OpenUC2
UC2 ESP32 Flashing Tool
User-friendly tools to flash/upload the firmware for the openUC2 ESP32 device in the browser:
- Install & update firmware
- Connect device to the Wi-Fi network (work in progress)
- Visit the device's hosted web interface (work in progress)
- Access logs and send terminal commands (work in progress)
Pick your UC2 PCB and flash the software using the browser! No programming or other software required.
Test the Firmware
An online Tool will enable you to connect to the ESP and control certain hardware elements. Follow this link, select the ESP32 and hit e.g. the LED on button.
Flash the Firmware
This webpage will install UC2-ESP. To get started, connect an ESP device to your computer and hit the button (we assume you installed the CH340 or CP2102 driver; The links to the drivers will be suggested if no Serial device is found by the browser.).
Note: This is only available on Chrome or Microsoft Edge.
Generic ESP32
Turn any ESP32 into a Bluetooth proxy for Home Assistant. This option only works for "plain" ESP32 and not for ESP32-C3 or other variants.
Buy
ESP32 WEMOS D1 R32-based UC2 board
This is an off-the-shelf board that can - in conjuction with the CNC Shield v3 - be used for most of the microscopy tasks we use in the lab every day. The serious disadvantage is the inability to quickly add new devices since the pins do not really allow this. More information can be found here.
Pin Layout
// ESP32-WEMOS D1 R32
const int PIN_DEF_MOTOR_DIR_A = 0;
const int PIN_DEF_MOTOR_DIR_X = GPIO_NUM_16;
const int PIN_DEF_MOTOR_DIR_Y = GPIO_NUM_27;
const int PIN_DEF_MOTOR_DIR_Z = GPIO_NUM_14;
const int PIN_DEF_MOTOR_STP_A = 0;
const int PIN_DEF_MOTOR_STP_X = GPIO_NUM_26;
const int PIN_DEF_MOTOR_STP_Y = GPIO_NUM_25;
const int PIN_DEF_MOTOR_STP_Z = GPIO_NUM_17;
const int PIN_DEF_MOTOR_EN_A = GPIO_NUM_12;
const int PIN_DEF_MOTOR_EN_X = GPIO_NUM_12;
const int PIN_DEF_MOTOR_EN_Y = GPIO_NUM_12;
const int PIN_DEF_MOTOR_EN_Z = GPIO_NUM_12;
const bool PIN_DEF_MOTOR_EN_A_INVERTED = true;
const bool PIN_DEF_MOTOR_EN_X_INVERTED = true;
const bool PIN_DEF_MOTOR_EN_Y_INVERTED = true;
const bool PIN_DEF_MOTOR_EN_Z_INVERTED = true;
const int PIN_DEF_LASER_1 = GPIO_NUM_18;
const int PIN_DEF_LASER_2 = GPIO_NUM_19;
const int PIN_DEF_LASER_3 = 0; //GPIO_NUM_21
const int PIN_DEF_LED = GPIO_NUM_4;
const int PIN_DEF_LED_NUM = 64;
const int PIN_DEF_END_X = GPIO_NUM_13;
const int PIN_DEF_END_Y = GPIO_NUM_5;
const int PIN_DEF_END_Z = GPIO_NUM_23;
const String PIN_PS4_MAC_DEF = "1a:2b:3c:01:01:01";
const int PIN_PS4_ENUM_DEF = 2;
#define WEMOS_D1_R32_BOARD_NAME "ESPDUINO-32 Wemos D1 R32"
// timer definitions
#define WEMOS_D1_R32_STEP_TIMER_GROUP TIMER_GROUP_0
#define WEMOS_D1_R32_STEP_TIMER_INDEX TIMER_0
// Define step pulse output pins.
