adding files

2026-03-21 23:48:08 +01:00
parent eba2b73dec
commit 18f86cfd1e
105 changed files with 13770 additions and 0 deletions
--- a/my-3d/3d_print_filter.py
+++ b/my-3d/3d_print_filter.py
@@ -0,0 +1,58 @@
+#! /usr/bin/python3
+"""changes all words for controlling filament advancment 'E' to 
+more appropriet LinuxCNC join 'U' words
+also changes argument names for the user defined M-codes"""
+import sys
+
+def main(argv):
+
+  openfile = open(argv, 'r')
+  file_in = openfile.readlines()
+  openfile.close()
+
+  file_out = []
+  for l in file_in:
+    line = l.rstrip('\n')
+    #print(line)
+    #if line[0] == ';':
+    #  print('hej')
+    if line.find('E') != -1:
+      words = line.split(' ')
+
+      newArray = []
+      for i in words:
+        if i != '':          
+            if i[0] == 'E':
+               i = i.replace('E', 'U', 1)
+          
+        if len(i) > 0:
+            newArray.append(i)
+            
+      line = ' '.join(newArray)
+       
+    elif line.find('M104 S') != -1:
+        line = line.replace('M104 S', 'M104 P', 1)
+        
+    elif line.find('M106 S') != -1:
+        line = line.replace('M106 S', 'M106 P', 1)
+    
+    elif line.find('M109 S') != -1:
+        line = line.replace('M109 S', 'M109 P', 1)
+        
+    elif line.find('M140 S') != -1:
+        line = line.replace('M140 S', 'M140 P', 1)
+    
+    # Cura seems to forget to divide the wait-value (Pxyz) with 1000
+    # giving really long dwell-times
+    elif line.find('G4') != -1:
+        words = line.split('P')
+        words[1] = str(float(words[1])/1000)
+        line = 'P'.join(words)
+        
+    file_out.append(line)
+      
+  for item in file_out:
+    print(item)
+
+if __name__ == '__main__':
+   main(sys.argv[1])
--- a/my-3d/comms.py
+++ b/my-3d/comms.py
@@ -0,0 +1,140 @@
+#!/usr/bin/python3
+# list available ports with 'python -m serial.tools.list_ports'
+import serial
+import watchdog
+
+## Default values ##
+BAUDRATE = 38400
+"""Default value for the baudrate in Baud (int)."""
+
+PARITY   = 'N' #serial.PARITY_NONE
+"""Default value for the parity. See the pySerial module for documentation. Defaults to serial.PARITY_NONE"""
+
+BYTESIZE = 8
+"""Default value for the bytesize (int)."""
+
+STOPBITS = 1
+"""Default value for the number of stopbits (int)."""
+
+TIMEOUT  = 0.05
+"""Default value for the timeout value in seconds (float)."""
+
+CLOSE_PORT_AFTER_EACH_CALL = False
+"""Default value for port closure setting."""
+
+
+class Message:
+   """'container for messages. keeps two strings <message> and <value>"""
+   def __init__(self, name = '', data = ''):
+      self.name = name
+      self.data = data
+      
+   def __repr__(self):
+      return 'msg: ' + self.name + ' val: ' + self.data
+
+   def copy(self, msg):
+      self.name = msg.name
+      self.data = msg.data
+
+class instrument:
+   """rs232 port"""
+
+   def __init__(self, 
+                port, 
+                msg_handler, 
+                watchdog_enabled = False, 
+                watchdog_timeout = 2,
+                watchdog_periodicity = 0.5):
+      self.serial = serial.Serial()
+      self.serial.port = port
+      self.serial.baudrate = BAUDRATE
+      self.serial.parity = PARITY
+      self.serial.bytesize = BYTESIZE
+      self.serial.stopbits = STOPBITS
+      self.serial.xonxoff = False       # disable software flow control
+      self.serial.timeout = TIMEOUT
+      self.portOpened = False
+      self.msg_hdlr = msg_handler
+
+      self.watchdog_daemon = watchdog.WatchDogDaemon(watchdog_timeout,
+                                                     watchdog_timeout,
+                                                     watchdog_enabled)
+      self.watchdog_daemon.reset = self._watchdogClose #register watchdog reset function
+      self.closed_by_watchdog = False
+
+      self.open()
+
+   def open(self):
+      try:
+         self.serial.open()
+         self.portOpened = True
+         print('comms::opening port')
+      except serial.SerialException:
+         self.portOpened = False
+         print('unable to open port...')
+
+   def close(self):
+      self.serial.close()
+      self.portOpened = False
+      print('comms::closeing port')
+
+   def dataReady(self):
+      if self.portOpened:
+         return self.serial.in_waiting     
+      else:
+         return False
+         
+   def readMessages(self):
+      """reads serial port. creates an array of events
+      output: array of events: 
+      """
+      if self.closed_by_watchdog:
+         self.closed_by_watchdog = False
+         self.open()
+
+      while self.dataReady():
+         msg_str = self._read().split('_', 1)
+
+         if msg_str[0] != '':
+            self.msg_hdlr(Message(*msg_str))
+            self.watchdog_daemon.ping()
+
+   def generateEvent(self, name, data = ''):
+      self.writeMessage(Message(name, data))
+
+   def writeMessage(self, m):
+      self._write(m.name)
+      if  m.data != '':
+         #self._write(m.data)
+         self._write('_' + str(m.data))
+
+      self._write('\n')
+
+   def enableWatchdog(self, enable):
+      self.watchdog_daemon.setEnabled(enable)
+
+   def _write(self, str):
+      if self.portOpened == True:
+         #serial expects a byte-array and not a string
+         self.serial.write(''.join(str).encode('utf-8', 'ignore'))
+     
+   def _read(self):
+      """ returns string read from serial port """
+      b = ''
+      if self.portOpened == True:
+         b = self.serial.read_until() #blocks until '\n' received or timeout
+         
+      return b.decode('utf-8', 'ignore')        #convert byte array to string
+
+   def _watchdogClose(self):
+      self.closed_by_watchdog = True
+      self.close()
+
+   def _is_number(self, s):
+      """  helper function to evaluate if input text represents an integer or not """
+      try:
+         int(s)
+         return True
+      except ValueError:
+         return False
+         
--- a/my-3d/custom-m-codes/M102
+++ b/my-3d/custom-m-codes/M102
@@ -0,0 +1,4 @@
+#!/bin/bash
+# file to turn on parport pin XX to close the IO break out bord relay
+halcmd setp and2.0.in1 1
+exit 0
--- a/my-3d/custom-m-codes/M103
+++ b/my-3d/custom-m-codes/M103
@@ -0,0 +1,4 @@
+#!/bin/bash
+# file to turn on parport pin XX to close the IO break out bord relay
+halcmd setp and2.0.in1 0
+exit 0
--- a/my-3d/custom-m-codes/M104
+++ b/my-3d/custom-m-codes/M104
@@ -0,0 +1,12 @@
+#!/usr/bin/python3
+# M104: Set Extruder Temperature
+import sys
+import hal
+
+_dummy = hal.component("dummy")
+
+P = sys.argv[1]
+setVal = str(int(float(P))) #convert from float-in-a-string to int-in-a-string
+hal.set_p("my-temp-ctrl.ref-temp", setVal)
+
+print("M104 P" + setVal)
--- a/my-3d/custom-m-codes/M105
+++ b/my-3d/custom-m-codes/M105
@@ -0,0 +1,3 @@
+#!/bin/bash
+#do nothing
+exit 0
--- a/my-3d/custom-m-codes/M106
+++ b/my-3d/custom-m-codes/M106
@@ -0,0 +1,6 @@
+#!/bin/bash
+# M106: Set Extruder fan PWM
+temp=$1
+echo fan-pwm $temp
+halcmd sets fan-pwm-value $temp
+exit 0
--- a/my-3d/custom-m-codes/M107
+++ b/my-3d/custom-m-codes/M107
@@ -0,0 +1,4 @@
+#!/bin/bash
+# M107: Fan Off
+halcmd sets fan-pwm-value 0.0
+exit 0
--- a/my-3d/custom-m-codes/M109
+++ b/my-3d/custom-m-codes/M109
@@ -0,0 +1,28 @@
+#!/bin/bash
+# M109: Set Extruder Temperature and Wait
+float_ref=$1
+printf -v int_ref %.0f "$float_ref"
+curr=$(halcmd getp my-temp-ctrl.curr-temp)
+
+halcmd setp my-temp-ctrl.ref-temp $int_ref
+echo curr $curr
+echo ref $int_ref
+
+CNT=0
+let ref=int_ref-2
+# do until reference temp is greater or equal to current temp
+echo curr $curr, ref $ref
+until [ $curr -ge $ref ]
+do
+    sleep 1
+    curr=$(halcmd getp my-temp-ctrl.curr-temp)
+    echo curr $curr, ref $ref
+    echo cnt $CNT
+    let CNT=CNT+1
+    if [ "$CNT" = 60 ]; then
+	echo timeout
+        exit 0
+    fi
+done
+echo M109 P$int_ref
+exit 0
--- a/my-3d/custom-m-codes/M140
+++ b/my-3d/custom-m-codes/M140
@@ -0,0 +1,6 @@
+#!/bin/bash
+# M140: Set Bed Temperature (Fast)
+v=$1
+echo bed-pwm $v
+halcmd sets bed-pwm-value $v
+exit 0
--- a/my-3d/custom-m-codes/M190
+++ b/my-3d/custom-m-codes/M190
@@ -0,0 +1,3 @@
+#!/bin/bash
+#do nothing
+exit 0
--- a/my-3d/custom-m-codes/M84
+++ b/my-3d/custom-m-codes/M84
@@ -0,0 +1,4 @@
+#!/bin/bash
+# file to turn on parport pin XX to close the IO break out bord relay
+halcmd setp and2.0.in1 0
+exit 0
--- a/my-3d/custom-m-codes/disable_steppers.ngc
+++ b/my-3d/custom-m-codes/disable_steppers.ngc
@@ -0,0 +1,4 @@
+o<stop_idle_hold> sub
+M103
+o<stop_idle_hold> endsub
+M2
--- a/my-3d/custom-m-codes/do_nothing.ngc
+++ b/my-3d/custom-m-codes/do_nothing.ngc
@@ -0,0 +1,3 @@
+o<do_nothing> sub
+o<do_nothing> endsub
+M2
