work in progress !!
https://www.youtube.com/watch?v=mJ1qc-PS2gQ
- espnow support (incl. dongle/bridge)
- adding toggle support to the buttons (incl oneshot signals)
- controling LED's and axis switching from python
- transmitting only the diff of the encoder's
- interception of connection problems
- adding LIPO with wireless and USB charger
- adding ADC to check LIPO voltage
- better GUI / maybe touch support (if i found a free usable pin)
- more values/halpins to display
- full hal examples
| number | name | link |
|---|---|---|
| 1 | S2 Mini V1.0.0 ESP32-S2 Modul | https://www.amazon.de/dp/B0CJHWD986 |
| 1 | 2.4Zoll TFT-Display (ILI9341) | https://www.amazon.de/dp/B0CC8V17GS |
| 1 | Emergency stop switch | https://www.amazon.de/dp/B08ZS8HZYV |
| 1 | rotary encoder | https://www.amazon.de/dp/B07MFVK8QT |
| 3 | rotary encoder with push button | https://www.amazon.de/dp/B096NYWY2M |
| 6 | 3mm LED | https://www.amazon.de/dp/B07Q1813PN |
| 14 | 12x12 momentary switch | https://www.amazon.de/dp/B07JBXS6RC |
| 1 | Resistor ~680Ohm |
| esp | func | tft | keys | leds | comment |
|---|---|---|---|---|---|
| 14 | ADC | Batt-Voltage | |||
| 33 | DC | D/C | |||
| 34 | CS | CS | |||
| 36 | SCK | SCK | |||
| 35 | MOSI | SDI | |||
| 3V3 | VCC | ||||
| GND | GND | ||||
| 3V3 | LED | ||||
| 3V3 | RESET | ||||
| 10 | COL0 | X | X | ||
| 8 | COL1 | X | X | ||
| 6 | COL2 | X | X | ||
| 4 | COL3 | X | X | ||
| 2 | COL4 | X | X | ||
| 1 | COL5 | X | X | ||
| 7 | ROW0 | X | |||
| 9 | ROW1 | X | |||
| 5 | ROW2 | X | |||
| 11 | ROW3 | X | |||
| 13 | ENC1_A | Jog-Wheel | |||
| 12 | ENC1_B | Jog-Wheel | |||
| 16 | ENC2_A | Feedrate | |||
| 17 | ENC2_B | Feedrate | |||
| 18 | ENC3_A | Rapid | |||
| 21 | ENC3_B | Rapid | |||
| 38 | ENC4_A | Spindle | |||
| 37 | ENC4_B | Spindle |
you need a working platformio installation (https://platformio.org/install)
cd pendant
pio run --target upload
if you need a wireless connection (needs 2. ESP32S2):
cd dongle
pio run --target upload
sudo cp linuxcnc/mpg.py /usr/local/bin/mpg
sudo chmod 755 /usr/local/bin/mpg
| name | dir | type |
|---|---|---|
| mpg.axis.a.homed | IN | bit |
| mpg.axis.a.jog-counts | OUT | s32 |
| mpg.axis.a.pos | IN | float |
| mpg.axis.b.homed | IN | bit |
| mpg.axis.b.jog-counts | OUT | s32 |
| mpg.axis.b.pos | IN | float |
| mpg.axis.c.homed | IN | bit |
| mpg.axis.c.jog-counts | OUT | s32 |
| mpg.axis.c.pos | IN | float |
| mpg.axis.selected | IN | u32 |
| mpg.axis.x.homed | IN | bit |
| mpg.axis.x.jog-counts | OUT | s32 |
| mpg.axis.x.pos | IN | float |
| mpg.axis.y.homed | IN | bit |
| mpg.axis.y.jog-counts | OUT | s32 |
| mpg.axis.y.pos | IN | float |
| mpg.axis.z.homed | IN | bit |
| mpg.axis.z.jog-counts | OUT | s32 |
| mpg.axis.z.pos | IN | float |
| mpg.button.01 | OUT | bit |
| mpg.button.01-long | OUT | bit |
| mpg.button.01-long-not | OUT | bit |
| mpg.button.01-long-toggle | OUT | bit |
| mpg.button.01-long-toggle-not | OUT | bit |
| mpg.button.01-long-toggle-off | OUT | bit |
| mpg.button.01-long-toggle-on | OUT | bit |
| mpg.button.01-not | OUT | bit |
| mpg.button.01-toggle | OUT | bit |
| mpg.button.01-toggle-not | OUT | bit |
| mpg.button.01-toggle-off | OUT | bit |
| mpg.button.01-toggle-on | OUT | bit |
| mpg.button.01b | OUT | bit |
| mpg.button.01b-long | OUT | bit |
| mpg.button.01b-long-not | OUT | bit |
| mpg.button.01b-long-toggle | OUT | bit |
| mpg.button.01b-long-toggle-not | OUT | bit |
