408A initialized
3. All outputs forced LOW
4. TCA polarity register configured
5. TCA direction register configured
6. Fault state cleared
7. SFLAG checked
8. Normal operation begins
If SFLAG is already active during boot:
- Fault handler executes immediately
- Motors remain disabled
- LED flashes
- ESP restarts
## Safety Features
The firmware implements several safety mechanisms:
#### Immediate Motor Shutdown
Any detected fault immediately writes:
Output Register = 0x00
This disables:
- EN1
- EN2
- Motor 1 outputs
- Motor 2 outputs
#### Fault Latching
Once a fault occurs:
fault_active = true
Motor outputs remain disabled until restart.
#### Automatic Recovery
After fault indication:
esp_restart()
is executed to restore the system to a known state.
## Timing Parameters
Function
Interval
Heartbeat LED
1 second
Motor Supervisor
10 ms
Voltage Update
1 second
TMP102 Update
10 seconds
Wi-Fi RSSI
60 seconds
## Summary
The WREN-C5 firmware provides a robust dual-motor control platform with:
- Dual motor direction control
- Shared driver enable control
- Immediate fault shutdown
- Voltage protection
- Thermal monitoring
- Fault LED indication
- Automatic recovery
- ESPHome integration
- I²C-based output expansion
The design prioritizes safe motor shutdown and automatic recovery while maintaining simple integration with Home Assistant and ESPHome.
## **Open Source**
This test code is OPEN SOURCE and formatted for easier viewing. Although is is not intended for real world use, it may be freely used, or modified as needed.
It is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
## **Further Information**
Additional information, and other technical details on this project, maybe found in the related repository pages.
**Repository Folders**
- **Code** *(Code examples for Arduino IDE, Raspberry Pi and PlatformIO)*
- **Datasheets and Information** *(Component Datasheets, Schematics, Board Layouts, Photos, Technical Documentation)*
- **Certification** *(Related Repository Project or Part, Certification Information)*
**Repository Tabs**
- **Wiki** *(Related Repository Wiki pages and Technical User Information)*
- **Discussions** *(Related Repository User Discussion Forum)*
- **Issues** *(Related Repository Technical Issues and Fixes)*
***
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* Visit the related [Project](https://github.com/DitroniX?tab=repositories) *plus the related* **Discussions** and **Wiki** Pages. See tab in each separate repository.
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***Dave Williams, Maidstone, UK.***
Electronics Engineer | Software Developer | R&D Support | RF Engineering | Product Certification and Testing | STEM Ambassador
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esphome:
name: wren-c5
esp32:
board: esp32-c5-devkitc-1
variant: esp32c5
framework:
type: esp-idf
# WREN C5 Test
output:
- platform: gpio
pin: GPIO27
id: blue_led
light:
- platform: binary
output: blue_led
id: heartbeat
interval:
- interval: 500ms
then:
- light.toggle: heartbeat
binary_sensor:
- platform: gpio
id: in_1a
name: "IN 1A"
pin:
number: GPIO8
mode:
input: true
pulldown: true
- platform: gpio
id: in_1b
name: "IN 1B"
pin:
number: GPIO9
mode:
input: true
pulldown: true
- platform: gpio
id: in_2a
name: "IN 2A"
pin:
number: GPIO14
mode:
input: true
pulldown: true
- platform: gpio
id: in_2b
name: "IN 2B"
pin:
number: GPIO13
mode:
input: true
pulldown: true
- platform: gpio
id: sflag
name: "Motor Driver Fault"
pin:
number: GPIO10
mode:
input: true
pulldown: true
# Enable Home Assistant API
api:
encryption:
key: "xxxx="
ota:
- platform: esphome
password: "xxxx"
wifi:
ssid: !secret wifi_ssid
password: !secret wifi_password
# Enable fallback hotspot (captive portal) in case wifi connection fails
ap:
ssid: "Wren-C5-Test Fallback Hotspot"
password: "xxxx"
captive_portal:
logger: