const float pi=3.14159265358979;
// file name udpLCNCMEGA.ino edit for using pin 10 or not. I modded my ethernet W5100 to use pin 53 instead of pin10
// I can't find in the arduino source if that matters.
// look below for
// file udpioMEGA.hal edit for your IP numbers
// file udpioMEGA.py edit for your IP numbers
// file define.h for Arduino edit your IP numbers
//#include <Encoder.h>
#include <SPI.h> // needed for Arduino versions later than 0018
#include <Ethernet.h>
#include <EthernetUdp.h> // UDP library from: [email protected] 12/30/2008
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <ctype.h>
#include "defines.h"
#define UDP_TX_PACKET_MAX_SIZE 1506
// Enter a MAC address and IP address for your controller below.
// The IP address will be dependent on your local network:
byte mac[] = {
0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED
};
IPAddress ip(ARDUINOIP);
IPAddress remoteIp(COMPUTERIP);
unsigned int localPort = IPPORT; // local port to listen on
unsigned int remotePort = IPPORT;
// buffers for receiving and sending data
char packetBuffer[UDP_TX_PACKET_MAX_SIZE]; //buffer to hold incoming packet,
char ReplyBuffer[20];// = "acknowledged"; // a string to send back
uint16_t adcresult;
// An EthernetUDP instance to let us send and receive packets over UDP
EthernetUDP Udp;
byte adc=0;
byte firstbyte=0x0;
byte miscpins=0; // output data for MISCPORT pins
// offsets in buffers
#define PACKETDATA 2
#define REPLYDATA 2
#define USEPIN10 0
// have to figure out which end is lsb
// output Pins
// Bits 0 1 2 3 4 5 6 7
#define STEPPORTDATA PACKETDATA + 1
#define STEPPORT PORTA // 22x 23y 24z 25a 26b 27c 28w 29u
#define STEPPORTBITS 8
const byte stepportArrray[STEPPORTBITS] = {22,23,24,25,26,27,28,29};
#define DIRPORTDATA PACKETDATA + 2
#define DIRPORT PORTC // 37x 36y 35z 34a 33b 32c 31w 30u
const byte dirportArrray[STEPPORTBITS] = {37,36,35,34,33,32,31,30};// inverted to PortA
#define XTRPORTDATA PACKETDATA + 3
#define XTRPORT PORTL // 49 48 47 46 45 44 43 42
const byte xtrportArrray[STEPPORTBITS] = {49,48,47,46,45,44,43,42};// inverted to PortA
// using Analog pins as digitals
// digital pins 54 55 56 57 58 59 60 61
#define HOMESPORT PORTF // A0 A1 A2 A3 A4 A5 A6 A7
#define HOMESPORTDATA REPLYDATA + 0
const byte homesportArrray[STEPPORTBITS] = {54,55,56,57,58,59,60,61};
// digital pins 62 63 64 65 66 67 68 69
#define LIMITSPORT PORTK // A8 A9 A10 A11 A12 A13 A14 A15
#define LIMITSPORTDATA REPLYDATA + 1
const byte limitsportArrray[STEPPORTBITS] = {62,63,64,65,66,67,68,69};
//#Find a use for these pins, something that needs speed or timing.
#define PWMDATA XTRPORTDATA + 1
#if USEPIN10 == 1
//#Find a use for these pins, something that needs speed or timing.
#define PWMCOUNT 10
#define PWMDATA4 PWMDATA + 0
#define PWMDATA5 PWMDATA + 1
#define PWMDATA6 PWMDATA + 2
#define PWMDATA7 PWMDATA + 3
#define PWMDATA8 PWMDATA + 4
#define PWMDATA9 PWMDATA + 5
#define PWMDATA10 PWMDATA + 6
#define PWMDATA11 PWMDATA + 7
#define PWMDATA12 PWMDATA + 8
#define PWMDATA13 PWMDATA + 9
const byte pwmpinmap[PWMCOUNT] = {4,5,6,7,8,9,10,11,12,13};
#define ENDOFPWM PWMDATA+10
#endif
#if USEPIN10 == 0
#define PWMCOUNT 9
const byte pwmpinmap[PWMCOUNT] = {4,5,6,7,8,9,11,12,13};
//#Find a use for these pins, something that needs speed or timing.
#define PWMDATA4 PWMDATA+0
#define PWMDATA5 PWMDATA+1
#define PWMDATA6 PWMDATA+2
#define PWMDATA7 PWMDATA+3
#define PWMDATA8 PWMDATA+4
#define PWMDATA9 PWMDATA+5
//#define PWMDATA10 PACKETDATA +10
#define PWMDATA11 PWMDATA+6
#define PWMDATA12 PWMDATA+7
#define PWMDATA13 PWMDATA+8
#define ENDOFPWM PWMDATA + 9
#endif
//#define SERIAL0
//#define SERIAL1
#define SERIAL2
#define SERIAL3
#define SERIALCOUNT 0
#define SERIALDATA ENDOFPWM
#ifdef SERIAL0
#define SERIALCOUNT 1
#define SERIALTX0DATA SERIALDATA + 0
#define SERIALTX0 Serial0out
#define SERIALRX0 Serial0in
#define ENDSERIAL SERIALTX0DATA + 1
#endif
#ifdef SERIAL1
#define SERIALCOUNT SERIALCOUNT + 1
#define SERIALTX1DATA ENDSERIAL
#define SERIALTX1 Serial1out
#define SERIALRX1 Serial1in
#define ENDSERIAL SERIALTX1DATA + 1
#endif
#ifdef SERIAL2
#define SERIALCOUNT SERIALCOUNT + 1
#define SERIALTX2DATA ENDSERIAL
#define SERIALTX2 Serial2out
#define SERIALRX2 Serial2in
#define ENDSERIAL SERIALTX2DATA + 1
#endif
#ifdef SERIAL3
#define SERIALCOUNT SERIALCOUNT + 1
#define SERIALTX3DATA ENDSERIAL
#define SERIALTX3 Serial3out
#define SERIALRX3 Serial3in
#define ENDSERIAL SERIALTX3DATA + 1
#endif
#define MISCPORTDATA ENDSERIAL
#define MISCPORT miscpins // 38, 39, 40 ,41
#define ISRDATA REPLYDATA + 2 // bits of InterruptPins
volatile byte InterruptPins = 0;
// input pins via interrupt;
#define INTMAPCOUNT 6 //# Int 4 5 3 2 1 0
const byte intmap[INTMAPCOUNT] = {2, 3, 18,19,20,21};
#define PULLUP INPUT_PULLUP
#define LIMITSPULL PULLUP
#define HOMESPULL PULLUP
void setup()
{
// start the Ethernet and UDP:
Ethernet.begin(mac,ip);
Udp.begin(localPort);
Serial.begin(9600);
for(int i=0; i< PWMCOUNT; i++) {
pinMode(pwmpinmap[i] ,OUTPUT); // PWM
}
SetPWMdividers ();
//Output pins for step and Dir
for(int i=0; i < STEPPORTBITS; i++) {
pinMode(stepportArrray[i],OUTPUT);
pinMode(dirportArrray[i],OUTPUT);
pinMode(xtrportArrray[i],OUTPUT);
// this may be need to be edited if you have sensors (induction, optical, or hall effect) or switches
pinMode(homesportArrray[i],HOMESPULL);
pinMode(limitsportArrray[i],LIMITSPULL);
}
// Input pins using ISR Interrupts
attachInterrupt(0,Int0Reader,CHANGE); // pin 21
attachInterrupt(1,Int1Reader,CHANGE); // pin 20
attachInterrupt(2,Int2Reader,CHANGE); // pin 19
attachInterrupt(3,Int3Reader,CHANGE); // pin 18
attachInterrupt(4,Int4Reader,CHANGE); // pin 2
attachInterrupt(5,Int5Reader,CHANGE); // pin 3
}
// ISR's for reading pins
void Int0Reader (void) {
if (PORTD & B00000001) {
InterruptPins = InterruptPins & B11111110;
} else {
InterruptPins = InterruptPins | B00000001;
}
}
void Int1Reader (void){
if (PORTD & B00000010) {
InterruptPins = InterruptPins & B11111101;
} else {
InterruptPins = InterruptPins | B00000010;
}
}
void Int2Reader (void){
if (PORTD & B00000100) {
InterruptPins = InterruptPins & B11111011;
} else {
InterruptPins = InterruptPins | B00000100;
}
}
void Int3Reader (void){
if (PORTD & B00000001) {
InterruptPins = InterruptPins & B11110111;
} else {
InterruptPins = InterruptPins | B00001000;
}
}
void Int4Reader (void){
if (PORTE & B00010000) {
InterruptPins = InterruptPins & B11101111;
} else {
InterruptPins = InterruptPins | B00010000;
}
}
void Int5Reader (void){
if (PORTE & B00100000) {
InterruptPins = InterruptPins & B11011111;
} else {
InterruptPins = InterruptPins | B00100000;
}
}
char *skip_spaces(const char *str)
{
while (isspace(*str))
++str;
return (char *)str;
}
char rxbyte;
char workbuf[100];
char rxtokens[5];
char *newtoken;
const char s[2] = ",";
char *token;
// decodeRx is gonna completely change...
// going to make it binary not text to int.
// less over head faster processing. and add a CRC32 for error checking...
