Toggle Mode Inputs

This Update introduces Toggled Inputs.
Pressing a Button once will Toggle the Input HIGH.
Pressing it again will Toggle the Input LOW.
Toggled Inputs are handled the same as Inputs in LinuxCNC

LinuxCNC_ArduinoConnector.ino

@@ -20,7 +20,7 @@
   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
+  Inputs & Toggle 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
   Digital LED Outputs     = 'D' -read only   -Pin State: 0,1
@@ -51,12 +51,18 @@
 //###################################################IO's###################################################
 
 
-//#define INPUTS                       //Use Arduino IO's as Inputs. Define how many Inputs you want in total and then which Pins you want to be Inputs.
+#define INPUTS                       //Use Arduino IO's as Inputs. Define how many Inputs you want in total and then which Pins you want to be Inputs.
 #ifdef INPUTS
-  const int Inputs = 16;               //number of inputs using internal Pullup resistor. (short to ground to trigger)
+  const int Inputs = 5;               //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};
+  int InPinmap[] = {37,38,39,40,41};
 #endif
 
+                                       //Use Arduino IO's as Toggle Inputs, which means Inputs (Buttons for example) keep HIGH State after Release and Send LOW only after beeing Pressed again. 
+#define SINPUTS                        //Define how many Sticky Inputs you want in total and then which Pins you want to be Sticky Inputs.
+#ifdef SINPUTS
+  const int sInputs = 5;              //number of inputs using internal Pullup resistor. (short to ground to trigger)
+  int sInPinmap[] = {32,33,34,35,36};
+#endif
 
 //#define OUTPUTS                     //Use Arduino IO's as Outputs. Define how many Outputs you want in total and then which Pins you want to be Outputs.
 #ifdef OUTPUTS
@@ -180,17 +186,24 @@ Adafruit_NeoPixel strip(DLEDcount, DLEDPin, NEO_GRB + NEO_KHZ800);//Color sequen
 #endif
 
 
-
+//#define DEBUG
 
 //###Misc Settings###
 const int timeout = 10000;   // timeout after 10 sec not receiving Stuff
+const int debounceDelay = 50;
 
-//#define DEBUG
 
 //Variables for Saving States
 #ifdef INPUTS
   int InState[Inputs];
   int oldInState[Inputs];
+  unsigned long lastInputDebounce[Inputs];
+#endif
+#ifdef SINPUTS
+  int sInState[sInputs];
+  int soldInState[sInputs];
+  int togglesinputs[sInputs];
+  unsigned long lastsInputDebounce[sInputs];
 #endif
 #ifdef OUTPUTS
   int OutState[Outputs];
@@ -242,6 +255,16 @@ void setup() {
     oldInState[i] = -1;
     }
 #endif
+
+#ifdef SINPUTS
+//setting Inputs with internal Pullup Resistors
+  for(int i= 0; i<sInputs;i++){
+    pinMode(sInPinmap[i], INPUT_PULLUP);
+    soldInState[i] = -1;
+    togglesinputs[i] = 0;
+  }
+    
+#endif
 #ifdef AINPUTS
 
   for(int i= 0; i<AInputs;i++){
@@ -302,6 +325,9 @@ void loop() {
 #ifdef INPUTS
   readInputs(); //read Inputs & send data
 #endif
+#ifdef SINPUTS
+  readsInputs(); //read Inputs & send data
+#endif
 #ifdef AINPUTS
   readAInputs();  //read Analog Inputs & send data
 #endif
@@ -451,13 +477,38 @@ int readAInputs(){
 void readInputs(){
     for(int i= 0;i<Inputs; i++){
       int State = digitalRead(InPinmap[i]);
-      if(InState[i]!= State){
+      if(InState[i]!= State && millis()- lastInputDebounce[i] > debounceDelay){
         InState[i] = State;
         sendData('I',InPinmap[i],InState[i]);
+      
+      lastInputDebounce[i] = millis();
       }
     }
 }
 #endif
+#ifdef SINPUTS
+void readsInputs(){
+  for(int i= 0;i<sInputs; i++){
+    sInState[i] = digitalRead(sInPinmap[i]);
+    if (sInState[i] != soldInState[i] && millis()- lastsInputDebounce[i] > debounceDelay){
+      // Button state has changed and debounce delay has passed
+      soldInState[i] = sInState[i];
+      if (sInState[i] == LOW) {
+        // Button has been pressed
+        togglesinputs[i] = !togglesinputs[i];  // Toggle the LED state
+      
+        if (togglesinputs[i]) {
+          sendData('I',sInPinmap[i],togglesinputs[i]);  // Turn the LED on
+        } 
+        else {
+          sendData('I',sInPinmap[i],togglesinputs[i]);   // Turn the LED off
+        }
+      }
+      lastsInputDebounce[i] = millis();
+    }
+  }
+}
+#endif
 
 #ifdef ABSENCODER
 int readAbsKnob(){
@@ -497,11 +548,11 @@ void commandReceived(char cmd, uint16_t io, uint16_t value){
     writePwmOutputs(io,value);
   }
   #endif
-  //#ifdef DLED
+  #ifdef DLED
   if(cmd == 'D'){
     controlDLED(io,value);
   }
-  //#endif
+  #endif
   if(cmd == 'E'){
     lastcom=millis();
   }

arduino.py

@@ -50,8 +50,13 @@ connection = '/dev/ttyACM0'
 
 
 # Set how many Inputs you have programmed in Arduino and which pins are Inputs
-Inputs = 16
+Inputs = 5
-InPinmap = [32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48]
+InPinmap = [37,38,39,40,41]
+
+# Set how many Toggled Inputs you have programmed in Arduino and which pins are Toggled Inputs
+SInputs = 5
+sInPinmap = [32,33,34,35,36]
+
 
 # Set how many Outputs you have programmed in Arduino and which pins are Outputs
 Outputs = 9
@@ -84,6 +89,12 @@ Debug = 1
 olddOutStates= [0]*Outputs
 oldPwmOutStates=[0]*PwmOutputs
 
+# Inputs and Toggled Inputs are handled the same. 
+# For DAU compatiblity we set them up seperately. 
+# Here we merge the arrays.
+
+Inputs = Inputs+ SInputs
+InPinmap += sInPinmap
 ######## SetUp of HalPins ########
 
 # setup Input halpins
@@ -127,6 +138,8 @@ arduino = serial.Serial(connection, 115200, timeout=1, xonxoff=False, rtscts=Fal
 firstcom = 0
 event = time.time()
 timeout = 9 #send something after max 9 seconds
+
+
 ######## Functions ########
 
 def keepAlive(event):