LinuxCNC_ArduinoConnector/arduino.py
Alexander Richter 81bc5a03c7 Bugfix
couple of tiny stuff & spelling Errors
2023-03-28 20:01:00 +02:00

282 lines
8.4 KiB
Python
Executable File

#!/usr/bin/python3.9
import serial, time, hal
# 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 & 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
# 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 = 5
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
OutPinmap = [10,9,8,7,6,5,4,3,2,21]
# Set how many PWM Outputs you have programmed in Arduino and which pins are PWM Outputs
PwmOutputs = 2
PwmOutPinmap = [11,12]
# Set how many Analog Inputs you have programmed in Arduino and which pins are Analog Inputs
AInputs = 1
AInPinmap = [1]
# Set how many Latching Analog Inputs you have programmed in Arduino and how many latches there are
LPoti = 2
LPotiLatches = [[2,9],
[3,4]]
# 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)
AbsKnob = 1
AbsKnobPos = 32
# Set how many Digital LED's you have connected.
DLEDcount = 8
Debug = 0
######## End of Config! ########
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
for port in range(Inputs):
c.newpin("dIn.{}".format(InPinmap[port]), hal.HAL_BIT, hal.HAL_OUT)
c.newparam("dIn.{}-invert".format(InPinmap[port]), hal.HAL_BIT, hal.HAL_RW)
# setup Output halpins
for port in range(Outputs):
c.newpin("dOut.{}".format(OutPinmap[port]), hal.HAL_BIT, hal.HAL_IN)
olddOutStates[port] = 0
# setup Pwm Output halpins
for port in range(PwmOutputs):
c.newpin("PwmOut.{}".format(PwmOutPinmap[port]), hal.HAL_FLOAT, hal.HAL_IN)
oldPwmOutStates[port] = 255
# setup Analog Input halpins
for port in range(AInputs):
c.newpin("aIn.{}".format(AInPinmap[port]), hal.HAL_FLOAT, hal.HAL_OUT)
# setup Latching Poti halpins
for Poti in range(LPoti):
for Pin in range(LPotiLatches[Poti][1]):
c.newpin("LPoti.{}.{}" .format(LPotiLatches[Poti][0],Pin), hal.HAL_BIT, hal.HAL_OUT)
# setup Absolute Encoder Knob halpins
if AbsKnob:
for port in range(AbsKnobPos):
c.newpin("AbsKnob.{}".format(port), hal.HAL_BIT, hal.HAL_OUT)
# setup Digital LED halpins
if DLEDcount > 0:
for port in range(DLEDcount):
c.newpin("DLED.{}".format(port), hal.HAL_BIT, hal.HAL_IN)
c.ready()
#setup Serial connection
arduino = serial.Serial(connection, 115200, timeout=1, xonxoff=False, rtscts=False, dsrdtr=True)
######## GlobalVariables ########
firstcom = 0
event = time.time()
timeout = 9 #send something after max 9 seconds
######## Functions ########
def keepAlive(event):
return event + timeout < time.time()
def readinput(input_str):
for i in range(50):
if input_str:
string = input_str.decode() # convert the byte string to a unicode string
print (string)
num = int(string) # convert the unicode string to an int
return num
def extract_nbr(input_str):
if input_str is None or input_str == '':
return 0
out_number = ''
for ele in input_str:
if ele.isdigit():
out_number += ele
return int(out_number)
def managageOutputs():
for port in range(PwmOutputs):
State = int(c["PwmOut.{}".format(PwmOutPinmap[port])])
if oldPwmOutStates[port] != State: #check if states have changed
Sig = 'P'
Pin = int(PwmOutPinmap[port])
command = "{}{}:{}\n".format(Sig,Pin,State)
arduino.write(command.encode())
if (Debug):print ("Sending:{}".format(command.encode()))
oldPwmOutStates[port]= State
for port in range(Outputs):
State = int(c["dOut.{}".format(OutPinmap[port])])
if olddOutStates[port] != State: #check if states have changed
Sig = 'O'
Pin = int(OutPinmap[port])
command = "{}{}:{}\n".format(Sig,Pin,State)
arduino.write(command.encode())
if (Debug):print ("Sending:{}".format(command.encode()))
olddOutStates[port]= State
for port in range(DLEDcount):
State = int(c["DLED.{}".format(port)])
Sig = 'D'
Pin = int(port)
command = "{}{}:{}\n".format(Sig,Pin,State)
arduino.write(command.encode())
if (Debug):print ("Sending:{}".format(command.encode()))
while True:
try:
data = arduino.readline().decode('utf-8')
if (Debug):print ("I received:{}".format(data))
data = data.split(":",1)
try:
cmd = data[0][0]
if cmd == "":
if (Debug):print ("No Command!:{}.".format(cmd))
else:
if not data[0][1]:
io = 0
else:
io = extract_nbr(data[0])
value = extract_nbr(data[1])
if value<0: value = 0
if cmd == "I":
firstcom = 1
if value == 1:
c["dIn.{}".format(io)] = 1
c["dIn.{}-invert".format(io)] = 0
if(Debug):print("dIn{}:{}".format(io,1))
if value == 0:
c["dIn.{}".format(io)] = 0
c["dIn.{}-invert".format(io)] = 1
if(Debug):print("dIn{}:{}".format(io,0))
else:pass
elif cmd == "A":
firstcom = 1
c["aIn.{}".format(io)] = value
if (Debug):print("aIn.{}:{}".format(io,value))
elif cmd == "L":
firstcom = 1
for Poti in range(LPoti):
if LPotiLatches[Poti][0] == io:
for Pin in range(LPotiLatches[Poti][1]):
if Pin == value:
c["LPoti.{}.{}" .format(io,Pin)] = 1
if(Debug):print("LPoti.{}.{} =1".format(io,Pin))
else:
c["LPoti.{}.{}" .format(io,Pin)] = 0
if(Debug):print("LPoti.{}.{} =0".format(io,Pin))
elif cmd == "K":
firstcom = 1
for port in range(AbsKnobPos):
if port == value:
c["AbsKnob.{}".format(port)] = 1
if(Debug):print("AbsKnob.{}:{}".format(port,1))
else:
c["AbsKnob.{}".format(port)] = 0
if(Debug):print("AbsKnob.{}:{}".format(port,0))
elif cmd == 'E':
arduino.write(b"E0:0\n")
if (Debug):print("Sending E0:0 to establish contact")
else: pass
except: pass
except KeyboardInterrupt:
if (Debug):print ("Keyboard Interrupted.. BYE")
exit()
except:
if (Debug):print ("I received garbage")
arduino.flush()
if firstcom == 1: managageOutputs()
if keepAlive(event):
arduino.write(b"E:\n")
if (Debug):print("keepAlive")
event = time.time()