036cd64a13
added flashing LED if connection is lost. - stops flashing once stuff is received again - repaired analog and digital Pin reading & Sending - changed Header
173 lines
5.2 KiB
Python
173 lines
5.2 KiB
Python
#!/usr/bin/python3.9
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import serial, time, hal
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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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# 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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# 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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c = hal.component("arduino") #name that we will cal pins from in hal
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connection = '/dev/ttyACM0'
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# Set how many Inputs you have programmed in Arduino and which pins are Inputs
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Inputs = 17
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InPinmap = [32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48]
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# Set how many Outputs you have programmed in Arduino and which pins are Outputs
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Outputs = 9
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OutPinmap = [10,9,8,7,6,5,4,3,2]
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# Set how many PWM Outputs you have programmed in Arduino and which pins are PWM Outputs
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PwmOutputs = 2
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PwmOutPinmap = [12,11]
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# Set how many Analog Inputs you have programmed in Arduino and which pins are Analog Inputs
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AInputs = 1
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AInPinmap = [79]
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# Set how many Latching Analog Inputs you have programmed in Arduino and how many latches there are
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LPoti = 2
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LPotiLatches = [9,4]
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# Set if you have an Absolute Encoder Knob and how many positions it has (only one supported, as i don't think they are very common and propably nobody uses these anyway)
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AbsKnob = 1
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AbsKnobPos = 30
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######## End of Config! ########
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######## SetUp of HalPins ########
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# setup Input halpins
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for port in range(Inputs):
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c.newpin("dIn-%02d" % InPinmap[port], hal.HAL_BIT, hal.HAL_IN)
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c.newparam("dIn-%02d-invert" % InPinmap[port], hal.HAL_BIT, hal.HAL_RW)
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# setup Output halpins
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for port in range(Outputs):
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c.newpin("dOut-%02d" % OutPinmap[port], hal.HAL_BIT, hal.HAL_OUT)
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# setup Pwm Output halpins
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for port in range(PwmOutputs):
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c.newpin("PwmOut-%02d" % PwmOutPinmap[port], hal.HAL_FLOAT, hal.HAL_OUT)
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# setup Analog Input halpins
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for port in range(AInputs):
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c.newpin("aIn-%02d" % AInPinmap[port], hal.HAL_FLOAT, hal.HAL_IN)
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# setup Latching Poti halpins
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for latches in range(LPoti):
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for port in range(LPotiLatches[latches]):
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c.newpin("LPoti-%02d" % [port], hal.HAL_BIT, hal.HAL_IN)
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# setup Absolute Encoder Knob halpins
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if AbsKnob:
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for port in range(AbsKnobPos):
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c.newpin("AbsKnobPos-%02d" % [port], hal.HAL_BIT, hal.HAL_IN)
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c.ready()
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######## Functions ########
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def readinput(input_str):
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for i in range(50):
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if input_str:
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string = input_str.decode() # convert the byte string to a unicode string
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print (string)
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num = int(string) # convert the unicode string to an int
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return num
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def extract_nbr(input_str):
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if input_str is None or input_str == '':
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return 0
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out_number = ''
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for ele in input_str:
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if ele.isdigit():
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out_number += ele
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return int(out_number)
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######## Detect Serial connection and blink Status LED if connection lost -todo ########
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#try:
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arduino = serial.Serial(connection, 9600, timeout=1, xonxoff=False, rtscts=False, dsrdtr=True)
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while True:
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try:
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data = arduino.readline().decode('utf-8')
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# I127:1
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data = data.split(":",1)
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#[I127]["1"]
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if len(data) == 2:
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cmd = data[0][0]
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io = extract_nbr(data[0])
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value = extract_nbr(data[1])
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data[1] = extract_nbr(data[1])
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if data[1]<0: data[1] = 0
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if data[0] == "I":
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c.dIn = data[1]
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elif data[0] == "A":
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c.aIn = data[1]
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elif data[0] == "L":
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for port in range(LPotiLatches[latches]):
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if ("LPoti-%02d %" [port]) == data[1]:
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c.LPotiKnob = data[1]
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elif data[0] == "K":
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c.AbsKnob = data[1]
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else: pass
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finally:
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pass
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