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
Also see our post on how to just read the position especially if you don’t care about the CSV logging: LinuxCNC: How to find current position using Python
This script will log the position to CSV approximately every millisecond. The position will be logged in machine coordinates.
#!/usr/bin/env python2.7
import linuxcnc
import datetime
import time
stat = linuxcnc.stat()
with open("position-log.csv", "w") as outfile:
while True:
dt = datetime.datetime.now()
stat.poll()
x,y,z,a,b,c,u,v,w = stat.actual_position
outfile.write("{},{:.4f},{:.4f},{:.4f}\n".format(dt.isoformat(), x, y, z))
time.sleep(0.001)
When running esptool erase_flash, you an error message like:
esptool.py v2.8 Found 1 serial ports Serial port /dev/ttyUSB0 Connecting.... Detecting chip type... ESP32 Chip is ESP32D0WDQ6 (revision 1) Features: WiFi, BT, Dual Core, 240MHz, VRef calibration in efuse, Coding Scheme None WARNING: Detected crystal freq 41.01MHz is quite different to normalized freq 40MHz. Unsupported crystal in use? Crystal is 40MHz MAC: 7c:9e:bd:f4:60:e0 Enabling default SPI flash mode... Erasing flash (this may take a while)... A fatal error occurred: ESP32 ROM does not support function erase_flash.
You are likely using an outdated version of esptool. Use the esptool from GitHub:
git clone https://github.com/espressif/esptool.git
then run it using
cd esptool python3 esptool.py erase_flash
with open("/home/cnc/linuxcnc/configs/myCNC/linuxcnc.var") as infile:
lines = infile.readlines()
splitted = [line.strip().partition("\t") for line in lines]
linuxCNCVar = {int(splitResult[0]): float(splitResult[-1]) for splitResult in splitted}Example output for linuxCNCVar:
{5161: 0.0,
5162: 0.0,
5163: 0.0,
5164: 0.0,
5165: 0.0,
5166: 0.0,
5167: 0.0,
5168: 0.0,
5169: 0.0,
5181: 0.0,
5182: 0.0,
5183: 0.0,
5184: 0.0,
5185: 0.0,
5186: 0.0,
5187: 0.0,
5188: 0.0,
5189: 0.0,
5210: 0.0,
5211: 0.0,
5212: 0.0,
5213: 0.0,
5214: 0.0,
5215: 0.0,
5216: 0.0,
5217: 0.0,
5218: 0.0,
5219: 0.0,
5220: 1.0,
5221: 7.40119,
5222: 13.549249,
5223: 298.476583,
5224: 0.0,
5225: 0.0,
5226: 0.0,
5227: 0.0,
5228: 0.0,
5229: 0.0,
5230: 0.0,
5241: 36.868548,
5242: 141.752329,
5243: 207.563262,
5244: 0.0,
5245: 0.0,
5246: 0.0,
5247: 0.0,
5248: 0.0,
5249: 0.0,
5250: 0.0,
5261: 36.868548,
5262: 145.029329,
5263: 207.563262,
5264: 0.0,
5265: 0.0,
5266: 0.0,
5267: 0.0,
5268: 0.0,
5269: 0.0,
5270: 0.0,
5281: 36.89201,
5282: 144.834924,
5283: 207.935105,
5284: 0.0,
5285: 0.0,
5286: 0.0,
5287: 0.0,
5288: 0.0,
5289: 0.0,
5290: 0.0,
5301: 0.0,
5302: 0.0,
5303: 0.0,
5304: 0.0,
5305: 0.0,
5306: 0.0,
5307: 0.0,
5308: 0.0,
5309: 0.0,
5310: 0.0,
5321: 0.0,
5322: 0.0,
5323: 0.0,
5324: 0.0,
5325: 0.0,
5326: 0.0,
5327: 0.0,
5328: 0.0,
5329: 0.0,
5330: 0.0,
5341: 0.0,
5342: 0.0,
5343: 0.0,
5344: 0.0,
5345: 0.0,
5346: 0.0,
5347: 0.0,
5348: 0.0,
5349: 0.0,
5350: 0.0,
5361: 0.0,
5362: 0.0,
5363: 0.0,
5364: 0.0,
5365: 0.0,
5366: 0.0,
5367: 0.0,
5368: 0.0,
5369: 0.0,
5370: 0.0,
5381: 0.0,
5382: 0.0,
5383: 0.0,
5384: 0.0,
5385: 0.0,
5386: 0.0,
5387: 0.0,
5388: 0.0,
5389: 0.0,
5390: 0.0}
When running git clone, you see an error message like
Cloning into 'MyProject'... fatal: unable to access 'https://gitlab.mydomain.com/projects/MyProject.git': server certificate verification failed. CAfile: /etc/ssl/certs/ca-certificates.crt CRLfile: none
The quick solution is to prepend
GIT_SSL_NO_VERIFY=true
to the git clone command, example:
GIT_SSL_NO_VERIFY=true https://gitlab.mydomain.com/projects/MyProject.git
Note that skipping SSL verification is a security risk, so the correct method of fixing this issue is appropriately updating the CA certificates (something like sudo apt install ca-certificates) but this is sometimes not feasibel since not any outdated computer can be updated easily.