void decodeRx(char* rxbuffer, int buflen)
{
if(rxbuffer[0] == 'D') {
STEPPORT = atoi(rxbuffer[STEPPORTDATA]);
DIRPORT = atoi(rxbuffer[DIRPORTDATA]);
XTRPORT = atoi(rxbuffer[XTRPORTDATA]);
for(int i=0; i< PWMCOUNT; i++) {
analogWrite(pwmpinmap[i],atoi(rxbuffer[PWMDATA + i]));
}
return;
}
}
void encodeTx()
{
Udp.beginPacket(remoteIp, remotePort);
byte v = 0;
//;byte PORTA, PORTC,PORTL;
// byte PortBuffer[65];
ReplyBuffer[0]=1;
ReplyBuffer[1]=char(HOMESPORT);
ReplyBuffer[2]=char(LIMITSPORT);
if (InterruptPins>0) ReplyBuffer[3]=char(InterruptPins); else InterruptPins=0;
Udp.write(ReplyBuffer);
Udp.endPacket();
}
void loop()
{
encodeTx();
// if there's data available, read a packet
int packetSize = Udp.parsePacket();
if(packetSize)
{
Udp.read(packetBuffer,UDP_TX_PACKET_MAX_SIZE);
decodeRx(packetBuffer,packetSize);
}
/* long newPosition = myEnc.read();
if (newPosition != oldPosition) {
counters[0] = oldPosition;
counters[1] = newPosition;
oldPosition = newPosition;
//Serial.println(newPosition);
}
*/
delay(1);
}
void SetPWMdividers () {
//For Arduino Mega1280, Mega2560, MegaADK, Spider or any other board using ATmega1280 or ATmega2560**
//---------------------------------------------- Set PWM frequency for D4 & D13 ------------------------------
//TCCR0B = TCCR0B & B11111000 | B00000001; // set timer 0 divisor to 1 for PWM frequency of 62500.00 Hz
//TCCR0B = TCCR0B & B11111000 | B00000010; // set timer 0 divisor to 8 for PWM frequency of 7812.50 Hz
TCCR0B = TCCR0B & B11111000 | B00000011; // set timer 0 divisor to 64 for PWM frequency of 976.56 Hz (Default)
//TCCR0B = TCCR0B & B11111000 | B00000100; // set timer 0 divisor to 256 for PWM frequency of 244.14 Hz
//TCCR0B = TCCR0B & B11111000 | B00000101; // set timer 0 divisor to 1024 for PWM frequency of 61.04 Hz
//---------------------------------------------- Set PWM frequency for D11 & D12 -----------------------------
//TCCR1B = TCCR1B & B11111000 | B00000001; // set timer 1 divisor to 1 for PWM frequency of 31372.55 Hz
//TCCR1B = TCCR1B & B11111000 | B00000010; // set timer 1 divisor to 8 for PWM frequency of 3921.16 Hz
TCCR1B = TCCR1B & B11111000 | B00000011; // set timer 1 divisor to 64 for PWM frequency of 490.20 Hz
//TCCR1B = TCCR1B & B11111000 | B00000100; // set timer 1 divisor to 256 for PWM frequency of 122.55 Hz
//TCCR1B = TCCR1B & B11111000 | B00000101; // set timer 1 divisor to 1024 for PWM frequency of 30.64 Hz
//---------------------------------------------- Set PWM frequency for D9 & D10 ------------------------------
//TCCR2B = TCCR2B & B11111000 | B00000001; // set timer 2 divisor to 1 for PWM frequency of 31372.55 Hz
//TCCR2B = TCCR2B & B11111000 | B00000010; // set timer 2 divisor to 8 for PWM frequency of 3921.16 Hz
TCCR2B = TCCR2B & B11111000 | B00000011; // set timer 2 divisor to 32 for PWM frequency of 980.39 Hz
//TCCR2B = TCCR2B & B11111000 | B00000100; // set timer 2 divisor to 64 for PWM frequency of 490.20 Hz
//TCCR2B = TCCR2B & B11111000 | B00000101; // set timer 2 divisor to 128 for PWM frequency of 245.10 Hz
//TCCR2B = TCCR2B & B11111000 | B00000110; // set timer 2 divisor to 256 for PWM frequency of 122.55 Hz
//TCCR2B = TCCR2B & B11111000 | B00000111; // set timer 2 divisor to 1024 for PWM frequency of 30.64 Hz
//---------------------------------------------- Set PWM frequency for D2, D3 & D5 ---------------------------
//TCCR3B = TCCR3B & B11111000 | B00000001; // set timer 3 divisor to 1 for PWM frequency of 31372.55 Hz
//TCCR3B = TCCR3B & B11111000 | B00000010; // set timer 3 divisor to 8 for PWM frequency of 3921.16 Hz
TCCR3B = TCCR3B & B11111000 | B00000011; // set timer 3 divisor to 64 for PWM frequency of 490.20 Hz
//TCCR3B = TCCR3B & B11111000 | B00000100; // set timer 3 divisor to 256 for PWM frequency of 122.55 Hz
