API tools faq
paste
Advertisement
RobiSydney

MEGAEtherStepperANDOTHERFILES.ino

RobiSydney
Apr 11th, 2017
2,035
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
Objective C 35.15 KB | None | 0 0
raw download clone embed print report
  1. const float pi=3.14159265358979;
  2. // file name udpLCNCMEGA.ino edit for using pin 10 or not.  I modded my ethernet W5100 to use pin 53 instead of pin10
  3. // I can't find in the arduino source if that matters.
  4. // look below for
  5. // file udpioMEGA.hal      edit for your IP numbers
  6. // file udpioMEGA.py       edit for your IP numbers
  7. // file define.h for Arduino edit your IP numbers
  8.  
  9.  
  10.  
  11.  
  12.  
  13.  
  14. //#include <Encoder.h>
  15. #include <SPI.h>         // needed for Arduino versions later than 0018
  16. #include <Ethernet.h>
  17. #include <EthernetUdp.h>         // UDP library from: bjoern@cs.stanford.edu 12/30/2008
  18. #include <string.h>
  19. #include <stdio.h>
  20. #include <stdlib.h>
  21. #include <ctype.h>
  22. #include "defines.h"
  23.  
  24. #define UDP_TX_PACKET_MAX_SIZE 1506
  25.  
  26. // Enter a MAC address and IP address for your controller below.
  27. // The IP address will be dependent on your local network:
  28. byte mac[] = {  
  29.   0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED
  30. };
  31.  
  32. IPAddress ip(ARDUINOIP);
  33. IPAddress remoteIp(COMPUTERIP);
  34.  
  35. unsigned int localPort = IPPORT;      // local port to listen on
  36. unsigned int remotePort = IPPORT;
  37. // buffers for receiving and sending data
  38. char packetBuffer[UDP_TX_PACKET_MAX_SIZE]; //buffer to hold incoming packet,
  39. char  ReplyBuffer[20];// = "acknowledged";       // a string to send back
  40. uint16_t adcresult;
  41. // An EthernetUDP instance to let us send and receive packets over UDP
  42. EthernetUDP Udp;
  43.  
  44. byte adc=0;
  45. byte firstbyte=0x0;
  46. byte miscpins=0; // output data for MISCPORT pins
  47.  
  48. // offsets in buffers
  49. #define PACKETDATA 2
  50. #define REPLYDATA  2
  51. #define USEPIN10 0
  52. // have to figure out which end is lsb
  53. // output Pins
  54. //                   Bits   0   1   2   3   4   5   6   7
  55. #define STEPPORTDATA PACKETDATA + 1
  56. #define STEPPORT PORTA // 22x 23y 24z 25a 26b 27c 28w 29u
  57. #define STEPPORTBITS 8
  58. const byte stepportArrray[STEPPORTBITS] = {22,23,24,25,26,27,28,29};
  59.  
  60. #define DIRPORTDATA PACKETDATA + 2
  61. #define DIRPORT  PORTC // 37x 36y 35z 34a 33b 32c 31w 30u
  62. const byte dirportArrray[STEPPORTBITS] = {37,36,35,34,33,32,31,30};// inverted to PortA
  63.  
  64. #define XTRPORTDATA PACKETDATA + 3
  65. #define XTRPORT  PORTL // 49  48  47  46  45  44  43  42
  66. const byte xtrportArrray[STEPPORTBITS] = {49,48,47,46,45,44,43,42};// inverted to PortA
  67.  
  68. // using Analog pins as digitals
  69. // digital pins                 54  55  56  57  58  59  60  61
  70. #define HOMESPORT     PORTF //  A0  A1  A2  A3  A4  A5  A6  A7
  71. #define HOMESPORTDATA REPLYDATA + 0
  72. const byte homesportArrray[STEPPORTBITS] = {54,55,56,57,58,59,60,61};
  73.  
  74. //        digital pins        62  63  64  65  66  67  68  69
  75. #define LIMITSPORT  PORTK //  A8  A9 A10 A11 A12 A13 A14 A15
  76. #define LIMITSPORTDATA REPLYDATA + 1
  77. const byte limitsportArrray[STEPPORTBITS] = {62,63,64,65,66,67,68,69};
  78.  
  79.  
  80. //#Find a use for these pins, something that needs speed or timing.
  81. #define PWMDATA XTRPORTDATA + 1
  82. #if USEPIN10 == 1
  83.   //#Find a use for these pins, something that needs speed or timing.
  84. #define PWMCOUNT 10
  85. #define PWMDATA4 PWMDATA + 0
  86. #define PWMDATA5 PWMDATA + 1
  87. #define PWMDATA6 PWMDATA + 2
  88. #define PWMDATA7 PWMDATA + 3
  89. #define PWMDATA8 PWMDATA + 4
  90. #define PWMDATA9 PWMDATA + 5
  91. #define PWMDATA10 PWMDATA + 6  
  92. #define PWMDATA11 PWMDATA + 7  
  93. #define PWMDATA12 PWMDATA + 8  
  94. #define PWMDATA13 PWMDATA + 9  
  95. const byte pwmpinmap[PWMCOUNT] = {4,5,6,7,8,9,10,11,12,13};
  96. #define ENDOFPWM PWMDATA+10
  97. #endif
  98. #if USEPIN10 == 0
  99. #define PWMCOUNT 9
  100. const byte pwmpinmap[PWMCOUNT] = {4,5,6,7,8,9,11,12,13};
  101.   //#Find a use for these pins, something that needs speed or timing.
  102. #define PWMDATA4 PWMDATA+0
  103. #define PWMDATA5 PWMDATA+1
  104. #define PWMDATA6 PWMDATA+2
  105. #define PWMDATA7 PWMDATA+3
  106. #define PWMDATA8 PWMDATA+4
  107. #define PWMDATA9 PWMDATA+5
  108.           //#define PWMDATA10 PACKETDATA +10  
  109. #define PWMDATA11 PWMDATA+6
  110. #define PWMDATA12 PWMDATA+7
  111. #define PWMDATA13 PWMDATA+8
  112. #define ENDOFPWM PWMDATA + 9
  113.  
  114. #endif
  115.  
  116. //#define SERIAL0
  117. //#define SERIAL1
  118. #define SERIAL2
  119. #define SERIAL3
  120.  
  121. #define SERIALCOUNT 0
  122.  