| mpg.button.01b-long-toggle-off | OUT | bit |
| mpg.button.01b-long-toggle-on | OUT | bit |
| mpg.button.01b-not | OUT | bit |
| mpg.button.01b-toggle | OUT | bit |
| mpg.button.01b-toggle-not | OUT | bit |
| mpg.button.01b-toggle-off | OUT | bit |
| mpg.button.01b-toggle-on | OUT | bit |
| mpg.button.02 | OUT | bit |
| mpg.button.02-long | OUT | bit |
| mpg.button.02-long-not | OUT | bit |
| mpg.button.02-long-toggle | OUT | bit |
| mpg.button.02-long-toggle-not | OUT | bit |
| mpg.button.02-long-toggle-off | OUT | bit |
| mpg.button.02-long-toggle-on | OUT | bit |
| mpg.button.02-not | OUT | bit |
| mpg.button.02-toggle | OUT | bit |
| mpg.button.02-toggle-not | OUT | bit |
| mpg.button.02-toggle-off | OUT | bit |
| mpg.button.02-toggle-on | OUT | bit |
| mpg.button.03 | OUT | bit |
| mpg.button.03-long | OUT | bit |
| mpg.button.03-long-not | OUT | bit |
| mpg.button.03-long-toggle | OUT | bit |
| mpg.button.03-long-toggle-not | OUT | bit |
| mpg.button.03-long-toggle-off | OUT | bit |
| mpg.button.03-long-toggle-on | OUT | bit |
| mpg.button.03-not | OUT | bit |
| mpg.button.03-toggle | OUT | bit |
| mpg.button.03-toggle-not | OUT | bit |
| mpg.button.03-toggle-off | OUT | bit |
| mpg.button.03-toggle-on | OUT | bit |
| mpg.button.04 | OUT | bit |
| mpg.button.04-long | OUT | bit |
| mpg.button.04-long-not | OUT | bit |
| mpg.button.04-long-toggle | OUT | bit |
| mpg.button.04-long-toggle-not | OUT | bit |
| mpg.button.04-long-toggle-off | OUT | bit |
| mpg.button.04-long-toggle-on | OUT | bit |
| mpg.button.04-not | OUT | bit |
| mpg.button.04-toggle | OUT | bit |
| mpg.button.04-toggle-not | OUT | bit |
| mpg.button.04-toggle-off | OUT | bit |
| mpg.button.04-toggle-on | OUT | bit |
| mpg.button.05 | OUT | bit |
| mpg.button.05-long | OUT | bit |
| mpg.button.05-long-not | OUT | bit |
| mpg.button.05-long-toggle | OUT | bit |
| mpg.button.05-long-toggle-not | OUT | bit |
| mpg.button.05-long-toggle-off | OUT | bit |
| mpg.button.05-long-toggle-on | OUT | bit |
| mpg.button.05-not | OUT | bit |
| mpg.button.05-toggle | OUT | bit |
| mpg.button.05-toggle-not | OUT | bit |
| mpg.button.05-toggle-off | OUT | bit |
| mpg.button.05-toggle-on | OUT | bit |
| mpg.button.06 | OUT | bit |
| mpg.button.06-long | OUT | bit |
| mpg.button.06-long-not | OUT | bit |
| mpg.button.06-long-toggle | OUT | bit |
| mpg.button.06-long-toggle-not | OUT | bit |
| mpg.button.06-long-toggle-off | OUT | bit |
| mpg.button.06-long-toggle-on | OUT | bit |
| mpg.button.06-not | OUT | bit |
| mpg.button.06-toggle | OUT | bit |
| mpg.button.06-toggle-not | OUT | bit |
| mpg.button.06-toggle-off | OUT | bit |
| mpg.button.06-toggle-on | OUT | bit |
| mpg.button.06b | OUT | bit |
| mpg.button.06b-long | OUT | bit |
| mpg.button.06b-long-not | OUT | bit |
| mpg.button.06b-long-toggle | OUT | bit |
| mpg.button.06b-long-toggle-not | OUT | bit |
| mpg.button.06b-long-toggle-off | OUT | bit |
| mpg.button.06b-long-toggle-on | OUT | bit |
| mpg.button.06b-not | OUT | bit |
| mpg.button.06b-toggle | OUT | bit |
| mpg.button.06b-toggle-not | OUT | bit |
| mpg.button.06b-toggle-off | OUT | bit |
| mpg.button.06b-toggle-on | OUT | bit |
| mpg.button.enc01 | OUT | bit |
| mpg.button.enc01-long | OUT | bit |
| mpg.button.enc01-long-not | OUT | bit |
| mpg.button.enc01-long-toggle | OUT | bit |
| mpg.button.enc01-long-toggle-not | OUT | bit |
