Мобильная версияI'm trying to create a component for ESPHome.
I'm getting: ERROR ID esp32_esp32internalgpiopin_6 is already registered
With this config:
... external_components: - source: type: git url: https://github.com/Defozo/esphome ref: dev components: [ tmc2130 ] refresh: 3s spi: clk_pin: 18 mosi_pin: 23 miso_pin: 19 stepper: - platform: tmc2130 id: my_stepper step_pin: 21 dir_pin: 16 cs_pin: 26 r_sense: 0.11 microsteps: 16 rms_current: 1500 stepper.py
import esphome.codegen as cg import esphome.config_validation as cv from esphome import pins from esphome.components import spi from esphome.const import CONF_ID, CONF_CS_PIN from esphome.core import coroutine DEPENDENCIES = ['spi'] AUTO_LOAD = ['sensor'] tmc2130_ns = cg.esphome_ns.namespace('tmc2130') TMC2130Component = tmc2130_ns.class_('TMC2130Component', cg.Component, spi.SPIDevice) CONF_TOFF = "toff" CONF_BLANK_TIME = "blank_time" CONF_RMS_CURRENT = "rms_current" CONF_MICROSTEPS = "microsteps" CONF_TCOOLTHRS = "tcoolthrs" CONF_THIGH = "thigh" CONF_SEMIN = "semin" CONF_SEMAX = "semax" CONF_SEDN = "sedn" CONF_SGT = "sgt" CONF_R_SENSE = "r_sense" CONF_STEP_PIN = "step_pin" CONF_DIR_PIN = "dir_pin" CONFIG_SCHEMA = cv.Schema({ cv.GenerateID(): cv.declare_id(TMC2130Component), cv.Required(CONF_CS_PIN): pins.gpio_output_pin_schema, cv.Required(CONF_STEP_PIN): pins.gpio_output_pin_schema, cv.Required(CONF_DIR_PIN): pins.gpio_output_pin_schema, cv.Required(CONF_RMS_CURRENT): cv.positive_int, cv.Required(CONF_R_SENSE): cv.float_, cv.Optional(CONF_TOFF, default=4): cv.int_range(min=0, max=15), cv.Optional(CONF_BLANK_TIME, default=24): cv.int_range(min=16, max=54), cv.Optional(CONF_RMS_CURRENT, default=1500): cv.positive_int, cv.Optional(CONF_MICROSTEPS, default=16): cv.int_range(min=0, max=256), cv.Optional(CONF_TCOOLTHRS, default=0xFFFFF): cv.hex_int, cv.Optional(CONF_THIGH, default=0): cv.hex_int, cv.Optional(CONF_SEMIN, default=5): cv.int_range(min=0, max=15), cv.Optional(CONF_SEMAX, default=2): cv.int_range(min=0, max=15), cv.Optional(CONF_SEDN, default=0b01): cv.int_range(min=0, max=0b11), cv.Optional(CONF_SGT, default=7): cv.int_range(min=-64, max=63), }).extend(cv.COMPONENT_SCHEMA).extend(spi.spi_device_schema()) async def to_code(config): cs_pin = await cg.gpio_pin_expression(config[CONF_CS_PIN]) step_pin = await cg.gpio_pin_expression(config[CONF_STEP_PIN]) dir_pin = await cg.gpio_pin_expression(config[CONF_DIR_PIN]) r_sense = config[CONF_R_SENSE] var = cg.new_Pvariable(config[CONF_ID], cs_pin, r_sense) await cg.register_component(var, config) await spi.register_spi_device(var, config) cg.add_library('TMCStepper', '0.7.3') cg.add(var.set_step_pin(step_pin)) cg.add(var.set_dir_pin(dir_pin)) cg.add(var.set_toff(config[CONF_TOFF])) cg.add(var.set_blank_time(config[CONF_BLANK_TIME])) cg.add(var.set_rms_current(config[CONF_RMS_CURRENT])) cg.add(var.set_microsteps(config[CONF_MICROSTEPS])) cg.add(var.set_tcoolthrs(config[CONF_TCOOLTHRS])) cg.add(var.set_thigh(config[CONF_THIGH])) cg.add(var.set_semin(config[CONF_SEMIN])) cg.add(var.set_semax(config[CONF_SEMAX])) cg.add(var.set_sedn(config[CONF_SEDN])) cg.add(var.set_sgt(config[CONF_SGT])) tmc2130.cpp
#include "tmc2130.h" #include "esphome/core/log.h" #include namespace esphome { namespace tmc2130 { static const char *const TAG = "tmc2130"; TMC2130Component::TMC2130Component(uint8_t cs_pin, float r_sense) : driver_(cs_pin, r_sense) {} void TMC2130Component::setup() { ESP_LOGD(TAG, "Setting up TMC2130..."); pinMode(EN_PIN, OUTPUT); pinMode(STEP_PIN, OUTPUT); pinMode(DIR_PIN, OUTPUT); digitalWrite(EN_PIN, LOW); // Enable driver by default this->driver_.begin(); // Initiate SPI // Configuration values are now set from the YAML file this->driver_.toff(this->toff_); this->driver_.blank_time(this->blank_time_); this->driver_.rms_current(this->rms_current_); // Set motor RMS current