--- a/my-3d/custom-m-codes/enable_steppers.ngc
+++ b/my-3d/custom-m-codes/enable_steppers.ngc
@@ -0,0 +1,4 @@
+o<stop_idle_hold> sub
+M102
+o<stop_idle_hold> endsub
+M2
--- a/my-3d/custom-m-codes/stop_idle_hold.ngc
+++ b/my-3d/custom-m-codes/stop_idle_hold.ngc
@@ -0,0 +1,4 @@
+o<stop_idle_hold> sub
+M103
+o<stop_idle_hold> endsub
+M2
--- a/my-3d/custom.hal
+++ b/my-3d/custom.hal
@@ -0,0 +1,40 @@
+loadusr -Wn my-temp-ctrl python3 hal_extruder_temp_ctrl.py --port=/dev/ttyACM0 -c my-temp-ctrl
+loadrt pwmgen output_type=0,0
+loadrt conv_float_u32 count=2
+loadrt and2 count=2 #enabling steppers, enabling extruder
+
+addf conv-float-u32.0 servo-thread
+addf conv-float-u32.1 servo-thread
+addf pwmgen.make-pulses base-thread
+addf pwmgen.update servo-thread
+addf and2.0 servo-thread
+addf and2.1 servo-thread
+
+sets spindle-at-speed true
+
+### PWM for hot bed
+# pwmgen.0.value connected and controlled in M140
+net bed-pwm-value => conv-float-u32.0.in
+net bed-pwm-value => pwmgen.0.value
+setp pwmgen.0.pwm-freq 100.0
+setp pwmgen.0.scale 512 #duty_cycle = (value/scale) + offset, with 1.0 meaning 100%, now with scale 1020 max duty is 25%
+setp pwmgen.0.offset 0
+setp pwmgen.0.enable 1
+setp pwmgen.0.dither-pwm true
+net bed-pwm-out pwmgen.0.pwm => parport.0.pin-14-out
+
+### PWM for extruder fan
+# pwmgen.1.value connected and controlled in M106, M107
+net fan-pwm-value conv-float-u32.1.in
+net fan-pwm-value pwmgen.1.value
+setp pwmgen.1.pwm-freq 100.0
+setp pwmgen.1.scale 255 #duty_cycle = (value/scale) + offset, with 1.0 meaning 100%
+setp pwmgen.1.offset 0
+setp pwmgen.1.enable 1
+setp pwmgen.1.dither-pwm true
+net fan-pwm-out pwmgen.1.pwm => parport.0.pin-16-out
+
+### enable steppers
+net machine-is-on halui.machine.is-on => and2.0.in0
+net and-out and2.0.out => parport.0.pin-17-out
+setp and2.0.in1 1  # start enabled, in1 is written by M102(enable) and M103(disable) 
--- a/my-3d/custom_postgui.hal
+++ b/my-3d/custom_postgui.hal
@@ -0,0 +1,13 @@
+# Include your customized HAL commands here
+# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts
+### enable extruder
+net machine-is-on => and2.1.in0
+net enable-chkbtn and2.1.in1 <= pyvcp.enable-chkbtn
+net temp-ctrl-enable and2.1.out => my-temp-ctrl.enable    
+
+net temp-ctrl-ref my-temp-ctrl.ref-temp-out => pyvcp.ref-temp
+net temp-ctrl-curr my-temp-ctrl.curr-temp   => pyvcp.curr-temp
+
+net bed-pwm-u32value conv-float-u32.0.out => pyvcp.bed-pwm
+net fan-pwm-u32value conv-float-u32.1.out => pyvcp.fan-pwm
+
--- a/my-3d/custompanel.xml
+++ b/my-3d/custompanel.xml
@@ -0,0 +1,126 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+	<labelframe text="Extruder">
+		<font>("Helvetica",12)</font>
+		<!-- Enabled -->
+		<hbox>
+			<relief>RIDGE</relief>
+			<bd>2</bd>
+			<checkbutton>
+				<halpin>"enable-chkbtn"</halpin>
+				<text>"     Enable Extruder Temp Ctrl"</text>
+				<font>("Helvetica",10)</font>
+				<initval>1</initval>
+			</checkbutton>
+		</hbox>
+		<!-- Ref Temp -->
+		<hbox>
+			<relief>RIDGE</relief>
+			<bd>2</bd>
+			<label>
+				<text>"Ref Temp "</text>
+				<font>("Helvetica",10)</font>
+			</label>
+			<u32>
+				<halpin>"ref-temp"</halpin>
+				<font>("Helvetica",10)</font>
+				<format>"6d"</format>
+				<width>6</width>
+			</u32>
+		</hbox>
+		<!-- Curr Temp -->
+		<hbox>
+			<relief>RIDGE</relief>
+			<bd>2</bd>
+			<label>
+				<text>"Curr Temp"</text>
+				<font>("Helvetica",10)</font>
+			</label>
+			<u32>
+				<halpin>"curr-temp"</halpin>
+				<font>("Helvetica",10)</font>
+				<format>"6d"</format>
+				<width>6</width>
+			</u32>
+		</hbox>
+		<hbox>
+			<relief>RIDGE</relief>
+			<bd>2</bd>
+			<label>
+				<text>"Extruder Fan PWM"</text>
+				<font>("Helvetica",10)</font>
+			</label>
+			<u32>
+				<halpin>"fan-pwm"</halpin>
+				<font>("Helvetica",10)</font>
+				<format>"6d"</format>
+				<width>6</width>
+			</u32>
+		</hbox>
+	</labelframe>
+	<labelframe text="Bed">
+		<font>("Helvetica",12)</font>
+		<hbox>
+			<relief>RIDGE</relief>
+			<bd>2</bd>
+			<label>
+				<text>"Bed PWM"</text>
+				<font>("Helvetica",10)</font>
+			</label>
+			<u32>
+				<halpin>"bed-pwm"</halpin>
+				<font>("Helvetica",10)</font>
+				<format>"6d"</format>
+				<width>6</width>
+			</u32>
+		</hbox>
+	</labelframe>
+	<labelframe text="Info">
+		<font>("Helvetica",12)</font>
+		<relief>RIDGE</relief>
+		<bd>2</bd>
+		<hbox>
+			<label>
+				<text>"M102 - Enable steppers"</text>
+				<font>("Helvetica",8)</font>
+			</label>
+		</hbox>	
+		<hbox>
+			<label>
+				<text>"M103 - Disable steppers"</text>
+				<font>("Helvetica",8)</font>
+			</label>
+		</hbox>
