joba-1 / Tasmoticz

Domoticz MQTT autodiscovery plugin for Tasmota devices
MIT License
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Can I make a DevkitV1 esp32 working with tasmoticz #48

Open Maikeleg opened 4 months ago

Maikeleg commented 4 months ago

Can I make a DevkitV1 esp32 working with tasmoticz I only need to pass through one GPIO port (GPIO1 now) as hardware switch with MQTT Can't get it to work, just reset everything to default in the esp What should I enter in the field "Client", it's empty now

This is in my verbose logging; 2024-05-24 09:37:39.059 Tasmota devices: Sending 2 bytes of data 2024-05-24 09:37:39.059 Tasmota devices: c0 00 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. � 2024-05-24 09:37:39.110 Tasmota devices: Received 2 bytes of data 2024-05-24 09:37:39.110 Tasmota devices: d0 00 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. Ю

Maikeleg commented 4 months ago

This is debug info; 2024-05-24 10:02:08.647 Tasmota devices: Worker thread started. 2024-05-24 10:02:08.927 Tasmota devices: Debug logging mask set to: PYTHON 2024-05-24 10:02:08.927 Tasmota devices: Handler::init(cmnd: cmnd, stat: stat, tele: tele, subs: ['%prefix%/%topic%', '%topic%/%prefix%']) 2024-05-24 10:02:08.986 Tasmota devices: MqttClient::onConnect: MQTT Server: localhost:1883 as Domoticz_xxxxxxxxxxxxxxxx 2024-05-24 10:02:08.444 Status: Tasmota devices: Stop directive received. 2024-05-24 10:02:08.639 Status: Tasmota devices: Exiting work loop. 2024-05-24 10:02:08.645 Status: Tasmota devices: Stopping threads. 2024-05-24 10:02:08.645 Status: Tasmota devices: Stopped. 2024-05-24 10:02:08.646 Status: Tasmota devices: Entering work loop. 2024-05-24 10:02:08.647 Status: Tasmota devices: Started. 2024-05-24 10:02:08.924 Status: Tasmota devices: Initialized version 1.3.1, author 'Joachim Banzhaf' 2024-05-24 10:02:08.460 Error: Tasmota devices: MqttClient::onDisconnect: localhost:1883 2024-05-24 10:02:09.037 Tasmota devices: Handler::onMQTTConnected: Subscriptions: ['stat/+/+', 'tele/+/+', '+/stat/+', '+/tele/+'] 2024-05-24 10:02:09.088 Tasmota devices: Handler::onMQTTPublish: topic: tele/homeassistant/LWT 2024-05-24 10:02:09.088 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota/LWT 2024-05-24 10:02:09.088 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/LWT 2024-05-24 10:02:09.088 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_fountain/LWT 2024-05-24 10:02:09.088 Tasmota devices: Handler::onMQTTPublish: topic: tele/topic/LWT

joba-1 commented 4 months ago

not sure what you are doing, but to just answer your questions: 1) yes, that should just work 2) set client to something unique (something that no other mqtt client uses, I simply use the string tasmoticz)

Let’s start simple: Does tasmota on the esp32 devkit work on its own? E.g. while domoticz is stopped or the tasmoticz plugin is not activated? can you operate the switch via the tasmota web interface?

Maikeleg commented 4 months ago

not sure what you are doing, but to just answer your questions:

1. yes, that should just work

2. set client to something unique (something that no other mqtt client uses, I simply use the string tasmoticz)

Let’s start simple: Does tasmota on the esp32 devkit work on its own? E.g. while domoticz is stopped or the tasmoticz plugin is not activated? can you operate the switch via the tasmota web interface?

Hi Joba, No i cannot operate. for clarity; de GPIO1 is connected to gnd. configured in Module config. I can see the GPIO change High/Low in the GPIO viewer. This is tasmota console;

