Skip to content

timschmidt/alumina

BranchesTags

Repository files navigation

Alumina - unified firmware and user interface for machine control

No license is granted to redistribute this work under any circumstance.

Alumina UI screenshot

Todo:

  • read boot button as input and display status
  • parse self.url and use host portion to address microcontroller instead of hard coded uri
  • calculate gcd in ui and firmware planners
  • generate steps in stepper driver interrupt handler on micro
  • implement queue between planner and stepper driver interrupt handler
  • implement rate limiting in UI for geometry send
  • implement SD support in firmware
  • FAT / exFAT support for SD cards in firmware
  • browse SD over HTTP in firmware
  • UI for browsing SD in GUI
  • read and display ADC values from micro
  • read and display timer from micro
  • read http headers, especially accept-encoding and content-length and others.
  • integrate arcfinder
  • get 2D image viewer based on a bitmapped memory region working in GUI
  • get 3d viewer module based on kiss3d / miniquad working for CAD
  • implement ramp_maker in firmware from https://github.com/braun-embedded/ramp-maker/blob/main/examples/basic.rs
  • implement wifi AP mode, and configuration screens for connecting to other wifi
  • simplify and cargo-ize build system
  • wasm-bindgen/wasm-bindgen#2000 WebXR bindings for WASM
  • implement ETag / if-none-match for wasm based on build ( https://developer.mozilla.org/en-US/docs/Web/HTTP/Caching#etagif-none-match )
  • enable https in firmware / UI with pinned cert, maybe still load UI via HTTP
  • implement relay board support
  • implement single axis board support
  • implement 4 axis board support
  • implement 4 axis c-6 board support
  • implement endstop support
  • store cryptographic key using wasm-cookies crate
  • implement mppt algorithm in firmware
  • implement topleveling algorithm in firmware
  • include charge curves for common chemistries
  • run flamegraphs on UI and firmware, and add to automated tests
  • implement tree control for CAD window
  • implement add / remove buttons for CAD tree control
  • integrate https://surrealdb.com/
  • integrate cavalier contours
  • develop datastructure to represent idealized microcontroller
  • send and receive Rusty Object Notation inside HTTP messages
  • build blackjack for WASM

Goals:

  • Easy setup
  • Networked and secure
  • Modular
  • High quality motion synchronization for steppers and three phase servo motors
  • Broad support for MCUs of different models and from different vendors
  • Zero memory errors (Buffer Overflow is the most common CVE for SCADA systems according to Industrial Control Systems Vulnerabilities Statistics)
  • Plasma, Laser, Router, Mill, Operator, Building support
  • Versioned interfaces with feature discovery

Status:

Initial implementation for GUI and MCU

Application:

  • High security and mission critical infrastructure automation
  • Internet connected automation

Underlying concepts:

Development on Fedora 36 requires the following:

Dependencies

sudo dnf groupinstall "C Development Tools and Libraries" "Development Tools"
sudo dnf install patch uglifyjs zstd libudev-devel glib-devel gdk-pixbuf2-devel atk-devel cairo-devel pango-devel gtk3-devel
sudo ln -s /usr/lib/gcc/x86_64-redhat-linux/12/include/stdarg.h /usr/include/stdarg.h
sudo ln -s /usr/lib/gcc/x86_64-redhat-linux/12/include/stddef.h /usr/include/stdbdef.h
sudo ln -s /usr/lib/gcc/x86_64-redhat-linux/12/include/stdbool.h /usr/include/stdbool.h
cargo install cargo-flash
cargo install probe-run
cargo install flip-link
cargo install cargo-embed
rustup target install thumbv6m-none-eabi
rustup target install arm-unknown-linux-gnueabihf
rustup target install x86_64-pc-windows-gnu
rustup target install x86_64-apple-darwin
rustup default nightly