  123. #define SERIALDATA ENDOFPWM
  124. #ifdef SERIAL0
  125. #define SERIALCOUNT 1
  126. #define SERIALTX0DATA SERIALDATA + 0
  127. #define SERIALTX0 Serial0out
  128. #define SERIALRX0 Serial0in
  129. #define ENDSERIAL SERIALTX0DATA + 1
  130. #endif
  131. #ifdef SERIAL1
  132. #define SERIALCOUNT SERIALCOUNT + 1
  133. #define SERIALTX1DATA ENDSERIAL
  134. #define SERIALTX1 Serial1out
  135. #define SERIALRX1 Serial1in
  136. #define ENDSERIAL SERIALTX1DATA + 1
  137. #endif
  138. #ifdef SERIAL2
  139. #define SERIALCOUNT SERIALCOUNT + 1
  140. #define SERIALTX2DATA ENDSERIAL
  141. #define SERIALTX2 Serial2out
  142. #define SERIALRX2 Serial2in
  143. #define ENDSERIAL SERIALTX2DATA + 1
  144. #endif
  145. #ifdef SERIAL3
  146. #define SERIALCOUNT SERIALCOUNT + 1
  147. #define SERIALTX3DATA ENDSERIAL
  148. #define SERIALTX3 Serial3out
  149. #define SERIALRX3 Serial3in
  150. #define ENDSERIAL SERIALTX3DATA + 1
  151. #endif
  152.  
  153.  
  154. #define MISCPORTDATA ENDSERIAL
  155.  
  156. #define MISCPORT  miscpins // 38, 39, 40 ,41
  157.  
  158. #define ISRDATA REPLYDATA + 2 // bits of InterruptPins
  159.  
  160. volatile byte InterruptPins = 0;
  161.  
  162. // input pins via interrupt;
  163. #define INTMAPCOUNT 6 //# Int    4  5  3  2  1  0
  164. const byte intmap[INTMAPCOUNT] = {2, 3, 18,19,20,21};
  165.  
  166.  
  167. #define PULLUP INPUT_PULLUP
  168. #define LIMITSPULL PULLUP
  169. #define HOMESPULL PULLUP
  170.  
  171. void setup()
  172. {
  173.   // start the Ethernet and UDP:
  174.   Ethernet.begin(mac,ip);
  175.   Udp.begin(localPort);
  176.  
  177.   Serial.begin(9600);
  178.   for(int i=0; i< PWMCOUNT; i++) {
  179.       pinMode(pwmpinmap[i] ,OUTPUT);  // PWM
  180.   }
  181. SetPWMdividers ();
  182. //Output pins for step and Dir
  183.  
  184. for(int i=0; i < STEPPORTBITS; i++) {
  185.   pinMode(stepportArrray[i],OUTPUT);
  186.   pinMode(dirportArrray[i],OUTPUT);
  187.   pinMode(xtrportArrray[i],OUTPUT);
  188.  // this may be need to be edited if you have sensors (induction, optical, or hall effect) or switches
  189.   pinMode(homesportArrray[i],HOMESPULL);
  190.   pinMode(limitsportArrray[i],LIMITSPULL);
  191. }
  192.  
  193.  
  194. // Input pins using ISR Interrupts
  195.  
  196.  attachInterrupt(0,Int0Reader,CHANGE); // pin 21
  197.  attachInterrupt(1,Int1Reader,CHANGE); // pin 20
  198.  attachInterrupt(2,Int2Reader,CHANGE); // pin 19
  199.  attachInterrupt(3,Int3Reader,CHANGE); // pin 18
  200.  attachInterrupt(4,Int4Reader,CHANGE); // pin 2
  201.  attachInterrupt(5,Int5Reader,CHANGE); // pin 3
  202.  
  203. }
  204.  
  205. // ISR's for reading pins
  206.  
  207. void Int0Reader (void) {
  208.   if (PORTD & B00000001) {
  209.     InterruptPins = InterruptPins & B11111110;
  210.   } else {
  211.     InterruptPins = InterruptPins | B00000001;
  212.   }
  213. }
  214. void Int1Reader (void){
  215.   if (PORTD & B00000010) {
  216.     InterruptPins = InterruptPins & B11111101;
  217.   } else {
  218.     InterruptPins = InterruptPins | B00000010;
  219.   }
  220. }
  221. void Int2Reader (void){
  222.   if (PORTD & B00000100) {
  223.     InterruptPins = InterruptPins & B11111011;
  224.   } else {
  225.     InterruptPins = InterruptPins | B00000100;
  226.   }
  227. }
  228. void Int3Reader (void){
  229.   if (PORTD & B00000001) {
  230.     InterruptPins = InterruptPins & B11110111;
  231.   } else {
  232.     InterruptPins = InterruptPins | B00001000;
  233.   }
  234. }
  235. void Int4Reader (void){
  236.   if (PORTE & B00010000) {
  237.     InterruptPins = InterruptPins & B11101111;
  238.   } else {
  239.     InterruptPins = InterruptPins | B00010000;
  240.   }
  241. }
  242. void Int5Reader (void){
  243.   if (PORTE & B00100000) {
  244.     InterruptPins = InterruptPins & B11011111;
  245.   } else {
  246.     InterruptPins = InterruptPins | B00100000;
  247.   }
  248. }
  249.  
  250.  
  251.  
  252.  
  253. char *skip_spaces(const char *str)
  254. {
  255.   while (isspace(*str))
  256.     ++str;
  257.   return (char *)str;
  258. }
  259.  
  260.  
  261. char rxbyte;
  262. char workbuf[100];
  263. char rxtokens[5];
  264. char *newtoken;
  265. const char s[2] = ",";
  266. char *token;
  267.  
  268.  
  269. // decodeRx is gonna completely change...  
  270. // going to make it binary not text to int.
  271. // less over head faster processing.  and add a CRC32 for error checking...
  272.  
  273. void decodeRx(char* rxbuffer, int buflen)
  274. {
  275.  
  276.   if(rxbuffer[0] == 'D') {
  277.   STEPPORT = atoi(rxbuffer[STEPPORTDATA]);
  278.   DIRPORT  = atoi(rxbuffer[DIRPORTDATA]);
  279.   XTRPORT  = atoi(rxbuffer[XTRPORTDATA]);
  280.   for(int i=0; i< PWMCOUNT; i++) {
  281.     analogWrite(pwmpinmap[i],atoi(rxbuffer[PWMDATA + i]));
  282.   }
  283.   return;
  284.   }
  285. }
  286.  
  287.  
  288. void encodeTx()
  289. {
  290.   Udp.beginPacket(remoteIp, remotePort);
  291.   byte v = 0;
  292.   //;byte PORTA, PORTC,PORTL;
  293. //  byte PortBuffer[65];
  294.  
  295.   ReplyBuffer[0]=1;
  296.   ReplyBuffer[1]=char(HOMESPORT);
  297.   ReplyBuffer[2]=char(LIMITSPORT);
  298.   if (InterruptPins>0)  ReplyBuffer[3]=char(InterruptPins); else InterruptPins=0;
  299.   Udp.write(ReplyBuffer);
  300.   Udp.endPacket();
  301.  
