Arduino HAL Mapping
today I started to drive my homemade CNC-Mill with EMC2. Because its controller is an Arduino I need a special configuration. So I followed Jeff Epler's explanations of the improved interface between HAL and the Arduino board .
Now I'm very confused how to map my arduino pins to the HAL pin names.
This is my arduino pin setting how it is actually connected to the stepper drivers:
//cartesian bot pins
#define X_STEP_PIN 3
#define X_DIR_PIN 4
#define X_ENABLE_PIN 5
#define X_MIN_PIN 6
#define X_MAX_PIN 7
#define Y_STEP_PIN 8
#define Y_DIR_PIN 9
#define Y_ENABLE_PIN 10
#define Y_MIN_PIN 11
#define Y_MAX_PIN 12
#define Z_STEP_PIN 14
#define Z_DIR_PIN 15
#define Z_ENABLE_PIN 16
#define Z_MIN_PIN 17
#define Z_MAX_PIN 18
And this is the arduino-vcp.hal file where the pins should been set:
loadusr -W arduino /dev/ttyUSB0 3
loadusr -Wn arduino-vcp pyvcp arduino-vcp.xml
show pin arduino-vcp
net ain0 arduino.analog-in-00 => arduino-vcp.analog-in-00 arduino-vcp.analog-in-00b
net ain1 arduino.analog-in-01 => arduino-vcp.analog-in-01 arduino-vcp.analog-in-01b
net ain2 arduino.analog-in-02 => arduino-vcp.analog-in-02 arduino-vcp.analog-in-02b
net ain3 arduino.analog-in-03 => arduino-vcp.analog-in-03 arduino-vcp.analog-in-03b
net ain4 arduino.analog-in-04 => arduino-vcp.analog-in-04 arduino-vcp.analog-in-04b
net ain5 arduino.analog-in-05 => arduino-vcp.analog-in-05 arduino-vcp.analog-in-05b
net din0 arduino.digital-in-08 => arduino-vcp.digital-in-08
net din1 arduino.digital-in-12 => arduino-vcp.digital-in-12
net din2 arduino.digital-in-13 => arduino-vcp.digital-in-13
net aout0 arduino.analog-out-03 => arduino-vcp.analog-out-03-f
net aout1 arduino.analog-out-05 => arduino-vcp.analog-out-05-f
net aout2 arduino.analog-out-06 => arduino-vcp.analog-out-06-f
net aout3 arduino.analog-out-09 => arduino-vcp.analog-out-09-f
net aout4 arduino.analog-out-10 => arduino-vcp.analog-out-10-f
net aout5 arduino.analog-out-11 => arduino-vcp.analog-out-11-f
net dout0 arduino.digital-out-02 <= arduino-vcp.digital-out-02
net dout1 arduino.digital-out-04 <= arduino-vcp.digital-out-04
net dout2 arduino.digital-out-07 <= arduino-vcp.digital-out-07
setp arduino.digital-in-08-pullup 1
setp arduino.digital-in-12-pullup 1
setp arduino.digital-in-13-pullup 1
waitusr arduino-vcp
Any help is highly requested.
Best
gatonero
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How is your PC connected to the Arduino?
What "sketch" is on the Arduino?
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If its not clear I'll explain it more detailed when I'm back home this weekend.
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The arduino driver is a Userspace component, I don't think it is appropriate for step generation, whech needs to be done in a realtime component.
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Looking at the Contraptor page it seems like the standard layout uses an Arduino-based G-code interpreter and that you want to move the G-code interpretation to EMC2.
At that point there seems little point in keeping the Arduino as part of the system.
Does the computer which EMC2 is running on have a parallel port? If it does then it makes a lot more sense to connect that to the motor drivers in place of the Arduino.
How are you currently communicating with the Arduino?
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thank you very mutch for your assistance.
Also I have a parallel port at my home pc, I would prefer to drive my mill via USB using the Arduino board. Because of two reasons. 1) The mill is very easy to move from one place to the other for example to our fablab and our dorkbot meetings, where we are experimenting with different 3D machines (lasercutters, 3D-printers etc.). There I'm using my netbook. 2) I want to be as close as possible to the contraptor design. It uses nearly the same hard- and software technique as RepRap or Makerbot. My goal is if the contraptor succeeds to drive other arduino based systems with EMC2. I guess this is a real powerful, high sophisticated piece of open software which exactly meets the interests of open hardware projects.
