Update wren-c5-esphome.yaml

YAML Examples/WREN C5/wren-c5-esphome.yaml

@@ -1,13 +1,74 @@
+
 esphome:
   name: wren-c5
 
+  on_boot:
+    priority: 800
+    then:
+
+      - lambda: |-
+
+          uint8_t cfg[2] = {0x03,0x00};
+          id(bus_a).write(0x21,cfg,2);
+
+          uint8_t pol[2] = {0x02,0x00};
+          id(bus_a).write(0x21,pol,2);
+
+          uint8_t out[2] = {0x01,0x00};
+          id(bus_a).write(0x21,out,2);
+
+          ESP_LOGI(
+            "tca",
+            "TCA6408A initialized"
+          );
+
+
+      - delay: 500ms
+
+      - if:
+          condition:
+            binary_sensor.is_on: sflag
+          then:
+            - logger.log:
+                "SFLAG ACTIVE AFTER BOOT"
+            - script.execute:
+                fault_handler
+
 esp32:
+
   board: esp32-c5-devkitc-1
   variant: esp32c5
+
   framework:
     type: esp-idf
 
-# WREN C5 Test
+i2c:
+
+  id: bus_a
+
+  sda: GPIO2
+  scl: GPIO3
+
+  scan: true
+
+globals:
+
+  - id: fault_active
+    type: bool
+    restore_value: no
+    initial_value: 'false'
+
+  - id: tca_state
+    type: uint8_t
+    restore_value: no
+    initial_value: '0'
+
+switch:
+
+  - platform: gpio
+    id: rs485_enable
+    pin: GPIO23
+    restore_mode: ALWAYS_ON
 
 output:
   - platform: gpio
@@ -16,18 +77,14 @@ output:
 
 light:
   - platform: binary
-    output: blue_led
     id: heartbeat
-
+    output: blue_led
-interval:
-  - interval: 500ms
-    then:
-      - light.toggle: heartbeat
 
 binary_sensor:
+
   - platform: gpio
     id: in_1a
-    name: "IN 1A"
+    name: "Motor 1 Extend"
     pin:
       number: GPIO8
       mode:
@@ -35,8 +92,9 @@ binary_sensor:
         pulldown: true
 
   - platform: gpio
+
     id: in_1b
-    name: "IN 1B"
+    name: "Motor 1 Retract"
     pin:
       number: GPIO9
       mode:
@@ -45,7 +103,7 @@ binary_sensor:
 
   - platform: gpio
     id: in_2a
-    name: "IN 2A"
+    name: "Motor 2 Extend"
     pin:
       number: GPIO14
       mode:
@@ -54,7 +112,7 @@ binary_sensor:
 
   - platform: gpio
     id: in_2b
-    name: "IN 2B"
+    name: "Motor 2 Retract"
     pin:
       number: GPIO13
       mode:
@@ -70,6 +128,252 @@ binary_sensor:
         input: true
         pulldown: true
 