+		<hbox>
+			<label>
+				<text>"M104 - Set Extruder Temperature"</text>
+				<font>("Helvetica",8)</font>
+			</label>
+		</hbox>
+		<hbox>
+			<label>
+				<text>"M106 - Set Extruder fan PWM"</text>
+				<font>("Helvetica",8)</font>
+			</label>
+		</hbox>
+		<hbox>
+			<label>
+				<text>"M107 - Turn off Extruder fan"</text>
+				<font>("Helvetica",8)</font>
+			</label>
+		</hbox>
+		<hbox>
+			<label>
+				<text>"M109 - Set Extruder Temperature and Wait"</text>
+				<font>("Helvetica",8)</font>
+			</label>
+		</hbox>
+		<hbox>
+			<label>
+				<text>"M140 - Set Bed Temperature"</text>
+				<font>("Helvetica",8)</font>
+			</label>
+		</hbox>
+	</labelframe>
+</pyvcp>
+
--- a/my-3d/hal_extruder_temp_ctrl.py
+++ b/my-3d/hal_extruder_temp_ctrl.py
@@ -0,0 +1,120 @@
+#!/usr/bin/python3
+import getopt
+import hal
+import sys
+import comms
+import time
+
+class HalAdapter:   
+   def __init__(self, name):
+      self.hal = hal.component(name)  # instanciate the HAL-component
+      self.hal.newpin("ref-temp", hal.HAL_U32, hal.HAL_IN)
+      self.hal.newpin("enable", hal.HAL_BIT, hal.HAL_IN)
+      self.hal.newpin("curr-temp", hal.HAL_U32, hal.HAL_OUT)
+      self.hal.newpin("ref-temp-out", hal.HAL_U32, hal.HAL_OUT)
+      
+      self.hal.ready()
+ 
+   def setReady(self): 
+      self.hal.ready()
+         
+   def readHAL_refTemp(self):
+      """read values from LinuxCNC HAL"""
+      return self.hal['ref-temp']
+
+   def readHAL_enable(self):
+      """read values from LinuxCNC HAL"""
+      return self.hal['enable']
+
+   def writeHAL_currTemp(self, val):
+      """ write internal wrapper pin values to LinuxCNC HAL """
+      self.hal['curr-temp'] = val
+      
+   def writeHAL_refTemp(self, val):
+      """ write internal wrapper pin values to LinuxCNC HAL """
+      self.hal['ref-temp-out'] = val
+
+class TempControllerFacade:
+   def __init__(self, port):
+      self.tempController = comms.instrument(port, self.msgHandler) #serial adaptor
+      self.currTemp = 100
+      self.refTemp = 100
+      self.enable = False
+
+   def __repr__(self):
+      return 'curr temp: ' + str(self.currTemp) + ', ref temp: ' + str(self.refTemp) + ' , enabled; ' + str(self.enable) + '\n'
+
+   def msgHandler(self, m):
+      if (m.name == 'mv'):
+         self.currTemp = int(m.data)
+
+   def setEnable(self, en):
+      self.enable = en
+      print('extruder temp controller  enable: ' + str(self.enable))
+      
+      if en == True:   
+         self.tempController.writeMessage(comms.Message('en' , '1'))
+      else:
+         self.tempController.writeMessage(comms.Message('en' , '0'))
+
+
+   def setRefTemp(self, refT):
+      if self.enable == True:
+         if self.refTemp != refT:
+            self.tempController.writeMessage(comms.Message('sp' , str(refT)))
+            self.refTemp = refT
+   
+
+def main():
+   name = 'my-extruder'
+   port = '/dev/ttyUSB0'     # default serial port to use
+
+   try:
+      opts, args = getopt.getopt(sys.argv[1:], "hp:c:", ["port="])
+   except getopt.GetoptError as err:
+      # print help information and exit:
+      print(err) # will print something like "option -a not recognized"
+      sys.exit(2)
+
+   for o, a in opts:
+      if o == "-h":
+         sys.exit()
+      if o == "-c":
+         name = a
+      elif o in ("-p", "--port"):
+         port = a
+      else:
+         print(o)
+         assert False, "unhandled option"
+
+   h = HalAdapter(name)
+   tc = TempControllerFacade(port)
+   #tc.setEnable(True)
+   
+   print(tc)
+
+   try:
+         while 1:
+            tc.tempController.readMessages()
+
+            if h.readHAL_enable() == 1:
+               if tc.enable == False:
+                  tc.setEnable(True)               
+            else:
+               if tc.enable == True:
+                  tc.setEnable(False) 
+
+            if tc.enable == True:
+               refTemp = h.readHAL_refTemp()
+               tc.setRefTemp(refTemp)   
+
+            h.writeHAL_currTemp(tc.currTemp)
+            h.writeHAL_refTemp(tc.refTemp)
+            #
+            time.sleep(1)
+
+   except KeyboardInterrupt:
+      raise SystemExit
+
+if __name__ == '__main__':
+   main()
--- a/my-3d/linuxcnc.var
+++ b/my-3d/linuxcnc.var
@@ -0,0 +1,119 @@
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+5217	270.164780
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+5220	1.000000
+5221	7.154117
+5222	-1.718917
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+5389	0.000000
+5390	0.000000
--- a/my-3d/my-3d.hal
+++ b/my-3d/my-3d.hal
@@ -0,0 +1,121 @@