| mpg.button.enc01-long-toggle-off | OUT | bit |
| mpg.button.enc01-long-toggle-on | OUT | bit |
| mpg.button.enc01-not | OUT | bit |
| mpg.button.enc01-toggle | OUT | bit |
| mpg.button.enc01-toggle-not | OUT | bit |
| mpg.button.enc01-toggle-off | OUT | bit |
| mpg.button.enc01-toggle-on | OUT | bit |
| mpg.button.enc02 | OUT | bit |
| mpg.button.enc02-long | OUT | bit |
| mpg.button.enc02-long-not | OUT | bit |
| mpg.button.enc02-long-toggle | OUT | bit |
| mpg.button.enc02-long-toggle-not | OUT | bit |
| mpg.button.enc02-long-toggle-off | OUT | bit |
| mpg.button.enc02-long-toggle-on | OUT | bit |
| mpg.button.enc02-not | OUT | bit |
| mpg.button.enc02-toggle | OUT | bit |
| mpg.button.enc02-toggle-not | OUT | bit |
| mpg.button.enc02-toggle-off | OUT | bit |
| mpg.button.enc02-toggle-on | OUT | bit |
| mpg.button.enc03 | OUT | bit |
| mpg.button.enc03-long | OUT | bit |
| mpg.button.enc03-long-not | OUT | bit |
| mpg.button.enc03-long-toggle | OUT | bit |
| mpg.button.enc03-long-toggle-not | OUT | bit |
| mpg.button.enc03-long-toggle-off | OUT | bit |
| mpg.button.enc03-long-toggle-on | OUT | bit |
| mpg.button.enc03-not | OUT | bit |
| mpg.button.enc03-toggle | OUT | bit |
| mpg.button.enc03-toggle-not | OUT | bit |
| mpg.button.enc03-toggle-off | OUT | bit |
| mpg.button.enc03-toggle-on | OUT | bit |
| mpg.button.estop | OUT | bit |
| mpg.button.estop-not | OUT | bit |
| mpg.button.estop-toggle | OUT | bit |
| mpg.button.estop-toggle-not | OUT | bit |
| mpg.button.estop-toggle-off | OUT | bit |
| mpg.button.estop-toggle-on | OUT | bit |
| mpg.button.sel01 | OUT | bit |
| mpg.button.sel01-long | OUT | bit |
| mpg.button.sel01-long-not | OUT | bit |
| mpg.button.sel01-long-toggle | OUT | bit |
| mpg.button.sel01-long-toggle-not | OUT | bit |
| mpg.button.sel01-long-toggle-off | OUT | bit |
| mpg.button.sel01-long-toggle-on | OUT | bit |
| mpg.button.sel01-not | OUT | bit |
| mpg.button.sel01-toggle | OUT | bit |
| mpg.button.sel01-toggle-not | OUT | bit |
| mpg.button.sel01-toggle-off | OUT | bit |
| mpg.button.sel01-toggle-on | OUT | bit |
| mpg.button.sel02 | OUT | bit |
| mpg.button.sel02-long | OUT | bit |
| mpg.button.sel02-long-not | OUT | bit |
| mpg.button.sel02-long-toggle | OUT | bit |
| mpg.button.sel02-long-toggle-not | OUT | bit |
| mpg.button.sel02-long-toggle-off | OUT | bit |
| mpg.button.sel02-long-toggle-on | OUT | bit |
| mpg.button.sel02-not | OUT | bit |
| mpg.button.sel02-toggle | OUT | bit |
| mpg.button.sel02-toggle-not | OUT | bit |
| mpg.button.sel02-toggle-off | OUT | bit |
| mpg.button.sel02-toggle-on | OUT | bit |
| mpg.button.sel03 | OUT | bit |
| mpg.button.sel03-long | OUT | bit |
| mpg.button.sel03-long-not | OUT | bit |
| mpg.button.sel03-long-toggle | OUT | bit |
| mpg.button.sel03-long-toggle-not | OUT | bit |
| mpg.button.sel03-long-toggle-off | OUT | bit |
| mpg.button.sel03-long-toggle-on | OUT | bit |
| mpg.button.sel03-not | OUT | bit |
| mpg.button.sel03-toggle | OUT | bit |
| mpg.button.sel03-toggle-not | OUT | bit |
| mpg.button.sel03-toggle-off | OUT | bit |
| mpg.button.sel03-toggle-on | OUT | bit |
| mpg.button.sel04 | OUT | bit |
| mpg.button.sel04-long | OUT | bit |
| mpg.button.sel04-long-not | OUT | bit |
| mpg.button.sel04-long-toggle | OUT | bit |
| mpg.button.sel04-long-toggle-not | OUT | bit |
| mpg.button.sel04-long-toggle-off | OUT | bit |
| mpg.button.sel04-long-toggle-on | OUT | bit |
