linuxcnc-esp32 Software Stepping over Ethernet Using ESP32

param rw float scale=0.0 """scale: number of step pulses per unit of measure""";

setp udp2.0.scale 133.3333333

component udp "Compute the derivative of the input function"; pin in float posx; pin in float posy; pin in float posz; pin in float posu; // Scale as parameter, default is 100 param rw float xscale=100; param rw float yscale=100; param rw float zscale=100; param rw float uscale=100; pin out float test; pin out float fdbx; pin out float fdby; pin out float fdbz; pin out float fdbu; pin out float enc0; ///variable double old; pin out bit in_00; pin out bit in_01; pin out bit in_02; pin out bit in_03; pin out bit in_04; pin out bit in_05; pin out bit in_06; pin out bit in_07; pin out bit in_08; pin out bit in_09; pin out bit in_10; pin out bit in_11; pin out bit in_12; pin out bit in_13; pin out bit in_14; pin out bit in_15; pin out bit in_16; pin out bit in_17; pin out bit in_18; pin out bit in_19; pin out bit in_20; pin out bit in_21; pin out bit in_22; pin out bit in_23; pin out bit in_24; pin out bit in_25; pin out bit in_26; pin out bit in_27; pin out bit in_28; pin out bit in_29; pin out bit in_30; pin out bit in_31; pin in bit out_00; pin in bit out_01; pin in bit out_02; pin in bit out_03; pin in bit out_04; pin in bit out_05; pin in bit out_06; pin in bit out_07; pin in bit out_08; pin in bit out_09; pin in bit out_10; pin in bit out_11; pin in bit out_12; pin in bit out_13; pin in bit out_14; pin in bit out_15; pin in bit out_16; pin in bit out_17; pin in bit out_18; pin in bit out_19; pin in bit out_20; pin in bit out_21; pin in bit out_22; pin in bit out_23; pin in bit out_24; pin in bit out_25; pin in bit out_26; pin in bit out_27; pin in bit out_28; pin in bit out_29; pin in bit out_30; pin in bit out_31; option extra_setup yes; function update; license "GPL"; // indicates GPL v2 or later ;; // Server side implementation of UDP client-server model #include <stdio.h> #include <stdlib.h> #include <string.h> #include <unistd.h> #include <sys/types.h> #include <sys/socket.h> #include <netinet/in.h> #include <netdb.h> #include <linux/kernel.h> #include <unistd.h> struct axes { hal_s32_t fb0; hal_s32_t fb1; hal_s32_t fb2; hal_s32_t fb3; hal_u32_t io; int64_t enc0v; }fb; struct pos { hal_s32_t pos0; hal_s32_t pos1; hal_s32_t pos2; hal_s32_t pos3; hal_u32_t io; int64_t analog; }motor_pos; #define BUFSIZE 512 //#define UDP_PORT 27181 #define SEND_TIMEOUT_US 100 #define RECV_TIMEOUT_US 100 #define READ_PCK_DELAY_NS 1000 int sockfd, portno, n; int serverlen; struct sockaddr_in serveraddr; struct hostent *server; char *hostname; char buf[BUFSIZE]; char buf1[512]; float axes[9]; char buffer[512] ; float scale=100.0; char *ipaddress; RTAPI_MP_STRING(ipaddress,"ESP IP Address"); // Driver code FUNCTION(update) { motor_pos.pos0=posx*xscale; motor_pos.pos1=posy*yscale; motor_pos.pos2=posz*zscale; motor_pos.pos3=posu*uscale; hostname = "192.168.1.222"; portno = 5000; /* socket: create the socket */ sockfd = socket(AF_INET, SOCK_DGRAM, 0); /* gethostbyname: get the server's DNS entry */ server = gethostbyname(hostname); /* build the server's Internet address */ bzero((char *) &serveraddr, sizeof(serveraddr)); serveraddr.sin_family = AF_INET; bcopy((char *)server->h_addr, (char *)&serveraddr.sin_addr.s_addr, server->h_length); serveraddr.sin_port = htons(portno); memcpy(&buf,&motor_pos,sizeof(motor_pos)); /* send