f4aabdc99c
added functions to receive Output commands and changed lots of code for broader functionality
160 lines
4.5 KiB
Python
160 lines
4.5 KiB
Python
#!/usr/bin/python3.9
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import serial, time, hal
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# LinuxCNC_ArduinoConnector
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# This Software is used to use an Arduino as IO Expansion.
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# Note, these IO's are not run in the servo-thread. Therefor the IO's shouldn't be used for timing critical applications.
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# Currently the Software provides:
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#
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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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# Right now i am also working on
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# - virtual Pins (multiplexed LED's or WS2812)
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#
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# By Alexander Richter, info@theartoftinkering.com
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# inspired by Jeff Epler, jepler@unpythonic.net
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#
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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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#
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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. See the
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# GNU General Public License for more details.
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#
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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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# 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('/dev/ttyACM0', 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] == "aI":
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c.aIn = data[1]
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elif data[0] == "lP":
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for port in range(LPotiLatches[latches]):
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if ("LPoti-%02d %" [port]) == data[1]:
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#s
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else:
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c.("LPoti-%02d %" [port]) = 0
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c.LPotiKnob = data[1]
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elif data[0] == "AK":
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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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