09:28:19.526 MQT: tele/tasmota_F1ED30/LWT = Online (retained)
09:28:19.528 MQT: cmnd/tasmota_F1ED30/POWER = 
09:28:20.002 MQT: tele/tasmota_F1ED30/INFO1 = {"Info1":{"Module":"ESP32-DevKit","Version":"13.4.0(TasmoCompiler-esp32generic)","FallbackTopic":"cmnd/DVES_F1ED30_fb/","GroupTopic":"cmnd/tasmotas/"}}
09:28:20.017 MQT: tele/tasmota_F1ED30/INFO2 = {"Info2":{"WebServerMode":"Admin","Hostname":"tasmota-F1ED30-3376","IPAddress":"192.168.88.156","IP6Global":"","IP6Local":"fe80::3e71:bfff:fef1:ed30%st1"}}
09:28:20.032 MQT: tele/tasmota_F1ED30/INFO3 = {"Info3":{"RestartReason":"Software reset CPU","BootCount":7}}
09:28:20.209 MQT: stat/tasmota_F1ED30/STATUS = {"Status":{"Module":1,"DeviceName":"Tasmota","FriendlyName":["Tasmota"],"Topic":"tasmota_F1ED30","ButtonTopic":"0","Power":1,"PowerOnState":3,"LedState":1,"LedMask":"FFFF","SaveData":1,"SaveState":1,"SwitchTopic":"0","SwitchMode":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],"ButtonRetain":0,"SwitchRetain":0,"SensorRetain":0,"PowerRetain":0,"InfoRetain":0,"StateRetain":0,"StatusRetain":0}}
09:28:21.960 QPC: Reset
09:28:23.958 MQT: tele/tasmota_F1ED30/STATE = {"Time":"2024-05-24T09:28:23","Uptime":"0T00:00:09","UptimeSec":9,"Heap":167,"SleepMode":"Dynamic","Sleep":50,"LoadAvg":20,"MqttCount":1,"Berry":{"HeapUsed":3,"Objects":33},"Wifi":{"AP":1,"SSId":"iotwlan","BSSId":"0A:55:31:66:0B:BA","Channel":1,"Mode":"11n","RSSI":94,"Signal":-53,"LinkCount":1,"Downtime":"0T00:00:04"}}
09:28:23.996 MQT: tele/tasmota_F1ED30/SENSOR = {"Time":"2024-05-24T09:28:23","Switch1":"OFF"}

Forgot to enter the MQTT credentials in tasmota, just did i i see this in debug now;

2024-05-24 15:28:20.132 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/LWT
2024-05-24 15:28:20.244 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/INFO1
2024-05-24 15:28:20.244 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: INFO1, message: {'Info1': {'Module': 'ESP32-DevKit', 'Version': '13.4.0(TasmoCompiler-esp32generic)', 'FallbackTopic': 'cmnd/DVES_F1ED30_fb/', 'GroupTopic': 'cmnd/tasmotas/'}}
2024-05-24 15:28:20.244 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:28:20.245 Tasmota devices: Handler::requestStatus: cmnd/tasmota_F1ED30
2024-05-24 15:28:20.245 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/INFO2
2024-05-24 15:28:20.245 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/INFO3
2024-05-24 15:28:20.397 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/STATUS
2024-05-24 15:28:20.397 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: STATUS, message: {'Status': {'Module': 1, 'DeviceName': 'Tasmota', 'FriendlyName': ['Tasmota'], 'Topic': 'tasmota_F1ED30', 'ButtonTopic': '0', 'Power': 1, 'PowerOnState': 3, 'LedState': 1, 'LedMask': 'FFFF', 'SaveData': 1, 'SaveState': 1, 'SwitchTopic': '0', 'SwitchMode': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ButtonRetain': 0, 'SwitchRetain': 0, 'SensorRetain': 0, 'PowerRetain': 0, 'InfoRetain': 0, 'StateRetain': 0, 'StatusRetain': 0}}
2024-05-24 15:28:20.397 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:28:21.129 VirtualSwitches: Light/Switch (FanTimerDash)
2024-05-24 15:28:24.125 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/STATE
2024-05-24 15:28:24.125 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: STATE, message: {'Time': '2024-05-24T09:28:23', 'Uptime': '0T00:00:09', 'UptimeSec': 9, 'Heap': 167, 'SleepMode': 'Dynamic', 'Sleep': 50, 'LoadAvg': 20, 'MqttCount': 1, 'Berry': {'HeapUsed': 3, 'Objects': 33}, 'Wifi': {'AP': 1, 'SSId': 'iotwlan', 'BSSId': '0A:55:31:66:0B:BA', 'Channel': 1, 'Mode': '11n', 'RSSI': 94, 'Signal': -53, 'LinkCount': 1, 'Downtime': '0T00:00:04'}}
2024-05-24 15:28:24.125 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:28:24.177 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/SENSOR
2024-05-24 15:28:24.178 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: SENSOR, message: {'Time': '2024-05-24T09:28:23', 'Switch1': 'OFF'}
2024-05-24 15:28:24.178 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs [] 

I dont see any new device, looks like idx is empty

also see this in debug;