  302. }
  303.  
  304.  
  305. void loop()
  306. {
  307.  
  308.   encodeTx();
  309.  
  310.   // if there's data available, read a packet
  311.   int packetSize = Udp.parsePacket();
  312.   if(packetSize)
  313.   {
  314.     Udp.read(packetBuffer,UDP_TX_PACKET_MAX_SIZE);
  315.     decodeRx(packetBuffer,packetSize);  
  316.   }
  317.  
  318. /*  long newPosition = myEnc.read();
  319.   if (newPosition != oldPosition) {
  320.     counters[0] = oldPosition;
  321.     counters[1] = newPosition;
  322.     oldPosition = newPosition;
  323.     //Serial.println(newPosition);
  324.   }
  325. */
  326.   delay(1);
  327.  
  328. }
  329.  
  330. void SetPWMdividers () {
  331.   //For Arduino Mega1280, Mega2560, MegaADK, Spider or any other board using ATmega1280 or ATmega2560**
  332.  
  333. //---------------------------------------------- Set PWM frequency for D4 & D13 ------------------------------
  334.  
  335. //TCCR0B = TCCR0B & B11111000 | B00000001;    // set timer 0 divisor to     1 for PWM frequency of 62500.00 Hz
  336. //TCCR0B = TCCR0B & B11111000 | B00000010;    // set timer 0 divisor to     8 for PWM frequency of  7812.50 Hz
  337.   TCCR0B = TCCR0B & B11111000 | B00000011;    // set timer 0 divisor to    64 for PWM frequency of   976.56 Hz (Default)
  338. //TCCR0B = TCCR0B & B11111000 | B00000100;    // set timer 0 divisor to   256 for PWM frequency of   244.14 Hz
  339. //TCCR0B = TCCR0B & B11111000 | B00000101;    // set timer 0 divisor to  1024 for PWM frequency of    61.04 Hz
  340.  
  341.  
  342. //---------------------------------------------- Set PWM frequency for D11 & D12 -----------------------------
  343.  
  344. //TCCR1B = TCCR1B & B11111000 | B00000001;    // set timer 1 divisor to     1 for PWM frequency of 31372.55 Hz
  345. //TCCR1B = TCCR1B & B11111000 | B00000010;    // set timer 1 divisor to     8 for PWM frequency of  3921.16 Hz
  346.   TCCR1B = TCCR1B & B11111000 | B00000011;    // set timer 1 divisor to    64 for PWM frequency of   490.20 Hz
  347. //TCCR1B = TCCR1B & B11111000 | B00000100;    // set timer 1 divisor to   256 for PWM frequency of   122.55 Hz
  348. //TCCR1B = TCCR1B & B11111000 | B00000101;    // set timer 1 divisor to  1024 for PWM frequency of    30.64 Hz
  349.  
  350. //---------------------------------------------- Set PWM frequency for D9 & D10 ------------------------------
  351.  
  352. //TCCR2B = TCCR2B & B11111000 | B00000001;    // set timer 2 divisor to     1 for PWM frequency of 31372.55 Hz
  353. //TCCR2B = TCCR2B & B11111000 | B00000010;    // set timer 2 divisor to     8 for PWM frequency of  3921.16 Hz
  354.   TCCR2B = TCCR2B & B11111000 | B00000011;    // set timer 2 divisor to    32 for PWM frequency of   980.39 Hz
  355. //TCCR2B = TCCR2B & B11111000 | B00000100;    // set timer 2 divisor to    64 for PWM frequency of   490.20 Hz
  356. //TCCR2B = TCCR2B & B11111000 | B00000101;    // set timer 2 divisor to   128 for PWM frequency of   245.10 Hz
  357. //TCCR2B = TCCR2B & B11111000 | B00000110;    // set timer 2 divisor to   256 for PWM frequency of   122.55 Hz
  358. //TCCR2B = TCCR2B & B11111000 | B00000111;    // set timer 2 divisor to  1024 for PWM frequency of    30.64 Hz
  359.  
  360.  
  361. //---------------------------------------------- Set PWM frequency for D2, D3 & D5 ---------------------------
  362.  
  363. //TCCR3B = TCCR3B & B11111000 | B00000001;    // set timer 3 divisor to     1 for PWM frequency of 31372.55 Hz
  364. //TCCR3B = TCCR3B & B11111000 | B00000010;    // set timer 3 divisor to     8 for PWM frequency of  3921.16 Hz
  365.   TCCR3B = TCCR3B & B11111000 | B00000011;    // set timer 3 divisor to    64 for PWM frequency of   490.20 Hz
  366. //TCCR3B = TCCR3B & B11111000 | B00000100;    // set timer 3 divisor to   256 for PWM frequency of   122.55 Hz
  367. //TCCR3B = TCCR3B & B11111000 | B00000101;    // set timer 3 divisor to  1024 for PWM frequency of    30.64 Hz
  368.  
  369.  
  370. //---------------------------------------------- Set PWM frequency for D6, D7 & D8 ---------------------------
  371.  
  372. //TCCR4B = TCCR4B & B11111000 | B00000001;    // set timer 4 divisor to     1 for PWM frequency of 31372.55 Hz
  373. //TCCR4B = TCCR4B & B11111000 | B00000010;    // set timer 4 divisor to     8 for PWM frequency of  3921.16 Hz
  374.   TCCR4B = TCCR4B & B11111000 | B00000011;    // set timer 4 divisor to    64 for PWM frequency of   490.20 Hz
  375. //TCCR4B = TCCR4B & B11111000 | B00000100;    // set timer 4 divisor to   256 for PWM frequency of   122.55 Hz
  376. //TCCR4B = TCCR4B & B11111000 | B00000101;    // set timer 4 divisor to  1024 for PWM frequency of    30.64 Hz
  377.  
  378.  
  379. //---------------------------------------------- Set PWM frequency for D44, D45 & D46 ------------------------
  380.  
  381. //TCCR5B = TCCR5B & B11111000 | B00000001;    // set timer 5 divisor to     1 for PWM frequency of 31372.55 Hz
  382. //TCCR5B = TCCR5B & B11111000 | B00000010;    // set timer 5 divisor to     8 for PWM frequency of  3921.16 Hz
  383.   TCCR5B = TCCR5B & B11111000 | B00000011;    // set timer 5 divisor to    64 for PWM frequency of   490.20 Hz
  384. //TCCR5B = TCCR5B & B11111000 | B00000100;    // set timer 5 divisor to   256 for PWM frequency of   122.55 Hz
  385. //TCCR5B = TCCR5B & B11111000 | B00000101;    // set timer 5 divisor to  1024 for PWM frequency of    30.64 Hz
  386.  
  387. }
  388.  
  389.  
  390.  
