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README.md

farmbot-arduino-firmware

This software is responsible for receiving G-Codes from the Raspberry Pi, executing them, and reporting back the results.

Technicals

Created with eclipseArduino V2 - For more details see http://www.baeyens.it/eclipse/

Development build instructions

This firmware is automatically bundled into FarmBot OS. The following instructions are for isolated Arduino development only.

NOTE: We tag releases when they are stable. The latest version (on master) is not guaranteed to be stable.

See releases to find a stable release.

OPTION A: For less stable “edge” version:

git clone  https://github.com/FarmBot/farmbot-arduino-firmware

OPTION B: For stable release v6.4.2:

git clone -b 'v6.4.2' --single-branch  https://github.com/FarmBot/farmbot-arduino-firmware

Options for compiling and uploading:

  • Arduino IDE:
    • Open farmbot-arduino-firmware/src/src.ino.
    • Select the Mega 2560 board in Tools > Board.
    • Uncomment only the desired board in src/Board.h.
    • To compile and flash the firmware onto the device:
      • Connect a device via USB.
      • Select Sketch > Upload or click the upload button.
    • To compile without flashing:
      • Select Sketch > Export compiled binary.
      • The .hex file will save to the src directory.
  • Make (Linux)
    • Download the Arduino 1.8.12 IDE and unpack to the /home directory.
    • cd farmbot-arduino-firmware
    • To compile:
      • make
      • .hex files for each board type will save to the bin directory.
  • VSCode
    • Set Arduino path and board type.
    • To compile and flash the firmware onto the device:
      • Connect a device via USB.
      • Select Arduino: Upload.

Software overview

All files are in /src

src.ino contains the setup() and main loop(). This is the main sequence:

     +--------------------------+
     |farmbot_arduino_controller|
     +-----------+--------------+
                 v
     +--------------------------+
     |Command                   |
     +-----------+--------------+
                 v
     +--------------------------+
     |GCodeProcessor            |
     +-----------+--------------+
                 v
     +--------------------------+
     |***Handler                |
     +-------+-----------+------+
             |           |
             |           |
             v           v
      +--------+   +-----------+
      |Movement|   | PinControl|
      +--------+   +-----------+

Board Feature Overview

board kit pin encoders SPI encoders SPI motors SPI stall detection
RAMPS_V14 Genesis v1.2 x
FARMDUINO_V10 Genesis v1.3 x
FARMDUINO_V14 Genesis v1.4 x
FARMDUINO_V30 Genesis v1.5 x x
FARMDUINO_EXP_V20 Express v1.0 x x

Codes used for communication

IMPORTANT

Farmbot will NOT move until the configuration has been approved. To approve manually, send F22 P2 V1 Q0

To move, use the command G00 X0 Y0 Z0 Q0 where you type in the coordinates just after X, Y and Z.

G-Codes

Codes sent to the arduino

Code type Number Parameters Function
G G-Code, the codes working the same as a 3D printer
G 00 X Y Z A B C Move to location at given speed for axis (don’t have to be a straight line), in absolute coordinates
G 01 X Y Z A B C Move to location on a straight line (not implemented)
G 28 Move home all axis (Z, Y, X axis order)
F Farm commands, commands specially added for FarmBot
F 01 T Dose amount of water using time in millisecond (not implemented)
F 02 N Dose amount of water using flow meter that measures pulses (not implemented)
F 09 Reset emergency stop
F 11 Home X axis (find 0, 3 attempts) *
F 12 Home Y axis (find 0, 3 attempts) *
F 13 Home Z axis (find 0, 3 attempts) *
F 14 Calibrate X axis (measure length + find 0) *
F 15 Calibrate Y axis (measure length + find 0) *
F 16 Calibrate Z axis (measure length + find 0) *
F 20 List all parameters and value
F 21 P Read parameter
F 22 P V Write parameter
F 23 P V Update parameter (during calibration)
F 31 P Read status (not enabled)
F 32 P V Write status (not enabled)
F 41 P V M Set a value V on an arduino pin in mode M (digital=0/analog=1)
F 42 P M Read a value from an arduino pin P in mode M (digital=0/analog=1)
F 43 P M Set the I/O mode M (input=0/output=1) of a pin P in arduino
F 44 P V W T M Set the value V on an arduino pin P, wait for time T in milliseconds, set value W on the arduino pin P in mode M (digital=0/analog=1)
F 51 E P V Set a value on the tool mount with I2C (not implemented)
F 52 E P Read value from the tool mount with I2C (not implemented)
F 61 P V Set the servo on the pin P (only pins 4, 5, 6, and 11) to the requested angle V
F 81 Report end stop
F 82 Report current position
F       83           Report software version
F       84     X Y Z     Set axis current position to zero (yes=1/no=0)
E                     Emergency stop

