282 lines
8.4 KiB
Python
Executable File
282 lines
8.4 KiB
Python
Executable File
#!/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 & Toggle 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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# Digital LED Outputs = 'D' -read only -Pin State: 0,1
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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 = 5
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InPinmap = [37,38,39,40,41]
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# Set how many Toggled Inputs you have programmed in Arduino and which pins are Toggled Inputs
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SInputs = 5
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sInPinmap = [32,33,34,35,36]
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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 = [10,9,8,7,6,5,4,3,2,21]
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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 = [11,12]
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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 = [1]
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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 = [[2,9],
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[3,4]]
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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 = 32
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# Set how many Digital LED's you have connected.
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DLEDcount = 8
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Debug = 0
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######## End of Config! ########
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olddOutStates= [0]*Outputs
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oldPwmOutStates=[0]*PwmOutputs
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# Inputs and Toggled Inputs are handled the same.
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# For DAU compatiblity we set them up seperately.
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# Here we merge the arrays.
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Inputs = Inputs+ SInputs
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InPinmap += sInPinmap
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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.{}".format(InPinmap[port]), hal.HAL_BIT, hal.HAL_OUT)
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c.newparam("dIn.{}-invert".format(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.{}".format(OutPinmap[port]), hal.HAL_BIT, hal.HAL_IN)
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olddOutStates[port] = 0
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# setup Pwm Output halpins
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for port in range(PwmOutputs):
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c.newpin("PwmOut.{}".format(PwmOutPinmap[port]), hal.HAL_FLOAT, hal.HAL_IN)
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oldPwmOutStates[port] = 255
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# setup Analog Input halpins
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for port in range(AInputs):
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c.newpin("aIn.{}".format(AInPinmap[port]), hal.HAL_FLOAT, hal.HAL_OUT)
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# setup Latching Poti halpins
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for Poti in range(LPoti):
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for Pin in range(LPotiLatches[Poti][1]):
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c.newpin("LPoti.{}.{}" .format(LPotiLatches[Poti][0],Pin), hal.HAL_BIT, hal.HAL_OUT)
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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("AbsKnob.{}".format(port), hal.HAL_BIT, hal.HAL_OUT)
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# setup Digital LED halpins
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if DLEDcount > 0:
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for port in range(DLEDcount):
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c.newpin("DLED.{}".format(port), hal.HAL_BIT, hal.HAL_IN)
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c.ready()
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#setup Serial connection
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arduino = serial.Serial(connection, 115200, timeout=1, xonxoff=False, rtscts=False, dsrdtr=True)
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######## GlobalVariables ########
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firstcom = 0
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event = time.time()
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timeout = 9 #send something after max 9 seconds
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######## Functions ########
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def keepAlive(event):
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return event + timeout < time.time()
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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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def managageOutputs():
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for port in range(PwmOutputs):
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State = int(c["PwmOut.{}".format(PwmOutPinmap[port])])
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if oldPwmOutStates[port] != State: #check if states have changed
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Sig = 'P'
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Pin = int(PwmOutPinmap[port])
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command = "{}{}:{}\n".format(Sig,Pin,State)
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arduino.write(command.encode())
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if (Debug):print ("Sending:{}".format(command.encode()))
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oldPwmOutStates[port]= State
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for port in range(Outputs):
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State = int(c["dOut.{}".format(OutPinmap[port])])
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if olddOutStates[port] != State: #check if states have changed
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Sig = 'O'
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Pin = int(OutPinmap[port])
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command = "{}{}:{}\n".format(Sig,Pin,State)
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arduino.write(command.encode())
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if (Debug):print ("Sending:{}".format(command.encode()))
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olddOutStates[port]= State
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for port in range(DLEDcount):
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State = int(c["DLED.{}".format(port)])
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Sig = 'D'
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Pin = int(port)
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command = "{}{}:{}\n".format(Sig,Pin,State)
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arduino.write(command.encode())
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if (Debug):print ("Sending:{}".format(command.encode()))
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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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if (Debug):print ("I received:{}".format(data))
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data = data.split(":",1)
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try:
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cmd = data[0][0]
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if cmd == "":
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if (Debug):print ("No Command!:{}.".format(cmd))
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else:
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if not data[0][1]:
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io = 0
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else:
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io = extract_nbr(data[0])
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value = extract_nbr(data[1])
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if value<0: value = 0
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if cmd == "I":
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firstcom = 1
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if value == 1:
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c["dIn.{}".format(io)] = 1
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c["dIn.{}-invert".format(io)] = 0
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if(Debug):print("dIn{}:{}".format(io,1))
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if value == 0:
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c["dIn.{}".format(io)] = 0
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c["dIn.{}-invert".format(io)] = 1
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if(Debug):print("dIn{}:{}".format(io,0))
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else:pass
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elif cmd == "A":
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firstcom = 1
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c["aIn.{}".format(io)] = value
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if (Debug):print("aIn.{}:{}".format(io,value))
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elif cmd == "L":
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firstcom = 1
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for Poti in range(LPoti):
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if LPotiLatches[Poti][0] == io:
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for Pin in range(LPotiLatches[Poti][1]):
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if Pin == value:
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c["LPoti.{}.{}" .format(io,Pin)] = 1
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if(Debug):print("LPoti.{}.{} =1".format(io,Pin))
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else:
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c["LPoti.{}.{}" .format(io,Pin)] = 0
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if(Debug):print("LPoti.{}.{} =0".format(io,Pin))
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elif cmd == "K":
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firstcom = 1
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for port in range(AbsKnobPos):
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if port == value:
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c["AbsKnob.{}".format(port)] = 1
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if(Debug):print("AbsKnob.{}:{}".format(port,1))
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else:
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c["AbsKnob.{}".format(port)] = 0
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if(Debug):print("AbsKnob.{}:{}".format(port,0))
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elif cmd == 'E':
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arduino.write(b"E0:0\n")
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if (Debug):print("Sending E0:0 to establish contact")
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else: pass
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except: pass
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except KeyboardInterrupt:
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if (Debug):print ("Keyboard Interrupted.. BYE")
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exit()
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except:
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if (Debug):print ("I received garbage")
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arduino.flush()
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if firstcom == 1: managageOutputs()
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if keepAlive(event):
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arduino.write(b"E:\n")
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if (Debug):print("keepAlive")
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event = time.time()
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