diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. By contrast, +the GNU General Public License is intended to guarantee your freedom to +share and change all versions of a program--to make sure it remains free +software for all its users. We, the Free Software Foundation, use the +GNU General Public License for most of our software; it applies also to +any other work released this way by its authors. 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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/dyn4.py b/dyn4.py new file mode 100755 index 0000000..3a35a82 --- /dev/null +++ b/dyn4.py @@ -0,0 +1,699 @@ +#!/usr/bin/env python + +# Copyright 2019 Kent A. Vander Velden +# +# If you use this software, please consider contacting me. I'd like to hear +# about your work. +# +# This file is part of DMM-DYN4. +# +# DMM-Dyn4 is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# DMM-DYN4 is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with DMM-DYN4. If not, see . + + +from __future__ import print_function + +import sys +import time +import serial + +import numpy as np + + +def sign_extend(value, bits): + # from: https://stackoverflow.com/a/32031543 + sign_bit = 1 << (bits - 1) + return (value & (sign_bit - 1)) - (value & sign_bit) + + +class DMMException(Exception): + def __init__(self): + Exception.__init__(self) + + +class DMMTimeout(DMMException): + def __init__(self): + Exception.__init__(self) + + +class DMMExceptionUnexpectedLength(DMMException): + def __init__(self, n, expected_n): + DMMException.__init__(self) + self.n = n + self.expected_n = expected_n + + +class DMMExceptionTruncatedWrite(DMMException): + def __init__(self, n, expected_n): + DMMException.__init__(self) + self.n = n + self.expected_n = expected_n + + +class DMMExceptionUnknownFunctionID(DMMException): + def __init__(self, func_id): + DMMException.__init__(self) + self.func_id = func_id + + +class DMMExceptionUnknownFunctionID(DMMException): + def __init__(self, func_id): + DMMException.__init__(self) + self.func_id = func_id + + +class DMMExceptionUnexpectedFunc(DMMException): + def __init__(self): + DMMException.__init__(self) + + +class DMMDrive: + def __init__(self, serial_dev, drive_id): + self.serial = serial.Serial(serial_dev, + 38400, + timeout=None, + parity=serial.PARITY_NONE, + stopbits=serial.STOPBITS_ONE, + bytesize=serial.EIGHTBITS) + self.drive_id = drive_id + + # print(dir(self.serial)) + + self.flush() + + # print(serial.VERSION) + # print(self.serial.isOpen()) + self.debug = False + + self.torque_arr = [] + + + def __enter__(self): + return self + + def __exit__(self, type, value, traceback): + self.serial.close() + + def flush(self): + if serial.VERSION > '2.5': + self.serial.reset_input_buffer() + else: + self.serial.flushInput() + + self.serial.timeout = .05 + while len(self.serial.read(1)) > 0: + pass + + @staticmethod + def verify_func_id(func_id): + if not (0x10 <= func_id <= 0x1b or func_id == 0x1e): + raise DMMExceptionUnknownFunctionID(func_id) + + def general_read2(self, func_id2): + packet = [0x00 | self.drive_id, + 0x80 | (0 << 5) | func_id2, + 0x80] + packet += [0x80 | (sum(packet) & 0x7f)] + + if self.debug: + print([hex(x) for x in packet]) + + packet = bytearray(packet) + n = self.serial.write(packet) + + if n != len(packet): + raise DMMExceptionTruncatedWrite(n, len(packet)) + + host_fids = { + 'Set_Origin': 0x00, + 'Go_Absolute_Pos': 0x01, + 'Make_LinearLine': 0x02, + 'Go_Relative_Pos': 0x03, + 'Make_CircularArc': 0x04, + 'Assign_Drive_ID': 