//TCCR3B = TCCR3B & B11111000 | B00000101; // set timer 3 divisor to 1024 for PWM frequency of 30.64 Hz
//---------------------------------------------- Set PWM frequency for D6, D7 & D8 ---------------------------
//TCCR4B = TCCR4B & B11111000 | B00000001; // set timer 4 divisor to 1 for PWM frequency of 31372.55 Hz
//TCCR4B = TCCR4B & B11111000 | B00000010; // set timer 4 divisor to 8 for PWM frequency of 3921.16 Hz
TCCR4B = TCCR4B & B11111000 | B00000011; // set timer 4 divisor to 64 for PWM frequency of 490.20 Hz
//TCCR4B = TCCR4B & B11111000 | B00000100; // set timer 4 divisor to 256 for PWM frequency of 122.55 Hz
//TCCR4B = TCCR4B & B11111000 | B00000101; // set timer 4 divisor to 1024 for PWM frequency of 30.64 Hz
//---------------------------------------------- Set PWM frequency for D44, D45 & D46 ------------------------
//TCCR5B = TCCR5B & B11111000 | B00000001; // set timer 5 divisor to 1 for PWM frequency of 31372.55 Hz
//TCCR5B = TCCR5B & B11111000 | B00000010; // set timer 5 divisor to 8 for PWM frequency of 3921.16 Hz
TCCR5B = TCCR5B & B11111000 | B00000011; // set timer 5 divisor to 64 for PWM frequency of 490.20 Hz
//TCCR5B = TCCR5B & B11111000 | B00000100; // set timer 5 divisor to 256 for PWM frequency of 122.55 Hz
//TCCR5B = TCCR5B & B11111000 | B00000101; // set timer 5 divisor to 1024 for PWM frequency of 30.64 Hz
}
/*
#udpioMEGA.hal
# Include your customized HAL commands here
# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts
loadusr -W ~/bin/udpioMEGA 192.168.16.10 8888 192.168.16.200 8888 1
sets spindle-at-speed true
# Comment Outputs, The Inputs need the pullup
net test-bit udpioMEGA.digital-out-04 motion.in-position
setp udpioMEGA.digital-in-02-pullup 1# INT4
setp udpioMEGA.digital-in-03-pullup 1# INT5
#setp udpioMEGA.digital-in-04-pullup 1# PWM
#setp udpioMEGA.digital-in-05-pullup 1# PWM
#setp udpioMEGA.digital-in-06-pullup 1# PWM
#setp udpioMEGA.digital-in-07-pullup 1# PWM
#setp udpioMEGA.digital-in-08-pullup 1# PWM
#setp udpioMEGA.digital-in-09-pullup 1# PWM
#setp udpioMEGA.digital-in-10-pullup 1# PWM ethernet Shield select
#setp udpioMEGA.digital-in-11-pullup 1# PWM ethernet Shield uno# PWM on Mega2560
#setp udpioMEGA.digital-in-12-pullup 1# PWM ethernet Shield uno# PWM on Mega2560
#setp udpioMEGA.digital-in-13-pullup 1# PWM ethernet Shield uno# PWM on Mega2560
#setp udpioMEGA.digital-in-14-pullup 1# serial 3 TX
setp udpioMEGA.digital-in-15-pullup 1# serial 3 RX
#setp udpioMEGA.digital-in-16-pullup 1# serial 2 TX
setp udpioMEGA.digital-in-17-pullup 1# serial 2 RX
setp udpioMEGA.digital-in-18-pullup 1# serial 1 TX INT3
setp udpioMEGA.digital-in-19-pullup 1# serial 1 RX INT2
setp udpioMEGA.digital-in-20-pullup 1# TWI SDA INT1
setp udpioMEGA.digital-in-21-pullup 1# TWI SCL INT0
#setp udpioMEGA.digital-in-22-pullup 1# X Step Port A bit 0
#setp udpioMEGA.digital-in-23-pullup 1# Y Step
#setp udpioMEGA.digital-in-24-pullup 1# Z Step
#setp udpioMEGA.digital-in-25-pullup 1# A Step
#setp udpioMEGA.digital-in-26-pullup 1# B Step
#setp udpioMEGA.digital-in-27-pullup 1# C Step
#setp udpioMEGA.digital-in-28-pullup 1# W Step
#setp udpioMEGA.digital-in-29-pullup 1# U Step Port A Bit 7
#setp udpioMEGA.digital-in-30-pullup 1# U Dir Port C Bit 7
#setp udpioMEGA.digital-in-31-pullup 1# W Dir
#setp udpioMEGA.digital-in-32-pullup 1# C Dir
#setp udpioMEGA.digital-in-33-pullup 1# B Dir
#setp udpioMEGA.digital-in-34-pullup 1# A Dir
#setp udpioMEGA.digital-in-35-pullup 1# Z Dir
#setp udpioMEGA.digital-in-36-pullup 1# Y Dir
#setp udpioMEGA.digital-in-37-pullup 1# X Dir Port C bit 0
#setp udpioMEGA.digital-in-38-pullup 1
#setp udpioMEGA.digital-in-39-pullup 1
#setp udpioMEGA.digital-in-40-pullup 1
#setp udpioMEGA.digital-in-41-pullup 1
