Connection Surveilance working
added flashing LED if connection is lost. - stops flashing once stuff is received again - repaired analog and digital Pin reading & Sending - changed Header
This commit is contained in:
Alexander Richter
parent
f4aabdc99c
commit
036cd64a13
@ -1,24 +1,53 @@
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/*
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This Software is used as IO Expansion for LinuxCNC. Here i am using an Mega 2560.
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It can use as many digital & analog Inputs, Outputs and PWM Outputs as your Arduino can handle.
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I also generate "virtual Pins" by using latching Potentiometers, which are connected to one analog Pin, but are read in Hal as individual Pins.
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LinuxCNC_ArduinoConnector
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By Alexander Richter, info@theartoftinkering.com 2022
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This Software is used as IO Expansion for LinuxCNC. Here i am using a Mega 2560.
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The Send Protocol is <Signal><Pin Number>:<Pin State>
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It is NOT intended for timing and security relevant IO's. Don't use it for Emergency Stops or Endstop switches!
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Inputs are encoded with Letter 'I'
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Keep alive Signal is send with Letter 'E'
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Outputs are encoded with Letter 'O'
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PWM Outputs are encoded with Letter 'P'
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Analog Inputs are encoded with Letter 'A'
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Latching Potentiometers are encoded with Letter 'L'
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Absolute Encoder input is encoded with Letter 'K'
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You can create as many digital & analog Inputs, Outputs and PWM Outputs as your Arduino can handle.
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You can also generate "virtual Pins" by using latching Potentiometers, which are connected to one analog Pin, but are read in Hal as individual Pins.
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Currently the Software provides:
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- analog Inputs
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- latching Potentiometers
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- 1 absolute encoder input
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- digital Inputs
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- digital Outputs
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The Send and receive Protocol is <Signal><PinNumber>:<Pin State>
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To begin Transmitting Ready is send out and expects to receive E: to establish connection. Afterwards Data is exchanged.
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Data is only send everythime it changes once.
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Inputs = 'I' -write only -Pin State: 0,1
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Outputs = 'O' -read only -Pin State: 0,1
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PWM Outputs = 'P' -read only -Pin State: 0-255
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Analog Inputs = 'A' -write only -Pin State: 0-1024
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Latching Potentiometers = 'L' -write only -Pin State: 0-max Position
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Absolute Encoder input = 'K' -write only -Pin State: 0-32
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Command 'E0:0' is used for connectivity checks and is send every 5 seconds as keep alive signal
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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See the GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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//###IO's###
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#define INPUTS
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#ifdef INPUTS
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#define DINPUTS
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#ifdef DINPUTS
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const int Inputs = 16; //number of inputs using internal Pullup resistor. (short to ground to trigger)
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int InPinmap[] = {32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48};
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#endif
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@ -32,23 +61,25 @@ Absolute Encoder input is encoded with Letter 'K'
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#define PWMOUTPUTS
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#ifdef PWMOUTPUTS
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const int PwmOutput = 2; //number of outputs
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int PwmOutPinmap[] = {12,11};
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const int PwmOutputs = 2; //number of outputs
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int PwmOutPinmap[] = {13,11};
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#endif
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#define AINPUTS
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#ifdef AINPUTS
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const int AInputs = 1;
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int AInPinmap[] = {A3}; //Potentiometer for SpindleSpeed override
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int smooth = 200; //number of samples to denoise ADC, try lower numbers on your setup
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#endif
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#define LPOTIS
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#ifdef LPOTIS
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const int LPotis = 2;
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int LPotiPins[LPotis][2] = {
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{A1,8}, //Latching Knob Spindle Overdrive on A1, has 9 Positions
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{A2,3} //Latching Knob Feed Resolution on A2, has 4 Positions
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{96,8}, //Latching Knob Spindle Overdrive on A1, has 9 Positions
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{95,3} //Latching Knob Feed Resolution on A2, has 4 Positions
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};
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int margin = 20; //giving it some margin so Numbers dont jitter, make this number smaller if your knob has more than 50 Positions
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#endif
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#define ABSENCODER
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@ -70,7 +101,7 @@ const int timeout = 10000; // timeout after 10 sec not receiving Stuff
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#define DEBUG
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//Variables for Saving States
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#ifdef INPUTS
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#ifdef DINPUTS
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int InState[Inputs];
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int oldInState[Inputs];
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#endif
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@ -78,10 +109,15 @@ const int timeout = 10000; // timeout after 10 sec not receiving Stuff
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int OutState[Outputs];
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int oldOutState[Outputs];
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#endif
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#ifdef PWMOUTPUTS
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int OutPWMState[PwmOutputs];
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int oldOutPWMState[PwmOutputs];
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#endif
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#ifdef AINPUTS
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int oldAinput[AInputs];
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#endif
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#ifdef LPOTIS
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int Lpoti[LPotis];
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int oldLpoti[LPotis];
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#endif
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#ifdef ABSENCODER
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@ -91,7 +127,7 @@ const int timeout = 10000; // timeout after 10 sec not receiving Stuff
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//### global Variables setup###
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//Diese variablen nicht von außen anfassen
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//Please don't touch them
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unsigned long oldmillis = 0;
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unsigned long newcom = 0;
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unsigned long lastcom = 0;
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@ -109,8 +145,39 @@ uint16_t io = 0;
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uint16_t value = 0;
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void setup() {
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#ifdef DINPUTS
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//setting Inputs with internal Pullup Resistors
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for(int i= 0; i<Inputs;i++){
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pinMode(InPinmap[i], INPUT_PULLUP);
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oldInState[i] = -1;
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}