#define WEMOS_D1_R32_X_STEP_PIN GPIO_NUM_26
#define WEMOS_D1_R32_Y_STEP_PIN GPIO_NUM_25
#define WEMOS_D1_R32_Z_STEP_PIN GPIO_NUM_17
#define WEMOS_D1_R32_A_STEP_PIN GPIO_NUM_19
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define WEMOS_D1_R32_X_DIRECTION_PIN GPIO_NUM_16
#define WEMOS_D1_R32_Y_DIRECTION_PIN GPIO_NUM_27
#define WEMOS_D1_R32_Z_DIRECTION_PIN GPIO_NUM_14
#define WEMOS_D1_R32_A_DIRECTION_PIN GPIO_NUM_18
#define WEMOS_D1_R32_X_END_STOP GPIO_NUM_13 // arduino 9
#define WEMOS_D1_R32_X_END_STOP GPIO_NUM_5 // arduino 10
#define WEMOS_D1_R32_X_END_STOP GPIO_NUM_23 // arduino 11
// Define stepper driver enable/disable output pin(s).
#define WEMOS_D1_R32_STEPPERS_ENABLE_PIN GPIO_NUM_12
// Define homing/hard limit switch input pins and limit interrupt vectors.
#define WEMOS_D1_R32_X_LIMIT_PIN GPIO_NUM_13
#define WEMOS_D1_R32_Y_LIMIT_PIN GPIO_NUM_5
#define WEMOS_D1_R32_Z_LIMIT_PIN GPIO_NUM_23
// Define spindle enable and spindle direction output pins.
#define WEMOS_D1_R32_SPINDLE_ENABLE_PIN GPIO_NUM_18
#define WEMOS_D1_R32_SPINDLEPWMPIN GPIO_NUM_19
// Define flood enable output pin.
#define WEMOS_D1_R32_COOLANT_FLOOD_PIN GPIO_NUM_32
// Define user-control CONTROLs (cycle start, reset, feed hold) input pins.
#define WEMOS_D1_R32_RESET_PIN GPIO_NUM_2
#define WEMOS_D1_R32_FEED_HOLD_PIN GPIO_NUM_4
#define WEMOS_D1_R32_CYCLE_START_PIN GPIO_NUM_35
// Define probe switch input pin.
#define WEMOS_D1_R32_PROBE_PIN GPIO_NUM_39
#define WEMOS_D1_R32_UART2_RX_PIN GPIO_NUM_33
#define WEMOS_D1_R32_UART2_TX_PIN GPIO_NUM_32
#define WEMOS_D1_R32_MODBUS_DIRECTION_PIN GPIO_NUM_15
#define WEMOS_D1_R32_MODBUS_BAUD 19200
// Pin mapping when using SPI mode.
// With this mapping, SD card can be used both in SPI and 1-line SD mode.
// Note that a pull-up on CS line is required in SD mode.
#define WEMOS_D1_R32_PIN_NUM_MISO GPIO_NUM_19
#define WEMOS_D1_R32_PIN_NUM_MOSI GPIO_NUM_23
#define WEMOS_D1_R32_PIN_NUM_CLK GPIO_NUM_18
#define WEMOS_D1_R32_PIN_NUM_CS GPIO_NUM_5
ESP32 DEV-based UC2 standalone board V1 (deprecated)
Design files can be found hereLays out all the necessary pins to control steppers, LEDs, Lasers, etc.