+# Generated by stepconf 1.1 at Fri May  1 19:07:04 2020
+# If you make changes to this file, they will be
+# overwritten when you run stepconf again
+loadrt [KINS]KINEMATICS
+#autoconverted  trivkins
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS 
+loadrt hal_parport cfg="0 out"
+setp parport.0.reset-time 5000
+loadrt stepgen step_type=0,0,0,0
+#loadrt pwmgen output_type=0
+
+addf parport.0.read base-thread
+addf stepgen.make-pulses base-thread
+#addf pwmgen.make-pulses base-thread
+addf parport.0.write base-thread
+addf parport.0.reset base-thread
+
+addf stepgen.capture-position servo-thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+addf stepgen.update-freq servo-thread
+#addf pwmgen.update servo-thread
+
+#net spindle-cmd-rpm => pwmgen.0.value
+#net spindle-on <= spindle.0.on => pwmgen.0.enable
+#net spindle-pwm <= pwmgen.0.pwm
+#setp pwmgen.0.pwm-freq 100.0
+#setp pwmgen.0.scale 9333.33333333
+#setp pwmgen.0.offset 0.0928571428571
+#setp pwmgen.0.dither-pwm true
+#net spindle-cmd-rpm     <= spindle.0.speed-out
+#net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
+#net spindle-cmd-rps     <= spindle.0.speed-out-rps
+#net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
+net spindle-at-speed    => spindle.0.at-speed
+#net spindle-cw <= spindle.0.forward
+
+net xdir            => parport.0.pin-02-out
+net xstep           => parport.0.pin-03-out
+setp parport.0.pin-03-out-reset 1
+net ydir            => parport.0.pin-04-out
+net ystep           => parport.0.pin-05-out
+setp parport.0.pin-05-out-reset 1
+setp parport.0.pin-06-out-invert 1
+net zdir            => parport.0.pin-06-out
+net zstep           => parport.0.pin-07-out
+setp parport.0.pin-07-out-reset 1
+setp parport.0.pin-08-out-invert 1
+net udir            => parport.0.pin-08-out
+net ustep           => parport.0.pin-09-out
+setp parport.0.pin-09-out-reset 1
+
+
+#net spindle-pwm     => parport.0.pin-08-out
+#net spindle-cw      => parport.0.pin-17-out
+net min-home-x      <= parport.0.pin-11-in
+net max-home-y      <= parport.0.pin-10-in
+net max-home-z      <= parport.0.pin-12-in
+
+setp stepgen.0.position-scale [JOINT_0]SCALE
+setp stepgen.0.steplen 1
+setp stepgen.0.stepspace 0
+setp stepgen.0.dirhold 35000
+setp stepgen.0.dirsetup 35000
+setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
+net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
+net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
+net xstep <= stepgen.0.step
+net xdir <= stepgen.0.dir
+net xenable joint.0.amp-enable-out => stepgen.0.enable
+net min-home-x => joint.0.home-sw-in
+net min-home-x => joint.0.neg-lim-sw-in
+
+setp stepgen.1.position-scale [JOINT_1]SCALE
+setp stepgen.1.steplen 1
+setp stepgen.1.stepspace 0
+setp stepgen.1.dirhold 35000
+setp stepgen.1.dirsetup 35000
+setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
+net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
+net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
+net ystep <= stepgen.1.step
+net ydir <= stepgen.1.dir
+net yenable joint.1.amp-enable-out => stepgen.1.enable
+net max-home-y => joint.1.home-sw-in
+net max-home-y => joint.1.pos-lim-sw-in
+
+setp stepgen.2.position-scale [JOINT_2]SCALE
+setp stepgen.2.steplen 1
+setp stepgen.2.stepspace 0
+setp stepgen.2.dirhold 35000
+setp stepgen.2.dirsetup 35000
+setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
+net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
+net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
+net zstep <= stepgen.2.step
+net zdir <= stepgen.2.dir
+net zenable joint.2.amp-enable-out => stepgen.2.enable
+net max-home-z => joint.2.home-sw-in
+net max-home-z => joint.2.pos-lim-sw-in
+
+setp stepgen.3.position-scale [JOINT_3]SCALE
+setp stepgen.3.steplen 1
+setp stepgen.3.stepspace 0
+setp stepgen.3.dirhold 35000
+setp stepgen.3.dirsetup 35000
+setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
+net upos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
+net upos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
+net ustep <= stepgen.3.step
+net udir <= stepgen.3.dir
+net uenable joint.3.amp-enable-out => stepgen.3.enable
+
+net estop-out <= iocontrol.0.user-enable-out
+net estop-out => iocontrol.0.emc-enable-in
+
+loadusr -W hal_manualtoolchange
+net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
+net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
+net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
+net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
--- a/my-3d/my-3d.ini
+++ b/my-3d/my-3d.ini
@@ -0,0 +1,204 @@
+# This config file was created 2021-02-04 16:39:45.407451 by the update_ini script