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#endif
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#ifdef AINPUTS
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for(int i= 0; i<AInputs;i++){
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pinMode(AInPinmap[i], INPUT);
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oldAinput[i] = -1;
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}
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#endif
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#ifdef OUTPUTS
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for(int o= 0; o<Outputs;o++){
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pinMode(OutPinmap[o], OUTPUT);
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oldOutState[o] = 0;
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}
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#endif
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#ifdef PWMOUTPUTS
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for(int o= 0; o<PwmOutputs;o++){
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pinMode(PwmOutPinmap[o], OUTPUT);
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oldOutPWMState[o] = 0;
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}
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#endif
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#ifdef STATUSLED
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pinMode(StatLedPin, OUTPUT);
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#endif
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#ifdef ABSENCODER
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pinMode(AbsEncPins[0], INPUT_PULLUP);
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@ -120,74 +187,60 @@ void setup() {
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pinMode(AbsEncPins[4], INPUT_PULLUP);
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#endif
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#ifdef INPUTS
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//setting Inputs with internal Pullup Resistors
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for(int i= 0; i<Inputs;i++){
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pinMode(InPinmap[i], INPUT_PULLUP);
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oldInState[i] = -1;
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}
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#endif
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#ifdef OUTPUTS
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for(int o= 0; o<Outputs;o++){
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pinMode(OutPinmap[o], OUTPUT);
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oldOutState[o] = 0;
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}
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#endif
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#ifdef STATUSLED
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pinMode(StatLedPin, OUTPUT);
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#endif
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//Setup Serial
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Serial.begin(115200);
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while (!Serial){
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#ifdef STATUSLED
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StatLedErr();
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#endif
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}
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if (Serial){
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delay(1000);
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while (!Serial){}
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while (lastcom == 0){
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readCommands();
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flushSerial();
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Serial.println("Ready");
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Serial.println("R:");
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#ifdef STATUSLED
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StatLedErr(1000,1000);
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#endif
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}
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}
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void loop() {
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while (!Serial){
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#ifdef STATUSLED
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StatLedErr();
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#endif
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}
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readCommands();
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#ifdef INPUTS
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// readInputs();
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readCommands(); //receive and execute Commands
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comalive(); //if nothing is received for 10 sec. blink warning LED
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#ifdef DINPUTS
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readInputs(); //read Inputs & send
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#endif
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#ifdef AINPUTS
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readAInputs();
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#endif
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#ifdef LPOTIS
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// readLPoti(); //read LPotis & send
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#endif
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#ifdef ABSENCODER
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readAbsKnob(); //read ABS Encoder & send
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#endif
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}
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void comalive(){
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if(millis() - lastcom > timeout){
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StatLedErr();
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StatLedErr(1000,10);
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}
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else{
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digitalWrite(StatLedPin, HIGH);
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}
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}
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void StatLedErr(){
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void StatLedErr(int offtime, int ontime){
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unsigned long newMillis = millis();
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if (newMillis - oldmillis >= StatLedErrDel[0]){
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if (newMillis - oldmillis >= offtime){
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digitalWrite(StatLedPin, HIGH);
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}
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if (newMillis - oldmillis >= StatLedErrDel[0]+StatLedErrDel[1]){{
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if (newMillis - oldmillis >= offtime+ontime){{
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digitalWrite(StatLedPin, LOW);
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oldmillis = newMillis;
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}
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@ -207,57 +260,55 @@ void flushSerial(){
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Serial.read();
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}
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}
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/*
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void readData(){
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int pin = 0;
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int state = 0;
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byte terminated = false;
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if (Serial.available() > 0) {
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char inChar = Serial.read();
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Serial.println(inChar);
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if (inChar == 'o'){
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Serial.println("O erkannt");
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while (!terminated && comalive()){
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inChar = Serial.read();
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if (inChar == ':'){
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}
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}
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if (inChar == 'p'){
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Serial.println("p erkannt");
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sig = 'p';
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}
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}
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}
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}
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*/
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void writeOutputs(){
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void writeOutputs(int Pin, int Stat){
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for(int x = 0; x<Outputs;x++){
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digitalWrite(OutPinmap[x], OutState[x]);
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if(OutPinmap[x]==Pin){
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digitalWrite(OutPinmap[x], Stat);
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}
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}
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}
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void writePwmOutputs(int Pin, int Stat){