  391. /*
  392. #udpioMEGA.hal
  393.  
  394.  
  395. # Include your customized HAL commands here
  396. # The commands in this file are run after the AXIS GUI (including PyVCP panel) starts
  397.  
  398. loadusr -W ~/bin/udpioMEGA 192.168.16.10 8888 192.168.16.200 8888 1
  399.  
  400. sets spindle-at-speed true
  401. # Comment Outputs, The Inputs need the pullup
  402. net test-bit udpioMEGA.digital-out-04 motion.in-position
  403. setp udpioMEGA.digital-in-02-pullup 1#  INT4
  404. setp udpioMEGA.digital-in-03-pullup 1#  INT5
  405. #setp udpioMEGA.digital-in-04-pullup 1#  PWM
  406. #setp udpioMEGA.digital-in-05-pullup 1#  PWM
  407. #setp udpioMEGA.digital-in-06-pullup 1#  PWM
  408. #setp udpioMEGA.digital-in-07-pullup 1#  PWM
  409. #setp udpioMEGA.digital-in-08-pullup 1#  PWM
  410. #setp udpioMEGA.digital-in-09-pullup 1#  PWM
  411. #setp udpioMEGA.digital-in-10-pullup 1#  PWM ethernet Shield select
  412. #setp udpioMEGA.digital-in-11-pullup 1#  PWM ethernet Shield uno#    PWM on Mega2560
  413. #setp udpioMEGA.digital-in-12-pullup 1#  PWM ethernet Shield uno#    PWM on Mega2560
  414. #setp udpioMEGA.digital-in-13-pullup 1#  PWM ethernet Shield uno#    PWM on Mega2560
  415. #setp udpioMEGA.digital-in-14-pullup 1#  serial 3 TX
  416. setp udpioMEGA.digital-in-15-pullup 1#  serial 3 RX
  417. #setp udpioMEGA.digital-in-16-pullup 1#  serial 2 TX
  418. setp udpioMEGA.digital-in-17-pullup 1#  serial 2 RX
  419. setp udpioMEGA.digital-in-18-pullup 1#  serial 1 TX INT3
  420. setp udpioMEGA.digital-in-19-pullup 1#  serial 1 RX INT2
  421. setp udpioMEGA.digital-in-20-pullup 1#  TWI SDA     INT1
  422. setp udpioMEGA.digital-in-21-pullup 1#  TWI SCL     INT0
  423. #setp udpioMEGA.digital-in-22-pullup 1#  X Step Port A bit 0
  424. #setp udpioMEGA.digital-in-23-pullup 1#  Y Step
  425. #setp udpioMEGA.digital-in-24-pullup 1#  Z Step
  426. #setp udpioMEGA.digital-in-25-pullup 1#  A Step
  427. #setp udpioMEGA.digital-in-26-pullup 1#  B Step
  428. #setp udpioMEGA.digital-in-27-pullup 1#  C Step
  429. #setp udpioMEGA.digital-in-28-pullup 1#  W Step
  430. #setp udpioMEGA.digital-in-29-pullup 1#  U Step Port A Bit 7
  431. #setp udpioMEGA.digital-in-30-pullup 1#  U Dir Port C Bit 7
  432. #setp udpioMEGA.digital-in-31-pullup 1#  W Dir
  433. #setp udpioMEGA.digital-in-32-pullup 1#  C Dir
  434. #setp udpioMEGA.digital-in-33-pullup 1#  B Dir
  435. #setp udpioMEGA.digital-in-34-pullup 1#  A Dir
  436. #setp udpioMEGA.digital-in-35-pullup 1#  Z Dir
  437. #setp udpioMEGA.digital-in-36-pullup 1#  Y Dir
  438. #setp udpioMEGA.digital-in-37-pullup 1#  X Dir Port C bit 0
  439. #setp udpioMEGA.digital-in-38-pullup 1
  440. #setp udpioMEGA.digital-in-39-pullup 1
  441. #setp udpioMEGA.digital-in-40-pullup 1
  442. #setp udpioMEGA.digital-in-41-pullup 1
  443. #setp udpioMEGA.digital-in-42-pullup 1#  PORTL
  444. #setp udpioMEGA.digital-in-43-pullup 1#  PORTL
  445. #setp udpioMEGA.digital-in-44-pullup 1#  PWM#  PORTL
  446. #setp udpioMEGA.digital-in-45-pullup 1#  PWM#  PORTL
  447. #setp udpioMEGA.digital-in-46-pullup 1#  PWM#  PORTL
  448. #setp udpioMEGA.digital-in-47-pullup 1#  PORTL
  449. #setp udpioMEGA.digital-in-48-pullup 1#  PORTL
  450. #setp udpioMEGA.digital-in-49-pullup 1#  PORTL
  451. setp udpioMEGA.digital-in-50-pullup 1#  SPI MISO
  452. setp udpioMEGA.digital-in-51-pullup 1#  SPI MOSI
  453. setp udpioMEGA.digital-in-52-pullup 1#  SPI SCK
  454. setp udpioMEGA.digital-in-53-pullup 1#  SPI SS
  455. setp udpioMEGA.digital-in-54-pullup 1#  SPI SS
  456. setp udpioMEGA.digital-in-55-pullup 1#  SPI SS
  457. setp udpioMEGA.digital-in-56-pullup 1#  SPI SS
  458. setp udpioMEGA.digital-in-57-pullup 1#  SPI SS
  459. setp udpioMEGA.digital-in-58-pullup 1#  SPI SS
  460. setp udpioMEGA.digital-in-59-pullup 1#  SPI SS
  461. setp udpioMEGA.digital-in-60-pullup 1#  SPI SS
  462. setp udpioMEGA.digital-in-61-pullup 1#  SPI SS
  463. setp udpioMEGA.digital-in-62-pullup 1#  SPI SS
  464. setp udpioMEGA.digital-in-63-pullup 1#  SPI SS
  465. setp udpioMEGA.digital-in-64-pullup 1#  SPI SS
  466. setp udpioMEGA.digital-in-65-pullup 1#  SPI SS
  467. setp udpioMEGA.digital-in-66-pullup 1#  SPI SS
  468. setp udpioMEGA.digital-in-67-pullup 1#  SPI SS
  469. setp udpioMEGA.digital-in-68-pullup 1#  SPI SS
  470. setp udpioMEGA.digital-in-69-pullup 1#  SPI SS
  471.  
  472. #ethernet shield UNO use pins 10,11,12,13
  473. # on Mega 2560 10,50,51,52,53
  474.  