the message to the server */ serverlen = sizeof(serveraddr); int ret; struct timeval timeout; timeout.tv_sec = 0; timeout.tv_usec = RECV_TIMEOUT_US; ret = setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); timeout.tv_usec = SEND_TIMEOUT_US; setsockopt(sockfd, SOL_SOCKET, SO_SNDTIMEO, (char *)&timeout, sizeof(timeout)); sendto(sockfd, buf,sizeof(motor_pos), 0, &serveraddr, serverlen); //if (n < 0) {writes=writes+1;} recv(sockfd, buf1 ,sizeof(motor_pos), 0); //if(n < 0) { //reads=reads+1; //rtapi_delay(READ_PCK_DELAY_NS); //} close(sockfd); //*****************************************************************// //memcpy(buffer, buf, 1024); memcpy(&fb, buf1, sizeof(fb)); fdbx=(float)fb.fb0/xscale; fdby=(float)fb.fb1/yscale; fdbz=(float)fb.fb2/zscale; fdbu=(float)fb.fb3/uscale; enc0=(float)fb.enc0v; in_00=(fb.io >> 0) & 1; in_01=(fb.io >> 1) & 1; in_02=(fb.io >> 2) & 1; in_03=(fb.io >> 3) & 1; in_04=(fb.io >> 4) & 1; in_05=(fb.io >> 5) & 1; in_06=(fb.io >> 6) & 1; in_07=(fb.io >> 7) & 1; in_08=(fb.io >> 8) & 1; in_09=(fb.io >> 9) & 1; in_10=(fb.io >> 10) & 1; in_11=(fb.io >> 11) & 1; in_12=(fb.io >> 12) & 1; in_13=(fb.io >> 13) & 1; in_14=(fb.io >> 14) & 1; in_15=(fb.io >> 15) & 1; in_16=(fb.io >> 16) & 1; in_17=(fb.io >> 17) & 1; in_18=(fb.io >> 18) & 1; in_19=(fb.io >> 19) & 1; } EXTRA_SETUP(){ //We test that we have an address on the command line if (ipaddress == 0) { rtapi_print_msg(RTAPI_MSG_ERR,"Message string for ESP32 IP Address missing\n"); return -EINVAL; } rtapi_print_msg(RTAPI_MSG_ERR,"Message string for ESP32 IP Address %s\n",ipaddress); return(0); } //Should socket be created here so that it is not recreated on every invocation

halcmd: loadrt udp "ipaddress=192.168.1.10" Note: Using POSIX realtime Message string for ESP32 IP Address 192.168.1.10 halcmd:

/* tjp 9jun2021 * what pins does he use? * for step [b]actually the orig code used X gpio2 Y gpio16 Z gpio16, i tried to untangle b4[/b] * axis 0 X gpio16 * axis 1 Y gpio2 * axis 3 Z gpio16 [b]!!! WTF try use 13 9jun2021[/b] OK got ols litany to work and can scope Z steps on gpio13 * for dir * axis 0 X gpio4 * axis 1 Y gpio12 * axis 2 Z gpio14 ( NB he uses old school arduino pin out statements for these BUT * i don tthink it maters ( untested ) * for ENC * gpio15 * gpio17 I dont know which he wanted for phase a or b doesnt matter right now * for CS * d5 gpio5 * for SPI * SCK d18 gpio18 * MISO d19 gpio19 * MOSI d23 gpio23 * ... snip....

/* UDPSendReceiveString: This sketch receives UDP message strings, prints them to the serial port and sends an "acknowledge" string back to the sender A Processing sketch is included at the end of file that can be used to send and received messages for testing with a computer. created 21 Aug 2010 by Michael Margolis This code is in the public domain. */ #include <stdlib.h> #include <driver/gpio.h> #include <Arduino.h> #include <Ethernet.h> #include <EthernetUdp.h> ///#include <mcpwm.h> ///#include <ledc.h> #include <esp_timer.h> #include <driver/rmt.h> #include <string.h> #include <ESP32Encoder.h> ESP32Encoder encoder; // Enter a MAC address and IP address for your controller below. // The IP address will be dependent on your local network: /*###########################Ethernet definitions ######################################*/ byte mac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED }; IPAddress ip(192, 168, 1, 177); unsigned