* Requires the use of encoders or end stops.

Codes received from the arduino

Code type Number Parameters Function
R Report messages
R 00 Idle
R 01 Current command started
R 02 Current command finished successfully
R 03 V Current command finished with error
R 04 Current command running
R 05 X Y Z Report motor/axis state
R 06 X Y Z Report calibration state during execution
R 07 Retry movement
R 08 Command echo
R 09 Command invalid
R 11 X axis homing complete
R 12 Y axis homing complete
R 13 Z axis homing complete
R 15 X Firmware used a different X coordinate than given in move command
R 16 Y Firmware used a different Y coordinate than given in move command
R 17 Z Firmware used a different Z coordinate than given in move command
R 20 Report all paramaters complete
R 21 P V Report parameter value
R 23 P V Report updated parameter (during calibration)
R 31 P V Report status value (not enabled)
R 41 P V Report pin value
R 71 X axis timeout
R 72 Y axis timeout
R 73 Z axis timeout
R 81 XA XB YA YB ZA ZB Report end stops
R 82 X Y Z Report current position
R 83 Report software version
R 84 X Y Z Report encoder position scaled
R 85 X Y Z Report encoder position raw
R 87 Emergency lock
R 88 No config (see configuration approval)
R 89 U X V Y W Z Report # axis steps (U,V,W) and highest missed steps in last 500 (X,Y,Z)
R 99 Debug message

Error codes (R03)

Value Description
0 No error
1 Emergency stop
2 Timeout
3 Stall detected
4 Calibration error
14 Invalid command
15 No config

Axis states (R05)

The state is reported for each axis individually, using the prefix X, Y or Z

Value Description
0 Idle
1 Starting motor
2 Accelerating
3 Cruising
4 Decelerating
5 Stopping motor
6 Crawling

Calibration states (R06)

The status for calibration is also reported for the axis that is calibrating

Value Description
0 Idle
1 Moving to home
2 Moving to end

Parameters for commands

Parameters Description Unit of Measurement
X X movement millimeters
Y Y movement millimeters
Z Z movement millimeters
A X speed steps/second
B Y speed steps/second
C Z speed steps/second
Q Queue number #
T Time seconds
N Number #
P Parameter/pin number #
V Value number #
W Secondary value #
E Element (in tool mount) #
M Mode (set pin mode) 0 = output / 1 = input
M Mode (read/write) 0 = digital / 1 = analog
XA End stop 1 on x axis 0/1
XB End stop 2 on x axis 0/1
YA End stop 1 on y axis 0/1
YB End stop 2 on y axis 0/1
ZA End stop 1 on z axis 0/1
ZB End stop 2 on z axis 0/1