| mpg.button.sel04-not | OUT | bit |
| mpg.button.sel04-toggle | OUT | bit |
| mpg.button.sel04-toggle-not | OUT | bit |
| mpg.button.sel04-toggle-off | OUT | bit |
| mpg.button.sel04-toggle-on | OUT | bit |
| mpg.button.sel05 | OUT | bit |
| mpg.button.sel05-long | OUT | bit |
| mpg.button.sel05-long-not | OUT | bit |
| mpg.button.sel05-long-toggle | OUT | bit |
| mpg.button.sel05-long-toggle-not | OUT | bit |
| mpg.button.sel05-long-toggle-off | OUT | bit |
| mpg.button.sel05-long-toggle-on | OUT | bit |
| mpg.button.sel05-not | OUT | bit |
| mpg.button.sel05-toggle | OUT | bit |
| mpg.button.sel05-toggle-not | OUT | bit |
| mpg.button.sel05-toggle-off | OUT | bit |
| mpg.button.sel05-toggle-on | OUT | bit |
| mpg.button.sel06 | OUT | bit |
| mpg.button.sel06-long | OUT | bit |
| mpg.button.sel06-long-not | OUT | bit |
| mpg.button.sel06-long-toggle | OUT | bit |
| mpg.button.sel06-long-toggle-not | OUT | bit |
| mpg.button.sel06-long-toggle-off | OUT | bit |
| mpg.button.sel06-long-toggle-on | OUT | bit |
| mpg.button.sel06-not | OUT | bit |
| mpg.button.sel06-toggle | OUT | bit |
| mpg.button.sel06-toggle-not | OUT | bit |
| mpg.button.sel06-toggle-off | OUT | bit |
| mpg.button.sel06-toggle-on | OUT | bit |
| mpg.jog-scale | OUT | float |
| mpg.led.01 | OUT | bit |
| mpg.led.02 | OUT | bit |
| mpg.led.03 | OUT | bit |
| mpg.led.04 | OUT | bit |
| mpg.led.05 | OUT | bit |
| mpg.led.06 | OUT | bit |
| mpg.machine.is-on | IN | bit |
| mpg.override.feed.counts | OUT | s32 |
| mpg.override.feed.value | IN | float |
| mpg.override.rapid.counts | OUT | s32 |
| mpg.override.rapid.value | IN | float |
| mpg.override.spindle.counts | OUT | s32 |
| mpg.override.spindle.value | IN | float |
| mpg.program.is-running | IN | bit |
this is for LinuxCNC >= 2.9
loadusr mpg -d /dev/ttyACM0 -s
# MPG
#net iocontrol_0_emc-enable-in <= mpg.button.estop-not
#net iocontrol_0_emc-enable-in => iocontrol.0.emc-enable-in
net spindle_start <= mpg.button.01
net spindle_start => halui.spindle.0.start
net spindle_stop <= mpg.button.01b
net spindle_stop => halui.spindle.0.stop
setp joint.0.jog-vel-mode 1
setp joint.0.jog-scale 0.01
setp joint.0.jog-enable 1
setp axis.x.jog-vel-mode 1
setp axis.x.jog-scale 0.01
setp axis.x.jog-enable 1
net axis_x_jog-counts <= mpg.axis.x.jog-counts
net axis_x_jog-counts => axis.x.jog-counts
net axis_x_jog-counts => joint.0.jog-counts
setp joint.1.jog-vel-mode 1
setp joint.1.jog-scale 0.01
setp joint.1.jog-enable 1
setp axis.y.jog-vel-mode 1
setp axis.y.jog-scale 0.01
setp axis.y.jog-enable 1
net axis_y_jog-counts <= mpg.axis.y.jog-counts
net axis_y_jog-counts => axis.y.jog-counts
net xis_y_jog-counts => joint.1.jog-counts
net display_x halui.axis.x.pos-relative => mpg.axis.x.pos
net display_y halui.axis.y.pos-relative => mpg.axis.y.pos
net display_z halui.axis.z.pos-relative => mpg.axis.z.pos
setp halui.feed-override.scale 0.01
net feed-override <= mpg.override.feed.counts
net feed-override => halui.feed-override.counts
setp halui.rapid-override.scale 0.01
net rapid-override <= mpg.override.rapid.counts
net rapid-override => halui.rapid-override.counts
setp halui.spindle.0.override.scale 0.01
net spindle-override <= mpg.override.spindle.counts
net spindle-override => halui.spindle.0.override.counts
net override-feed-value <= halui.feed-override.value
net override-feed-value => mpg.override.feed.value
