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 2022-11-25 02:43:59 +01:00
parent f4aabdc99c
commit 036cd64a13
3 changed files with 242 additions and 162 deletions

View File

@ -1,24 +1,53 @@
/*
This Software is used as IO Expansion for LinuxCNC. Here i am using an Mega 2560.
It can use as many digital & analog Inputs, Outputs and PWM Outputs as your Arduino can handle.
I also generate "virtual Pins" by using latching Potentiometers, which are connected to one analog Pin, but are read in Hal as individual Pins.
LinuxCNC_ArduinoConnector
By Alexander Richter, info@theartoftinkering.com 2022
This Software is used as IO Expansion for LinuxCNC. Here i am using a Mega 2560.
The Send Protocol is <Signal><Pin Number>:<Pin State>
It is NOT intended for timing and security relevant IO's. Don't use it for Emergency Stops or Endstop switches!
Inputs are encoded with Letter 'I'
Keep alive Signal is send with Letter 'E'
Outputs are encoded with Letter 'O'
PWM Outputs are encoded with Letter 'P'
Analog Inputs are encoded with Letter 'A'
Latching Potentiometers are encoded with Letter 'L'
Absolute Encoder input is encoded with Letter 'K'
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:
- analog Inputs
- latching Potentiometers
- 1 absolute encoder input
- digital Inputs
- digital Outputs
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.
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
*/
//###IO's###
#define INPUTS
#ifdef INPUTS
#define DINPUTS
#ifdef DINPUTS
const int Inputs = 16; //number of inputs using internal Pullup resistor. (short to ground to trigger)
int InPinmap[] = {32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48};
#endif
@ -32,23 +61,25 @@ Absolute Encoder input is encoded with Letter 'K'
#define PWMOUTPUTS
#ifdef PWMOUTPUTS
const int PwmOutput = 2; //number of outputs
int PwmOutPinmap[] = {12,11};
const int PwmOutputs = 2; //number of outputs
int PwmOutPinmap[] = {13,11};
#endif
#define AINPUTS
#ifdef AINPUTS
const int AInputs = 1;
int AInPinmap[] = {A3}; //Potentiometer for SpindleSpeed override
int smooth = 200; //number of samples to denoise ADC, try lower numbers on your setup
#endif
#define LPOTIS
#ifdef LPOTIS
const int LPotis = 2;
int LPotiPins[LPotis][2] = {
{A1,8}, //Latching Knob Spindle Overdrive on A1, has 9 Positions
{A2,3} //Latching Knob Feed Resolution on A2, has 4 Positions
{96,8}, //Latching Knob Spindle Overdrive on A1, has 9 Positions
{95,3} //Latching Knob Feed Resolution on A2, has 4 Positions
};
int margin = 20; //giving it some margin so Numbers dont jitter, make this number smaller if your knob has more than 50 Positions
#endif
#define ABSENCODER
@ -70,7 +101,7 @@ const int timeout = 10000; // timeout after 10 sec not receiving Stuff
#define DEBUG
//Variables for Saving States
#ifdef INPUTS
#ifdef DINPUTS
int InState[Inputs];
int oldInState[Inputs];
#endif
@ -78,10 +109,15 @@ const int timeout = 10000; // timeout after 10 sec not receiving Stuff
int OutState[Outputs];
int oldOutState[Outputs];
#endif
#ifdef PWMOUTPUTS
int OutPWMState[PwmOutputs];
int oldOutPWMState[PwmOutputs];
#endif
#ifdef AINPUTS
int oldAinput[AInputs];
#endif
#ifdef LPOTIS
int Lpoti[LPotis];
int oldLpoti[LPotis];
#endif
#ifdef ABSENCODER
@ -91,7 +127,7 @@ const int timeout = 10000; // timeout after 10 sec not receiving Stuff
//### global Variables setup###
//Diese variablen nicht von außen anfassen
//Please don't touch them
unsigned long oldmillis = 0;
unsigned long newcom = 0;
unsigned long lastcom = 0;
