bonsoir
je voudrais utiliser arduino avec mach3 pour les IO's ; j'utilise le code de Tim W. avec Modbus_Slave.h.
tous vas pour le mieux sauf le Contrôle du MPG, impossible de faire fonction l'encoder avec les axes.
es que quelqu'un peut SVP me dire comment faire.
dans l'attente de vos lires , je vous remercie d'avance.
/*
Modbus Slave designed for Mach 3 CNC Software
Written by: Tim W. Shilling, March 4, 2012.
Released into the Public Domain
*/
//############################################
// Supportted Functions
// 1: Read Coil
// 2: Read Descrete Input
// 3: Read Holding Reg
// 4: Read Input Reg
// 5: Write Single Coil
// 6: Write Single Reg
// 7 Read Exception
// 15: Write Multiple Coils
// 16: Write Multiple Holding Reg
// Notes on Timing:
// Original Design implemented Timer 1 and 0, but these conflict with the PWM generators
// Timers dropped for millis and micros functions. Not as accurate but fine for this purpose
//################# INCLUDES #################
#include <Modbus_Slave.h> // Ensure you have included the libraries in the Arduino Libraries folder
//################# DEFINES ##################
#define Baudrate 57600 //Desired Baud Rate, Recommend, 9600, 19200, 56800, 115200
#define Freq 16000000 //Don't Touch unless using a differnt board, Freq of Processor
#define Slave_Address 0x01 //Address of MODBus Slave
#define Kill_Time 2000 //2 Sec (2000msec) keep alive, 0 => OFF
//############ REGISTER DEFINES ############# // Each Register is 16bit
#define Digital_IO_Register 0
#define PWM_Register 10
#define AN_Register 30
#define Timer_Register 50
#define IO_Config_Register 60
#define Kill_IO_Register 70
#define PWMIOMap_Register 80
#define ANIOMap_Register 81
#define General_Config 90
#define Error_Register 91
#define Digital_IO_Pins 14 //Total number of Digital IO pins, Limits update scanner pin count
#define Number_Of_Registers 100
//############ GLOBAL VARIABLES ##############
unsigned char Data[256]; // All received data ends up in here, also used as output buffer
unsigned short Index = 0; // Current Location in Data
unsigned short Register[Number_Of_Registers]; // Where all user data, Coils/Registers are kept
ModBusSlave ModBus(Slave_Address,Register,Number_Of_Registers); // Initialize a new ModBus Slave, Again, you must have my Arduino ModBusSlave Library
unsigned long Last_Time=0;
unsigned long Time = 0;
unsigned long LongBreakTime; //Time for 3.5 characters to be RX
//################## Setup ###################
// Takes: Nothing
// Returns: Nothing
// Effect: Opens Serial port 1 at defined Baudrate
// Configures all Pins
// Initiallized Timer 1
void setup()
{
//################ Initialize IO ################# // 0 => Output, 1 => Input, opposite of normal Arduino, but my habit from other platforms, 0 looks like an O and 1 looks like an I
Register[IO_Config_Register] = 0b1111111111111111; // UNO and MEGA PIN 00-15
Register[IO_Config_Register+1] = 0b0000000000000000; // MEGA PIN 16-31
Register[IO_Config_Register+2] = 0b0000000000000001; // MEGA PIN 32-47
Register[IO_Config_Register+3] = 0b0000000000000000; // MEGA PIN 48-64
Register[IO_Config_Register+4] = 0b1111111111111111; // AN Digital PIN A0-A16
//################ Kill IO Register ################# // 0 => Leave, 1 => Kill
Register[Kill_IO_Register] = 0b1111111111111111; // UNO and MEGA PIN 00-15
Register[Kill_IO_Register+1] = 0b1111111111111111; // MEGA PIN 16-31
Register[Kill_IO_Register+2] = 0b1111111111111111; // MEGA PIN 32-47