  475. #setp udpioMEGA.analog-out-03-scale 10#  PWM Interrupt 5
  476. setp udpioMEGA.analog-out-04-scale 10#  PWM Spindle
  477. setp udpioMEGA.analog-out-05-scale 10#  PWM Spinde
  478. setp udpioMEGA.analog-out-06-scale 10#  PWM
  479. setp udpioMEGA.analog-out-07-scale 10#  PWM
  480. setp udpioMEGA.analog-out-08-scale 10#  PWM
  481. setp udpioMEGA.analog-out-09-scale 10#  PWM
  482. setp udpioMEGA.analog-out-10-scale 10#  PWM Ethernet Select on Uno and Mega
  483. setp udpioMEGA.analog-out-11-scale 10#  PWM
  484. setp udpioMEGA.analog-out-12-scale 10#  PWM
  485. setp udpioMEGA.analog-out-13-scale 10#  PWM
  486. #setp udpioMEGA.analog-out-44-scale 10#  PWM#  PORTL Better off using as digital
  487. #setp udpioMEGA.analog-out-45-scale 10#  PWM#  PORTL "
  488. #setp udpioMEGA.analog-out-46-scale 10#  PWM#  PORTL "
  489.  
  490. setp udpioMEGA.digital-out-22 1#  X Step
  491. setp udpioMEGA.digital-out-37 1#  X Dir
  492. setp udpioMEGA.digital-out-23 1#  Y Step
  493. setp udpioMEGA.digital-out-36 1#  Y Dir
  494. setp udpioMEGA.digital-out-24 1#  Z Step
  495. setp udpioMEGA.digital-out-35 1#  Z Dir
  496. setp udpioMEGA.digital-out-25 1#  A Step
  497. setp udpioMEGA.digital-out-34 1#  A Dir
  498. setp udpioMEGA.digital-out-26 1#  B Step
  499. setp udpioMEGA.digital-out-33 1#  B Dir
  500. setp udpioMEGA.digital-out-27 1#  C Step
  501. setp udpioMEGA.digital-out-32 1#  C Dir
  502. setp udpioMEGA.digital-out-28 1#  W Step
  503. setp udpioMEGA.digital-out-31 1#  W Dir
  504. setp udpioMEGA.digital-out-29 1#  U Step
  505. setp udpioMEGA.digital-out-30 1#  U Dir
  506. setp udpioMEGA.digital-out-31 1#  U Dir
  507. setp udpioMEGA.digital-out-32 1#  U Dir
  508. setp udpioMEGA.digital-out-33 1#  U Dir
  509. setp udpioMEGA.digital-out-34 1#  U Dir
  510. setp udpioMEGA.digital-out-35 1#  U Dir
  511. setp udpioMEGA.digital-out-36 1#  U Dir
  512. setp udpioMEGA.digital-out-37 1#  U Dir
  513.  
  514.  
  515. #  PORTL like PORTA and PORTC all 8 bits are digital out pins.
  516. #  This could be 4 more step ports or other combinations.
  517. setp udpioMEGA.digital-out-42 1#  PORTL Bit 7#  V Dir
  518. setp udpioMEGA.digital-out-43 1#  PORTL Bit 6# 10th Dir
  519. setp udpioMEGA.digital-out-44 1#  PORTL Bit 5 Brake?
  520. setp udpioMEGA.digital-out-45 1#  PORTL Bit 4 Brake on another axis?
  521. setp udpioMEGA.digital-out-46 1#  PORTL Bit 3#  V Step
  522. setp udpioMEGA.digital-out-47 1#  PORTL Bit 2# 10th Step
  523. setp udpioMEGA.digital-out-48 1#  PORTL Bit 1 Enable?
  524. setp udpioMEGA.digital-out-49 1#  PORTL Bit 0 Power relay for resetting drivers after alarm?
  525.  
  526. net spindle-cmd => udpioMEGA.analog-out-09#  PWM Spindle
  527. #net spindle-cmd => udpioMEGA.analog-out-10#  PWM Spindle#  XX==XX  Add code for 16 bit resolution of spindle speed.
  528.  
  529.  
  530.  
  531. */
  532.  
  533.  
  534.  
  535. /*
  536. #!/usr/bin/python
  537. #udpioMEGA.py
  538. #    HAL userspace component to interface with Arduino board
  539. #    Copyright (C) 2015 Marius Liebenberg <marius@bluearccnc.com>
  540. #        Mods to use Mega2560 Robi Akerley-mcKee <kf6pqz@gmail.com>
  541. #    
  542. #    This program and accompanied works are provided as is and the
  543. #    author will not be liable for anything whatsoever related to
  544. #    this software or not.
  545. #
  546. #    This user space program will allow you to connect to an Arduino
  547. #    UNO, or the likes of, that is fitted with a network shield. I am
  548. #    other boards will work as well with a bit of adaptation to the embedded
  549. #    code.
  550. #
  551. #    The arduino configuration is as follows:
  552. #        O    Analog Outputs     - 1 at pin 3
  553. #        B    Analog Inputs      - 6 at pins A0 to A5
  554. #        S    Digtal pins:       - 6 in total configured as In or OUT at startup
  555. #        O    Encoder            - pins 8 and 9 are used for the MPG encoder. Make
  556. #        L                        sure the pins are set as inputs. That means you
  557. #        E                        cannot have six outputs if you use the encoder.
  558. #        T    
  559. #        E    
  560. #
  561. #             Analog Inputs      -  16 at pins A0-15
  562. #             Analog Outputs PWM -   9 at pins 4,5,6,7,8,9, 11,12,13
  563. #             Interrupt Inputs   -   6 at pins 2,3,18,19,20,21
  564. #             Polled Pins        -   2 at pins 17, 17
  565. #             BitBanged using
  566. #                  PORT?         -  24 at PORTA pins 22-29, PORTC pins 30-37, PORTL pins 42-49
  567. #             SerialPorts        -   4 (3 unique) Serial0 pins 0,1 is also USB, Serial1,2,3 is pins 14,15,16,17,18,19
  568. #            
  569. #             If you want encoder, you'll have to add it back in, use the interrupt pins though
  570. #
  571. #
  572. #    Note: The mpg-count-00 is the previous count and mpg-count-01 is the new count
  573. #
  574. #    Usage:    loadusr -W /yourdir/udps NIC_IP NIC_PORT REMOTE_IP REMOTE_PORT number_of_ouputs
  575. #              loadusr -W ~/bin/udps 192.168.3.10 8888 192.168.3.200 8888 1
  576. #
  577. #    I have used this on a second network interface as well as a USB plugin ethernet
  578. #    adapter hence the need to provide the local IP details.
  579. #
  580. #    Use the Arduino code udpcomms.ino in conjunction with this program.
  581. #
  582. #
  583. #    This program is free software; you can redistribute it and/or modify
  584. #    it under the terms of the GNU General Public License as published by
  585. #    the Free Software Foundation; either version 2 of the License, or
  586. #    (at your option) any later version.