Nevertheless I certainly will try it with the parallel port also but later, First I will try to get this Arduino stuff working.
As I understand Jeff Epler's elaboration it should be possible to get it running. Maybe I have to rearrange my connections between the Arduino and the stepper drivers. But I'm not familiar with the syntax of hal scripting and how the pins are mapped from
EMC2 via HAL to the Arduino pins. The communication is serial.
For better understanding how the Arduino is connected to the stepper drivers please have a look at Contraptor -Make Electronics And Motors . Most stuff and pictures are made by myself.
Here is Jeff's Arduino Code, which interprets EMC2 control sequences:
void setup() {
Serial.begin(9600);
}
uint8_t adc=0;
uint8_t firstbyte=0;
uint8_t pinmap[6] = {2,4,7,8,12,13};
uint8_t dacpinmap[6] = {3,5,6,9,10,11};
void loop() {
while(Serial.available()) {
uint8_t byte = Serial.read();
if(((firstbyte & 0x80) == 0x80) && ((byte & 0x80) == 0)) {
// got a packet
uint16_t payload = (firstbyte << 7) | byte;
uint8_t address = (firstbyte >> 4) & 7;
uint8_t dac = payload & 0xff;
uint8_t dir = (payload & 0x100) == 0x100;
uint8_t out = (payload & 0x200) == 0x200;
if(address < 6) {
analogWrite(dacpinmap[address], dac);
digitalWrite(pinmap[address], out);
pinMode(pinmap[address], dir);
}
}
firstbyte = byte;
}
uint16_t v = analogRead(adc) | (adc << 11);
if(digitalRead(pinmap[adc])) v |= (1<<10);
Serial.print((v >> 7) | 0x80, BYTE);
Serial.print(v & 0x7f, BYTE);
adc = (adc + 1) % 6;
}
]
I understand that this sequence controls the pins.
analogWrite(dacpinmap[address], dac);
digitalWrite(pinmap[address], out);
pinMode(pinmap[address], dir);
and this sequence returns signals to EMC2
uint16_t v = analogRead(adc) | (adc << 11);
if(digitalRead(pinmap[adc])) v |= (1<<10);
Serial.print((v >> 7) | 0x80, BYTE);
Serial.print(v & 0x7f, BYTE);
adc = (adc + 1) % 6;
But I don't have any clue how the mapping works.
Thanks a lot
Christoph
Link to Jeff' files:
arduino-vcp.hal
arduino-vcp.xml
arduino.py
halintf.pde
If you are interested to see my mill running please have a look!
![:-) :-)](/media/kunena/emoticons/smile.png)
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Jeff's Arduino driver is absolutely not intended for, nor is it suitable for, motion control. It runs as a userspace module apart from all the other issues.
This really isn't going to work. You are trying to use an Arduino as a USB to parallel convertor, basically. (And they don't work either)
You might find this interesting:
wiki.linuxcnc.org/emcinfo.pl?Emc2HardwareDesign#USB
(Which seems to suggest that by using the realtime USB code and the right code on the Arduino that it might be possible to do what you want to do)
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Please, could You let me know where do You put this Lines?
Does it works?
//cartesian bot pins
#define X_STEP_PIN 3
#define X_DIR_PIN 4
#define X_ENABLE_PIN 5
#define X_MIN_PIN 6
#define X_MAX_PIN 7
#define Y_STEP_PIN 8
#define Y_DIR_PIN 9
#define Y_ENABLE_PIN 10
#define Y_MIN_PIN 11
#define Y_MAX_PIN 12
#define Z_STEP_PIN 14
#define Z_DIR_PIN 15
#define Z_ENABLE_PIN 16
#define Z_MIN_PIN 17
#define Z_MAX_PIN 18
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Please, could You let me know where do You put this Lines?
Does it works?
//cartesian bot pins
#define X_STEP_PIN 3
#define X_DIR_PIN 4
#define X_ENABLE_PIN 5
#define X_MIN_PIN 6
#define X_MAX_PIN 7
#define Y_STEP_PIN 8
#define Y_DIR_PIN 9
#define Y_ENABLE_PIN 10
#define Y_MIN_PIN 11
#define Y_MAX_PIN 12
#define Z_STEP_PIN 14
#define Z_DIR_PIN 15
#define Z_ENABLE_PIN 16
#define Z_MIN_PIN 17
#define Z_MAX_PIN 18
Thanks!
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