int localPort = 5000; // local port to listen on // buffers for receiving and sending data char packetBuffer[1024]; // buffer to hold incoming packet, EthernetUDP Udp; char bufferin[1024] ; char bufferout[1024] ; /*##################################i nterupt function ################################*/ unsigned long timeus; volatile int interrupts; int totalInterrupts;//char packetBuffer[UDP_TX_PACKET_MAX_SIZE]; hw_timer_t * timer = NULL; portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED; /*######################### STEPPER variables ################################*/ int16_t steps_0_dir; int16_t steps_0; int16_t steps_1_dir; int16_t steps_1; int16_t steps_2_dir; int16_t steps_2; int16_t steps_3_dir; int16_t steps_3; int16_t steps_4_dir; int16_t steps_4; int8_t steps_0_executed; int8_t steps_1_executed; int8_t steps_2_executed; int8_t steps_3_executed; int8_t steps_4_executed; int8_t steps_5_executed; static int fdb0; static int fdb1; static int fdb2; static int fdb3; static int fdb4; static int fdb5; struct old { int old_pos_0; int old_pos_1; int old_pos_2; int old_pos_3; int old_pos_4; int old_pos_5; }olds; int8_t dir0=1; int8_t dir1=1; int8_t dir2=1; int8_t dir3=1; int8_t dir4=1; int8_t dir5=1; struct axes { int fb0; int fb1; int fb2; int fb3; unsigned int io; int64_t enc0; }; axes fdbrt; //struct axes mayaxes ; struct pos { int pos0; int pos1; int pos2; int pos3; uint32_t io; int32_t analog; }cmd; axes fdb={0, 0, 0, 0, 0, 0}; /*######################### RMT configuration function ################################*/ void initRMT() { rmt_item32_t rmtItem[2]; rmt_config_t rmtConfig; rmtConfig.rmt_mode = RMT_MODE_TX; rmtConfig.clk_div = 20; rmtConfig.mem_block_num = 2; rmtConfig.tx_config.loop_en = false; rmtConfig.tx_config.carrier_en = 0; rmtConfig.tx_config.carrier_freq_hz = 0; rmtConfig.tx_config.carrier_duty_percent = 50; rmtConfig.tx_config.carrier_level = RMT_CARRIER_LEVEL_LOW; rmtConfig.tx_config.idle_output_en = true; rmtConfig.mem_block_num = 2; rmtConfig.tx_config.loop_en = false; rmtConfig.tx_config.carrier_en = 0; rmtConfig.tx_config.carrier_freq_hz = 0; //#ifdef STEP_PULSE_DELAY // rmtItem[0].duration0 = 4 * 2; //#else rmtItem[0].duration0 = 2; //#endif rmtItem[0].duration1 = 4 * 2; rmtItem[1].duration0 = 0; rmtItem[1].duration1 = 0; //AXIS 0 Config rmt_set_source_clk(RMT_CHANNEL_0, RMT_BASECLK_MAX); rmtConfig.channel = RMT_CHANNEL_0; rmtConfig.tx_config.idle_level = RMT_IDLE_LEVEL_LOW; rmtConfig.gpio_num = GPIO_NUM_2; //Step pin AXIS 0 rmtItem[0].level0 = rmtConfig.tx_config.idle_level; rmtItem[0].level1 = !rmtConfig.tx_config.idle_level; rmt_config(&rmtConfig); rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0); //AXIS 1 Config rmt_set_source_clk(RMT_CHANNEL_1, RMT_BASECLK_MAX); rmtConfig.channel = RMT_CHANNEL_1; rmtConfig.tx_config.idle_level = RMT_IDLE_LEVEL_LOW; rmtConfig.gpio_num = GPIO_NUM_16; //Step pin AXIS 1 rmtItem[0].level0 = rmtConfig.tx_config.idle_level; rmtItem[0].level1 = !rmtConfig.tx_config.idle_level; rmt_config(&rmtConfig); rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0); /* //AXIS 2 Config rmt_set_source_clk(RMT_CHANNEL_2, RMT_BASECLK_MAX); rmtConfig.channel = RMT_CHANNEL_2; rmtConfig.tx_config.idle_level = RMT_IDLE_LEVEL_LOW; rmtConfig.gpio_num = GPIO_NUM_16; //Step pin AXIS 2 rmtItem[0].level0 = rmtConfig.tx_config.idle_level; rmtItem[0].level1 = !rmtConfig.tx_config.idle_level; rmt_config(&rmtConfig); rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0); //AXIS 3 Config rmt_set_source_clk(RMT_CHANNEL_3, RMT_BASECLK_MAX); rmtConfig.channel = RMT_CHANNEL_3; rmtConfig.tx_config.idle_level = RMT_IDLE_LEVEL_LOW; rmtConfig.gpio_num = GPIO_NUM_16; //Step pin AXIS 3 rmtItem[0].level0 = rmtConfig.tx_config.idle_level; rmtItem[0].level1 = !rmtConfig.tx_config.idle_level; rmt_config(&rmtConfig); rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0); //AXIS 4 Config rmt_set_source_clk(RMT_CHANNEL_4, RMT_BASECLK_MAX); rmtConfig.channel = RMT_CHANNEL_4; rmtConfig.tx_config.idle_level = RMT_IDLE_LEVEL_LOW; rmtConfig.gpio_num = GPIO_NUM_16; //Step pin AXIS 4 rmtItem[0].level0 = rmtConfig.tx_config.idle_level; rmtItem[0].level1 = !rmtConfig.tx_config.idle_level; rmt_config(&rmtConfig); rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0); //AXIS 5 Config rmt_set_source_clk(RMT_CHANNEL_5, RMT_BASECLK_MAX); rmtConfig.channel = RMT_CHANNEL_5; rmtConfig.tx_config.idle_level = RMT_IDLE_LEVEL_LOW; rmtConfig.gpio_num = GPIO_NUM_16; //Step pin AXIS 5 rmtItem[0].level0 = rmtConfig.tx_config.idle_level; rmtItem[0].level1 = !rmtConfig.tx_config.idle_level; rmt_config(&rmtConfig); rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0); */ } //IRAM_ATTR static void onTime()(){ static void IRAM_ATTR onTime() { //portENTER_CRITICAL_ISR(&timerMux); if (steps_0_executed < steps_0) { RMT.conf_ch[RMT_CHANNEL_0].conf1.mem_rd_rst = 1; RMT.conf_ch[RMT_CHANNEL_0].conf1.tx_start = 1; steps_0_executed++; fdbrt.fb0=fdbrt.fb0+dir0; } if (steps_1_executed < steps_1) { RMT.conf_ch[RMT_CHANNEL_1].conf1.mem_rd_rst = 1; RMT.conf_ch[RMT_CHANNEL_1].conf1.tx_start = 1; steps_1_executed++; fdbrt.fb1=fdbrt.fb1+dir1; } if (steps_2_executed < steps_2) { RMT.conf_ch[RMT_CHANNEL_2].conf1.mem_rd_rst = 1; RMT.conf_ch[RMT_CHANNEL_2].conf1.tx_start = 1; steps_2_executed++; fdbrt.fb2=fdbrt.fb2+dir2; } if (steps_3_executed < steps_3) { RMT.conf_ch[RMT_CHANNEL_3].conf1.mem_rd_rst = 1; RMT.conf_ch[RMT_CHANNEL_3].conf1.tx_start = 1; steps_3_executed++; fdbrt.fb3=fdbrt.fb3+dir3; } ///* if (steps_0_executed==steps_0 && steps_1_executed==steps_1 && steps_2_executed==steps_2 && steps_3_executed==steps_3) { //fdbrt.fb0=fdbrt.fb0+steps_0_dir; // timerAlarmDisable(timer); //timerEnd(timer); //timer = NULL; } //*/ //portEXIT_CRITICAL_ISR(&timerMux); } void setup() { // AXIS DIR PINS pinMode(4,OUTPUT); pinMode(12,OUTPUT); pinMode(14,OUTPUT); //REG_WRITE(GPIO_ENABLE_REG, BIT4);//Define o GPIO2 como saída //REG_WRITE(GPIO_ENABLE_REG, BIT15);//Define o GPIO2 como saída //REG_WRITE(GPIO_ENABLE_REG, BIT17);//Define o GPIO2 como saída /////////////////////// encoder /////////////////////////////// // Enable the weak pull up resistors ESP32Encoder::useInternalWeakPullResistors=UP; // Attache pins for use as encoder pins encoder.attachHalfQuad(15, 17); /////////////////////////////////////////////////////////////// initRMT(); /***************************************** Main timer stepper *****************/ hw_timer_t * timer = NULL; //portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED; // Configure Prescaler to 80, as our timer runs @ 80Mhz // Giving an output of 80,000,000 / 80 = 1,000,000 ticks / second timer = timerBegin(0, 10, true); timerAttachInterrupt(timer, &onTime, true); // Fire Interrupt every 1m ticks, so 1s timerAlarmWrite(timer, 45, true); timerAlarmEnable(timer); // You can use