Add README.md

LED: show encoder position as hue after each read
- Add setPositionColor(): maps SSI value to HSV hue (0=red, 120=green, 240=blue) - LED takes the position hue as its resting colour between reads - Blue during active read unchanged - All error paths now flash red before printing ERR
2026-04-30 10:05:06 +02:00 · 2026-04-28 21:18:35 +02:00
2 changed files with 312 additions and 2 deletions
--- a/README.md
+++ b/README.md
@ -0,0 +1,285 @@
+# ssi-pico-bridge
+
+A DIY reader that connects **SSI (Synchronous Serial Interface)** absolute
+encoders to a PC over USB, using a Raspberry Pi Pico (RP2040) and two cheap
+MAX485 modules.
+
+Built because off-the-shelf SSI interfaces are expensive and most general-purpose
+serial devices can't talk SSI: SSI is a *synchronous*, clocked protocol with
+two differential pairs (CLOCK and DATA). This project bridges the gap with
+about €5 of parts and exposes the encoder's position as plain text over a USB
+serial port — easy to script from Python, log to disk, or feed into any other
+tool.
+
+## How it works
+
+The Pico acts as the **SSI master**: it drives the CLOCK line, samples DATA on
+each falling edge, and assembles the position word. Two MAX485 modules act as
+RS-422 line drivers/receivers — one transmits the clock to the encoder, the
+other receives the data from it. The Pico exposes a simple text protocol over
+USB-CDC serial that lets a host request a read of N bits at a chosen clock
+speed.
+
+```
+                 ┌──────────────────────────────────────────────────┐
+                 │                                                  │
+  ┌──────────┐   │  ┌───────────┐    CLK+/CLK-     ┌─────────────┐  │
+  │          │ CLK ─┤ MAX485 #1 ├──────────────────┤             │  │
+  │  RP2040  │   │  │ (TX only) │   (twisted pair) │             │  │
+  │          │   │  └───────────┘                  │             │  │
+  │  Pico    │   │                                 │ SSI Encoder │  │
+  │          │   │  ┌───────────┐   DATA+/DATA-    │             │  │
+  │          │ DATA─┤ MAX485 #2 ├──────────────────┤             │  │
+  │          │   │  │ (RX only) │   (twisted pair) │             │  │
+  └──────────┘   │  └───────────┘                  └─────────────┘  │
+       │         └──────────────────────────────────────────────────┘
+       │
+       │ USB
+       │ "READ 25 5\n"   →
+       │ ← "OK bits=25 hex=0x1A2B3C4 ..."
+       ▼
+       PC
+```
+
+## Features
+
+- Reads any standard SSI encoder, 1–32 bits per frame
+- Configurable clock speed (1 µs to 10 ms half-period)
+- PIO-based timing with sub-100 ns jitter
+- Works with both Gray-coded and binary encoders (decoding done host-side
+  or in firmware — see `examples/`)
+- USB-CDC serial — appears as a plain COM port on Windows / `/dev/ttyACM*` on
+  Linux / `/dev/cu.usbmodem*` on macOS
+- WS2812 status LED for at-a-glance health
+- Simple ASCII protocol — easy to script from Python, Node, shell, etc.
+
+## Hardware
+
+### Bill of materials
+
+| Qty | Part | Where to buy | Approx. price |
+|-----|------|--------------|---------------|
+| 1 | Raspberry Pi Pico / RP2040-Zero / RP2040 dev board | TinyTronics, Kiwi Electronics, Opencircuit | €5 |
+| 2 | MAX485 module (HW-097 or equivalent, blue PCB) | Opencircuit, AliExpress | €1.60 each |
+| 1 | Breadboard + jumper wires | any electronics shop | €5 |
+| 1 | SSI encoder | varies | varies |
+| - | Twisted-pair cable for the differential lines (Cat5e is fine) | | |
+
+The MAX485 modules typically have a 120 Ω termination resistor already on
+board. This is correct for the DATA receiver and harmless on the CLOCK driver
+over short cables.
+
+### Pin assignments
+
+The reference firmware uses the following GPIO assignments on the RP2040.
+
+#### CLOCK module (MAX485 #1, transmit only)
+
+| MAX485 pin | Connects to | Notes |
+|------------|-------------|-------|
+| VCC | Pico VBUS (5 V) | MAX485 needs 5 V; RP2040 GPIOs are 5 V tolerant |
+| GND | Pico GND | shared ground is required |
+| DI | Pico GP0 | clock output, driven by PIO |
+| DE | Pico GP1 | tied HIGH (driver always on) |
+| RE | Pico GP2 | tied HIGH (receiver disabled) |
+| RO | Pico GP3 | unused |
+| A | Encoder CLK+ | twisted pair to encoder |
+| B | Encoder CLK– | twisted pair to encoder |
+
+#### DATA module (MAX485 #2, receive only)
+
+| MAX485 pin | Connects to | Notes |
+|------------|-------------|-------|
+| VCC | Pico VBUS (5 V) | |
+| GND | Pico GND | |
+| DI | Pico GP26 | unused, parked LOW |
+| DE | Pico GP27 | tied LOW (driver disabled, A/B in high-Z) |
+| RE | Pico GP28 | tied LOW (receiver always on) |
+| RO | Pico GP29 | data input, sampled by PIO |
+| A | Encoder DATA+ | twisted pair to encoder |
+| B | Encoder DATA– | twisted pair to encoder |
+
+#### Other connections
+
+| Pin | Function |
+|-----|----------|
+| GP16 | WS2812 status LED (on RP2040-Zero this is the on-board NeoPixel) |
+| Encoder GND | **Must** be tied to Pico GND |
+| Encoder V+ | Powered separately according to its datasheet (often 5 V or 10–30 V) |
+
+### A note on differential pair polarity
+
+If you wire the encoder's CLK+/CLK– to A/B by name and get garbage data,
+swap them — RS-422/485 polarity conventions vary between manufacturers and
+some label A and B opposite to what the MAX485 expects. The DATA pair can
+also be swapped if needed; that simply inverts the bits, which is easy to
+detect in the captured value.
+
+## Software
+
+### Build environment
+