net override-rapid-value <= halui.rapid-override.value
net override-rapid-value => mpg.override.rapid.value
net override-spindle-value <= halui.spindle.0.override.value
net override-spindle-value => mpg.override.spindle.value
loadusr mpg -d /dev/ttyACM0 -s
#net rios.iocontrol_0_emc-enable-in <= mpg.button.estop-not
#net rios.iocontrol_0_emc-enable-in => iocontrol.0.emc-enable-in
net rios.x_select <= mpg.button.sel01
net rios.x_select => halui.axis.x.select
net rios.y_select <= mpg.button.sel02
net rios.y_select => halui.axis.y.select
net rios.z_select <= mpg.button.sel03
net rios.z_select => halui.axis.z.select
net rios.zero_x <= mpg.button.sel01-long
net rios.zero_x => halui.mdi-command-00
net rios.zero_y <= mpg.button.sel02-long
net rios.zero_y => halui.mdi-command-01
net rios.zero_z <= mpg.button.sel03-long
net rios.zero_z => halui.mdi-command-02
net rios.halui_machine_is-on => mpg.machine.is-on
net rios.halui_program_is-running => mpg.program.is-running
net rios.program_run <= mpg.button.01
net rios.program_run => halui.program.run
net rios.program_stop <= mpg.button.01-long
net rios.program_stop => halui.program.stop
net rios.program_pause <= mpg.button.01b
net rios.program_pause => halui.program.pause
net rios.program_resume <= mpg.button.01b-long
net rios.program_resume => halui.program.resume
net rios.x_homed <= joint.0.homed
net rios.x_homed => mpg.axis.x.homed
net rios.y_homed <= joint.1.homed
net rios.y_homed => mpg.axis.y.homed
net rios.z_homed <= joint.2.homed
net rios.z_homed => mpg.axis.z.homed
net rios.spindle_start <= mpg.button.02-long
net rios.spindle_start => halui.spindle.0.start
net rios.spindle_stop <= mpg.button.02
net rios.spindle_stop => halui.spindle.0.stop
net rios.jog-scale <= mpg.jog-scale
net rios.jog-scale => joint.0.jog-scale
net rios.jog-scale => axis.x.jog-scale
net rios.jog-scale => joint.1.jog-scale
net rios.jog-scale => axis.y.jog-scale
setp joint.0.jog-vel-mode 1
setp joint.0.jog-enable 1
setp axis.x.jog-vel-mode 1
setp axis.x.jog-enable 1
net rios.axis_x_jog-counts <= mpg.axis.x.jog-counts
net rios.axis_x_jog-counts => axis.x.jog-counts
net rios.axis_x_jog-counts => joint.0.jog-counts
setp joint.1.jog-vel-mode 1
setp joint.1.jog-enable 1
setp axis.y.jog-vel-mode 1
setp axis.y.jog-enable 1
net rios.axis_y_jog-counts <= mpg.axis.y.jog-counts
net rios.axis_y_jog-counts => axis.y.jog-counts
net rios.axis_y_jog-counts => joint.1.jog-counts
net display_x halui.axis.x.pos-relative => mpg.axis.x.pos
net display_y halui.axis.y.pos-relative => mpg.axis.y.pos
net display_z halui.axis.z.pos-relative => mpg.axis.z.pos
setp halui.feed-override.scale 0.01
net rios.feed-override <= mpg.override.feed.counts
net rios.feed-override => halui.feed-override.counts
setp halui.rapid-override.scale 0.01
net rios.rapid-override <= mpg.override.rapid.counts
net rios.rapid-override => halui.rapid-override.counts
setp halui.spindle.0.override.scale 0.01
net rios.spindle-override <= mpg.override.spindle.counts
net rios.spindle-override => halui.spindle.0.override.counts
net rios.override-feed-value <= halui.feed-override.value
net rios.override-feed-value => mpg.override.feed.value
net rios.override-rapid-value <= halui.rapid-override.value
net rios.override-rapid-value => mpg.override.rapid.value
net rios.override-spindle-value <= halui.spindle.0.override.value
net rios.override-spindle-value => mpg.override.spindle.value