WOSM MCU command set

System

General

delta
dig_in 0x00000009
delta
sys_unixtime 1567676848

Timing

Temperature modules (DS18)

The number X in the command refers the module index (0 to number of modules - 1).

Addressable Serial LEDs

led_config ch=0 n=25 T0H=3 T0L=8 T1H=6 T1L=5   
# write to 25 LEDs
# zero timing (0.3us high, 0.8us low)
#  one timing (0.6us high, 0.5us low)

led_buff 0xFF00FF 0x000000010   # make LED number 9 purple 

led_mask 3

led_mask_def n=1 ref="BrightF" mask=0x0000FF00    #Just use LEDs 8 to 16
led_mask 1                           #make mask 1 active

Digital lines in / out (TTL) eg. shutters, triggers

The 26 digital lines are labelled A to Z.

dig_out c 1   #will set ttl output high on line C.
dig_out t 0   #switch off line t.
dig_out w 2   #toggle line w. 

dig_hilo q 1s   #(open the shutter on line Q for 1s)
dig_hilo m 2us  #(2 microsecond pulse on line m)

dig_hilo a 20ms nowait
dig_hilo b 20ms

MZ boards: line reference

Pulse-width modulation: control R/C servos and LEDs

By varying the on-time of rapidly repeating (50Hz to multi-kHz) digital signal can provide accurate analog-like control.
R/C servos use pulse width to control motor position.
LED brightness can be controlled by altering the duty-cycle of the pwm line. All commands must specify the channel argument ie. "1" to "5".

pwm_conf 2 mode=1 ref=Iris2 timeout=3s          # r/c servo on channel 2
pwm_conf 4 mode=2 ref=Blue                      # Blue LED on PWM channel 4  

pwm_set 2                 # get the on/off state and timer value of PWM2  
pwm_set 3 on=4ms val=208  # PWM3 turn on for 4ms, set count to 208
pwm_set 5 on=t            # toggle on/off PWM5
pwm_set 2 percent=50      # PWM2 duty cycle set to 50%

pwm_on 0       # All pwm channels (1 to 5) OFF
pwm_on 31      # All pwm channels (1 to 5) ON
pwm_on 9       # PWM1 (+1) on, PWM4(+8) on, others off   

Counters

16bit counters will sum the signal pulses (3.3V TTL) on the line. Currently 16bit only. Should be capable of a few MHz (limits not tested yet..).
Counters are available on lines "q" and "r".
NB. You need to configure a line as a counter for these to work!

Keypad, rotary encoder and LCD

Stepper motors

Motors are referenced in two characters referring to the host board (usually "m" for microcontroller board) and the motor number. The main mcu board can be configured with up to 5 servo motors (m1 to m5) and 4 sterpper motors (m6 to m9). Stepper positions and limits are defined in step units (steps or microsteps) and servos in pulse width units (in microseconds).

Analogue out control (eg. laser power, LED current, stage position)

Channels ps, pt, pu & pv (0 to 65535 -> 0 to 5V)

• DAC off (0V output)
• 0 to 5V voltage out eg. for laser power control
• 0 to 1200mA current out control for LED or direct laser diode drive (needs optional module RDC-24-1.2 installed on the board)

Channels pw, px, py & pz (0 to 65535 -> 0 to 10V)

Linked on/off control TTL

Stage control interface

Configure any combination of motors (mot) and analogue out (dac) for a stage interface. For example you could have a combination of stepper motor XY (mot interface) and piezo Z (dac interface) configured to control your stage XYZ.

Serial communications (SPI and RS232)

Two types of interface are supported: Serial peripheral interphase, sometimes called the 4-wire bus or SPI and RS232. WOSM boards have 3x SPI connectors which allow data transfer to daughterboards or other controllers that can talk SPI.
Channel designations as follows:
A (SPI) (26pin, slave mode) Is Raspberry Pi pinout compatible. Has 1 slave select line, and 2 spare TTL. (work in progress)
B (SPI) (10pin, master mode) Has 4 CS lines.
C (SPI) (10pin, master mode)
D (RS232, (3pin GND, TX, RX) Low voltage (0V / 3.3V)
E (RS232) (3pin GND, TX, RX)
F (RS232) (3pin GND, TX, RX)

0    Macro comms only (default mode)        
1    Laser trap daughterboard (channel b only)
100  Slave terminal (channel a only, eg. Raspberry Pi comms)

Network and TCP/IP

These commands are used if you're setting a static network config, otherwise the network settings are obtained automatically using DHCP (make sure you have "lan_conf_ip 2" in your config.wml on the SD card. You can see the network settings on the Network page on the keypad.
If you can connect you can make static settings changes on the web gui conf/network page. Else you will need to edit the "wosm/macros/config.wml" file on the SD card directly. Example static network settings below
lan_conf_ip 1
lan_ip 192.168.77.44
lan_subn 255.255.255.0
lan_gateway 192.168.77.1
lan_dns1 192.168.77.1