this->driver_.microsteps(this->microsteps_); this->driver_.TCOOLTHRS(this->tcoolthrs_); this->driver_.THIGH(this->thigh_); this->driver_.semin(this->semin_); this->driver_.semax(this->semax_); this->driver_.sedn(this->sedn_); this->driver_.sgt(this->sgt_); // Setup timer this->timer_ = timerBegin(0, 80, true); // Use the first timer timerAttachInterrupt(this->timer_, &onTimer, true); // Attach the interrupt function timerAlarmWrite(this->timer_, 1000, true); // Set the alarm timerAlarmEnable(this->timer_); // Enable the alarm } void TMC2130Component::set_toff(uint8_t toff) { this->toff_ = toff; } void TMC2130Component::set_blank_time(uint8_t blank_time) { this->blank_time_ = blank_time; } void TMC2130Component::set_rms_current(uint16_t rms_current) { this->rms_current_ = rms_current; } void TMC2130Component::set_microsteps(int microsteps) { this->microsteps_ = microsteps; } void TMC2130Component::set_tcoolthrs(uint32_t tcoolthrs) { this->tcoolthrs_ = tcoolthrs; } void TMC2130Component::set_thigh(uint32_t thigh) { this->thigh_ = thigh; } void TMC2130Component::set_semin(uint8_t semin) { this->semin_ = semin; } void TMC2130Component::set_semax(uint8_t semax) { this->semax_ = semax; } void TMC2130Component::set_sedn(uint8_t sedn) { this->sedn_ = sedn; } void TMC2130Component::set_sgt(int8_t sgt) { this->sgt_ = sgt; } void TMC2130Component::set_r_sense(float r_sense) { this->driver_.rsense(r_sense); } void TMC2130Component::loop() { // This method can be used to update the component state in each loop iteration // For example, handling dynamic speed adjustments or other runtime tasks } void TMC2130Component::dump_config() { ESP_LOGCONFIG(TAG, "TMC2130 Component Configuration:"); ESP_LOGCONFIG(TAG, " - Toff: %u", this->toff_); ESP_LOGCONFIG(TAG, " - Blank Time: %u", this->blank_time_); ESP_LOGCONFIG(TAG, " - RMS Current: %u", this->rms_current_); ESP_LOGCONFIG(TAG, " - Microsteps: %d", this->microsteps_); ESP_LOGCONFIG(TAG, " - TCOOLTHRS: %u", this->tcoolthrs_); ESP_LOGCONFIG(TAG, " - THIGH: %u", this->thigh_); ESP_LOGCONFIG(TAG, " - SEMIN: %u", this->semin_); ESP_LOGCONFIG(TAG, " - SEMAX: %u", this->semax_); ESP_LOGCONFIG(TAG, " - SEDN: %u", this->sedn_); ESP_LOGCONFIG(TAG, " - SGT: %d", this->sgt_); } void TMC2130Component::set_speed(int speed) { // Adjust timer alarm based on speed if (speed > MAX_SPEED && speed < MIN_SPEED) { uint32_t timer_speed = map(speed, 0, 100, MIN_SPEED, MAX_SPEED); // Map speed to timer range timerAlarmWrite(this->timer_, timer_speed, true); } } void TMC2130Component::set_direction_forward(bool forward) { motor_direction_ = forward; digitalWrite(DIR_PIN, motor_direction_ ? HIGH : LOW); // Set direction } void TMC2130Component::enable_motor(bool enable) { // Enable or disable motor by controlling EN_PIN digitalWrite(EN_PIN, !enable); // LOW to enable, HIGH to disable } static void IRAM_ATTR onTimer() { digitalWrite(STEP_PIN, !digitalRead(STEP_PIN)); // Toggle the step pin } } // namespace tmc2130 } // namespace esphome tmc2130.h
#include "esphome/core/component.h" #include "esphome/core/hal.h" #include namespace esphome { namespace tmc2130 { class TMC2130Component : public Component { public: void setup() override; void dump_config() override; void set_toff(uint8_t toff); void set_blank_time(uint8_t blank_time); void set_rms_current(uint16_t rms_current); void set_microsteps(int microsteps); void set_tcoolthrs(uint32_t tcoolthrs); void set_thigh(uint32_t thigh); void set_semin(uint8_t semin); void set_semax(uint8_t semax); void set_sedn(uint8_t sedn); void set_sgt(int8_t sgt); void set_direction_forward(bool forward); void set_r_sense(float r_sense); protected: TMC2130Stepper driver_; uint8_t toff_; uint8_t blank_time_; uint16_t rms_current_; int microsteps_; uint32_t tcoolthrs_; uint32_t thigh_; uint8_t semin_; uint8_t semax_; uint8_t sedn_; int8_t sgt_; bool motor_direction_{true}; float r_sense_; }; } // namespace tmc2130 } // namespace esphome I don't understand the error. Where am I defining this esp32_esp32internalgpiopin_6? Can someone help?
Источник: https://stackoverflow.com/questions/781 ... -component
