Added HAL2Arduino 0.4

Downloads/HAL2Arduino/HAL2Arduino 0.4/HAL2Arduino_0_4/HAL2Arduino_0_4.ino

@@ -0,0 +1,201 @@
+/*
+
+This sketch provides an breakout interface between LinuxCNC and the Arduino platforms.
+(By background use of HAL and a python script.)
+
+It just moves data between LinuxCNC and the Arduino.
+
+What gets done with the data is up to you.
+
+The serial link works as follows:
+  Only send data when change is detected, no repeats, no spammming, host keeps a small log of recent commands.
+  LinuxCNC and the Arduino send each other single line of 4 or 5 numerical 'word'
+  statements back and forth such as "tansaction# codeNumber axis(ifUsed) dataValue Checksum".
+  The checksum is simply the sum of the preceeding arguments of the sentance.
+  Sentances are deliniated with a semicolon.
+  
+  Some examples of sentances would be like the following:
+  
+    107 0 1 109;   (motion.digital-out pin"0" HIGH) (if 107+0+1=108 checksum=good)
+    118 0 0 118;   (Disable spindle brake.) (if 118+0+0=118 checksum=good)
+  
+  The legend of numerical "LinuxCNC 2 Arduino" codes are translated from 
+  http://linuxcnc.org/docs/EMC2_Integrator_Manual.pdf (Section "6.1.2 Pins")
+  
+  Please reffer to the above link for detailed information.
+    If possible, avoid calculating floating point numbers directly, 
+    they're very expensive in Arduino processor cycles.
+    Instead, try to multiply them by factors of ten into whole numbers
+    before working on them directly.
+    
+  [Note: in=toward LinuxCNC, out=toward the Arduino]
+  100  motion.adaptive-feed - (float, in)
+  101  motion.analog-in-00 - (float, in)
+  102  motion.analog-in-01 - (float, in)
+  103  motion.analog-in-02 - (float, in)
+  104  motion.analog-in-03 - (float, in)
+  105  motion.analog-out-00 - (float, out)
+  106  motion.analog-out-01 - (float, out)
+  107  motion.analog-out-02 - (float, out)
+  108  motion.analog-out-03 - (float, out)
+  109  motion.coord-error - (bit, out)
+  110  motion.coord-mode - (bit, out)
+  111  motion.current-vel - (float, out)
+  112  motion.digital-in-00 - (bit, in)
+  113  motion.digital-in-01 - (bit, in)
+  114  motion.digital-in-02 - (bit, in)
+  115  motion.digital-in-03 - (bit, in)
+  116  motion.digital-out-00 - (bit, out)
+  117  motion.digital-out-01 - (bit, out)
+  118  motion.digital-out-02 - (bit, out)
+  119  motion.digital-out-03 - (bit, out)
+  120  motion.distance-to-go - (float,out)
+  121  motion.enable - (bit, in)
+  122  motion.feed-hold - (bit, in)
+  123  motion.in-position - (bit, out)
+  124  motion.motion-enabled - (bit, out)
+  125  motion.on-soft-limit - (bit, out)
+  126  motion.probe-input - (bit, in)
+  127  motion.program-line - (s32, out)
+  128  motion.requested-vel - (float, out)
+  129  motion.spindle-at-speed - (bit, in)
+  130  motion.spindle-brake - (bit, out)
+  131  motion.spindle-forward - (bit, out)
+  132  motion.spindle-index-enable - (bit, I/O)
+  133  motion.spindle-on - (bit, out)
+  134  motion.spindle-reverse - (bit, out)
+  135  motion.spindle-revs - (float, in)
+  136  motion.spindle-speed-in - (float, in)
+  137  motion.spindle-speed-out - (float, out)
+  138  motion.spindle-speed-out-rps - (float, out)
+  139  motion.teleop-mode - (bit, out)
+  140  motion.tooloffset.x - (float, out)
+  141  motion.tooloffset.y - (float, out)
+  142  motion.tooloffset.z - (float, out)
+  143  motion.tooloffset.a - (float, out)
+  144  motion.tooloffset.b - (float, out)
+  145  motion.tooloffset.c - (float, out)
+  146  motion.tooloffset.u - (float, out)
+  147  motion.tooloffset.v - (float, out)
+  148  motion.tooloffset.w - (float, out)
+  149  motion-command-handler.time - (s32, RO)
+  150  motion-command-handler.tmax - (s32, RW)
+  151  motion-controller.time - (s32, RO)
+  152  motion-controller.tmax - (s32, RW)
+  153  motion.debug-bit-0 - (bit, RO)
+  154  motion.debug-bit-1 - (bit, RO)
+  155  motion.debug-float-0 - (float, RO)
+  156  motion.debug-float-1 - (float, RO)
+  157  motion.debug-float-2 - (float, RO)