Macro control commands

Macros are stored in the folder /wosm/macro/ on the µSD card. You can edit them from there or more usefully via the web gui. Up to 8 macros can be loaded and running simultaneously on the wosm. On first run macros need to be loaded from the micro-SD card, this takes about 7ms on my development system but will depend on your SD card speed and macro size. Subsequent calls to the macro will be much faster (a few microseconds, not milliseconds) as the macro stays in ram. If all macro slots are full, non-running macros are removed on a 'last-used' basis when a new macro needs to be loaded. The functions below do not need the ".wml" extension part of the macro filename.

wml_run timelapse2D nframes=1000 expos=100ms intervl=2000ms

loop count=${nframes} dur=${intervl} {
    dig_hilo n ${expos}       # camera trigger on line "n"
}

Macro flow control

These commands will only work in WOSM macros. They will not be recognised in any other context, they'll just raise an "unknown" error.

pause 127us
pause 48ms
pause 20min

loop count=1024 dur=250ms
{
  other
  commands
  here....
}

loop count=10 dur=1s
{
   ${lp} = loop_idx;                          #get the loop index
   kyp_lcd_text x=0 y=0 "Loop index:\${lp}"   #show it on the lcd
}

${temp} = temp_deg 0
${msg} = "Normal"
if ( ${temp} > 30.0 ){
   ${msg} = "HIGH"
}
if ( ${temp} < 15.0 ){
   ${msg} = "LOW"
}
kyp_lcd_text "Temperature:\${temp} C \${msg}   "

stop_on -timeout       # don't stop the macro if a timeout happens
dig_wait a 1 1s        # wait 1s for line "a" to go high
stop_on timeout        # any further timeouts will halt as normal...

WOSM time format

Some commands accept a time value (eg. "pause 200ms") which needs to be interpreted quickly. The following restrictions apply to these time values:

• Integer numbers only
• Accepted units are: us, µs, ms, s, sec, min, hr
• Defaults to microseconds (us) if no units specified.

Macro variables

Each macro has a limited number of local variables. These are text based.
Variables can be set within the macro, or on the macro call line.
eg.

wml_run acquire2D nframes=2000 expos=200ms

 ${g_count} = ical ${g_count} + 1  #increment a global counter

${expos} = "100ms"       #set variable 'expos' = '100ms'
dig_hilo_t ${expos}      #put out a 100ms pulse on line 't'

${t1} = ical ${t1} - ${t2}                  # subtract t2 from t1

${v1} = fcal ${v1} / 10.24 "%.3Lf"          # divide v1 by 10.24, save result in v1 
                                            # (output formatted to 3 decimal places)

ical (integer) format examples:
"%lld"      (default) 64bit signed decimal, fmt not necessary
"%012lld"   12 character, 64bit decimal integer, with zero padding if necessary
"%llx"      64bit hexadecimal eg. "F4E1D21F45ED1"
"0x%016llx" 64bit hexadecimal, 16characters including zero padding, '0x' prefix
            eg. "0x000014EF1ABCDEF7"

fcal (floating point) format examples:
"%Lf"    (default), fmt not necessary
"%.3Lf"  3 decimal places
"%.3LE"   output showing exponent, 3 decimal places

${v} = fn pow 2 16        #power  2^16, (v = 65536)
${v} = fn sqrt 16         #square root (v = 4)
${v} = fn fabs -7.47      #absolute value, removes minus sign (v=7.47)
${v} = fn sin 1           #sine
${v} = fn asin 1          #arcsine
${v} = fn cos 1           #cosine
${v} = fn acos 1          #arccos
${v} = fn tan 1           #tangent
${v} = fn atan 1          #arc tan
${v} = fn ln 2            #natural log, (v = 0.6931471805599)
${v} = fn exp 0.69314718  #exponential, (v = 2)

System versions and updates

Here for my reference (NJC). Not too useful for macros.

User management

Users login at HTTP and Telnet connections. The default user "admin" cannot be deleted. At the moment user login is simply for network login.

Data buffer commands

Work in progress. These commands work with the Wosm64 data acquisition software (not with Micromanager at this stage). Mostly concerned with getting a low bandwidth image to the browser, for remote monitoring acquisition progress.

HTML commands

Here for reference only. These commands provide dynamic HTML content for fast web page loads. Not too useful for macros.

Command speed test macro

fast
${tz} = sys_usec
########### 10 commands to time between here...
dig_out q 1
dig_out q 0
dig_out q 1
dig_out q 0
dig_out q 1
dig_out q 0
dig_out q 1
dig_out q 0
dig_out q 1
dig_out q 0
############ ... and here.
${t} = sys_usec
${t} = ical ${t} - ${tz}               #subtract start time of command block
${t} = ical ${t} - 6                   #correct for timer read delay
${t} = fcal ${t} / 10  fmt="%.1Lf"     #divide by n=10
kyp_lcd_screen t=1s "Command time:\n\n    ${t} us"