In setup(), use
attachInterrupt(digitalPinToInterrupt(23), myInterrupt, RISING);
to configure the interrupt on Teensy Pin 23 on the RISING edge.
Add this function, which will be called during the interrupt:
void myInterrupt() {
// Your code goes here
}
First install using
sudo pip install pyvisa pyvisa-py
The following example will connec to a LXI-enabled (license required!!!) DL3021 at IP address 192.168.178.31
import pyvisa
import time
rm = pyvisa.ResourceManager()
inst = rm.open_resource("TCPIP0::10.9.2.31::INSTR")
# Query if instrument is present
# Prints e.g. "RIGOL TECHNOLOGIES,DL3021,DL3A204800938,00.01.05.00.01"
print(inst.query("*IDN?"))
# Set to constant resistance mode
inst.write(":SOURCE:FUNCTION RESISTANCE")
# Set to 3 Ohms
inst.write(":SOURCE:RESISTANCE:LEVEL:IMMEDIATE 3.0")
# Enable electronic load
inst.write(":SOURCE:INPUT:STATE On")
# Wait for value to stabilize
time.sleep(2)
# Measure!
print("Voltage: ", inst.query(":MEASURE:VOLTAGE?").strip())
print("Current: ", inst.query(":MEASURE:CURRENT?").strip())
print("Power: ", inst.query(":MEASURE:POWER?").strip())This will print, for example:
RIGOL TECHNOLOGIES,DL3021,DL3A204800938,00.01.05.00.01 Voltage: 2.885810 Current: 0.961862 Power: 2.775752
with some power supply attached of course.
See the Rigol DL3000 programming manual.
While flashing an STM32 using st-flash using a command like
st-flash write build/firmware.bin 0x8000000
you see an error message like
2022-02-12T01:31:34 ERROR flash_loader.c: flash loader run error 2022-02-12T01:31:34 ERROR common.c: stlink_flash_loader_run(0x8000000) failed! == -1
See below for a full error log
Most likely your STM32 is locked (readout protection). Use OpenOCD to unlock it, see How to unlock STM32F0x using OpenOCD for an example. Adjust to your STM32 family as needed.
st-flash logst-flash 1.6.1 2022-02-12T01:31:34 INFO common.c: F0xx small: 4 KiB SRAM, 16 KiB flash in at least 1 KiB pages. file build/mom.bin md5 checksum: da211df7131de9de15f3b6c7a96176dd, stlink checksum: 0x000d0d03 2022-02-12T01:31:34 INFO common.c: Attempting to write 11108 (0x2b64) bytes to stm32 address: 134217728 (0x8000000) 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08000000 erased 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08000400 erased 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08000800 erased 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08000c00 erased 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08001000 erased 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08001400 erased 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08001800 erased 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08001c00 erased 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08002000 erased 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08002400 erased 2022-02-12T01:31:34 INFO common.c: Flash page at addr: 0x08002800 erased 2022-02-12T01:31:34 INFO common.c: Finished erasing 11 pages of 1024 (0x400) bytes 2022-02-12T01:31:34 INFO common.c: Starting Flash write for VL/F0/F3/F1_XL core id 2022-02-12T01:31:34 INFO flash_loader.c: Successfully loaded flash loader in sram 2022-02-12T01:31:34 ERROR flash_loader.c: flash loader run error 2022-02-12T01:31:34 ERROR common.c: stlink_flash_loader_run(0x8000000) failed! == -1 stlink_fwrite_flash() == -1
You can use st-flash like this to flash a firmware file to the STM32:
st-flash write build/firmware.bin 0x8000000
openocd -f interface/stlink-v2.cfg -f target/stm32f0x.cfg -c "init" -c "halt" -c "stm32f1x lock 0" -c "reset halt" -c "exit"
This will activate flash readout protection level 1 which means you won’t be able to readout or re-write the flash. You can still perform a chip erase which will clear the readout protection – for example to flash a new firmware.
openocd -f interface/stlink-v2.cfg -f target/stm32f0x.cfg -c "init" -c "halt" -c "stm32f1x unlock 0" -c "reset halt" -c "exit"
After that, you need to physically remove power from the device in order for the reset to take effect.
Note the stm32f1x is no typo. OpenOCD uses the same backend for STM32F1x and STM32F0x.
Example output:
Open On-Chip Debugger 0.11.0-rc2
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
WARNING: interface/stlink-v2.cfg is deprecated, please switch to interface/stlink.cfg
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
Info : clock speed 1000 kHz
Info : STLINK V2J24S4 (API v2) VID:PID 0483:3748
Info : Target voltage: 3.296172
Info : stm32f0x.cpu: hardware has 4 breakpoints, 2 watchpoints
Info : starting gdb server for stm32f0x.cpu on 3333
Info : Listening on port 3333 for gdb connections
Info : device id = 0x10006444
Info : flash size = 16kbytes
stm32x unlocked.
INFO: a reset or power cycle is required for the new settings to take effect.
Info : Unable to match requested speed 1000 kHz, using 950 kHz
Info : Unable to match requested speed 1000 kHz, using 950 kHz
target halted due to debug-request, current mode: Thread
xPSR: 0xc1000000 pc: 0x080000c0 msp: 0x20000400
The Raspberry Pi DSI display connector (for example the DSI display cable that comes with the Raspberry Pi 7″ display) has a pin pitch of 1.0mm:
Just use the official install command from the tailscale website:
curl -fsSL https://tailscale.com/install.sh | sh
First, mount the Raspberry Pi on top of the display PCB on the back of the display.