+  158  motion.debug-float-3 - (float, RO)
+  159  motion.debug-s32-0 - (s32, RO)
+  160  motion.debug-s32-1 - (s32, RO)
+  161  motion.servo.last-period - (u32, RO)
+  162  motion.servo.last-period-ns - (float, RO)
+  163  motion.servo.overruns - (u32, RW)
+  
+  200  axis.N.active - (bit, out)
+  201  axis.N.amp-enable-out - (bit, out)
+  202  axis.N.amp-fault-in - (bit, in)
+  203  axis.N.backlash-corr - (float, out)
+  204  axis.N.backlash-filt - (float, out)
+  205  axis.N.backlash-vel - (float, out)
+  206  axis.N.coarse-pos-cmd - (float, out)
+  207  axis.N.error - (bit, out)
+  208  axis.N.f-error - (float, out)
+  209  axis.N.f-error-lim - (float, out)
+  210  axis.N.f-errored - (bit, out)
+  211  axis.N.faulted - (bit, out)
+  212  axis.N.free-pos-cmd - (float, out)
+  213  axis.N.free-tp-enable - (bit, out)
+  214  axis.N.free-vel-lim - (float, out)
+  215  axis.N.home-sw-in - (bit, in)
+  216  axis.N.homed - (bit, out)
+  217  axis.N.homing - (bit, out)
+  218  axis.N.in-position - (bit, out)
+  219  axis.N.index-enable - (bit, I/O)
+  220  axis.N.jog-counts - (s32, in)
+  221  axis.N.jog-enable - (bit, in)
+  222  axis.N.jog-scale - (float, in)
+  223  axis.N.jog-vel-mode - (bit, in)
+  224  axis.N.joint-pos-cmd - (float, out)
+  225  axis.N.joint-pos-fb - (float, out)
+  226  axis.N.joint-vel-cmd - (float, out)
+  227  axis.N.kb-jog-active - (bit, out)
+  228  axis.N.motor-pos-cmd - (float, out)
+  229  axis.N.motor-pos-fb - (float, in)
+  230  axis.N.neg-hard-limit - (bit, out)
+  231  axis.N.pos-lim-sw-in - (bit, in)
+  232  axis.N.pos-hard-limit - (bit, out)
+  233  axis.N.neg-lim-sw-in - (bit, in)
+  234  axis.N.wheel-jog-active - (bit, out)
+
+  300  iocontrol.0.coolant-flood - (bit, out)
+  301  iocontrol.0.coolant-mist - (bit, out)
+  302  iocontrol.0.emc-enable-in - (bit, in)
+  303  iocontrol.0.lube - (bit, out)
+  304  iocontrol.0.lube_level - (bit, in)
+  305  iocontrol.0.tool-change - (bit, out)
+  306  iocontrol.0.tool-changed - (bit, in)
+  307  iocontrol.0.tool-number - (s32, out)
+  308  iocontrol.0.tool-prep-number - (s32, out)
+  309  iocontrol.0.tool-prepare - (bit, out)
+  310  iocontrol.0.tool-prepared - (bit, in)
+  311  iocontrol.0.user-enable-out - (bit, out)
+  312  iocontrol.0.user-request-enable - (bit, out)
+  
+  800  Send global broadcast to all other (Arduino) clients. ie: 800 numVal numVal sumOfFirstThreeValues;
+
+  801~899  Send send a single numVal to a specific client. ie. 801 targetUnitId numVal sumOfFirstThreeValues;
+           This gives 98 possible channels (per targetId) to send numerical words in an ordered and verified manner.
+           Happy hacking. :)
+
+  990  Send firmware title.
+  991  Send version.
+  992  Send unit Id.
+  993  Send commands requested list.
+  994  Send axises requested list.
+  995  Toggle debug output. (Hint: 995 0 0 995;)
+  996  Received confirmation to begin normal operation.
+*/
+
+// What baudrate should we use.
+#define BAUD 115200
+
+// When asked, identify to host.
+#define firmwareTitle "HAL-2-Arduino"
+
+// When asked, send version info.
+#define Version "0.4"
+
+// When asked, send unit number. (In case you need multiple Arduinos.)
+// Default max is 10, if you need more
+#define unitNumber 0
+
+// When asked, request access to these commands.
+#define commandsRequested "215 224 226 231 233"
+
+// When asked, request access to these axises (for commands that use them).
+#define axisRequested "0 1 2"
+
+// A command transmitted from the host needs time to be completed.
+#define statementTimeout 5 // milliSeconds we should listen (per word) before acting.
+
+
+// Setup some variables needed by HAL2Arduino and/or it modFiles.
+boolean canMove=1;
+long transId;
+long command;
+long dataOne;
+long dataTwo;
+long checksum;
+long xTargetPos=-1;
+long yTargetPos=-1;
+long zTargetPos=-1;
+long aTargetPos=-1;
+long bTargetPos=-1;
+long cTargetPos=-1;
+long uTargetPos=-1;
+long vTargetPos=-1;
+long wTargetPos=-1;
+boolean clientOps=false; // Host will set to true when ready.