2024-05-24 15:34:12.235 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.235 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.235 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSwitchIdx2': 0}
2024-05-24 15:34:12.235 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.235 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.235 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzIdx3': 0}
2024-05-24 15:34:12.235 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.286 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.286 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzKeyIdx3': 0}
2024-05-24 15:34:12.286 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.286 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.286 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSwitchIdx3': 0}
2024-05-24 15:34:12.286 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.286 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.286 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzIdx4': 0}
2024-05-24 15:34:12.287 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.287 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.287 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzKeyIdx4': 0}
2024-05-24 15:34:12.287 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.287 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.287 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSwitchIdx4': 0}
2024-05-24 15:34:12.287 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.287 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.287 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx1': 0}
2024-05-24 15:34:12.287 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.338 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.338 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx2': 0}
2024-05-24 15:34:12.338 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.338 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.338 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx3': 0}
2024-05-24 15:34:12.338 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.339 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.339 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx4': 0}
2024-05-24 15:34:12.339 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.339 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.339 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx5': 0}
2024-05-24 15:34:12.339 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.339 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.339 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx6': 0}
2024-05-24 15:34:12.339 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.390 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.390 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx7': 0}
2024-05-24 15:34:12.390 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.390 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.390 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx8': 0}
2024-05-24 15:34:12.390 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.390 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.390 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx9': 0}
2024-05-24 15:34:12.390 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.391 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.391 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx10': 0}
2024-05-24 15:34:12.391 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:12.391 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/RESULT
2024-05-24 15:34:12.391 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: RESULT, message: {'DzSensorIdx11': 0}
2024-05-24 15:34:12.391 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:13.694 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/LWT
2024-05-24 15:34:18.791 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/LWT
2024-05-24 15:34:18.791 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/INFO1
2024-05-24 15:34:18.791 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: INFO1, message: {'Info1': {'Module': 'ESP32-DevKit', 'Version': '13.4.0(TasmoCompiler-esp32generic)', 'FallbackTopic': 'cmnd/DVES_F1ED30_fb/', 'GroupTopic': 'cmnd/tasmotas/'}}
2024-05-24 15:34:18.791 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:18.791 Tasmota devices: Handler::requestStatus: cmnd/tasmota_F1ED30
2024-05-24 15:34:18.842 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/INFO2
2024-05-24 15:34:18.842 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/INFO3
2024-05-24 15:34:18.993 Tasmota devices: Handler::onMQTTPublish: topic: stat/tasmota_F1ED30/STATUS
2024-05-24 15:34:18.993 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: STATUS, message: {'Status': {'Module': 1, 'DeviceName': 'Tasmota', 'FriendlyName': ['Tasmota'], 'Topic': 'tasmota_F1ED30', 'ButtonTopic': '0', 'Power': 1, 'PowerOnState': 3, 'LedState': 1, 'LedMask': 'FFFF', 'SaveData': 1, 'SaveState': 1, 'SwitchTopic': '0', 'SwitchMode': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ButtonRetain': 0, 'SwitchRetain': 0, 'SensorRetain': 0, 'PowerRetain': 0, 'InfoRetain': 0, 'StateRetain': 0, 'StatusRetain': 0}}
2024-05-24 15:34:18.994 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:23.057 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/STATE
2024-05-24 15:34:23.057 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: STATE, message: {'Time': '2024-05-24T09:34:22', 'Uptime': '0T00:00:09', 'UptimeSec': 9, 'Heap': 167, 'SleepMode': 'Dynamic', 'Sleep': 50, 'LoadAvg': 19, 'MqttCount': 1, 'Berry': {'HeapUsed': 3, 'Objects': 33}, 'Wifi': {'AP': 1, 'SSId': 'iotwlan', 'BSSId': '0A:55:31:66:0B:BA', 'Channel': 1, 'Mode': '11n', 'RSSI': 94, 'Signal': -53, 'LinkCount': 1, 'Downtime': '0T00:00:04'}}
2024-05-24 15:34:23.057 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs []
2024-05-24 15:34:23.059 Tasmota devices: Handler::onMQTTPublish: topic: tele/tasmota_F1ED30/SENSOR
2024-05-24 15:34:23.059 Tasmota devices: Handler::onMQTTPublish: device: tasmota_F1ED30, cmnd: cmnd/tasmota_F1ED30, tail: SENSOR, message: {'Time': '2024-05-24T09:34:22', 'Switch1': 'OFF'}
2024-05-24 15:34:23.059 Tasmota devices: tasmota::findDevices: fullName: tasmota_F1ED30, Idxs [] 
joba-1 commented 4 months ago

so it is not a normal power switch, you just monitor the pin for hi/lo. ok.

This has to work first. Tasmoticz does not cause config loss by itself.

After that you can change the name of the device (anything but the default) or Tasmoticz will not touch it.

I am not sure Tasmoticz will pick up the pin as sensor. Maybe I have to adapt the coding. But first tasmota side needs to work stable