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for(int x = 0; x<PwmOutputs;x++){
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if(PwmOutPinmap[x]==Pin){
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analogWrite(PwmOutPinmap[x], Stat);
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}
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}
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}
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int readLPoti(int Pin,int Pos, int Stat){
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int var = analogRead(Pin)+20; //giving it some margin so Numbers dont jitter
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Pos = 1024/Pos;
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var = var/Pos;
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return (Stat);
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int readLPoti(){
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for(int i= 0;i<LPotis; i++){
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int State = analogRead(LPotiPins[i][0])+margin;
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Lpoti[i] = 1024/LPotiPins[i][1];
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State = State/LPotiPins[i][1];
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if(oldLpoti[i]!= State){
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oldLpoti[i] = State;
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sendData('L', LPotiPins[i][0],oldLpoti[i]);
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}
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}
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}
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int readAIn(int Pin){
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int readAInputs(){
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unsigned long var = 0;
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for(int i= 0;i<500; i++){
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var = var+ analogRead(Pin);
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for(int i= 0;i<AInputs; i++){
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int State = analogRead(AInPinmap[i]);
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for(int i= 0;i<smooth; i++){// take couple samples to denoise signal
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var = var+ analogRead(AInPinmap[i]);
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}
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var = var / 500;
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return (var);
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var = var / smooth;
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if(oldAinput[i]!= var){
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oldAinput[i] = var;
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sendData('A',AInPinmap[i],oldAinput[i]);
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}
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}
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}
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void readInputs(){
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@ -271,41 +322,50 @@ void readInputs(){
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}
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/*
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int readAbsKnob(){
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int var = 0;
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if(digitalRead(DI0)==1){
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if(digitalRead(AbsEncPins[0])==1){
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var += 1;
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}
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if(digitalRead(DI1)==1){
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if(digitalRead(AbsEncPins[1])==1){
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var += 2;
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}
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if(digitalRead(DI2)==1){
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if(digitalRead(AbsEncPins[2])==1){
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var += 4;
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}
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if(digitalRead(DI3)==1){
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if(digitalRead(AbsEncPins[3])==1){
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var += 8;
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}
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if(digitalRead(DI4)==1){
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if(digitalRead(AbsEncPins[4])==1){
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var += 16;
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}
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if(var != oldvar){
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Serial.print("AK:");
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if(var != oldAbsEncState){
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Serial.print("K:");
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Serial.println(var);
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}
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oldvar = var;
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oldAbsEncState = var;
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return (var);
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}
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*/
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void commandReceived(char cmd, uint16_t io, uint16_t value){
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switch(state){
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case
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} Serial.print(cmd);
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if(cmd == 'O'){
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writeOutputs(io,value);
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}
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if(cmd == 'P'){
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writePwmOutputs(io,value);
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}
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if(cmd == 'E'){
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lastcom=millis();
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}
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#ifdef DEBUG
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Serial.print("I Received= ");
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Serial.print(cmd);
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Serial.print(io);
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Serial.print(":");
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Serial.println(value);
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#endif
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}
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int isCmdChar(char cmd){
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@ -334,22 +394,30 @@ void readCommands(){
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state = STATE_VALUE;
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bufferIndex = 0;
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}else{
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}
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else{
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#ifdef DEBUG
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Serial.print("Ungültiges zeichen: ");
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Serial.println(current);
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#endif
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}
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break;
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case STATE_VALUE:
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if(isDigit(current)){
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inputbuffer[bufferIndex++] = current;
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}else if(current == '\n'){
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}
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else if(current == '\n'){
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inputbuffer[bufferIndex] = 0;
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value = atoi(inputbuffer);
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commandReceived(cmd, io, value);
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state = STATE_CMD;
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}else{
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}
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else{
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#ifdef DEBUG
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Serial.print("Ungültiges zeichen: ");
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Serial.println(current);
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#endif
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}
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break;
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}
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@ -15,8 +15,7 @@ This protocol is slow compared to other solutions, but easily adaptable and expa
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- 1 absolute encoder input
|
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- digital Inputs
|
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- digital Outputs
|
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Right now i am also working on
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- virtual Pins (multiplexed LED's or WS2812)
|
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# Installation
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57
arduino.py
57
arduino.py
@ -2,36 +2,52 @@
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import serial, time, hal
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# LinuxCNC_ArduinoConnector
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# This Software is used to use an Arduino as IO Expansion.