+    on_press:
+      then:
+        - logger.log:
+            "SFLAG INTERRUPT"
+        - script.execute:
+            fault_handler
+
+  - platform: gpio
+    id: en1
+    name: "EN1 Feedback"
+    pin:
+      number: GPIO5
+      mode:
+        input: true
+
+  - platform: gpio
+    id: en2
+    name: "EN2 Feedback"
+    pin:
+      number: GPIO6
+      mode:
+        input: true
+
+sensor:
+
+  - platform: adc
+    id: supply_voltage
+    pin: GPIO4
+    name: "Supply Voltage"
+    attenuation: auto
+    update_interval: 30s
+
+    filters:
+      - multiply: 44.4444
+
+  - platform: tmp102
+    name: "Board Temperature"
+    address: 0x4A
+    update_interval: 30s
+
+  - platform: wifi_signal
+    name: "WiFi RSSI"
+    update_interval: 60s
+
+  - platform: uptime
+    name: "Uptime"
+
+script:
+
+  - id: fault_handler
+    mode: single
+    then:
+      - lambda: |-
+
+          if(id(fault_active))
+            return;
+
+          id(fault_active)=true;
+
+          ESP_LOGE(
+            "FAULT - IMMEDIATE FAULT SHUTDOWN",
+            "MOTOR STOP - TCA OUTPUT LOW. POWER CYCLE TO RE-ENABLE WREN"
+            "HAVE A GREAT DAY!"
+          );
+
+          uint8_t off[2];
+          off[0]=0x01;
+          off[1]=0x00;
+
+          id(bus_a).write(0x21, off, 2); 
+          id(bus_a).write(0x21, off, 2); 
+          id(bus_a).write(0x21, off, 2); 
+
+      - repeat:
+          count: 20
+          then:
+            - lambda: |-
+
+                uint8_t led[2];
+                led[0]=0x01;
+
+                // TCA BIT7 ON
+                led[1]=0x80;
+
+                id(bus_a).write(
+                  0x21,
+                  led,
+                  2
+                );
+
+            - delay: 1000ms
+            - lambda: |-
+
+                uint8_t led[2];
+                led[0]=0x01;
+
+                // ALL OFF
+                led[1]=0x00;
+
+                id(bus_a).write(
+                  0x21,
+                  led,
+                  2
+                );
+            - delay: 100ms
+
+      # - lambda: |-
+      #     ESP_LOGE(
+      #       "FAULT",
+      #       "RESTARTING"
+      #     );
+      #     esp_restart();
+
+interval:
+
+
+  # heartbeat
+
+  - interval: 1s
+    then:
+      - light.turn_on: heartbeat
+      - delay: 750ms
+      - light.turn_off: heartbeat
+
+
+  # motor supervisor
+
+  - interval: 10ms
+
+    then:
+
+      - lambda: |-
+
+          //
+          // HARD SFLAG CHECK
+          //
+
+          if(id(sflag).state)
+          {
+            ESP_LOGE(
+              "FAULT",
+              "SFLAG HIGH"
+            );
+
+            id(fault_handler).execute();
+            return;
+            }          
+
+
+          if(id(sflag).state)
+          {
+            id(fault_handler).execute();
+            return;
+          }
+
+          //
+          // LATCHED FAULT
+          //
+
+          if(id(fault_active))
+          {
+            uint8_t off[2]={0x01,0x00};
+
+            id(bus_a).write(
+              0x21,
+              off,
+              2
+            );
+
+            return;
+          }
+
+          //
+          // VOLTAGE CHECK
+          //
+
+          float v=id(supply_voltage).state;
+
+          if(v < 10.0f || v > 48.0f)
+          {
+            ESP_LOGE(
+              "FAULT",
+              "VOLTAGE %.1f",
+              v
+            );
+            id(fault_handler).execute();
+            return;
+
+          }
+
+          uint8_t output=0;
+          bool m1a=id(in_1a).state;
+          bool m1b=id(in_1b).state;
+          bool m2a=id(in_2a).state;
+          bool m2b=id(in_2b).state;
+
+          bool active =
+              m1a ||
+              m1b ||
+              m2a ||
+              m2b;
+
+          //
+          // BOTH ENABLES TOGETHER
+          //
+
+          if(active)
+          {
+            output |= (1<<0); // EN1
+            output |= (1<<3); // EN2
+          }
+
+          // MOTOR 1
+          if(m1a)
+            output |= (1<<1);
+
+          if(m1b)
+            output |= (1<<2);
+
+
+          // MOTOR 2
+          if(m2a)
+            output |= (1<<4);
+
+          if(m2b)
+            output |= (1<<5);
+
+          uint8_t buf[2];
+          buf[0]=0x01;
+          buf[1]=output;
+
+          id(bus_a).write(
+            0x21,
+            buf,
+            2
+          );
+
+
+          // ESP_LOGI(
+          //   "motor",
+          //   "OUT=0x%02X",
+          //   output
+          // );
+
+# #############################   
+
 # Enable Home Assistant API
 api:
   encryption: