ESPHome YAML File

ESPHome.YAML

substitutions:
  device_name: edit-name
  pulley_diameter_mm: "15" # 1 turn about 47 mm
  gear_ratio: "1" # not used yet for simplicity
  distance_mm: "500" # about 10 turns
  acceleration: 12800 steps/s^2
  velocity: 12800 steps/s # 1 turn per second
  open_current: 500ma
  open_stall_threshold: "20"
  close_current: 600ma
  close_stall_threshold: "17"
  tcool_threshold: "910"
  microsteps: "64"

external_components:
  source: github://glmnet/esphome@stepper-tmc2209
  components: [tmc2209]

esphome:
  name: ${device_name}
  platform: ESP32
  board: nodemcu-32s
  platformio_options:
    upload_speed: 921600

  on_boot:
    - tmc2209.setup:
        microsteps: 64
        tcool_threshold: ${tcool_threshold}
        current: 600mA
        stall_threshold: 20

wifi:
  ssid: !secret wifi_ssid
  password: !secret wifi_pass

# Enable logging
logger:
  level: INFO

# verbose logger over uart causes motor artifacts as pulses are generated in main loop
# logger:
#   level: VERY_VERBOSE
#   logs:
#     api: DEBUG
#     api.service: DEBUG
#     scheduler: DEBUG

ota:

uart:
  id: uart_stepper
  tx_pin: GPIO17
  rx_pin: GPIO16
  baud_rate: 9600

status_led:
  pin: GPIO26

api:
  services:
    - service: control_stepper
      variables:
        target: int
        speed: int
        microsteps: int
        tcool_threshold: int
        stall_threshold: int
        rms_current_amps: float
      then:
        - tmc2209.setup:
            id: my_stepper
            microsteps: !lambda "return microsteps;"
            tcool_threshold: !lambda "return tcool_threshold;"
            stall_threshold: !lambda "return stall_threshold;"
            current: !lambda "return rms_current_amps;"
        - logger.log:
            format: moving to %d
            args: [target]
        - stepper.set_speed:
            id: my_stepper
            speed: !lambda "return speed;"
        - stepper.set_target:
            id: my_stepper
            target: !lambda "return target;"
    - service: set_stepper_zero
      then:
        - stepper.report_position:
            id: my_stepper
            position: 0
        - stepper.set_target:
            id: my_stepper
            target: 0
binary_sensor:
  - platform: gpio
    name: Button1
    pin:
      number: GPIO23
      inverted: true
    on_press:
      then:
        if:
          condition:
            lambda: "return id(my_stepper).target_position == 0;"
          then:
            stepper.set_target:
              id: my_stepper
              target: 128000
          else:
            stepper.set_target:
              id: my_stepper
              target: 0

  - platform: gpio
    name: Button2
    pin:
      number: GPIO34
      inverted: true
      mode: INPUT_PULLUP
    on_press:
      script.execute: stop_at_current_position

  - platform: gpio
    name: Sensor1
    pin:
      number: GPIO22
      inverted: true
  - platform: gpio
    name: SensorGPIO0
    pin:
      number: GPIO0
      inverted: true
  - platform: gpio
    name: Sensor2
    pin:
      number: GPIO32
      inverted: true
  - platform: gpio
    id: stall_guard_sensor
    name: StallGuard
    pin: GPIO2
    on_press:
      script.execute: stop_at_current_position

stepper:
  - platform: tmc2209
    id: my_stepper

    step_pin: GPIO13
    dir_pin: GPIO14

    sleep_pin:
      number: GPIO27
      inverted: true
    acceleration: ${acceleration}
    max_speed: ${velocity}

script:
  - id: stop_at_current_position
    then:
      stepper.set_target:
        id: my_stepper
        target: !lambda "return id(my_stepper).current_position;"

globals:
  - id: open_position
    type: float
    initial_value: ${distance_mm} / (${pulley_diameter_mm} * PI) * 200 * ${microsteps}

cover:
  - platform: template
    id: template_cov
    name: "${device_name} cover"
    open_action:
      - tmc2209.setup:
          current: ${open_current}
          stall_threshold: ${open_stall_threshold}
      - stepper.set_target:
          id: my_stepper
          target: !lambda "return id(open_position);"

    close_action:
      - tmc2209.setup:
          current: ${close_current}
          stall_threshold: ${close_stall_threshold}
      - stepper.set_target:
          id: my_stepper
          # 0 Means closed
          target: 0

    position_action:
      - stepper.set_target:
          id: my_stepper
          target: !lambda "return id(open_position) * pos;"

    stop_action:
      - script.execute: stop_at_current_position

interval:
  interval: 1s
  then:
    lambda: |-
      static auto operation = COVER_OPERATION_IDLE;
      static auto position = id(my_stepper).current_position;
      if (operation != id(template_cov).current_operation ||
          position != id(my_stepper).current_position)
      {
        ESP_LOGD("main", "Stepper Position is: %d/%d", id(my_stepper).current_position, (int)id(open_position));
        if (id(my_stepper).current_position > id(my_stepper).target_position)
          operation = COVER_OPERATION_CLOSING;
        else if (id(my_stepper).current_position < id(my_stepper).target_position)
          operation = COVER_OPERATION_OPENING;
        else
          operation = COVER_OPERATION_IDLE;
        id(template_cov).current_operation = operation;

        position =  id(my_stepper).current_position;
        id(template_cov).position = position / id(open_position);

        id(template_cov).publish_state();
      }