On the bottom (display) PCB, the silver contacts of the cable should be at the top (facing the Raspberry Pi):
On the Raspberry Pi, the silver contacts should face towards the USB connectors:
Overall, it should look like this:
First, install OctoPi to the SD card – for example, using rpi-imager: How to install OctoPi using rpi-imager
Open the boot partition on the OctoPi SD card and create a file wpa_supplicant.conf there, with the following content:
country=de
update_config=1
ctrl_interface=/var/run/wpa_supplicant
network={
scan_ssid=1
ssid="MyWifi"
psk="abc123abc"
}Always set the correct country code at the top ! If you don’t set it correctly, it won’t work!
Set ssid to the name of the wireless network.
Set psk to the wifi password.
First open rpi-imager:
then select Choose OS
Sroll down to Other specific-purpose OS (do not click on Other general-purpose OS, even though it sounds similar!)
Click on Other specific-purpose OS:
Now click on 3D printing:
Click on OctoPi:
Now click on OctoPi (stable):
Now click on Choose Storage to select the SD card you want to write the image to:
Click on the correct device to select it – double check to make sure you have selected the correct device !
Now click Write to download the image and write it to the SD card:
and now grab a coffee since it will take a couple of minutes to write:
The DSI display cable that comes with the Raspberry Pi 7″ display is 10cm (100mm) long:
The Rasbperry Pi DSI connector / cable has 15 pins:
Open the boot partition on the Rasbian SD card and create a file wpa_supplicant.conf there, with the following content:
country=de
update_config=1
ctrl_interface=/var/run/wpa_supplicant
network={
scan_ssid=1
ssid="MyWifi"
psk="abc123abc"
}Always set the country code at the top ! If you don’t set it correctly, it won’t work!
Set ssid to the name of the wireless network.
Set psk to the wifi password.
While trying to install rpi-imager using
sudo apt install rpi-imager
you see this error message:
Reading package lists... Done Building dependency tree Reading state information... Done No apt package "rpi-imager", but there is a snap with that name. Try "snap install rpi-imager" E: Unable to locate package rpi-imager
sudo apt -y install rpi-imager only works on Raspbian. On Ubuntu etc, you can install rpi-imager using
sudo snap install rpi-imager
Then start it using
rpi-imager
In our previous example LinuxCNC: How to find current position using Python we showed how to use stat.actual_position to get the current position in machine coordinates using LinuxCNC’s Python API.
#!/usr/bin/env python2.7 import linuxcnc stat = linuxcnc.stat() stat.poll() x,y,z,a,b,c,u,v,w = stat.actual_position # NOTE: Ignore ABCUVW since not used for my machine # Subtract G5x offset xo,yo,zo,ao,bo,co,uo,vo,wo = stat.g5x_offset x -= xo y -= yo z -= zo # Subtract tool offset xo,yo,zo,ao,bo,co,uo,vo,wo = stat.tool_offset x -= xo y -= yo z -= zo # Print offset coordinates print(x,y,z)
As shown in our previous example LinuxCNC: How to find current position using Python you can get an
These are the attributes of the object returned by linuxcnc.stat() for LinuxCNC 2.7:
acceleration active_queue actual_position adaptive_feed_enabled ain angular_units aout axes axis axis_mask block_delete call_level command current_line current_vel cycle_time debug delay_left din distance_to_go dout dtg echo_serial_number enabled estop exec_state feed_hold_enabled feed_override_enabled feedrate file flood g5x_index g5x_offset g92_offset gcodes homed id inpos input_timeout interp_state interpreter_errcode joint_actual_position joint_position kinematics_type limit linear_units lube lube_level max_acceleration max_velocity mcodes mist motion_line motion_mode motion_type optional_stop paused pocket_prepped poll position probe_tripped probe_val probed_position probing program_units queue queue_full queued_mdi_commands rapidrate read_line rotation_xy settings spindle_brake spindle_direction spindle_enabled spindle_increasing spindle_override_enabled spindle_speed spindlerate state task_mode task_paused task_state tool_in_spindle tool_offset tool_table velocity
You can find those out using
#!/usr/bin/env python2.7
import linuxcnc
stat = linuxcnc.stat()
stat.poll()
for entry in dir(stat):
print(entry)
This will show the position in machine coordinates such as
#!/usr/bin/env python2.7 import linuxcnc stat = linuxcnc.stat() stat.poll() print(stat.actual_position)
Example output:
(7.4023762662053105, 26.443582149595567, 297.289833343029, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
Place this file in e.g. linuxcnc/configs/myCNC/custom-mcode/M100
#!/usr/bin/env python2.7
# M100: write timestamp, parameters and gcode filename to linuxcnc/logM100.txt
import sys
import linuxcnc
from datetime import datetime
dt = datetime.now()
stat = linuxcnc.stat() # create a connection to the status channel
stat.poll()
with open("/home/cnc/linuxcnc/logM100.txt", "a") as outfile:
outfile.write("{} | Args={} | Path={}\n".format(dt.isoformat(), ", ".join(sys.argv[1:]), stat.file))and make executable using
chmod a+x ./linuxcnc/configs/myCNC/custom-mcodes/M100