#setp udpioMEGA.digital-in-42-pullup 1# PORTL
#setp udpioMEGA.digital-in-43-pullup 1# PORTL
#setp udpioMEGA.digital-in-44-pullup 1# PWM# PORTL
#setp udpioMEGA.digital-in-45-pullup 1# PWM# PORTL
#setp udpioMEGA.digital-in-46-pullup 1# PWM# PORTL
#setp udpioMEGA.digital-in-47-pullup 1# PORTL
#setp udpioMEGA.digital-in-48-pullup 1# PORTL
#setp udpioMEGA.digital-in-49-pullup 1# PORTL
setp udpioMEGA.digital-in-50-pullup 1# SPI MISO
setp udpioMEGA.digital-in-51-pullup 1# SPI MOSI
setp udpioMEGA.digital-in-52-pullup 1# SPI SCK
setp udpioMEGA.digital-in-53-pullup 1# SPI SS
setp udpioMEGA.digital-in-54-pullup 1# SPI SS
setp udpioMEGA.digital-in-55-pullup 1# SPI SS
setp udpioMEGA.digital-in-56-pullup 1# SPI SS
setp udpioMEGA.digital-in-57-pullup 1# SPI SS
setp udpioMEGA.digital-in-58-pullup 1# SPI SS
setp udpioMEGA.digital-in-59-pullup 1# SPI SS
setp udpioMEGA.digital-in-60-pullup 1# SPI SS
setp udpioMEGA.digital-in-61-pullup 1# SPI SS
setp udpioMEGA.digital-in-62-pullup 1# SPI SS
setp udpioMEGA.digital-in-63-pullup 1# SPI SS
setp udpioMEGA.digital-in-64-pullup 1# SPI SS
setp udpioMEGA.digital-in-65-pullup 1# SPI SS
setp udpioMEGA.digital-in-66-pullup 1# SPI SS
setp udpioMEGA.digital-in-67-pullup 1# SPI SS
setp udpioMEGA.digital-in-68-pullup 1# SPI SS
setp udpioMEGA.digital-in-69-pullup 1# SPI SS
#ethernet shield UNO use pins 10,11,12,13
# on Mega 2560 10,50,51,52,53
#setp udpioMEGA.analog-out-03-scale 10# PWM Interrupt 5
setp udpioMEGA.analog-out-04-scale 10# PWM Spindle
setp udpioMEGA.analog-out-05-scale 10# PWM Spinde
setp udpioMEGA.analog-out-06-scale 10# PWM
setp udpioMEGA.analog-out-07-scale 10# PWM
setp udpioMEGA.analog-out-08-scale 10# PWM
setp udpioMEGA.analog-out-09-scale 10# PWM
setp udpioMEGA.analog-out-10-scale 10# PWM Ethernet Select on Uno and Mega
setp udpioMEGA.analog-out-11-scale 10# PWM
setp udpioMEGA.analog-out-12-scale 10# PWM
setp udpioMEGA.analog-out-13-scale 10# PWM
#setp udpioMEGA.analog-out-44-scale 10# PWM# PORTL Better off using as digital
#setp udpioMEGA.analog-out-45-scale 10# PWM# PORTL "
#setp udpioMEGA.analog-out-46-scale 10# PWM# PORTL "
setp udpioMEGA.digital-out-22 1# X Step
setp udpioMEGA.digital-out-37 1# X Dir
setp udpioMEGA.digital-out-23 1# Y Step
setp udpioMEGA.digital-out-36 1# Y Dir
setp udpioMEGA.digital-out-24 1# Z Step
setp udpioMEGA.digital-out-35 1# Z Dir
setp udpioMEGA.digital-out-25 1# A Step
setp udpioMEGA.digital-out-34 1# A Dir
setp udpioMEGA.digital-out-26 1# B Step
setp udpioMEGA.digital-out-33 1# B Dir
setp udpioMEGA.digital-out-27 1# C Step
setp udpioMEGA.digital-out-32 1# C Dir
setp udpioMEGA.digital-out-28 1# W Step
setp udpioMEGA.digital-out-31 1# W Dir
setp udpioMEGA.digital-out-29 1# U Step
setp udpioMEGA.digital-out-30 1# U Dir
setp udpioMEGA.digital-out-31 1# U Dir
setp udpioMEGA.digital-out-32 1# U Dir
setp udpioMEGA.digital-out-33 1# U Dir
setp udpioMEGA.digital-out-34 1# U Dir
setp udpioMEGA.digital-out-35 1# U Dir
setp udpioMEGA.digital-out-36 1# U Dir
setp udpioMEGA.digital-out-37 1# U Dir
# PORTL like PORTA and PORTC all 8 bits are digital out pins.
# This could be 4 more step ports or other combinations.
setp udpioMEGA.digital-out-42 1# PORTL Bit 7# V Dir
setp udpioMEGA.digital-out-43 1# PORTL Bit 6# 10th Dir
setp udpioMEGA.digital-out-44 1# PORTL Bit 5 Brake?
setp udpioMEGA.digital-out-45 1# PORTL Bit 4 Brake on another axis?
setp udpioMEGA.digital-out-46 1# PORTL Bit 3# V Step
setp udpioMEGA.digital-out-47 1# PORTL Bit 2# 10th Step
setp udpioMEGA.digital-out-48 1# PORTL Bit 1 Enable?
setp udpioMEGA.digital-out-49 1# PORTL Bit 0 Power relay for resetting drivers after alarm?
net spindle-cmd => udpioMEGA.analog-out-09# PWM Spindle
#net spindle-cmd => udpioMEGA.analog-out-10# PWM Spindle# XX==XX Add code for 16 bit resolution of spindle speed.