0x05, + 'Read_Drive_ID': 0x06, + 'Set_Drive_Config': 0x07, + 'Read_Drive_Config': 0x08, + 'Read_Drive_Status': 0x09, + 'Turn_ConstSpeed': 0x0a, + 'Square_Wave': 0x0b, + 'Sin_Wave': 0x0c, + 'SS_Frequency': 0x0d, + 'General_Read': 0x0e, + 'ForMotorDefine': 0x0f, + 'Set_MainGain': 0x10, + 'Set_SpeedGain': 0x11, + 'Set_IntGain': 0x12, + 'Set_TrqCons': 0x13, + 'Set_HighSpeed': 0x14, + 'Set_HighAccel': 0x15, + 'Set_Pos_OnRange': 0x16, + 'Set_GearNumber': 0x17, + 'Read_MainGain': 0x18, + 'Read_SpeedGain': 0x19, + 'Read_IntGain': 0x1a, + 'Read_TrqCons': 0x1b, + 'Read_HighSpeed': 0x1c, + 'Read_HighAccel': 0x1d, + 'Read_Pos_OnRange': 0x1e, + 'Read_GearNumber': 0x1f} + + dyn_fids = { + 'Is_MainGain': 0x10, + 'Is_SpeedGain': 0x11, + 'Is_IntGain': 0x12, + 'Is_TrqCons': 0x13, + 'Is_HighSpeed': 0x14, + 'Is_HighAccel': 0x15, + 'Is_Drive_ID': 0x16, + 'Is_Pos_OnRange': 0x17, + 'Is_GearNumber': 0x18, + 'Is_Status': 0x19, + 'Is_Config': 0x1a, + 'Is_AbsPos32': 0x1b, + 'Is_TrqCurrent': 0x1e} + + def read_MainGain(self): + self.general_read2(self.host_fids['Read_MainGain']) + return self.check_response(self.dyn_fids['Is_MainGain']) + + def read_SpeedGain(self): + self.general_read2(self.host_fids['Read_SpeedGain']) + return self.check_response(self.dyn_fids['Is_SpeedGain']) + + def read_IntGain(self): + self.general_read2(self.host_fids['Read_IntGain']) + return self.check_response(self.dyn_fids['Is_IntGain']) + + def read_TrqCons(self): + self.general_read2(self.host_fids['Read_TrqCons']) + return self.check_response(self.dyn_fids['Is_TrqCons']) + + def read_HighSpeed(self): + self.general_read2(self.host_fids['Read_HighSpeed']) + return self.check_response(self.dyn_fids['Is_HighSpeed']) + + def read_HighAccel(self): + self.general_read2(self.host_fids['Read_HighAccel']) + return self.check_response(self.dyn_fids['Is_HighAccel']) + + def read_Pos_OnRange(self): + self.general_read2(self.host_fids['Read_Pos_OnRange']) + return self.check_response(self.dyn_fids['Is_Pos_OnRange']) + + def read_GearNumber(self): + self.general_read2(self.host_fids['Read_GearNumber']) + return self.check_response(self.dyn_fids['Is_GearNumber']) + + def read_Status(self): + self.general_read2(self.host_fids['Read_Drive_Status']) + return self.check_response(self.dyn_fids['Is_Status']) + + def read_Config(self): + self.general_read2(self.host_fids['Read_Drive_Config']) + return self.check_response(self.dyn_fids['Is_Config']) + + def read_AbsPos32(self): + self.general_read(self.dyn_fids['Is_AbsPos32']) + return self.check_response(self.dyn_fids['Is_AbsPos32']) + + def read_TrqCurrent(self): + self.general_read(self.dyn_fids['Is_TrqCurrent']) + return self.check_response(self.dyn_fids['Is_TrqCurrent']) + + def set_Config(self): + func_id2 = self.host_fids['Set_Drive_Config'] + # Toggling the enable bit (b5) does not effect the drive (only tested in analog mode) + cnf = ((0 << 6) | # TBD + (1 << 5) | # b5 = 0 : let Drive servo + # b5 = 1 : let Drive free, motor could be turned freely + (0x01 << 3) | # b4 b3 = 0 : Position servo as default + # 1 : Speed servo + # 2 : Torque servo + # 3 : TBD + (0 << 2) | # b2 = 0 : works as relative mode(default) like normal optical encoder + # b2 = 1 : works as absolute position system, motor will back to absolute zero or POS2(Stored in + # sensor) automatically after power on reset. + (0x03 << 0)) # b1 b0 = 0 : RS232 mode + # 1 : CW,CCW mode + # 2 : Pulse/Dir or (SPI mode Optional) + # 3 : Anlog mode + packet = [0x00 | self.drive_id, + 0x80 | (0 << 5) | func_id2, + 0x80 | cnf] + + packet += [0x80 | (sum(packet) & 0x7f)] + + if self.debug: + print([hex(x) for x in packet]) + + packet = bytearray(packet) + n = self.serial.write(packet) + + if n != len(packet): + raise DMMExceptionTruncatedWrite(n, len(packet)) + + def check_response(self, expected_func_id, max_attempts=3): + for i in range(max_attempts): + func_id, v = self.read_response() + if func_id == expected_func_id: + break + if i == max_attempts: + raise DMMExceptionUnexpectedFunc() + + return v + + def general_read(self, func_id): + self.verify_func_id(func_id) + + packet = [0x00 | self.drive_id, + 0x80 | (0 << 5) | 0x0e, + 0x80 | (func_id & 0x7f)] + packet += [0x80 | (sum(packet) & 0x7f)] + + if self.debug: + print([hex(x) for x in packet]) + + packet = bytearray(packet) + n = self.serial.write(packet) + + if n != len(packet): + raise DMMExceptionTruncatedWrite(n, len(packet)) + + def read_response(self): + if self.debug: + print('read response') + + self.serial.timeout = .05 + + arr = [] + first_byte = False + expected_len = 0 + timed_out = False + while True: + x = self.serial.read(1) + if len(x) == 0: + # timeout occured + timed_out = True + break + x = ord(x) + first_byte = (x & 0x80) == 0 + if first_byte: + if self.debug: + print('first byte') + first_byte = True + expected_len = 0 + arr = [] + + arr += [x] + if len(arr) == 2: + expected_len = 4 + ((x >> 5) & 0x03) + + # x = x & 0x7f + if self.debug: + print(hex(x)) + + if len(arr) == expected_len: + break + + if timed_out: + raise DMMTimeout() + + if self.debug: + print(expected_len, len(arr), [hex(x) for x in arr]) + + def verify_length(arr, expected_n): + n = (arr[1] >> 5) & 0x03 + # print(hex(arr[1]), n, expected_n) + if n != expected_n: + raise DMMExceptionUnexpectedLength(n, expected_n) + + if arr and expected_len == len(arr): + drive_id = arr[0] & 0x7f + func_id = arr[1] & 0x1f + + crc_check = ((sum(arr[:-1]) ^ arr[-1]) & 0x7f) == 0 + if self.debug: + print(crc_check) + print(hex(func_id)) + if crc_check: + if 0x00 <= func_id <= 0x0a or 0x1e < func_id: + print('Unallowed address read:', func_id) + elif func_id == 0x10: + # Is_MainGain + verify_length(arr, 0) + x = arr[2] & 0x7f + + elif func_id == 0x11: + # Is_SpeedGain + verify_length(arr, 0) + x = arr[2] & 0x7f + + elif func_id == 0x12: + # Is_IntGain + verify_length(arr, 0) + x = arr[2] & 0x7f + + elif func_id == 0x13: + # Is_TrqCons + verify_length(arr, 0) + x = arr[2] & 0x7f + + elif func_id == 0x14: + # Is_HighSpeed + verify_length(arr, 0) + x = arr[2] & 0x7f + + elif func_id == 0x15: + # Is_HighAccel + verify_length(arr, 0) + x = arr[2] & 0x7f + + elif func_id == 0x16: + # Is_Drive_ID + verify_length(arr, 0) + x = arr[2] & 0x7f + + elif func_id == 0x17: + # Is_Pos_OnRange + verify_length(arr, 0) + x = arr[2] & 0x7f + + elif func_id == 0x18: + # Is_GearNumber + verify_length(arr, 3) + # self.debug = True + # print([hex(x) for x in arr]) + # x = self.read_signed_val(arr) + # self.debug = False + x = [((arr[2] & 0x7f) << 7) | (arr[3] & 0x7f), + ((arr[4] & 0x7f) << 7) | (arr[5] & 0x7f)] + + elif func_id == 0x19: + # Is_Status + verify_length(arr, 0) + x = arr[2] & 0x7f + d = {} + + if x & (1 << 0): + d['in position'] = '0 (motor busy, or |Pset - Pmotor|> OnRange)' + d['in position'] = '0' + else: + d['in position'] = '1 (On position, i.e. |Pset - Pmotor| < = OnRange)' + d['in position'] = '1' + + if x & (1 << 1): + d['motor'] = 'motor free' + else: + d['motor'] = 'motor servo' + + x2 = (x >> 2) & 0x7 + if x2 == 0: + d['alarm'] = 'No alarm' + d['alarm'] = '' + elif