@ -109,8 +145,39 @@ uint16_t io = 0;
uint16_t value = 0;
void setup() {
#ifdef DINPUTS
//setting Inputs with internal Pullup Resistors
for(int i= 0; i<Inputs;i++){
pinMode(InPinmap[i], INPUT_PULLUP);
oldInState[i] = -1;
}
#endif
#ifdef AINPUTS
for(int i= 0; i<AInputs;i++){
pinMode(AInPinmap[i], INPUT);
oldAinput[i] = -1;
}
#endif
#ifdef OUTPUTS
for(int o= 0; o<Outputs;o++){
pinMode(OutPinmap[o], OUTPUT);
oldOutState[o] = 0;
}
#endif
#ifdef PWMOUTPUTS
for(int o= 0; o<PwmOutputs;o++){
pinMode(PwmOutPinmap[o], OUTPUT);
oldOutPWMState[o] = 0;
}
#endif
#ifdef STATUSLED
pinMode(StatLedPin, OUTPUT);
#endif
#ifdef ABSENCODER
pinMode(AbsEncPins[0], INPUT_PULLUP);
@ -120,74 +187,60 @@ void setup() {
pinMode(AbsEncPins[4], INPUT_PULLUP);
#endif
#ifdef INPUTS
//setting Inputs with internal Pullup Resistors
for(int i= 0; i<Inputs;i++){
pinMode(InPinmap[i], INPUT_PULLUP);
oldInState[i] = -1;
}
#endif
#ifdef OUTPUTS
for(int o= 0; o<Outputs;o++){
pinMode(OutPinmap[o], OUTPUT);
oldOutState[o] = 0;
}
#endif
#ifdef STATUSLED
pinMode(StatLedPin, OUTPUT);
#endif
//Setup Serial
Serial.begin(115200);
while (!Serial){
#ifdef STATUSLED
StatLedErr();
#endif
}
if (Serial){
delay(1000);
while (!Serial){}
while (lastcom == 0){
readCommands();
flushSerial();
Serial.println("Ready");
Serial.println("R:");
#ifdef STATUSLED
StatLedErr(1000,1000);
#endif
}
}
void loop() {
while (!Serial){
#ifdef STATUSLED
StatLedErr();
#endif
}
readCommands();
#ifdef INPUTS
// readInputs();
readCommands(); //receive and execute Commands
comalive(); //if nothing is received for 10 sec. blink warning LED
#ifdef DINPUTS
readInputs(); //read Inputs & send
#endif
#ifdef AINPUTS
readAInputs();
#endif
#ifdef LPOTIS
// readLPoti(); //read LPotis & send
#endif
#ifdef ABSENCODER
readAbsKnob(); //read ABS Encoder & send
#endif
}
void comalive(){
if(millis() - lastcom > timeout){
StatLedErr();
StatLedErr(1000,10);
}
else{
digitalWrite(StatLedPin, HIGH);
}
}
void StatLedErr(){
void StatLedErr(int offtime, int ontime){
unsigned long newMillis = millis();
if (newMillis - oldmillis >= StatLedErrDel[0]){
if (newMillis - oldmillis >= offtime){
digitalWrite(StatLedPin, HIGH);
}
if (newMillis - oldmillis >= StatLedErrDel[0]+StatLedErrDel[1]){{
if (newMillis - oldmillis >= offtime+ontime){{
digitalWrite(StatLedPin, LOW);
oldmillis = newMillis;
}
@ -207,57 +260,55 @@ void flushSerial(){
Serial.read();
}
}
/*
void readData(){
int pin = 0;
int state = 0;
byte terminated = false;
if (Serial.available() > 0) {
char inChar = Serial.read();
Serial.println(inChar);
if (inChar == 'o'){
Serial.println("O erkannt");
while (!terminated && comalive()){
inChar = Serial.read();
if (inChar == ':'){
void writeOutputs(int Pin, int Stat){
for(int x = 0; x<Outputs;x++){
if(OutPinmap[x]==Pin){
digitalWrite(OutPinmap[x], Stat);
}
}
if (inChar == 'p'){
Serial.println("p erkannt");
sig = 'p';
}
void writePwmOutputs(int Pin, int Stat){
for(int x = 0; x<PwmOutputs;x++){
if(PwmOutPinmap[x]==Pin){
analogWrite(PwmOutPinmap[x], Stat);
}
}
}
}
*/
void writeOutputs(){
for(int x = 0; x<Outputs;x++){
digitalWrite(OutPinmap[x], OutState[x]);
int readLPoti(){
for(int i= 0;i<LPotis; i++){
int State = analogRead(LPotiPins[i][0])+margin;
Lpoti[i] = 1024/LPotiPins[i][1];
State = State/LPotiPins[i][1];
if(oldLpoti[i]!= State){
oldLpoti[i] = State;
sendData('L', LPotiPins[i][0],oldLpoti[i]);
}
}
}
int readLPoti(int Pin,int Pos, int Stat){
int var = analogRead(Pin)+20; //giving it some margin so Numbers dont jitter
Pos = 1024/Pos;
var = var/Pos;
return (Stat);
}