*/
/*
#!/usr/bin/python
#udpioMEGA.py
# HAL userspace component to interface with Arduino board
# Copyright (C) 2015 Marius Liebenberg <[email protected]>
# Mods to use Mega2560 Robi Akerley-mcKee <[email protected]>
#
# This program and accompanied works are provided as is and the
# author will not be liable for anything whatsoever related to
# this software or not.
#
# This user space program will allow you to connect to an Arduino
# UNO, or the likes of, that is fitted with a network shield. I am
# other boards will work as well with a bit of adaptation to the embedded
# code.
#
# The arduino configuration is as follows:
# O Analog Outputs - 1 at pin 3
# B Analog Inputs - 6 at pins A0 to A5
# S Digtal pins: - 6 in total configured as In or OUT at startup
# O Encoder - pins 8 and 9 are used for the MPG encoder. Make
# L sure the pins are set as inputs. That means you
# E cannot have six outputs if you use the encoder.
# T
# E
#
# Analog Inputs - 16 at pins A0-15
# Analog Outputs PWM - 9 at pins 4,5,6,7,8,9, 11,12,13
# Interrupt Inputs - 6 at pins 2,3,18,19,20,21
# Polled Pins - 2 at pins 17, 17
# BitBanged using
# PORT? - 24 at PORTA pins 22-29, PORTC pins 30-37, PORTL pins 42-49
# SerialPorts - 4 (3 unique) Serial0 pins 0,1 is also USB, Serial1,2,3 is pins 14,15,16,17,18,19
#
# If you want encoder, you'll have to add it back in, use the interrupt pins though
#
#
# Note: The mpg-count-00 is the previous count and mpg-count-01 is the new count
#
# Usage: loadusr -W /yourdir/udps NIC_IP NIC_PORT REMOTE_IP REMOTE_PORT number_of_ouputs
# loadusr -W ~/bin/udps 192.168.3.10 8888 192.168.3.200 8888 1
#
# I have used this on a second network interface as well as a USB plugin ethernet
# adapter hence the need to provide the local IP details.
#
# Use the Arduino code udpcomms.ino in conjunction with this program.
#
#
# 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
#import serial
import os
import hal
import sys
import time
import socket
from gwibber.microblog.can import RECEIVE
from _socket import SOL_SOCKET
from IN import SO_BINDTODEVICE
data = " "
REMOTE, R_PORT = "192.168.3.199", 8888
if len(sys.argv) > 4:
HOST = sys.argv[1]
H_PORT = int(sys.argv[2])
REMOTE = sys.argv[3]
R_PORT = int(sys.argv[4])
print ("HOST = ", HOST)
print ("PORT = ", H_PORT)
print ("REMOTE = ", REMOTE)
print ("PORT = ", R_PORT)
#// this changes cuz were hard coded now
#//if len(sys.argv) > 4:
#// nout = int(sys.argv[5])
#//else:
#// nout = 6
#//print ("Number of digital outputs = ", nout)
#//if nout > 6 or nout < 0:
#// print "##########################################################################################"
#// print "Usage: loadusr -W /yourdir/udpsMEGA NIC_IP NIC_PORT REMOTE_IP REMOTE_PORT "
#// print "##########################################################################################"
#// raise SystemExit, "Number of digital outputs must be from 0 to 6"
#//pinmap = [4,5,6,7,8,9]# Encoder can be connected to 8 and 9
pwmrange = 10
pwmpinmap = [4,5,6,7,8,9,10,11,12,13]# DAC fixed
#pwmrange = 9
#pwmpinmap = [4,5,6,7,8,9,11,12,13]# DAC fixed
pinmap = [22,23,24,25,26,27,28,29]
pinmap2 = [37,36,35,34,33,32,31,30]
pinmap3 = [49,48,47,46,45,44,43,42]
inpmap = [54,55,56,57,58,59,60,61]
inpmap2 = [62,63,64,65,66,67,68,69]
inpmap3 = [21,20,19,18,2,3,1,0]
c = hal.component("udpioMEGA")
#old code for the one pwm pin
#c.newpin("analog-out-%02d" % pwmpinmap[0], hal.HAL_FLOAT, hal.HAL_IN)
#c.newparam("analog-out-%02d-offset" % pwmpinmap[0], hal.HAL_FLOAT, hal.HAL_RW)
#c.newparam("analog-out-%02d-scale" % pwmpinmap[0], hal.HAL_FLOAT, hal.HAL_RW)
#c['analog-out-%02d-scale' % pwmpinmap[0]] = 1.0
#new code for the 9 or 10 pwm pins if pin 10 is used for ethernet
for port in range(pwmrange):
c.newpin("analog-out-%02d" % pwmpinmap[port], hal.HAL_FLOAT, hal.HAL_IN)
c.newparam("analog-out-%02d-offset" % pwmpinmap[port], hal.HAL_FLOAT, hal.HAL_RW)
c.newparam("analog-out-%02d-scale" % pwmpinmap[port], hal.HAL_FLOAT, hal.HAL_RW)
c['analog-out-%02d-scale' % pwmpinmap[port]] = 1.0