Pin Layout
// UC2 STandalone V1
const int PIN_DEF_MOTOR_DIR_A = GPIO_NUM_21;
const int PIN_DEF_MOTOR_DIR_X = GPIO_NUM_33;
const int PIN_DEF_MOTOR_DIR_Y = GPIO_NUM_16;
const int PIN_DEF_MOTOR_DIR_Z = GPIO_NUM_14;
const int PIN_DEF_MOTOR_STP_A = GPIO_NUM_22;
const int PIN_DEF_MOTOR_STP_X = GPIO_NUM_2;
const int PIN_DEF_MOTOR_STP_Y = GPIO_NUM_27;
const int PIN_DEF_MOTOR_STP_Z = GPIO_NUM_12;
const int PIN_DEF_MOTOR_EN_A = GPIO_NUM_13;
const int PIN_DEF_MOTOR_EN_X = GPIO_NUM_13;
const int PIN_DEF_MOTOR_EN_Y = GPIO_NUM_13;
const int PIN_DEF_MOTOR_EN_Z = GPIO_NUM_13;
const bool PIN_DEF_MOTOR_EN_A_INVERTED = true;
const bool PIN_DEF_MOTOR_EN_X_INVERTED = true;
const bool PIN_DEF_MOTOR_EN_Y_INVERTED = true;
const bool PIN_DEF_MOTOR_EN_Z_INVERTED = true;
const int PIN_DEF_LASER_1 = GPIO_NUM_4;
const int PIN_DEF_LASER_2 = GPIO_NUM_15;
const int PIN_DEF_LASER_3 = 0; //GPIO_NUM_21
const int PIN_DEF_LED = GPIO_NUM_17;
const int PIN_DEF_LED_NUM = 25;
const int PIN_DEF_END_X = GPIO_NUM_10;
const int PIN_DEF_END_Y = GPIO_NUM_11;
const int PIN_DEF_END_Z = 0;
const String PIN_PS4_MAC_DEF = "1a:2b:3c:01:01:01";
const int PIN_PS4_ENUM_DEF = 2;
ESP32 DEV-based UC2 standalone board V2
Design files can be found herePin Layout
// UC2 STandalone V2
const int PIN_DEF_MOTOR_DIR_A = GPIO_NUM_21;
const int PIN_DEF_MOTOR_DIR_X = GPIO_NUM_33;
const int PIN_DEF_MOTOR_DIR_Y = GPIO_NUM_16;
const int PIN_DEF_MOTOR_DIR_Z = GPIO_NUM_14;
const int PIN_DEF_MOTOR_STP_A = GPIO_NUM_22;
const int PIN_DEF_MOTOR_STP_X = GPIO_NUM_2;
const int PIN_DEF_MOTOR_STP_Y = GPIO_NUM_27;
const int PIN_DEF_MOTOR_STP_Z = GPIO_NUM_12;
const int PIN_DEF_MOTOR_EN_A = GPIO_NUM_13;
const int PIN_DEF_MOTOR_EN_X = GPIO_NUM_13;
const int PIN_DEF_MOTOR_EN_Y = GPIO_NUM_13;
const int PIN_DEF_MOTOR_EN_Z = GPIO_NUM_13;
const bool PIN_DEF_MOTOR_EN_A_INVERTED = true;
const bool PIN_DEF_MOTOR_EN_X_INVERTED = true;
const bool PIN_DEF_MOTOR_EN_Y_INVERTED = true;
const bool PIN_DEF_MOTOR_EN_Z_INVERTED = true;
const int PIN_DEF_LASER_1 = GPIO_NUM_17;
const int PIN_DEF_LASER_2 = GPIO_NUM_4;
const int PIN_DEF_LASER_3 = GPIO_NUM_15;
const int PIN_DEF_LED = GPIO_NUM_32;
const int PIN_DEF_LED_NUM = 25;
const int PIN_DEF_END_X = GPIO_NUM_34;
const int PIN_DEF_END_Y = GPIO_NUM_35;
const int PIN_DEF_END_Z = 0;
const String PIN_PS4_MAC_DEF = "1a:2b:3c:01:01:01";
const int PIN_PS4_ENUM_DEF = 2;
This board is the updated version of the V1 with additional transistors to control High Power LEDs. It also features an updated pin layout to access more functionalities of the ESP32. More information can be found here.
ESP32 DEV-based UC2 standalone board V3
Design files can be found herePin Layout
// UC2 STandalone V3
const char * pindefName = "UC2_3";
int8_t MOTOR_A_STEP = GPIO_NUM_15;
int8_t MOTOR_X_STEP = GPIO_NUM_16;
int8_t MOTOR_Y_STEP = GPIO_NUM_14;
int8_t MOTOR_Z_STEP = GPIO_NUM_0;
bool MOTOR_ENABLE_INVERTED = true;
bool MOTOR_AUTOENABLE = true;
bool useFastAccelStepper = true;
int8_t AccelStepperMotorType = 1;
int8_t LASER_1 = GPIO_NUM_12;
int8_t LASER_2 = GPIO_NUM_4;
int8_t LASER_3 = GPIO_NUM_2;
int8_t LED_PIN = GPIO_NUM_13;
int8_t LED_COUNT = 64;
// FIXME: Is this redudant?!