int readAIn(int Pin){
int readAInputs(){
unsigned long var = 0;
for(int i= 0;i<500; i++){
var = var+ analogRead(Pin);
}
var = var / 500;
return (var);
for(int i= 0;i<AInputs; i++){
int State = analogRead(AInPinmap[i]);
for(int i= 0;i<smooth; i++){// take couple samples to denoise signal
var = var+ analogRead(AInPinmap[i]);
}
var = var / smooth;
if(oldAinput[i]!= var){
oldAinput[i] = var;
sendData('A',AInPinmap[i],oldAinput[i]);
}
}
}
void readInputs(){
@ -267,45 +318,54 @@ void readInputs(){
InState[i] = State;
sendData('I',InPinmap[i],InState[i]);
}
}
}
}
/*
int readAbsKnob(){
int var = 0;
if(digitalRead(DI0)==1){
if(digitalRead(AbsEncPins[0])==1){
var += 1;
}
if(digitalRead(DI1)==1){
if(digitalRead(AbsEncPins[1])==1){
var += 2;
}
if(digitalRead(DI2)==1){
if(digitalRead(AbsEncPins[2])==1){
var += 4;
}
if(digitalRead(DI3)==1){
if(digitalRead(AbsEncPins[3])==1){
var += 8;
}
if(digitalRead(DI4)==1){
if(digitalRead(AbsEncPins[4])==1){
var += 16;
}
if(var != oldvar){
Serial.print("AK:");
if(var != oldAbsEncState){
Serial.print("K:");
Serial.println(var);
}
oldvar = var;
oldAbsEncState = var;
return (var);
}
*/
void commandReceived(char cmd, uint16_t io, uint16_t value){
switch(state){
case
} Serial.print(cmd);
Serial.print(io);
Serial.print(":");
Serial.println(value);
if(cmd == 'O'){
writeOutputs(io,value);
}
if(cmd == 'P'){
writePwmOutputs(io,value);
}
if(cmd == 'E'){
lastcom=millis();
}
#ifdef DEBUG
Serial.print("I Received= ");
Serial.print(cmd);
Serial.print(io);
Serial.print(":");
Serial.println(value);
#endif
}
int isCmdChar(char cmd){
@ -334,22 +394,30 @@ void readCommands(){
state = STATE_VALUE;
bufferIndex = 0;
}else{
}
else{
#ifdef DEBUG
Serial.print("Ungültiges zeichen: ");
Serial.println(current);
#endif
}
break;
case STATE_VALUE:
if(isDigit(current)){
inputbuffer[bufferIndex++] = current;
}else if(current == '\n'){
}
else if(current == '\n'){
inputbuffer[bufferIndex] = 0;
value = atoi(inputbuffer);
commandReceived(cmd, io, value);
state = STATE_CMD;
}else{
Serial.print("Ungültiges zeichen: ");
Serial.println(current);
}
else{
#ifdef DEBUG
Serial.print("Ungültiges zeichen: ");
Serial.println(current);
#endif
}
break;
}

View File

@ -15,8 +15,7 @@ This protocol is slow compared to other solutions, but easily adaptable and expa
- 1 absolute encoder input
- digital Inputs
- digital Outputs
Right now i am also working on
- virtual Pins (multiplexed LED's or WS2812)
# Installation

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@ -1,37 +1,53 @@
#!/usr/bin/python3.9
import serial, time, hal
# LinuxCNC_ArduinoConnector
# This Software is used to use an Arduino as IO Expansion.
# Note, these IO's are not run in the servo-thread. Therefor the IO's shouldn't be used for timing critical applications.
# Currently the Software provides:
#
# - analog Inputs
# - latching Potentiometers
# - 1 absolute encoder input
# - digital Inputs
# - digital Outputs
# Right now i am also working on
# - virtual Pins (multiplexed LED's or WS2812)
#
# By Alexander Richter, info@theartoftinkering.com
# inspired by Jeff Epler, jepler@unpythonic.net
#
# 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.
#
# 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
# LinuxCNC_ArduinoConnector
# 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:
# - analog Inputs
# - latching Potentiometers
# - 1 absolute encoder input
# - digital Inputs
# - digital Outputs
# 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.
# 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