+# The original config files may be found in the /home/johan/linuxcnc/configs/test/test.old directory
+
+# Generated by stepconf 1.1 at Fri May  1 19:07:04 2020
+# If you make changes to this file, they will be
+# overwritten when you run stepconf again
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+MACHINE = my-3d
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+EDITOR = gedit
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+ARCDIVISION = 64
+GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
+MAX_FEED_OVERRIDE = 1.2
+MIN_SPINDLE_OVERRIDE = 0.5
+MAX_SPINDLE_OVERRIDE = 1.2
+DEFAULT_LINEAR_VELOCITY = 2.50
+MIN_LINEAR_VELOCITY = 0
+MAX_LINEAR_VELOCITY = 25.00
+DEFAULT_ANGULAR_VELOCITY = 36.00
+MIN_ANGULAR_VELOCITY = 0
+MAX_ANGULAR_VELOCITY = 360.00
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+PROGRAM_PREFIX = /home/johan/linuxcnc/nc_files
+INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
+PYVCP = custompanel.xml
+GEOMETRY = XYZ
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+PROGRAM_EXTENSION = .gcode 3D Printer
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+gcode = python /home/johan/linuxcnc/configs/my-3d/3d_print_filter.py
+
+[RS274NGC]
+PARAMETER_FILE = linuxcnc.var
+SUBROUTINE_PATH=/home/johan/linuxcnc/configs/my-3d/custom-m-codes
+USER_M_PATH=/home/johan/linuxcnc/configs/my-3d/custom-m-codes
+REMAP=M17 modalgroup=10 ngc=enable_steppers
+REMAP=M18 modalgroup=10 ngc=disable_steppers
+REMAP=M84 modalgroup=10 ngc=stop_idle_hold
+REMAP=M82 modalgroup=10 ngc=do_nothing
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+BASE_PERIOD = 100000
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[HAL]
+HALUI = halui
+HALFILE = my-3d.hal
+HALFILE = custom.hal
+POSTGUI_HALFILE = custom_postgui.hal
+
+[HALUI]
+
+[TRAJ]
+COORDINATES = XYZU
+JOINTS =      3
+HOME =        0 0 0 0
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 25.0
+MAX_LINEAR_VELOCITY = 25.0
+DEFAULT_LINEAR_ACCELERATION = 50.0
+MAX_LINEAR_ACCELERATION = 50.0
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+TOOL_TABLE = tool.tbl
+
+
+[KINS]
+KINEMATICS = trivkins coordinates=XYZU
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 4
+
+# X axis
+#prescale = 2, steps/rev = 200, 2  mm/rev
+#scale = 200*2/2 steps/mm
+[AXIS_X]
+MIN_LIMIT = -90.0
+MAX_LIMIT = 90.0
+MAX_VELOCITY = 25.0
+MAX_ACCELERATION = 50.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 25.0
+MAX_ACCELERATION = 50.0
+STEPGEN_MAXACCEL = 62.5
+SCALE = 200.0
+FERROR = 1
+MIN_FERROR = .25
+MIN_LIMIT = -90.0
+MAX_LIMIT = 90.0
+HOME_OFFSET = -91.400000
+HOME_SEARCH_VEL = -10.0
+HOME_LATCH_VEL = -1.50
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 0
+
+# Y axis
+#prescale = 2, steps/rev = 200, 2  mm/rev
+#scale = 200*2/2 steps/mm
+[AXIS_Y]
+MIN_LIMIT = -90.0
+MAX_LIMIT = 90.0
+MAX_VELOCITY = 25.0
+MAX_ACCELERATION = 50.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 25.0
+MAX_ACCELERATION = 50.0
+STEPGEN_MAXACCEL = 62.5
+SCALE = 200.0
+FERROR = 1
+MIN_FERROR = .25
+MIN_LIMIT = -90.0
+MAX_LIMIT = 90.0
+HOME_OFFSET = 66.00000
+HOME_SEARCH_VEL = 10.0
+HOME_LATCH_VEL = 2.5
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 0
+
+# Z axis
+#prescale = 8, steps/rev = 200, 1  mm/rev
+#scale = 200*8/1 = 1600 steps/mm
+[AXIS_Z]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 51.7
+MAX_VELOCITY = 6.0
+MAX_ACCELERATION = 50.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 48.0
+MAX_VELOCITY = 6.0
+MAX_ACCELERATION = 50.0
+STEPGEN_MAXACCEL = 62.5
+SCALE = 1600.0
+FERROR = 1
+MIN_FERROR = .25
+MIN_LIMIT = -10.0
+MAX_LIMIT = 51.7
+HOME_OFFSET = 51.7
+HOME_SEARCH_VEL = 7.500000
+HOME_LATCH_VEL = 0.312500
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 0
+
+# U axis
+#prescale = 4, steps/rev = 200, 34.069  mm/rev (D=10.85, pi*10.85=34.069)
+#scale = 200*4/34.069 steps/mm
+[AXIS_U]
+MIN_LIMIT = -1e99
+MAX_LIMIT = 1e99
+MAX_VELOCITY = 30
+MAX_ACCELERATION = 50.0
+
+[JOINT_3]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 30
+MAX_ACCELERATION = 50.0
+STEPGEN_MAXACCEL = 62.5
+SCALE = 23.5    
+BACKLASH = 0.000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT = -1e99
+MAX_LIMIT = 1e99
+FERROR = 1
+MIN_FERROR = .25
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_USE_INDEX = NO
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = NO
--- a/my-3d/my-draw.hal
+++ b/my-3d/my-draw.hal
@@ -0,0 +1,101 @@
+# Generated by stepconf 1.1 at Fri May  1 19:07:04 2020
+# If you make changes to this file, they will be
+# overwritten when you run stepconf again
+loadrt [KINS]KINEMATICS
+#autoconverted  trivkins
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS 
+loadrt hal_parport cfg="0 out"
+setp parport.0.reset-time 5000
+loadrt stepgen step_type=0,0,0
+#loadrt pwmgen output_type=0
+
+addf parport.0.read base-thread
+addf stepgen.make-pulses base-thread
+#addf pwmgen.make-pulses base-thread
+addf parport.0.write base-thread
+addf parport.0.reset base-thread
+
+addf stepgen.capture-position servo-thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+addf stepgen.update-freq servo-thread
+
+net spindle-at-speed    => spindle.0.at-speed
+
+net xdir            => parport.0.pin-02-out
+net xstep           => parport.0.pin-03-out
+setp parport.0.pin-03-out-reset 1
+net ydir            => parport.0.pin-04-out
+net ystep           => parport.0.pin-05-out
+setp parport.0.pin-05-out-reset 1
+setp parport.0.pin-06-out-invert 1
+net zdir            => parport.0.pin-06-out
+net zstep           => parport.0.pin-07-out
+setp parport.0.pin-07-out-reset 1
+setp parport.0.pin-08-out-invert 1
+
+net min-home-x      <= parport.0.pin-11-in
+net max-home-y      <= parport.0.pin-10-in
+net max-home-z      <= parport.0.pin-12-in
+
+setp stepgen.0.position-scale [JOINT_0]SCALE
+setp stepgen.0.steplen 1
+setp stepgen.0.stepspace 0
+setp stepgen.0.dirhold 35000
+setp stepgen.0.dirsetup 35000
+setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
+net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
+net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
+net xstep <= stepgen.0.step
+net xdir <= stepgen.0.dir
+net xenable joint.0.amp-enable-out => stepgen.0.enable
+net min-home-x => joint.0.home-sw-in
+net min-home-x => joint.0.neg-lim-sw-in
+
+setp stepgen.1.position-scale [JOINT_1]SCALE
+setp stepgen.1.steplen 1
+setp stepgen.1.stepspace 0
+setp stepgen.1.dirhold 35000
+setp stepgen.1.dirsetup 35000
+setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
+net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
+net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
+net ystep <= stepgen.1.step
+net ydir <= stepgen.1.dir
+net yenable joint.1.amp-enable-out => stepgen.1.enable
+net max-home-y => joint.1.home-sw-in
+net max-home-y => joint.1.pos-lim-sw-in
+
+setp stepgen.2.position-scale [JOINT_2]SCALE
+setp stepgen.2.steplen 1
+setp stepgen.2.stepspace 0
+setp stepgen.2.dirhold 35000
+setp stepgen.2.dirsetup 35000
+setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
+net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
+net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
+net zstep <= stepgen.2.step
+net zdir <= stepgen.2.dir
+net zenable joint.2.amp-enable-out => stepgen.2.enable
+net max-home-z => joint.2.home-sw-in
+net max-home-z => joint.2.pos-lim-sw-in
+
+net estop-out <= iocontrol.0.user-enable-out
+net estop-out => iocontrol.0.emc-enable-in
+
+sets spindle-at-speed true
+
+loadusr -W hal_manualtoolchange
+net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
+net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
+net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
+net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+
+### enable steppers
+net and-in1 halui.machine.is-on => parport.0.pin-17-out
+
+#disable hot bed
+setp parport.0.pin-14-out 0
+
+#disable extruderfan
+setp parport.0.pin-16-out 0
--- a/my-3d/my-draw.ini
+++ b/my-3d/my-draw.ini
@@ -0,0 +1,167 @@
+# This config file was created 2021-02-04 16:39:45.407451 by the update_ini script
+# The original config files may be found in the /home/johan/linuxcnc/configs/test/test.old directory
+
+# Generated by stepconf 1.1 at Fri May  1 19:07:04 2020
+# If you make changes to this file, they will be
+# overwritten when you run stepconf again
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+MACHINE = my-draw
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+EDITOR = gedit
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+ARCDIVISION = 64
+GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
+MAX_FEED_OVERRIDE = 1.2
+MIN_SPINDLE_OVERRIDE = 0.5
+MAX_SPINDLE_OVERRIDE = 1.2
+DEFAULT_LINEAR_VELOCITY = 2.50
+MIN_LINEAR_VELOCITY = 0
+MAX_LINEAR_VELOCITY = 25.00
+DEFAULT_ANGULAR_VELOCITY = 36.00
+MIN_ANGULAR_VELOCITY = 0
+MAX_ANGULAR_VELOCITY = 360.00
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+PROGRAM_PREFIX = /home/johan/linuxcnc/nc_files
+INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
+GEOMETRY = XYZ
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+PROGRAM_EXTENSION = .gcode 3D Printer
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+
+[RS274NGC]
+PARAMETER_FILE = linuxcnc.var