int8_t PIN_DEF_END_X = disabled;
int8_t PIN_DEF_END_Y = disabled;
int8_t PIN_DEF_END_Z = disabled;
int8_t DIGITAL_IN_1 = PIN_DEF_END_X;
int8_t DIGITAL_IN_2 = PIN_DEF_END_Y;
int8_t DIGITAL_IN_3 = PIN_DEF_END_Z;
// const char * PSX_MAC = "1a:2b:3c:01:01:04";
// int8_t PSX_CONTROLLER_TYPE = 2; // 1: PS3, 2: PS4
bool enableBlueTooth = true;
bool useBtHID = true;
int8_t JOYSTICK_SPEED_MULTIPLIER = 30;
int8_t JOYSTICK_MAX_ILLU = 100;
int8_t JOYSTICK_SPEED_MULTIPLIER_Z = 30;
// for caliper
int8_t X_CAL_DATA = GPIO_NUM_32;
int8_t Y_CAL_DATA = GPIO_NUM_34;
int8_t Z_CAL_DATA = GPIO_NUM_36;
int8_t X_CAL_CLK = GPIO_NUM_33;
int8_t Y_CAL_CLK = GPIO_NUM_35;
int8_t Z_CAL_CLK = GPIO_NUM_17;
// I2c
int8_t I2C_SCL = GPIO_NUM_22;
int8_t I2C_SDA = GPIO_NUM_21;
int8_t I2C_ADD = 0x27;
gpio_num_t I2C_INT = GPIO_NUM_27;
// SPI
int8_t SPI_MOSI = GPIO_NUM_23;
int8_t SPI_MISO = GPIO_NUM_19;
int8_t SPI_SCK = GPIO_NUM_18;
int8_t SPI_CS = GPIO_NUM_5;
// WiFI
bool enableWifi = false;
This board is the updated version of the V2 with additional transistors to control High Power LEDs and a port extender to drive the dirrection and enabling pins of the Motors. The board also enables the use of linear encoders that are used in callipers. It also features an updated pin layout to access more functionalities of the ESP32. More information can be found here.
ESP32 DEV-based UC2 standalone board V3 (BETA)
This is based on the new firmware available here hereThis board is the updated version of the V2 with additional transistors to control High Power LEDs and a port extender to drive the dirrection and enabling pins of the Motors. The board also enables the use of linear encoders that are used in callipers. It also features an updated pin layout to access more functionalities of the ESP32. More information can be found here.
Xiao LED and Servo motor board
This is based on the new firmware available here hereThis PCB connects a Seeed Studio Xiao ESP32S3 module to the openUC2 modular cube system. It features a range of components for illumination and control of motors or servos, providing an I2C bus for integration with the UC2 ecosystem. The board is primarily designed for controlling a motorized system such as peristaltic pumps and driving Neopixel LEDs, with additional support for PWM-driven components and touch inputs. More information can be found here.
Pin Layout
// UC2 Xiao ESP32S3 LED and Servo board
const char * pindefName = "Xiao_LED_SERVO";
// Pin definitions for Xiao ESP32S3 (using D1, D2, etc.)
#define NEOPIXEL_PIN D6 // Neopixel data pin (TX)
#define TOUCH_PIN_1 D0 // Touch Button 1 (Touch Pad 1)
#define TOUCH_PIN_2 D1 // Touch Button 2 (Touch Pad 2)
#define MOTOR_1_IN1 D3 // Motor 1 IN1 (GPIO0)
#define MOTOR_1_IN2 D4 // Motor 1 IN2 (GPIO9)
#define MOTOR_2_IN1 D9 // Motor 2 IN1 (GPIO10)
#define MOTOR_2_IN2 D10 // Motor 2 IN2 (GPIO3)
#define I2C_SDA D4 // I2C SDA (GPIO4)
#define I2C_SCL D5 // I2C SCL (GPIO5)
#define SERVO_PIN_1 D7 // Servo 1 PWM (GPIO8)
#define SERVO_PIN_2 D8 // Servo 2 PWM (GPIO11)
Xiao Motor Board
This is based on the new firmware available here hereThis board represents a motor control board featuring a TMC2209 stepper driver and an AS5600 magnetic encoder. It is designed to be used with the openUC2 modular cube system and is primarily intended for controlling a motorized system such as a peristaltic pump. The board provides an I2C bus for integration with the UC2 ecosystem. It acts as a slave and can either be controlled via USB Serial or via I2C from a Master device. More information can be found here.