x2 == 1: + d['alarm'] = 'motor lost phase alarm, |Pset - Pmotor|>8192(steps), 180(deg)' + d['alarm'] = 'lost phase' + elif x2 == 2: + d['alarm'] = 'motor over current alarm' + d['alarm'] = 'over current' + elif x2 == 3: + d['alarm'] = 'motor overheat alarm, or motor over power' + d['alarm'] = 'overheat or over power' + elif x2 == 4: + d['alarm'] = 'there is error for CRC code check, refuse to accept current command' + d['alarm'] = 'corrupt command' + elif x2 > 4: + d['alarm'] = 'TBD' + + if x & (1 << 5): + d['motion'] = 'busy (means built in S-curve, linear, circular motion is busy on current motion)' + d['motion'] = 'busy' + else: + d[ + 'motion'] = 'completed (means built in S-curve, linear, circular motion completed; waiting for next motion)' + d['motion'] = 'completed' + + if x & (1 << 6): + d['pin2'] = '1 (pin2 status of JP3,used for Host PC to detect CNC zero position or others)' + d['pin2'] = '1' + else: + d['pin2'] = '0 (pin2 status of JP3,used for Host PC to detect CNC zero position or others)' + d['pin2'] = '0' + + x = d + + elif func_id == 0x1a: + # Is_Config + verify_length(arr, 0) + x = arr[2] & 0x7f + print(hex(x)) + d = {} + + x2 = x & 0x03 + if x2 == 0: + d['input mode'] = 'RS232 mode' + d['input mode'] = 'RS232' + elif x2 == 1: + d['input mode'] = 'CW/CCW mode' + d['input mode'] = 'CW/CCW' + elif x2 == 2: + d['input mode'] = 'Pulse/Dir or (SPI mode Optional)' + d['input mode'] = 'pulse/dir' + elif x2 == 3: + d['input mode'] = 'Analog mode' + d['input mode'] = 'analog' + + if x & (1 << 2): + d['positioning'] = 'works as absolute position system, motor will back to absolute zero or POS2(Stored in sensor) automatically after power on reset.' + d['positioning'] = 'absolute' + else: + d['positioning'] = 'relative mode(default) like normal optical encoder' + d['positioning'] = 'relative' + + x2 = (x >> 3) & 0x03 + if x2 == 0: + d['servo mode'] = 'Position servo as default' + d['servo mode'] = 'position' + elif x2 == 1: + d['servo mode'] = 'Speed servo' + d['servo mode'] = 'speed' + elif x2 == 2: + d['servo mode'] = 'Torque servo' + d['servo mode'] = 'torque' + elif x2 == 3: + d['servo mode'] = 'TBD' + + if x & (1 << 5): + d['enabled'] = 'let drive servo' + d['enabled'] = 'yes' + else: + d['enabled'] = 'let Drive free, motor could be turned freely' + d['enabled'] = 'no' + + if x & (1 << 6): + d['b6'] = '1 TBD' + else: + d['b6'] = '0 TBD' + + x = d + + elif func_id == 0x1b: + # Is_AbsPos32 + x = self.read_signed_val(arr) + + elif func_id in [0x1c, 0x1d]: + print('Unknown address read:', func_id) + + elif func_id == 0x1e: + # Is_TrqCurrent + x = self.read_signed_val(arr) + + return func_id, x + + def read_signed_val(self, arr): + arr2 = arr[2:-1] + + x = sign_extend(arr2[0] << 1, 8) >> 1 + if self.debug: + print('first byte', [hex(arr2[0]), hex(x), x]) + + for y in arr2[1:]: + x = (x << 7) + (y & 0x7f) + + if self.debug: + print(x, [hex(x_) for x_ in arr2]) + + return x + + def measure_speed(self, integration_time=.1): + p1 = self.read_AbsPos32() + t1 = time.time() + time.sleep(integration_time) + p2 = self.read_AbsPos32() + t2 = time.time() + encoder_ppr = 65536. + rpm = (p2 - p1) / (t2 - t1) * 60. / encoder_ppr + return rpm + + def set_speed(self, rpm): + packet = [0x00 | self.drive_id, + 0x80 | (3 << 5) | 0x0a, + 0x80 | ((rpm >> (7 * 3)) & 0x7f), + 0x80 | ((rpm >> (7 * 2)) & 0x7f), + 0x80 | ((rpm >> (7 * 1)) & 0x7f), + 0x80 | ((rpm >> (7 * 0)) & 0x7f)] + packet += [0x80 | (sum(packet) & 0x7f)] + + if self.debug: + print([hex(x) for x in packet]) + + packet = bytearray(packet) + n = self.serial.write(packet) + + if n != len(packet): + raise DMMExceptionTruncatedWrite(n, len(packet)) + + def integrate_TrqCurrent(self, max_dt=1.): + st = time.time() + dt = 0. + arr = [] + while dt < max_dt: + arr += [self.read_TrqCurrent()] + dt = time.time() - st + + # = [dmm.read_TrqCurrent() for _ in range(100)] + # print(arr) + d = {'min': np.min(arr), 'max': np.max(arr), 'mean': np.mean(arr), 'median': np.median(arr), + 'stddev': np.std(arr)} + print(d) + + arr = np.abs(arr) + d = {'min': np.min(arr), 'max': np.max(arr), 'mean': np.mean(arr), 'median': np.median(arr), + 'stddev': np.std(arr)} + print(d) + + def update_TrqCurrent(self, max_dt=1.): + st = time.time() + dt = 0. + st10 = time.time() + self.torque_arr += [(st, self.read_TrqCurrent())] + st11 = time.time() + print('round trip:', st11 - st10) + dt = time.time() - st + + self.torque_arr = [v for v in self.torque_arr if (st - v[0]) <= max_dt] + print('len(arr):', len(self.torque_arr)) + + # = [dmm.read_TrqCurrent() for _ in range(100)] + # print(self.torque_arr) + arr = [v[1] for v in self.torque_arr] + d = {'min': np.min(arr), 'max': np.max(arr), 'mean': np.mean(arr), 'median': np.median(arr), + 'stddev': np.std(arr)} + print(d) + + arr = np.abs(arr) + d = {'min': np.min(arr), 'max': np.max(arr), 'mean': np.mean(arr), 'median': np.median(arr), + 'stddev': np.std(arr)} + print(d) + + arr = [v[1] for v in self.torque_arr] + return np.mean(arr), arr[-1] + + +def find_device(): + devs = [] + + return '/dev/ttyUSB0' + + global serial + if serial.VERSION > '2.5': + import serial.tools.list_ports + + for dev in serial.tools.list_ports.comports(): + if dev.description == 'FT230X Basic UART' and dev.manufacturer == 'FTDI' and dev.product == 'FT230X Basic UART': + devs += [dev.device] + else: + # LinuxCNC 2.7.15 is still tied to Python2 + import glob + devs = glob.glob('/dev/ttyUSB*') + + if not devs: + print('No known serial devices found.') + return '' + + if len(devs) > 1: + print('More than one serial devices found...') + for dev in devs: + print(dev) + print('Selecting first serial device.') + + print('Using device at:', devs[0]) + return devs[0] + + +def serial_loop(dev_fn): + with DMMDrive(dev_fn, 0) as dmm: + d = {} + d['Status'] = dmm.read_Status() + + d['MainGain'] = dmm.read_MainGain() + d['SpeedGain'] = dmm.read_SpeedGain() + d['IntGain'] = dmm.read_IntGain() + d['TrqCons'] = dmm.read_TrqCons() + d['HighSpeed'] = dmm.read_HighSpeed() + d['HighAccel'] = dmm.read_HighAccel() + d['Pos_OnRange'] = dmm.read_Pos_OnRange() + d['GearNumber'] = dmm.read_GearNumber() + d['Status'] = dmm.read_Status() + d['Config'] = dmm.read_Config() + d['AbsPos32'] = dmm.read_AbsPos32() + d['TrqCurrent'] = dmm.read_TrqCurrent() + + if True: + dmm.set_speed(-30) + + time.sleep(.5) + d['Speed'] = dmm.measure_speed() + + print(d) + + while True: + time.sleep(.5) + print(dmm.measure_speed()) + + dmm.integrate_TrqCurrent() + + +def main(): + try: + while True: + dev_fn = find_device() + if dev_fn: + try: + serial_loop(dev_fn) + except DMMTimeout: + print('Timedout') + # raise + except serial.serialutil.SerialException as e: + # SerialException: could not open port /dev/ttyUSB1: [Errno 2] No such file or directory: '/dev/ttyUSB1' + # SerialException: device reports readiness to read but returned no data (device disconnected?) + print('SerialException:', e) + print('Kicked out... resting before retrying.') + time.sleep(1) + except KeyboardInterrupt: + pass + + +if __name__ == "__main__": + main()