+SUBROUTINE_PATH=/home/johan/linuxcnc/configs/my-3d/custom-m-codes
+USER_M_PATH=/home/johan/linuxcnc/configs/my-3d/custom-m-codes
+
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+BASE_PERIOD = 100000
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[HAL]
+HALUI = halui
+HALFILE = my-draw.hal
+
+[HALUI]
+
+[TRAJ]
+COORDINATES = XYZ
+JOINTS =      3
+HOME =        0 0 0
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 25.0
+MAX_LINEAR_VELOCITY = 25.0
+MAX_LINEAR_ACCELERATION = 50.0
+DEFAULT_LINEAR_ACCELERATION = 50.0
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+TOOL_TABLE = tool.tbl
+
+
+[KINS]
+KINEMATICS = trivkins coordinates=XYZ
+JOINTS = 3
+
+# X axis
+#prescale = 2, steps/rev = 200, 2  mm/rev
+#scale = 200*2/2 steps/mm
+[AXIS_X]
+MIN_LIMIT = -90.0
+MAX_LIMIT = 90.0
+MAX_VELOCITY = 25.0
+MAX_ACCELERATION = 50.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 25.0
+MAX_ACCELERATION = 50.0
+STEPGEN_MAXACCEL = 62.5
+SCALE = 200.0
+FERROR = 1
+MIN_FERROR = .25
+MIN_LIMIT = -90.0
+MAX_LIMIT = 90.0
+HOME_OFFSET = -91.400000
+HOME_SEARCH_VEL = -10.0
+HOME_LATCH_VEL = -1.50
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 0
+
+# Y axis
+#prescale = 2, steps/rev = 200, 2  mm/rev
+#scale = 200*2/2 steps/mm
+[AXIS_Y]
+MIN_LIMIT = -90.0
+MAX_LIMIT = 90.0
+MAX_VELOCITY = 25.0
+MAX_ACCELERATION = 50.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 25.0
+MAX_ACCELERATION = 50.0
+STEPGEN_MAXACCEL = 62.5
+SCALE = 200.0
+FERROR = 1
+MIN_FERROR = .25
+MIN_LIMIT = -90.0
+MAX_LIMIT = 90.0
+HOME_OFFSET = 66.00000
+HOME_SEARCH_VEL = 10.0
+HOME_LATCH_VEL = 2.5
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 0
+
+# Z axis
+#prescale = 8, steps/rev = 200, 1  mm/rev
+#scale = 200*8/1 = 1600 steps/mm
+[AXIS_Z]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 51.7
+MAX_VELOCITY = 6.0
+MAX_ACCELERATION = 50.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 48.0
+MAX_VELOCITY = 6.0
+MAX_ACCELERATION = 50.0
+STEPGEN_MAXACCEL = 62.5
+SCALE = 1600.0
+FERROR = 1
+MIN_FERROR = .25
+MIN_LIMIT = -10.0
+MAX_LIMIT = 51.7
+HOME_OFFSET = 51.7
+HOME_SEARCH_VEL = 7.500000
+HOME_LATCH_VEL = 0.312500
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 0
--- a/my-3d/tool.tbl
+++ b/my-3d/tool.tbl
@@ -0,0 +1,4 @@
+T1 P1 Z50 D12.0 ;12mm end mill 
+T2 P2 Z24.1 D8.0 ;8mm end mill 
+T3 P3 Z26 D4.2 ;m5 tap drill 
+T99999 P99999 Z0.1 ;big tool number 
--- a/my-3d/watchdog.py
+++ b/my-3d/watchdog.py
@@ -0,0 +1,93 @@
+#! /usr/bin/python3
+import time
+import threading
+import sys
+
+class WatchDog():
+   def __init__(self, timeout):
+      self.timeout = timeout
+      self.last_ping_time = time.time()
+
+   def ping(self):
+      self.last_ping_time = time.time()
+
+   def check(self):
+      if time.time() - self.last_ping_time > self.timeout:
+         self.last_ping_time = time.time() #reset tick time
+         return True
+      else:
+         return False
+         
+   def insideMargin(self):
+      if time.time() - self.last_ping_time <= self.timeout:
+         return True
+      else:
+         self.last_ping_time = time.time() #reset tick time
+         return False
+
+
+class WatchDogDaemon(threading.Thread):
+   def __init__(self, timeout, periodicity, enable = True):
+      self.wd = WatchDog(timeout)
+      self.periodicity = periodicity
+      self.enabled = enable
+      self._start()
+
+   def _start(self):
+      threading.Thread.__init__(self)
+      self.daemon = True
+      self.start()
+
+   def ping(self):
+      self.wd.ping()
+
+   def run(self):
+      print("Starting watchdog deamon...")
+      while(self.enabled):
+         time.sleep(self.periodicity)
+
+         if not self.wd.insideMargin():
+            self.reset()
+
+      print("stopping watchdog deamon...")
+
+   def setEnabled(self, enabled):
+      if self.enabled == False and enabled == True:
+         self.enabled = True
+         self.wd.ping() # reset tick time
+         self._start()
+
+      if enabled == False:
+         self.enabled = False
+
+   def reset(self):
+      """to be overriden by client"""
+      pass
+
+
+def reset():
+   print('reset')
+
+def main():
+   i = 0
+   wdd = WatchDogDaemon(2, 0.5, False)
+   wdd.reset = reset
+   try:
+      while 1:
+         time.sleep(1)
+         print('main_' + str(i))
+         print(wdd.is_alive())
+         i = i+1
+
+         if i == 5 or i == 15:
+            wdd.setEnabled(True)
+         if i == 10:
+            wdd.setEnabled(False)
+
+         wdd.ping()
+
+   except KeyboardInterrupt:
+      raise SystemExit
+
+if __name__ == '__main__':
+   main()