Building

Linux

scripts/build_demo_web.sh --release

Windows

cargo build --target x86_64-pc-windows-gnu --release

MacOS

follow osxcross setup here

Modules

Constructive Solid Geometry

csgrs

Components

Circuits

  • Full H bridge with high and low side driver control
  • current sensing
  • voltage sensing
  • isolation for GPIO, ADC, I2C, SPI, RS232/422/485, etc
  • buck / boost
  • PoE power supply (up to 48v, 100W - would be nice to push to non-standard 400W)
  • relay / SSR driver
  • ethernet to SPI adapter using w5500

Boards (PoE + positive locking terminal connector)

  • low, mid, high power three phase motor controller / inverter / vfd for open and closed loop w/ GPIO
  • low, mid power stepper controller for open and closed loop w/ GPIO
  • toolhead controller w/ serial / modbus, thc, capacitive sensing, accellerometer
  • torch / laser / vfd controller
  • dc-dc mppt power conditioner for solar panels up to 400W (MPPT PoE sender?)
  • 110/220v remote controlled receptical
  • multi-chemistry battery management system
  • remote sensors / actuators: NIR, temp / humidity, RFID, accellerometer, PIN pad, deadbolt, solenoid, liquid and gas flow, current, voltage,
  • camera, mic, audio output
  • PoE network motion controller

Axes

  • Actuator(s)
  • Sensor(s)
  • Coordinate space (cartesian, spherical, polar, hyperbolic, etc)
  • Relationship between actuator and movement in coordinate space in EMUs
  • Basic CAD representation built-in

Machines

  • Axes in coordinate space relationships to each other
  • control loops
  • communication
  • synchronization
  • consumables

Locations

  • Machines
  • Operators
  • Security, safety, and authorization
  • Coordination

Initial setup should be via Wifi / Bluetooth Low Energy / QR Code lasered onto device

Host:

File inputs: 2D geometry in files formatted as:

File inputs: 3D geometry in files formatted as:

For 3D toolpathing operations, this means we will need an idea of the shape of the working material:

Our toolpath must include lead-ins and lead-outs:

We may need to do trigonometric functions on fixed point numbers quickly:

We will translate the toolpath into commands for the MCU:

We need buffered (queued), and unbuffered (instantaneous) commands:

  • Buffered:
    • Most moves
  • Unbuffered:
    • Estop (both directions)
    • Jog (from pendant, to motors)
    • Torch Height Control

We will calculate the timer offsets from system time for each of our multiple microcontrollers so that we can accurately timestamp each command for execution:

And transport them to the MCU via an encrypted serial or network protocol:

MCU:

Firmwares:

Hardware support:

Embedded software implementations:

OTA Updates:

Bitbanging VGA:

Our MCU will need an events system (interrupt based, polling, etc):

  • Monitor temperature sensors, encoders, estops, and various other inputs
  • Register a configurable action to execute on event
  • Register a configurable time to trigger the event (optionally repeating)
  • Commands to configure all this
  • https://github.com/drogue-iot/ector

Our MCU will have to generate timed pulses for step/dir, PWM, I/O, etc:

We will sometimes have to speak other protocols to peripherals, necessitating commands and MCU facilities for doing so:

Browser extensions:

Database:

  • Machines
    • Machine ID
    • Machine type
    • Machine owner
    • Date of manufacture
    • Machine on hours
    • EMUs moved, each axis
  • Services
    • Time of service
    • Type of service
    • Tool serviced
  • People
    • First name
    • Last name
    • Shipping address
    • Billing address
  • Toolpaths

Resources:

General:

Testing:

P2P:

About

Rust firmware / UI for machine control

Resources

Readme

License

View license

Code of conduct

Code of conduct

Contributing

Contributing
Activity

Stars

6 stars

Watchers

7 watching

Forks

1 fork
Report repository

Releases

No releases published

Sponsor this project

  •  
Learn more about GitHub Sponsors

Packages

No packages published

Contributors 2

  •  
  •  

Languages