  587. #
  588. #    This program is distributed in the hope that it will be useful,
  589. #    but WITHOUT ANY WARRANTY; without even the implied warranty of
  590. #    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  591. #    GNU General Public License for more details.
  592. #
  593. #    You should have received a copy of the GNU General Public License
  594. #    along with this program; if not, write to the Free Software
  595. #    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  596.  
  597. #import serial
  598. import os
  599. import hal
  600. import sys
  601. import time
  602. import socket
  603. from gwibber.microblog.can import RECEIVE
  604. from _socket import SOL_SOCKET
  605. from IN import SO_BINDTODEVICE
  606.  
  607.  
  608. data = " "
  609. REMOTE, R_PORT = "192.168.3.199", 8888
  610.  
  611. if len(sys.argv) > 4:
  612.     HOST = sys.argv[1]
  613.     H_PORT = int(sys.argv[2])
  614.     REMOTE = sys.argv[3]
  615.     R_PORT = int(sys.argv[4])
  616.    
  617.     print ("HOST = ", HOST)
  618.     print ("PORT = ", H_PORT)
  619.     print ("REMOTE = ", REMOTE)
  620.     print ("PORT = ", R_PORT)
  621. #// this changes cuz were hard coded now    
  622. #//if len(sys.argv) > 4:
  623. #//    nout = int(sys.argv[5])
  624. #//else:
  625. #//    nout = 6
  626. #//print ("Number of digital outputs = ", nout)
  627. #//if nout > 6 or nout < 0:
  628. #//    print "##########################################################################################"
  629. #//    print "Usage:    loadusr -W /yourdir/udpsMEGA NIC_IP NIC_PORT REMOTE_IP REMOTE_PORT "
  630. #//    print "##########################################################################################"
  631. #//    raise SystemExit, "Number of digital outputs must be from 0 to 6"
  632.  
  633.  
  634. #//pinmap  = [4,5,6,7,8,9]#  Encoder can be connected to 8 and 9
  635. pwmrange   =  10
  636. pwmpinmap  = [4,5,6,7,8,9,10,11,12,13]#   DAC fixed
  637. #pwmrange  =   9
  638. #pwmpinmap = [4,5,6,7,8,9,11,12,13]#   DAC fixed
  639.  
  640. pinmap  = [22,23,24,25,26,27,28,29]
  641. pinmap2 = [37,36,35,34,33,32,31,30]
  642. pinmap3 = [49,48,47,46,45,44,43,42]
  643. inpmap  = [54,55,56,57,58,59,60,61]
  644. inpmap2 = [62,63,64,65,66,67,68,69]
  645. inpmap3 = [21,20,19,18,2,3,1,0]
  646.  
  647. c = hal.component("udpioMEGA")
  648.  
  649. #old code for the one pwm pin
  650. #c.newpin("analog-out-%02d" % pwmpinmap[0], hal.HAL_FLOAT, hal.HAL_IN)
  651. #c.newparam("analog-out-%02d-offset" % pwmpinmap[0], hal.HAL_FLOAT, hal.HAL_RW)
  652. #c.newparam("analog-out-%02d-scale" % pwmpinmap[0], hal.HAL_FLOAT, hal.HAL_RW)
  653. #c['analog-out-%02d-scale' % pwmpinmap[0]] = 1.0
  654. #new code for the 9 or 10 pwm pins if pin 10 is used for ethernet
  655. for port in range(pwmrange):
  656.     c.newpin("analog-out-%02d" % pwmpinmap[port], hal.HAL_FLOAT, hal.HAL_IN)
  657.     c.newparam("analog-out-%02d-offset" % pwmpinmap[port], hal.HAL_FLOAT, hal.HAL_RW)
  658.     c.newparam("analog-out-%02d-scale" % pwmpinmap[port], hal.HAL_FLOAT, hal.HAL_RW)
  659.     c['analog-out-%02d-scale' % pwmpinmap[port]] = 1.0
  660.  
  661. #    c.newpin("analog-in-%02d" % port, hal.HAL_FLOAT, hal.HAL_OUT)
  662. #    c.newparam("analog-in-%02d-offset" % port, hal.HAL_FLOAT, hal.HAL_RW)
  663. #    c.newparam("analog-in-%02d-gain" % port, hal.HAL_FLOAT, hal.HAL_RW)
  664. #    
  665. #    c['analog-in-%02d-gain' % port] = 1.0
  666.    
  667. for port in range(8):
  668.     c.newpin("digital-out-%02d" % pinmap[port], hal.HAL_BIT, hal.HAL_OUT)
  669.     c.newparam("digital-out-%02d-invert" % pinmap[port], hal.HAL_BIT, hal.HAL_RW)
  670.     c.newpin("digital-out-%02d" % pinmap2[port], hal.HAL_BIT, hal.HAL_OUT)
  671.     c.newparam("digital-out-%02d-invert" % pinmap2[port], hal.HAL_BIT, hal.HAL_RW)
  672.     c.newpin("digital-out-%02d" % pinmap3[port], hal.HAL_BIT, hal.HAL_OUT)
  673.     c.newparam("digital-out-%02d-invert" % pinmap3[port], hal.HAL_BIT, hal.HAL_RW)
  674.     c.newpin("digital-in-%02d" % inpmap[port], hal.HAL_BIT, hal.HAL_OUT)
  675.     c.newpin("digital-in-%02d-not" % inpmap[port], hal.HAL_BIT, hal.HAL_OUT)
  676.     c.newparam("digital-in-%02d-pullup" % inpmap[port], hal.HAL_BIT, hal.HAL_RW)
  677.     c.newpin("digital-in-%02d" % inpmap2[port], hal.HAL_BIT, hal.HAL_OUT)
  678.     c.newpin("digital-in-%02d-not" % inpmap2[port], hal.HAL_BIT, hal.HAL_OUT)
  679.     c.newparam("digital-in-%02d-pullup" % inpmap2[port], hal.HAL_BIT, hal.HAL_RW)
  680.  
  681. c.newpin("network-error", hal.HAL_BIT, hal.HAL_IN)
  682.    
  683.    
  684. #for i in range(2):
  685. #    c.newpin("mpg-count-%02d" % i, hal.HAL_FLOAT, hal.HAL_IN)
  686. c.ready()
  687.    
  688. data = " ".join(sys.argv[3:])
  689.  
  690. firstbyte = 0
  691. state = 0
  692. txbuf = range(6)
  693. rxbyte = 0
  694. analogout = range(10)
  695. analogin = range(8)
  696. dout = 0
  697. invert = 0
  698. din = 0
  699. pullup = 0
  700. v = 0
  701. count = 0
  702. soh = "#"
  703.  
  704.  