+The firmware is written in C++ for the [Arduino-Pico core][arduino-pico] and
+built with [PlatformIO]. PIO assembly is compiled at build time by `pioasm`,
+which ships with the framework.
+
+[arduino-pico]: https://github.com/earlephilhower/arduino-pico
+[PlatformIO]: https://platformio.org
+
+### Building and flashing
+
+1. Clone this repository.
+2. Open the folder in VS Code with the PlatformIO extension installed,
+   or run `pio run` from the command line.
+3. Hold BOOT on the RP2040 and plug in USB for the first flash.
+4. Run `pio run -t upload`.
+
+After the first flash, subsequent uploads use `picotool` over USB and don't
+need the BOOT button — PlatformIO resets the board into bootloader mode
+automatically.
+
+### `platformio.ini`
+
+```ini
+[env:rp2040zero]
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = waveshare_rp2040_zero
+framework = arduino
+board_build.core = earlephilhower
+upload_protocol = picotool
+monitor_speed = 115200
+lib_deps =
+    adafruit/Adafruit NeoPixel @ ^1.12.0
+```
+
+### Project layout
+
+```
+ssi-pico-bridge/
+├── platformio.ini
+├── README.md
+└── src/
+    ├── main.cpp        # entry point, serial protocol handler
+    └── ssi.pio         # PIO state machine for SSI master timing
+```
+
+## Connecting from a PC
+
+After flashing, plug the Pico into your PC over USB. It enumerates as a
+USB-CDC serial device:
+
+- **Windows** — appears as a new `COM` port (e.g. `COM5`). Check Device Manager.
+- **Linux** — `/dev/ttyACM0` (or higher number if you have other ACM devices).
+- **macOS** — `/dev/cu.usbmodemXXXX`.
+
+Open it at **115200 baud, 8N1** with any serial terminal (PuTTY, screen, minicom,
+the Arduino IDE's Serial Monitor, PlatformIO's monitor, etc.) and start sending
+commands.
+
+## Serial protocol
+
+### Commands
+
+#### `READ <bits> <half_us>`
+
+Performs one SSI read.
+
+- `bits` — number of data bits to clock out, 1–32
+- `half_us` — duration of one CLK half-period in microseconds, 1–10000
+
+Example:
+
+```
+> READ 25 5
+< OK bits=25 half_us=5 hex=0x1A2B3C4 dec=27439556 took=292us
+```
+
+A successful read replies with `OK` followed by the parameters echoed back,
+the captured value as both hex and decimal, and the wall-clock time the read
+took. Errors reply with `ERR <message>`.
+
+### Notes for typical encoders
+
+| Encoder type | Bits | Suggested half_us |
+|--------------|------|-------------------|
+| 13-bit single-turn | 13 | 5 |
+| 25-bit multi-turn (12 turns + 13 single) | 25 | 5 |
+| 24-bit BiSS-C-compatible | 24 + CRC | check datasheet |
+
+Many encoders are Gray-coded; the host or firmware must convert to binary
+before the value represents a usable position. See `examples/gray_to_binary.py`.
+
+### Example: Python host
+
+```python
+import serial
+
+ssi = serial.Serial('/dev/ttyACM0', 115200, timeout=1)
+
+def read_position(bits=25, half_us=5):
+    ssi.write(f"READ {bits} {half_us}\n".encode())
+    line = ssi.readline().decode().strip()
+    if not line.startswith("OK"):
+        raise RuntimeError(line)
+    parts = dict(p.split('=') for p in line.split()[1:])
+    raw = int(parts['hex'], 16)
+    return gray_to_binary(raw)   # if your encoder is Gray-coded
+
+def gray_to_binary(g):
+    b = g
+    while g := g >> 1:
+        b ^= g
+    return b
+
+while True:
+    print(read_position())
+```
+
+## Status LED
+
+The on-board WS2812 indicates state:
+
+- **Yellow** — booting
+- **Green** — idle, ready
+- **Blue** — read in progress
+- **Red** — last operation failed (loopback test only)
+
+## Troubleshooting
+
+**All bits read as 0 or 0xFFFF... when no encoder is connected.** This is
+correct — the MAX485 receiver biases the line to one rail when nothing is
+driving it. Real data only appears once the encoder is wired up and powered.
+
+**Encoder reads return constant nonsense values.** Most likely the
+differential pair polarity is reversed on one of the lines. Swap A and B
+on the affected module.
+
+**Reads work but the number doesn't match shaft rotation.** Check the
+`bits` parameter against the encoder's datasheet — many encoders include
+a leading zero or trailing alarm/parity bit that you must mask off. If the
+number changes monotonically with rotation but jumps around in unexpected
+ways, the encoder is probably Gray-coded; convert before interpreting.
+
+**Reads occasionally fail or return garbage at high speeds.** Try a larger
+`half_us` value. Encoder cable length, twisted-pair quality, and
+termination all affect maximum reliable clock speed. SSI specs typically
+allow up to 1–2 MHz; 100–200 kHz is a safe starting point.
+
+**The Pico hangs after the first read.** PIO state-machine reconfiguration
+between reads of different speeds requires a clean restart. Make sure you're
+on the latest firmware — early versions had a FIFO drain bug.
+
+**The serial port doesn't show up after flashing.** The first flash via
+BOOTSEL exposes the Pico as a mass-storage device, not a serial port. After
+the firmware is running, unplug and replug the USB cable — it should then
+enumerate as a COM/ACM device.
+
+## License
+
+MIT — do whatever you want with this, attribution appreciated but not required.
+
+## Acknowledgements
+
+Born out of frustration trying to read SSI absolute encoders without paying
+for an industrial gateway, and the realization that the cheapest commercial
+solution costs more than this entire build does ten times over.
--- a/src/main.cpp
+++ b/src/main.cpp
@ -41,6 +41,24 @@ void setStatus(uint8_t r, uint8_t g, uint8_t b) {
  led.show();
 }