# c.newpin("analog-in-%02d" % port, hal.HAL_FLOAT, hal.HAL_OUT)
# c.newparam("analog-in-%02d-offset" % port, hal.HAL_FLOAT, hal.HAL_RW)
# c.newparam("analog-in-%02d-gain" % port, hal.HAL_FLOAT, hal.HAL_RW)
#
# c['analog-in-%02d-gain' % port] = 1.0
for port in range(8):
c.newpin("digital-out-%02d" % pinmap[port], hal.HAL_BIT, hal.HAL_OUT)
c.newparam("digital-out-%02d-invert" % pinmap[port], hal.HAL_BIT, hal.HAL_RW)
c.newpin("digital-out-%02d" % pinmap2[port], hal.HAL_BIT, hal.HAL_OUT)
c.newparam("digital-out-%02d-invert" % pinmap2[port], hal.HAL_BIT, hal.HAL_RW)
c.newpin("digital-out-%02d" % pinmap3[port], hal.HAL_BIT, hal.HAL_OUT)
c.newparam("digital-out-%02d-invert" % pinmap3[port], hal.HAL_BIT, hal.HAL_RW)
c.newpin("digital-in-%02d" % inpmap[port], hal.HAL_BIT, hal.HAL_OUT)
c.newpin("digital-in-%02d-not" % inpmap[port], hal.HAL_BIT, hal.HAL_OUT)
c.newparam("digital-in-%02d-pullup" % inpmap[port], hal.HAL_BIT, hal.HAL_RW)
c.newpin("digital-in-%02d" % inpmap2[port], hal.HAL_BIT, hal.HAL_OUT)
c.newpin("digital-in-%02d-not" % inpmap2[port], hal.HAL_BIT, hal.HAL_OUT)
c.newparam("digital-in-%02d-pullup" % inpmap2[port], hal.HAL_BIT, hal.HAL_RW)
c.newpin("network-error", hal.HAL_BIT, hal.HAL_IN)
#for i in range(2):
# c.newpin("mpg-count-%02d" % i, hal.HAL_FLOAT, hal.HAL_IN)
c.ready()
data = " ".join(sys.argv[3:])
firstbyte = 0
state = 0
txbuf = range(6)
rxbyte = 0
analogout = range(10)
analogin = range(8)
dout = 0
invert = 0
din = 0
pullup = 0
v = 0
count = 0
soh = "#"
service = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
service.bind((HOST, H_PORT))
service.settimeout(1)
print "listening on port", R_PORT
###############################################################
# RECEIVE #
###############################################################
def doRx():
# reading from Arduino Mega2560
try:
received = service.recv(150)
except IOError:
c['network-error'] = 1
else:
c['network-error'] = 0
workbuf = (received)
# change following to strip bits and put to proper pin
# pins 30-37,42-49 are inverted bit wise
# tokens = [int(x) for x in workbuf.split(',') if x.strip()]
# for i in range(8):
# gain = c['analog-in-%02d-gain' % i+22]
# offset = c['analog-in-%02d-offset' % i=22]
# value = ((int(workbuf[i+]) & (1 >> i))<<i) * 5.0 * gain + offset
# c['analog-in-%02d' % i] = value
# gain = c['analog-in-%02d-gain' % i+30]
# offset = c['analog-in-%02d-offset' % i=30]
# value = ((int(workbuf[i+]) & (1 >> (7-i)))<<(7-i)) * 5.0 * gain + offset
# c['analog-in-%02d' % i] = value
# dig = int(tokens[6])
digh=workbuf[0]
digl=workbuf[1]
digi=workbuf[2]
for i in range(8):
msk = (1 << i)
v = (digh & msk)
if(v > 0):
c['digital-in-%02d' % inpmap[i]] = 1
c['digital-in-%02d-not' % inpmap[i]] = 0
else:
c['digital-in-%02d' % inpmap[i]] = 0
c['digital-in-%02d-not' % inpmap[i]] = 1
v = (digl & msk)
if(v > 0):
c['digital-in-%02d' % inpmap2[i]] = 1
c['digital-in-%02d-not' % inpmap2[i]] = 0
else:
c['digital-in-%02d' % inpmap2[i]] = 0
c['digital-in-%02d-not' % inpmap2[i]] = 1
for i in range(6):
msk = (1 << i)
v = (digi & msk)
if(v > 0):
c['digital-in-%02d' % inpmap3[i]] = 1
c['digital-in-%02d-not' % inpmap3[i]] = 0
else:
c['digital-in-%02d' % inpmap3[i]] = 0
c['digital-in-%02d-not' % inpmap3[i]] = 1
return
################################################################
# TRANSMIT #
################################################################
def doTx():
for state in range(10):
scale = c['analog-out-%02d-scale' % pwmpinmap[state]] or 1.
offset = c['analog-out-%02d-offset' % pwmpinmap[state]]
data = int((c['analog-out-%02d' % pwmpinmap[state]] - offset) / scale)
if data < 0: data = 0
if data > 255: data = 255
analogout[state] = data # 10 bytes of analog out data
data = 0
sout = 0
dout = 0
xout = 0
pullup = 0
for state in range(8):
if ( c['digital-out-%02d' % pinmap[state]]) == 1:
if (not c['digital-out-%02d-invert' % pinmap[state]]):
sout |= (1 << state)
else:
sout |= (0 << state)
else:
if (not c['digital-out-%02d-invert' % pinmap[state]]):
sout |= (0 << state)
else:
sout |= (1 << state)
if ( c['digital-out-%02d' % pinmap2[state]]) == 1:
if (not c['digital-out-%02d-invert' % pinmap2[state]]):
dout |= (1 << state)
else:
dout |= (0 << state)
else:
if (not c['digital-out-%02d-invert' % pinmap2[state]]):
dout |= (0 << state)
else:
dout |= (1 << state)
if ( c['digital-out-%02d' % pinmap3[state]]) == 1:
if (not c['digital-out-%02d-invert' % pinmap3[state]]):
xout |= (1 << state)
else:
xout |= (0 << state)
else:
if (not c['digital-out-%02d-invert' % pinmap3[state]]):
xout |= (0 << state)
else:
xout |= (1 << state)
# if ((c['digital-in-%02d-pullup' % pinmap[state]]) == 1):
# pullup |= (1 << state)
txbuf[0] = "D"
txbuf[1] = (sout)
txbuf[2] = (dout)
txbuf[3] = (xout)
txbuf[4] = analogout[state]
# txbuf[5] = '~'
# txbuf[0] = soh
service.sendto(format(txbuf), (REMOTE, R_PORT))
# time.sleep(0.02)
################################################################
# MAIN LOOP #
################################################################
if __name__ == "__main__":
try:
while 1:
doTx()
doRx()
except (KeyboardInterrupt,):
raise SystemExit, 0
*/
/*
// defines.h
#ifndef ETHERMEGADEFINES
#define ETHERMEGADEFINES
#define COMPUTERIP 192, 168, 3, 31
#define ARDUINOIP 192, 168, 3, 199
#define IPPORT 8888
// Mega 2560 ports
// Pin Port Bit
// 22 PORTA 0 // STEPPORT
// 23 PORTA 1
// 24 PORTA 2
// 25 PORTA 3
// 26 PORTA 4
// 27 PORTA 5
// 28 PORTA 6
// 29 PORTA 7
// 53 PORTB 0
// 52 PORTB 1
// 51 PORTB 2
// 50 PORTB 3
// 10 PORTB 4 pwm // Ethernet Shield
// 11 PORTB 5 pwm // Ethernet Shield
// 12 PORTB 6 pwm // Ethernet Shield
// 13 PORTB 7 pwm // Ethernet Shield
// 37 PORTC 0 // DIRPORT
// 36 PORTC 1
// 35 PORTC 2
// 34 PORTC 3
// 33 PORTC 4
// 32 PORTC 5
// 31 PORTC 6
// 30 PORTC 7
// 21 PORTD 0 // INT 0
// 20 PORTD 1 // INT 1
// 19 PORTD 2 // INT 2
// 18 PORTD 3 // INT 3
// 38 PORTD 7
// 0 PORTE 0
// 1 PORTE 1
// 5 PORTE 3
// 2 PORTE 4 // INT 4
// 3 PORTE 5 // INT 5
// 54 PORTF 0 // Analog Pin 0 // Digital Pin 54 // HOMES
// 55 PORTF 1 // Analog Pin 1 // Digital Pin 55
// 56 PORTF 2 // Analog Pin 2 // Digital Pin 56
// 57 PORTF 3 // Analog Pin 3 // Digital Pin 57
// 58 PORTF 4 // Analog Pin 4 // Digital Pin 58
// 59 PORTF 5 // Analog Pin 5 // Digital Pin 59
// 60 PORTF 6 // Analog Pin 6 // Digital Pin 60
// 61 PORTF 7 // Analog Pin 7 // Digital Pin 61
// 62 PORTK 0 // Analog Pin 8 // Digital Pin 62 // LIMITS
// 63 PORTK 1 // Analog Pin 9 // Digital Pin 63
// 64 PORTK 2 // Analog Pin 10 // Digital Pin 64
// 65 PORTK 3 // Analog Pin 11 // Digital Pin 65
// 66 PORTK 4 // Analog Pin 12 // Digital Pin 66
// 67 PORTK 5 // Analog Pin 13 // Digital Pin 67
// 68 PORTK 6 // Analog Pin 14 // Digital Pin 68
// 69 PORTK 7 // Analog Pin 15 // Digital Pin 69
// 41 PORTG 0
// 40 PORTG 1
// 39 PORTG 2
// 4 PORTG 5
// 17 PORTH 0
// 16 PORTH 1
// 6 PORTH 3
// 7 PORTH 4
// 8 PORTH 5
// 9 PORTH 6
// 15 PORTJ 0
// 14 PORTJ 1
// 49 PORTL 0 // XTRPORT
// 48 PORTL 1
// 47 PORTL 2
// 46 PORTL 3 pwm
// 45 PORTL 4 pwm
// 44 PORTL 5 pwm
// 43 PORTL 6
// 42 PORTL 7
///////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////
// Pin Port Bit
// 22 PORTA 0 // Step X
// 23 PORTA 1 // Step Y
// 24 PORTA 2 // Step Z
// 25 PORTA 3 // Step A
// 26 PORTA 4 // Step B
// 27 PORTA 5 // Step C
// 28 PORTA 6 // Step W
// 29 PORTA 7 // Step U
// 53 PORTB 0 // SS
// 52 PORTB 1 // SCK // Ethernet Shield Mega
// 51 PORTB 2 // MOSI // Ethernet Shield Mega
// 50 PORTB 3 // MISO // Ethernet Shield Mega
// 10 PORTB 4 // ethernet shield
// 11 PORTB 5 // ethernet shield
// 12 PORTB 6 // ethernet shield
// 13 PORTB 7 // ethernet shield
// 37 PORTC 0 // Dir X
// 36 PORTC 1 // Dir Y
// 35 PORTC 2 // Dir Z
// 34 PORTC 3 // Dir A
// 33 PORTC 4 // Dir B
// 32 PORTC 5 // Dir C
// 31 PORTC 6 // Dir W
// 30 PORTC 7 // Dir U
// 21 PORTD 0 // SCL //int
// 20 PORTD 1 // SCA //int
// 19 PORTD 2 // RX1 //int
// 18 PORTD 3 // TX1 //int
// 38 PORTD 7 //
// 0 PORTE 0 // RX0
// 1 PORTE 1 // TX0
// 5 PORTE 3 // pwm
// 2 PORTE 4 // pwm //int
// 3 PORTE 5 // pwm //int
// 41 PORTG 0 //
// 40 PORTG 1 //
// 39 PORTG 2 //
// 4 PORTG 5 // pwm
// 17 PORTH 0 // RX2
// 16 PORTH 1 // TX2
// 6 PORTH 3 // pwm
// 7 PORTH 4 // pwm
// 8 PORTH 5 // pwm
// 9 PORTH 6 // pwm
// 15 PORTJ 0 // RX3
// 14 PORTJ 1 // TX3
// 49 PORTL 0 //
// 48 PORTL 1 //
// 47 PORTL 2 //
// 46 PORTL 3 // pwm
// 45 PORTL 4 // pwm
// 44 PORTL 5 // pwm
// 43 PORTL 6 //
// 42 PORTL 7 //
#endif
*/
Comments
0 B
|👍
/👎
0 B
|👍
/👎