  705. service = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
  706. service.bind((HOST, H_PORT))
  707. service.settimeout(1)
  708. print "listening on port", R_PORT
  709.  
  710. ###############################################################
  711. #                         RECEIVE                     #        
  712. ###############################################################
  713. def doRx():
  714. # reading from Arduino Mega2560
  715.     try:
  716.         received = service.recv(150)
  717.     except IOError:
  718.         c['network-error'] = 1
  719.     else:    
  720.         c['network-error'] = 0
  721.         workbuf = (received)
  722.         # change following to strip bits and put to proper pin
  723.         # pins 30-37,42-49 are inverted bit wise
  724. #        tokens = [int(x) for x in workbuf.split(',') if x.strip()]  
  725. #        for i in range(8):
  726. #            gain = c['analog-in-%02d-gain' % i+22]
  727. #            offset = c['analog-in-%02d-offset' % i=22]
  728. #            value = ((int(workbuf[i+]) & (1 >> i))<<i) * 5.0 * gain + offset
  729. #            c['analog-in-%02d' % i] = value
  730. #            gain = c['analog-in-%02d-gain' % i+30]
  731. #            offset = c['analog-in-%02d-offset' % i=30]
  732. #            value = ((int(workbuf[i+]) & (1 >> (7-i)))<<(7-i)) * 5.0 * gain + offset
  733. #            c['analog-in-%02d' % i] = value
  734.                
  735.  #       dig = int(tokens[6])
  736.     digh=workbuf[0]
  737.     digl=workbuf[1]
  738.     digi=workbuf[2]
  739.         for i in range(8):
  740.             msk = (1 << i)
  741.             v = (digh & msk)
  742.             if(v > 0):
  743.                 c['digital-in-%02d' % inpmap[i]] = 1
  744.                 c['digital-in-%02d-not' % inpmap[i]] = 0
  745.             else:
  746.                 c['digital-in-%02d' % inpmap[i]] = 0
  747.                 c['digital-in-%02d-not' % inpmap[i]] = 1
  748.             v = (digl & msk)
  749.             if(v > 0):
  750.                 c['digital-in-%02d' % inpmap2[i]] = 1
  751.                 c['digital-in-%02d-not' % inpmap2[i]] = 0
  752.             else:
  753.                 c['digital-in-%02d' % inpmap2[i]] = 0
  754.                 c['digital-in-%02d-not' % inpmap2[i]] = 1
  755.         for i in range(6):
  756.             msk = (1 << i)
  757.             v = (digi & msk)
  758.             if(v > 0):
  759.                 c['digital-in-%02d' % inpmap3[i]] = 1
  760.                 c['digital-in-%02d-not' % inpmap3[i]] = 0
  761.             else:
  762.                 c['digital-in-%02d' % inpmap3[i]] = 0
  763.                 c['digital-in-%02d-not' % inpmap3[i]] = 1
  764.            
  765.     return        
  766.    
  767. ################################################################
  768. #                    TRANSMIT                          #        
  769. ################################################################
  770. def doTx():
  771.     for state in range(10):
  772.         scale = c['analog-out-%02d-scale' % pwmpinmap[state]] or 1.
  773.         offset = c['analog-out-%02d-offset' % pwmpinmap[state]]
  774.         data = int((c['analog-out-%02d' % pwmpinmap[state]] - offset) / scale)
  775.         if data < 0: data = 0
  776.         if data > 255: data = 255
  777.        
  778.         analogout[state] = data #  10 bytes of analog out data
  779.         data = 0
  780.         sout = 0
  781.         dout = 0
  782.         xout = 0
  783.         pullup = 0
  784.     for state in range(8):    
  785.             if ( c['digital-out-%02d' % pinmap[state]]) == 1:
  786.                 if (not c['digital-out-%02d-invert' % pinmap[state]]):
  787.                     sout |= (1 << state)
  788.                 else:
  789.                     sout |= (0 << state)
  790.             else:
  791.                 if (not c['digital-out-%02d-invert' % pinmap[state]]):
  792.                     sout |= (0 << state)
  793.                 else:
  794.                     sout |= (1 << state)
  795.             if ( c['digital-out-%02d' % pinmap2[state]]) == 1:
  796.                 if (not c['digital-out-%02d-invert' % pinmap2[state]]):
  797.                     dout |= (1 << state)
  798.                 else:
  799.                     dout |= (0 << state)
  800.             else:
  801.                 if (not c['digital-out-%02d-invert' % pinmap2[state]]):
  802.                     dout |= (0 << state)
  803.                 else:
  804.                     dout |= (1 << state)
  805.             if ( c['digital-out-%02d' % pinmap3[state]]) == 1:
  806.                 if (not c['digital-out-%02d-invert' % pinmap3[state]]):
  807.                     xout |= (1 << state)
  808.                 else:
  809.                     xout |= (0 << state)
  810.             else:
  811.                 if (not c['digital-out-%02d-invert' % pinmap3[state]]):
  812.                     xout |= (0 << state)
  813.                 else:
  814.                     xout |= (1 << state)
  815. #            if ((c['digital-in-%02d-pullup' % pinmap[state]]) == 1):
  816. #                pullup |= (1 << state)
  817.  
  818.     txbuf[0] = "D"
  819.     txbuf[1] = (sout)
  820.     txbuf[2] = (dout)
  821.     txbuf[3] = (xout)
  822.         txbuf[4] = analogout[state]
  823. #    txbuf[5] = '~'    
  824. #    txbuf[0] = soh
  825.     service.sendto(format(txbuf), (REMOTE, R_PORT))
  826. #    time.sleep(0.02)
  827.    
  828.    
  829. ################################################################
  830. #                    MAIN LOOP                         #        
  831. ################################################################    
  832. if __name__ == "__main__":
  833.     try:
  834.         while 1:
  835.             doTx()
  836.             doRx()
  837.     except (KeyboardInterrupt,):
  838.         raise SystemExit, 0
  839.  
  840.  
  841.  
  842.  
  843.  
  844.  
  845. */
  846.  
  847. /*
  848. // defines.h
  849.  
  850. #ifndef ETHERMEGADEFINES
  851. #define ETHERMEGADEFINES
  852.  
  853.  
  854. #define COMPUTERIP 192, 168, 3, 31
  855. #define ARDUINOIP 192, 168, 3, 199
  856.  
  857. #define IPPORT 8888
  858.  
  859. // Mega 2560 ports
  860.  
  861. //  Pin Port Bit
  862.  
  863. //  22  PORTA 0 // STEPPORT
  864. //  23  PORTA 1
  865. //  24  PORTA 2
  866. //  25  PORTA 3
  867. //  26  PORTA 4
  868. //  27  PORTA 5
  869. //  28  PORTA 6
  870. //  29  PORTA 7
  871.  
  872.  