+// Map encoder position to a colour on the HSV wheel (brightness fixed at ~20/255).
+// hue 0-359: 0=red, 120=green, 240=blue
+void setPositionColor(uint64_t value, uint64_t maxVal) {
+  if (maxVal == 0) { setStatus(16, 0, 16); return; }  // magenta = unknown range
+  uint16_t hue = (uint16_t)((value * 360) / maxVal);  // 0-359
+  uint8_t sector = hue / 60;
+  uint8_t frac   = (uint8_t)(((hue % 60) * 255) / 60);
+  uint8_t v = 20, p = 0, q = (uint8_t)(v * (255 - frac) / 255), t = (uint8_t)(v * frac / 255);
+  switch (sector % 6) {
+    case 0: setStatus(v, t, p); break;
+    case 1: setStatus(q, v, p); break;
+    case 2: setStatus(p, v, t); break;
+    case 3: setStatus(p, q, v); break;
+    case 4: setStatus(t, p, v); break;
+    case 5: setStatus(v, p, q); break;
+  }
+}
+
 // =========================================================================
 // CORE 1: SSI worker
 // =========================================================================
@ -105,6 +123,7 @@ void requestSsiRead(uint8_t bits, uint16_t half_us, uint64_t& outValue, uint32_t

 void handleCommand(const String& cmd) {
  if (!cmd.startsWith("READ ")) {
+    setStatus(16, 0, 0);  // red = error
    Serial.println("ERR unknown command. Use: READ <bits> <half_us>");
    return;
  }
@ -112,6 +131,7 @@ void handleCommand(const String& cmd) {
  int firstSpace = cmd.indexOf(' ');
  int secondSpace = cmd.indexOf(' ', firstSpace + 1);
  if (secondSpace < 0) {
+    setStatus(16, 0, 0);  // red = error
    Serial.println("ERR usage: READ <bits> <half_us>");
    return;
  }
@ -120,19 +140,24 @@ void handleCommand(const String& cmd) {
  int halfUs = cmd.substring(secondSpace + 1).toInt();

  if (bits < 1 || bits > 64) {
+    setStatus(16, 0, 0);  // red = error
    Serial.println("ERR bits must be 1..64");
    return;
  }
  if (halfUs < 1 || halfUs > 10000) {
+    setStatus(16, 0, 0);  // red = error
    Serial.println("ERR half_us must be 1..10000");
    return;
  }

-  setStatus(0, 0, 16);                             // blue = reading
+  setStatus(0, 0, 16);  // blue = reading
  uint64_t value;
  uint32_t took;
  requestSsiRead((uint8_t)bits, (uint16_t)halfUs, value, took);
-  setStatus(0, 16, 0);                             // green = idle
+
+  // Show encoder position as hue (full range = 2^bits - 1)
+  uint64_t maxVal = (bits < 64) ? ((1ull << bits) - 1) : UINT64_MAX;
+  setPositionColor(value, maxVal);

  Serial.printf("OK bits=%d half_us=%d hex=0x%llX dec=%llu took=%luus\n",
                bits, halfUs, value, value, took);