mirror of
https://github.com/sinseman44/PyCNC.git
synced 2026-08-30 00:30:11 +00:00
Nikolay Khabarov
95 lines
4.2 KiB
Markdown
95 lines
4.2 KiB
Markdown
[](https://travis-ci.org/Nikolay-Kha/PyCNC)
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# PyCNC
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This project bring CNC control for Raspberry Pi or any ARM based Linux boards.
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Typically there is no way to control stepper motors from Linux runtime
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environment due to the lack of real time GPIO control. Even kernel based
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modules can not guarantee precise control of pulses for steppers. There is
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always way out. DMA(Direct Memory Access) is a separated hardware module which
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provides high precision for GPIO outputs. This module can copy bytes which
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represent GPIO states from RAM buffer directly to GPIO with some clock based
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on main chip internal oscillator without using CPU's cores. Using such approach
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this project generates impulses for moving stepper motors and that is very
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precise way regardless CPU load and OS time jitter.
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This approach also allows to use Python language for this project. Typically,
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Python is not good choice for real time application, but since project just
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needs to set up DMA buffers and hardware will do the rest, Python become the
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perfect choice for easy development of this project.
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Video demo - [YouTube video](https://youtu.be/vcedo59raS4)
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# Current command support
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G0, G1, G4, G20, G21, G28, G53, G90, G91, G92, M2, M3, M5, M30
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Commands can be easily added, see [gmachine.py](./cnc/gmachine.py) file.
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# Config
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All configs are stored in [config.py](./cnc/config.py) and contain hardware
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properties, limitations and pin names for hardware control.
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Raspberry Pi implementation should be connected to A4988, DRV8825 or any other
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stepper motor drivers with DIR and STEP pin inputs.
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Default config is created for Raspberry Pi 2-3 and this wiring diagram:
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So having Raspberry Pi connected this way, there is no need to configure
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pin map for project.
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# Hardware
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Currently, this project supports Raspberry Pi 1-3. Tested with RPI2 and RPI3.
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But there is a way to add new boards. See [hal.py](./cnc/hal.py) file.
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_Note: Current Raspberry Pi implementation uses the same resources as on board
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3.5 mm jack(PWM module), so do not use it. HDMI audio works._
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# Usage
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Just clone this repo and run `./pycnc` from repo root. It will start in
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interactive terminal mode where gcode commands can be entered manually.
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To run file with gcode commands, just run `./pycnc filename`.
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Optionally, `pycnc` can be installed. Run
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```bash
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sudo pip install .
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```
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in repo root directory to install it. After than, `pycnc` command will be added
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to system path. To remove installation, just run:
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```bash
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sudo pip remove pycnc
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```
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# Performance notice
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Pure Python interpreter wouldn't provide great performance for high speed
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machines. Overspeeding setting causes motors mispulses and probably lose of
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trajectory. According to my tests, Raspberry Pi 2 can handle axises with 400
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pulses on mm with top velocity ~800 mm per min. There is always way out! :)
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Use JIT Python implementation like PyPy. RPi2 can handle up to 18000 mm per
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minute on the machine with 80 steps per millimeter motors with PyPy.
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_Note: Raspbian has outdated PyPy version in repositories(v4.0). Moreover v4.0
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has issue with `mmap` module implementation. Use PyPy v5.0+, download it for
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your OS from [here](https://pypy.org/download.html)._
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PyPy installation:
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```bash
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wget wget https://bitbucket.org/pypy/pypy/downloads/pypy2-v5.7.1-linux-armhf-raspbian.tar.bz2
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sudo mkdir /opt/pypy
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sudo tar xvf pypy2-v5.7.1-linux-armhf-raspbian.tar.bz2 --directory /opt/pypy/ --strip-components=1
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sudo ln -s /opt/pypy/bin/pypy /usr/local/bin/pypy
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```
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# Project architecture
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# Dependencies
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Nothing for runtime. Just pure Python code.
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For uploading to PyPi there is a need in `pandoc`:
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```bash
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sudo dnf install pandoc
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sudo pip install pypandoc
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```
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# GCode simulation
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Just a link, mostly for myself :), to a nice web software for gcode files
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emulation (very helpful for manual creating of gcode files):
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[https://nraynaud.github.io/webgcode/](https://nraynaud.github.io/webgcode/)
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# License
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see [LICENSE](./LICENSE) file.
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# Author
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Nikolay Khabarov
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