Ethernet.init(pin) to configure the CS pin Ethernet.init(5); // MKR ETH shield //pinMode(15, OUTPUT); //pinMode(2, OUTPUT); // start the Ethernet Ethernet.begin(mac, ip); // Open serial communications and wait for port to open: Serial.begin(230400); while (!Serial) { ; // wait for serial port to connect. Needed for native USB port only } // Check for Ethernet hardware present if (Ethernet.hardwareStatus() == EthernetNoHardware) { Serial.println("Ethernet shield was not found. Sorry, can't run without hardware. :("); while (true) { delay(1); // do nothing, no point running without Ethernet hardware } } if (Ethernet.linkStatus() == LinkOFF) { Serial.println("Ethernet cable is not connected."); } // start UDP Udp.begin(localPort); } IPAddress remote = Udp.remoteIP(); int packetSize; //////////////// LOOP//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// long enc0=0; long enc1; long enc2; long enc3; void loop() { // if there's data available, read a packet packetSize = Udp.parsePacket(); if (packetSize) { // send a reply to the IP address and port that sent us the packet we received Udp.beginPacket(Udp.remoteIP(), Udp.remotePort()); Udp.write(bufferin,sizeof(fdb)); Udp.endPacket(); //Udp.read(packetBuffer,50); Udp.read(packetBuffer,sizeof(cmd)); memcpy(&cmd,packetBuffer,sizeof(cmd)); //Serial.println (cmd.pos5); fdb={fdbrt.fb0,fdbrt.fb1,fdbrt.fb2,fdbrt.fb3,100,enc0}; //fdb={cmd.pos0,cmd.pos1,cmd.pos2,cmd.pos3,3}; memcpy(&bufferin, &fdb, sizeof(fdb)); //Serial.println (fdbrt.fb2); //Serial.println (testch1); //////////////////////////////////////////////////////// steps_0_executed=0; steps_0_dir=cmd.pos0 - fdbrt.fb0; if(steps_0_dir > 0 && dir0 == -1 ){ REG_WRITE(GPIO_OUT_W1TC_REG, BIT4); //GPIO4 LOW (clear) Dir Axis 0; dir0=1; steps_0_dir=0; } if(steps_0_dir < 0 && dir0 == 1 ){ REG_WRITE(GPIO_OUT_W1TS_REG, BIT4);//GPIO4 HIGH (clear) Dir Axis 0; dir0=-1; steps_0_dir=0; } steps_0=abs(steps_0_dir); ///////////////////////////////////////////////////// steps_1_executed=0; steps_1_dir=cmd.pos1 - fdbrt.fb1; if(steps_1_dir > 0 && dir1 != 1 ){ REG_WRITE(GPIO_OUT_W1TC_REG, BIT12);//GPIO4 LOW (clear) Dir Axis 1; steps_1_dir=0; dir1=1; } if(steps_1_dir < 0 && dir1 != -1 ){ REG_WRITE(GPIO_OUT_W1TS_REG, BIT12);//GPIO4 HIGH (clear) Dir Axis 1; steps_1_dir=0; dir1=-1; } steps_1=abs(steps_1_dir); ///////////////////////////////////////////////////// steps_2_executed=0; steps_2_dir=cmd.pos2 - fdbrt.fb2; if(steps_2_dir > 0 && dir2 != 1 ){ steps_2_dir=0; REG_WRITE(GPIO_OUT_W1TC_REG, BIT14);//GPIO2 LOW (clear) Dir Axis 2; dir2=1; } if(steps_2_dir < 0 && dir2 != -1 ){ steps_2_dir=0; REG_WRITE(GPIO_OUT_W1TS_REG, BIT14);//GPIO2 LOW (clear) Dir Axis 2; dir2=-1; } steps_2=abs(steps_2_dir); //////////////////////////////////////////////////// steps_3_executed=0; steps_3_dir=cmd.pos3 - fdbrt.fb3; if(steps_3_dir > 0 && dir3 != 1 ){ REG_WRITE(GPIO_OUT_W1TC_REG, BIT14);//GPIO4 LOW (clear) Dir Axis 3; steps_3_dir=0; dir3=1; } if(steps_3_dir < 0 && dir3 != -1 ){ REG_WRITE(GPIO_OUT_W1TS_REG, BIT14);//GPIO4 HIGH (clear) Dir Axis 3; steps_3_dir=0; dir3=-1; } steps_3=abs(steps_3_dir); //Serial.println(enc0); //Serial.println(steps_0); //timerAlarmWrite(timer, 1000, true); // timerAlarmEnable(timer); } memcpy(&olds,&cmd, sizeof(cmd)); //fdb={888.8,444.4,111.1,0.555,3}; //delayMicroseconds(20); enc0=encoder.getCount(); enc1=encoder.getCount(); enc2=encoder.getCount(); enc3=encoder.getCount(); }