Don’t use the Arduino package offered through the Software App in Debian. Install the one offered by official site arduino.cc. The Teensyduino installer will not recognize the distribution package install.
Arduino Install:
Teensyduino Install:
sudo cp 00-teensy.rules /etc/udev/rules.d/chmod 755 TeensyduinoInstall.linux64
./TeensyduinoInstall.linux64While trying to run Python tests using tox, you see an error message like
GLOB sdist-make: /home/uli/dev/UliEngineering/setup.py py37 create: /home/uli/dev/UliEngineering/.tox/py37 ERROR: InterpreterNotFound: python3.7 py38 create: /home/uli/dev/UliEngineering/.tox/py38 ERROR: invocation failed (exit code 1), logfile: /home/uli/dev/UliEngineering/.tox/py38/log/py38-0.log ========================================================================================= log start ========================================================================================= AttributeError: module 'virtualenv.create.via_global_ref.builtin.cpython.mac_os' has no attribute 'CPython2macOsArmFramework' ========================================================================================== log end ========================================================================================== ERROR: InvocationError for command /usr/bin/python3 -m virtualenv --no-download --python /usr/bin/python3 py38 (exited with code 1) __________________________________________________________________________________________ summary __________________________________________________________________________________________ ERROR: py37: InterpreterNotFound: python3.7 ERROR: py38: InvocationError for command /usr/bin/python3 -m virtualenv --no-download --python /usr/bin/python3 py38 (exited with code 1)
This error occurs because two different and incompatible version of virtualenv are installed.
First, uninstall all versions using these commands:
First run as user (not as root) to uninstall any locally installed package in ~/.local:
pip3 uninstall virtualenv
Then, uninstall global packages
sudo pip3 uninstall virtualenv
Now uninstall the apt package on Debian/Ubuntu (uninstall using your package manager for other distros):
sudo apt purge python3-virtualenv
Now it’s time to install one version of virtualenv:
sudo pip3 install virtualenv
After that, you can try running tox again.
TL;DR: Press F2, then F9 to replace a cell by its value.
Click on the formula cell (click once, no need to click twice):
Now press the F2 key to edit the cell:
Now press the F9 key to replace the cell by its value:
startdate = np.datetime64('2022-01-01T00:00:00.000000')
# 10000 days. This array contains 0 (Day 0), 1 (Day 1), etc
day_offsets = np.arange(10000, dtype=np.int64)
usec_per_day = int(1e6) * 86400 # 86.4k sec per day, 1e6 microseconds per second
# Compute microseconds offset from first day
usec_offsets = day_offsets * usec_per_day
# Compute timestamps
timestamps = startdate + usec_offsets
# Mark start of month in boolean array
is_start_of_month = np.zeros_like(timestamps, dtype=bool)
for index, timestamp in np.ndenumerate(timestamps):
is_start_of_month[index[0]] = timestamp.astype(datetime).day == 1Using this method, timestamps will be the start of each day
array(['2022-01-01T00:00:00.000000', '2022-01-02T00:00:00.000000',
'2022-01-03T00:00:00.000000', ..., '2101-12-30T00:00:00.000000',
'2101-12-31T00:00:00.000000', '2102-01-01T00:00:00.000000'],
dtype='datetime64[us]')
You can use df.transform(func, axis=0) to apply a numpy function. This leverages the fact that numpy functions work with pandas Series objects.
Example based on How to create pandas time series DataFrame example dataset:
# Load pre-built time series example dataset
df = pd.read_csv("https://datasets.techoverflow.net/timeseries-example.csv", parse_dates=["Timestamp"])
df.set_index("Timestamp", inplace=True)
# np.square will be called individually for each column
new_df = df.transform(np.square, axis=0)
Original time series:
Squared time series:
import numpy as np
import pandas as pd
from matplotlib import pyplot as plt
# Load pre-built time series example dataset
df = pd.read_csv("https://datasets.techoverflow.net/timeseries-example.csv", parse_dates=["Timestamp"])
df.set_index("Timestamp", inplace=True)
# np.sqrt will be called individually for each column
new_df = df.transform(np.square, axis=0)
# Plot subsection of original DF for better visibility
df.iloc[:len(df)//2].plot()
plt.gcf().set_size_inches(10,5)
plt.savefig("Normal-Timeseries.svg")
# Plot subsection of transformed DF for better visibility
new_df.iloc[:len(df)//2].plot()
plt.gcf().set_size_inches(10,5)
plt.savefig("Square-Timeseries.svg")