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# Note, these IO's are not run in the servo-thread. Therefor the IO's shouldn't be used for timing critical applications.
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# By Alexander Richter, info@theartoftinkering.com 2022
|
||||
|
||||
# This Software is used as IO Expansion for LinuxCNC. Here i am using a Mega 2560.
|
||||
|
||||
# It is NOT intended for timing and security relevant IO's. Don't use it for Emergency Stops or Endstop switches!
|
||||
|
||||
# You can create as many digital & analog Inputs, Outputs and PWM Outputs as your Arduino can handle.
|
||||
# You can also generate "virtual Pins" by using latching Potentiometers, which are connected to one analog Pin, but are read in Hal as individual Pins.
|
||||
|
||||
# Currently the Software provides:
|
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#
|
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# - analog Inputs
|
||||
# - latching Potentiometers
|
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# - 1 absolute encoder input
|
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# - digital Inputs
|
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# - digital Outputs
|
||||
# Right now i am also working on
|
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# - virtual Pins (multiplexed LED's or WS2812)
|
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#
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# By Alexander Richter, info@theartoftinkering.com
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# inspired by Jeff Epler, jepler@unpythonic.net
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#
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# The Send and receive Protocol is <Signal><PinNumber>:<Pin State>
|
||||
# To begin Transmitting Ready is send out and expects to receive E: to establish connection. Afterwards Data is exchanged.
|
||||
# Data is only send everythime it changes once.
|
||||
|
||||
# Inputs = 'I' -write only -Pin State: 0,1
|
||||
# Outputs = 'O' -read only -Pin State: 0,1
|
||||
# PWM Outputs = 'P' -read only -Pin State: 0-255
|
||||
# Analog Inputs = 'A' -write only -Pin State: 0-1024
|
||||
# Latching Potentiometers = 'L' -write only -Pin State: 0-max Position
|
||||
# Absolute Encoder input = 'K' -write only -Pin State: 0-32
|
||||
|
||||
|
||||
# Command 'E0:0' is used for connectivity checks and is send every 5 seconds as keep alive signal
|
||||
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 2 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||||
# See the GNU General Public License for more details.
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program; if not, write to the Free Software
|
||||
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
|
||||
c = hal.component("arduino") #name that we will cal pins from in hal
|
||||
connection = '/dev/ttyACM0'
|
||||
|
||||
|
||||
# Set how many Inputs you have programmed in Arduino and which pins are Inputs
|
||||
Inputs = 17
|
||||
@ -60,6 +76,7 @@ AbsKnobPos = 30
|
||||
|
||||
|
||||
######## End of Config! ########
|
||||
|
||||
######## SetUp of HalPins ########
|
||||
|
||||
# setup Input halpins
|
||||
@ -118,7 +135,7 @@ def extract_nbr(input_str):
|
||||
######## Detect Serial connection and blink Status LED if connection lost -todo ########
|
||||
#try:
|
||||
|
||||
arduino = serial.Serial('/dev/ttyACM0', 9600, timeout=1, xonxoff=False, rtscts=False, dsrdtr=True)
|
||||
arduino = serial.Serial(connection, 9600, timeout=1, xonxoff=False, rtscts=False, dsrdtr=True)
|
||||
|
||||
|
||||
while True:
|
||||
@ -139,18 +156,14 @@ while True:
|
||||
|
||||
if data[0] == "I":
|
||||
c.dIn = data[1]
|
||||
elif data[0] == "aI":
|
||||
elif data[0] == "A":
|
||||
c.aIn = data[1]
|
||||
elif data[0] == "lP":
|
||||
elif data[0] == "L":
|
||||
for port in range(LPotiLatches[latches]):
|
||||
if ("LPoti-%02d %" [port]) == data[1]:
|
||||
#s
|
||||
else:
|
||||
c.("LPoti-%02d %" [port]) = 0
|
||||
|
||||
|
||||
c.LPotiKnob = data[1]
|
||||
elif data[0] == "AK":
|
||||
|
||||
elif data[0] == "K":
|
||||
c.AbsKnob = data[1]
|
||||
else: pass
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user