Register[Kill_IO_Register+3] = 0b1111111111111111; // MEGA PIN 48-64
Register[Kill_IO_Register+3] = 0b1111111111111111; // AN Digital PIN A0-A16
//################ PWM IO Register ################# // 0 => Normal I/O, 1 => PWM I/O
Register[PWMIOMap_Register] = 0b0000111001100000; // UNO and MEGA PWM 01-16 0b0000111001101000
//################ AN IO Register ################# // 0 => Digital, 1=> Analog
Register[ANIOMap_Register] = 0b0000000000000011; // UNO and MEGA 0b1111111111111111
Config_IO();
LongBreakTime = (long)((long)28000000.0/(long)Baudrate);
if(Baudrate > 19200)
LongBreakTime = 1750; // 1.75 msec
Serial.begin(Baudrate); // Open Serial port at Defined Baudrate
Time = micros(); // Preload Time variable with current System microsec
}
//################ Main Loop #################
// Takes: Nothing
// Returns: Nothing
// Effect: Main Program Loop
unsigned long LongKillTime = (long)((long)Kill_Time * (long)1000); //Time ellapsed between RX that causes system Kill
unsigned long Keep_Alive = 0; // Keep Alive Counter Variable
void loop()
{
Update_Time();
if(Keep_Alive >= LongKillTime){ // Communications not Received in Kill_Time, Execute Lost Comm Emerency Procedure
if(Kill_Time != 0){ // If Kill_Time is 0, then disable Lost Comm Check
Keep_Alive = LongKillTime; // Avoid Keep_Alive rollover
ModBus.Error = 0xff; // Set error code to Lost Comm
Register[Error_Register] = ModBus.Error; // Set Error Register
Kill_IO(); // Kill what should be killed
digitalWrite(13,1); // Indicate Error with Solid LED
}
}
else
{
Update_Pin_States(); // Update Digital Pins
Update_AN_States(); // Update Analog Pins
if(ModBus.Error != 0){ // Flash Error LED is ModBus Error != 0
digitalWrite(13,bitRead(Time,11)); // Toggle LED
}
else // If no Error
{
digitalWrite(13,0); // Turn off LED
}
}
//######################## RX Data ###############################
if (Serial.available() > 0) // If Data Avilable
{
Data[Index] = (unsigned char)Serial.read(); // Read Next Char
Keep_Alive = 0; // Reset Keep Alive counter
Last_Time = micros(); // Update Last_Time to current Time
Index++; // Move Index Counter Forward
}
//##################### Process Data #############################
if(Index > 0) // If there are bytes to be read
{
if(Keep_Alive >= LongBreakTime) // Transmission Complete, 3.5 char spacing observered
{
Register[Timer_Register] = (unsigned int)(millis() / 125.0); // Converts to 1/8sec and load into Register
ModBus.Process_Data(Data,Index); // Process Data
if(ModBus.Error == 0) // If no Errors, then...
{
Keep_Alive = 0; // Reset Keep Alive
Last_Time = micros(); // Set Last_Time to current time
}
else // If there was an error
{
Register[Error_Register] = ModBus.Error;// Set Error Code
}
Index = 0; // Reset Index to 0, no bytes to read
}
}
}
//################ Update Time #################
// Takes: Nothing
// Returns: Nothing
// Effect: Updates Timer Register
// Updates KeepAlive Count
void Update_Time()
{
Last_Time = Time; // Set Last_Time to Current Time
Time = micros();
if(Time < Last_Time) // Counter has rolled over, should take 70 Min
{
Last_Time = 0; // Introduces a small clitch in timing by not accounting for how bad the roll over was. Happens every 70 Min
// Result is Delta will be smaller than it should be, Kill and Character Spacing will be usec longer than they should
}
Keep_Alive += Time - Last_Time; // Increment Keep Alive counter
Register[Timer_Register] = (unsigned int)(millis() / 125.0); // Converts to 1/8sec and load into Register
}
//EOF