Pin Layout
const char * pindefName = "UC2_3_I2CSlaveMotorX";
const unsigned long BAUDRATE = 115200;
int8_t MOTOR_X_STEP = GPIO_NUM_8; // D9 -> GPIO8
int8_t MOTOR_X_DIR = GPIO_NUM_7; // D8 -> GPIO7
int8_t MOTOR_ENABLE = GPIO_NUM_9; // D10 -> GPIO9
bool MOTOR_ENABLE_INVERTED = true;
bool MOTOR_AUTOENABLE = true;
int8_t AccelStepperMotorType = 1;
// I2c
const char *I2C_NAME = "MOTX";
I2CControllerType I2C_CONTROLLER_TYPE = I2CControllerType::mMOTOR;
int8_t I2C_MOTOR_AXIS = 1; // On the slave we have one motor axis per slave
int8_t I2C_ADD_SLAVE = I2C_ADD_MOT_X; // I2C address of the ESP32 if it's a slave ( 0x40;)
int8_t I2C_SCL = GPIO_NUM_2; // D1 -> GPIO2
int8_t I2C_SDA = GPIO_NUM_3; // D2 -> GPIO3
// I2C configuration (using updated GPIO values)
int8_t I2C_SCL_ext = GPIO_NUM_6; // D5 -> GPIO6
int8_t I2C_SDA_ext = GPIO_NUM_5; // D4 -> GPIO5
// TMC UART
int8_t tmc_SW_RX = 44;// GPIO_NUM_44; // D7 -> GPIO44
int8_t tmc_SW_TX = 43;// GPIO_NUM_43; // D6 -> GPIO43
int8_t tmc_pin_diag = GPIO_NUM_4; // D3 -> GPIO4
int tmc_microsteps = 16;
int tmc_rms_current = 500;
int tmc_stall_value = 100;
int tmc_sgthrs = 100;
int tmc_semin = 5;
int tmc_semax = 2;
int tmc_sedn = 0b01;
int tmc_tcoolthrs = 0xFFFFF;
int tmc_blank_time = 24;
int tmc_toff = 4;
// TEmporarily for endstop
int8_t DIGITAL_IN_1 = GPIO_NUM_1; // D0 -> GPIO1 - > TOUCH
Xiao LED Ring and Brightfield
This is based on the new firmware available here hereThis board features an LED ring with deep red leds and a brightfield LED. It is designed to be used with the openUC2 modular cube system and is primarily intended for controlling a motorized system such as a peristaltic pump. The board provides an I2C bus for integration with the UC2 ecosystem. It is controlled via I2C from a Master device. More information can be found here.
Pin Layout
const char *pindefName = "UC2_ESP32S3_XIAO_LEDRING";
const unsigned long BAUDRATE = 115200;
uint8_t I2C_CONTROLLER_TYPE = I2CControllerType::mLASER;
uint8_t I2C_ADD_SLAVE = I2C_ADD_LEX_PWM1; // I2C address of the ESP32 if it's a slave
// Laser control pins (using updated GPIO values)
int8_t LASER_1 = GPIO_NUM_3; // D2
int8_t LASER_2 = GPIO_NUM_4; // D3 => Motor 1/1
int8_t DIGITAL_IN_1 = GPIO_NUM_1; // D0 // Touch 1
int8_t DIGITAL_IN_2 = GPIO_NUM_3; // D1 // Touch 2
// I2C configuration (using updated GPIO values)
int8_t I2C_SCL = GPIO_NUM_6; // D5 -> GPIO6
int8_t I2C_SDA = GPIO_NUM_5; // D4 -> GPIO5
Advanced Users
We provide two firmware versions: V1 (deprecated) and V2. The latter is implemented in the Platform.io standard. You can find more information on their dedicated github repositories:- UC2-REST is entirely implemented in the Arduino IDE framework. More information can be found can be found: here
- An updated version called UC2-ESP is implemented in the Platform.io framework. More information can be found: here
Viewing logs & sending commands
ESP Web Tools allows users to open a serial console to see the logs and send commands.