  873.  
  874. //  53  PORTB 0
  875. //  52  PORTB 1
  876. //  51  PORTB 2
  877. //  50  PORTB 3
  878. //  10  PORTB 4  pwm  // Ethernet Shield
  879. //  11  PORTB 5  pwm  // Ethernet Shield
  880. //  12  PORTB 6  pwm  // Ethernet Shield
  881. //  13  PORTB 7  pwm  // Ethernet Shield
  882.  
  883.  
  884.  
  885. //  37  PORTC 0 // DIRPORT
  886. //  36  PORTC 1
  887. //  35  PORTC 2
  888. //  34  PORTC 3
  889. //  33  PORTC 4
  890. //  32  PORTC 5
  891. //  31  PORTC 6
  892. //  30  PORTC 7
  893.  
  894.  
  895.  
  896. //  21  PORTD 0  // INT 0
  897. //  20  PORTD 1  // INT 1
  898. //  19  PORTD 2  // INT 2
  899. //  18  PORTD 3  // INT 3
  900.  
  901. //  38  PORTD 7
  902.  
  903.  
  904.  
  905. //  0   PORTE 0
  906. //  1   PORTE 1
  907.  
  908. //  5   PORTE 3
  909. //  2   PORTE 4 // INT 4
  910. //  3   PORTE 5 // INT 5
  911.  
  912. //  54      PORTF 0 // Analog Pin  0  // Digital Pin 54  // HOMES
  913. //  55      PORTF 1 // Analog Pin  1  // Digital Pin 55
  914. //  56      PORTF 2 // Analog Pin  2  // Digital Pin 56
  915. //  57      PORTF 3 // Analog Pin  3  // Digital Pin 57
  916. //  58      PORTF 4 // Analog Pin  4  // Digital Pin 58
  917. //  59      PORTF 5 // Analog Pin  5  // Digital Pin 59
  918. //  60      PORTF 6 // Analog Pin  6  // Digital Pin 60
  919. //  61      PORTF 7 // Analog Pin  7  // Digital Pin 61
  920.  
  921. //  62      PORTK 0 // Analog Pin  8  // Digital Pin 62  // LIMITS
  922. //  63      PORTK 1 // Analog Pin  9  // Digital Pin 63
  923. //  64      PORTK 2 // Analog Pin 10  // Digital Pin 64
  924. //  65      PORTK 3 // Analog Pin 11  // Digital Pin 65
  925. //  66      PORTK 4 // Analog Pin 12  // Digital Pin 66
  926. //  67      PORTK 5 // Analog Pin 13  // Digital Pin 67
  927. //  68      PORTK 6 // Analog Pin 14  // Digital Pin 68
  928. //  69      PORTK 7 // Analog Pin 15  // Digital Pin 69
  929.  
  930. //  41  PORTG 0
  931. //  40  PORTG 1
  932. //  39  PORTG 2
  933.  
  934. //  4   PORTG 5
  935.  
  936.  
  937.  
  938. //  17  PORTH 0
  939. //  16  PORTH 1
  940. //  6   PORTH 3
  941. //  7   PORTH 4
  942. //  8   PORTH 5
  943. //  9   PORTH 6
  944.  
  945.  
  946.  
  947. //  15  PORTJ 0
  948. //  14  PORTJ 1
  949.  
  950.  
  951.  
  952. //  49  PORTL 0 // XTRPORT
  953. //  48  PORTL 1
  954. //  47  PORTL 2
  955. //  46  PORTL 3 pwm
  956. //  45  PORTL 4 pwm
  957. //  44  PORTL 5 pwm
  958. //  43  PORTL 6
  959. //  42  PORTL 7
  960.  
  961. ///////////////////////////////////////////////////////////////////////////////////////
  962. ///////////////////////////////////////////////////////////////////////////////////////
  963.  
  964. //  Pin Port Bit
  965. //  22  PORTA 0 //   Step X
  966. //  23  PORTA 1 //   Step Y
  967. //  24  PORTA 2 //   Step Z
  968. //  25  PORTA 3 //   Step A
  969. //  26  PORTA 4 //   Step B
  970. //  27  PORTA 5 //   Step C
  971. //  28  PORTA 6 //   Step W
  972. //  29  PORTA 7 //   Step U
  973. //  53  PORTB 0 //   SS
  974. //  52  PORTB 1 //   SCK        // Ethernet Shield Mega
  975. //  51  PORTB 2 //   MOSI       // Ethernet Shield Mega
  976. //  50  PORTB 3 //   MISO       // Ethernet Shield Mega
  977. //  10  PORTB 4 //   ethernet shield
  978. //  11  PORTB 5 //   ethernet shield
  979. //  12  PORTB 6 //   ethernet shield
  980. //  13  PORTB 7 //   ethernet shield
  981. //  37  PORTC 0 //   Dir X
  982. //  36  PORTC 1 //   Dir Y
  983. //  35  PORTC 2 //   Dir Z
  984. //  34  PORTC 3 //   Dir A
  985. //  33  PORTC 4 //   Dir B
  986. //  32  PORTC 5 //   Dir C
  987. //  31  PORTC 6 //   Dir W
  988. //  30  PORTC 7 //   Dir U
  989. //  21  PORTD 0 //   SCL  //int
  990. //  20  PORTD 1 //   SCA  //int
  991. //  19  PORTD 2 //   RX1  //int
  992. //  18  PORTD 3 //   TX1  //int
  993. //  38  PORTD 7 //  
  994. //  0   PORTE 0 //   RX0
  995. //  1   PORTE 1 //   TX0
  996. //  5   PORTE 3 //   pwm
  997. //  2   PORTE 4 //   pwm  //int
  998. //  3   PORTE 5 //   pwm  //int
  999. //  41  PORTG 0 //  
  1000. //  40  PORTG 1 //  
  1001. //  39  PORTG 2 //  
  1002. //  4   PORTG 5 //   pwm
  1003. //  17  PORTH 0 //   RX2
  1004. //  16  PORTH 1 //   TX2
  1005. //  6   PORTH 3 //   pwm
  1006. //  7   PORTH 4 //   pwm
  1007. //  8   PORTH 5 //   pwm
  1008. //  9   PORTH 6 //   pwm
  1009. //  15  PORTJ 0 //   RX3
  1010. //  14  PORTJ 1 //   TX3
  1011. //  49  PORTL 0 //  
  1012. //  48  PORTL 1 //  
  1013. //  47  PORTL 2 //  
  1014. //  46  PORTL 3 //   pwm
  1015. //  45  PORTL 4 //   pwm
  1016. //  44  PORTL 5 //   pwm
  1017. //  43  PORTL 6 //  
  1018. //  42  PORTL 7 //  
  1019. #endif
  1020.  
  1021. */
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!