Arduino parameter numbers

ID Name Unit Notes
2 PARAM_CONFIG_OK 0 / 1
3 PARAM_USE_EEPROM 0 / 1
4 PARAM_E_STOP_ON_MOV_ERR 0 / 1
5 PARAM_MOV_NR_RETRY integer
11 MOVEMENT_TIMEOUT_X seconds
12 MOVEMENT_TIMEOUT_Y seconds
13 MOVEMENT_TIMEOUT_Z seconds
15 MOVEMENT_KEEP_ACTIVE_X 0 / 1
16 MOVEMENT_KEEP_ACTIVE_Y 0 / 1
17 MOVEMENT_KEEP_ACTIVE_Z 0 / 1
18 MOVEMENT_HOME_AT_BOOT_X 0 / 1
19 MOVEMENT_HOME_AT_BOOT_Y 0 / 1
20 MOVEMENT_HOME_AT_BOOT_Z 0 / 1
21 MOVEMENT_INVERT_ENDPOINTS_X 0 / 1 switch ends
22 MOVEMENT_INVERT_ENDPOINTS_Y 0 / 1 switch ends
23 MOVEMENT_INVERT_ENDPOINTS_Z 0 / 1 switch ends
25 MOVEMENT_ENABLE_ENDPOINTS_X 0 / 1
26 MOVEMENT_ENABLE_ENDPOINTS_Y 0 / 1
27 MOVEMENT_ENABLE_ENDPOINTS_Z 0 / 1
31 MOVEMENT_INVERT_MOTOR_X 0 / 1
32 MOVEMENT_INVERT_MOTOR_Y 0 / 1
33 MOVEMENT_INVERT_MOTOR_Z 0 / 1
36 MOVEMENT_SECONDARY_MOTOR_X 0 / 1
37 MOVEMENT_SECONDARY_MOTOR_INVERT_X 0 / 1
41 MOVEMENT_STEPS_ACC_DEC_X steps
42 MOVEMENT_STEPS_ACC_DEC_Y steps
43 MOVEMENT_STEPS_ACC_DEC_Z steps
45 MOVEMENT_STOP_AT_HOME_X 0 / 1
46 MOVEMENT_STOP_AT_HOME_Y 0 / 1
47 MOVEMENT_STOP_AT_HOME_Z 0 / 1
51 MOVEMENT_HOME_UP_X 0 / 1
52 MOVEMENT_HOME_UP_Y 0 / 1
53 MOVEMENT_HOME_UP_Z 0 / 1
55 MOVEMENT_STEP_PER_MM_X steps
56 MOVEMENT_STEP_PER_MM_Y steps
57 MOVEMENT_STEP_PER_MM_Z steps
61 MOVEMENT_MIN_SPD_X steps/s
62 MOVEMENT_MIN_SPD_Y steps/s
63 MOVEMENT_MIN_SPD_Z steps/s
65 MOVEMENT_HOME_SPD_X steps/s
66 MOVEMENT_HOME_SPD_Y steps/s
67 MOVEMENT_HOME_SPD_Z steps/s
71 MOVEMENT_MAX_SPD_X steps/s
72 MOVEMENT_MAX_SPD_Y steps/s
73 MOVEMENT_MAX_SPD_Z steps/s
75 MOVEMENT_INVERT_2_ENDPOINTS_X 0 / 1 switch NO and NC
76 MOVEMENT_INVERT_2_ENDPOINTS_Y 0 / 1 switch NO and NC
77 MOVEMENT_INVERT_2_ENDPOINTS_Z 0 / 1 switch NO and NC
81 MOVEMENT_MOTOR_CURRENT_X milliamps TMC2130 only
82 MOVEMENT_MOTOR_CURRENT_Y milliamps TMC2130 only
83 MOVEMENT_MOTOR_CURRENT_Z milliamps TMC2130 only
85 MOVEMENT_STALL_SENSITIVITY_X integer -63 (high) to +63 (low), Express only
86 MOVEMENT_STALL_SENSITIVITY_Y integer -63 (high) to +63 (low), Express only
87 MOVEMENT_STALL_SENSITIVITY_Z integer -63 (high) to +63 (low), Express only
91 MOVEMENT_MICROSTEPS_X integer TMC2130 only
92 MOVEMENT_MICROSTEPS_Y integer TMC2130 only
93 MOVEMENT_MICROSTEPS_Z integer TMC2130 only
101 ENCODER_ENABLED_X 0 / 1 enables stall detection on Express
102 ENCODER_ENABLED_Y 0 / 1 enables stall detection on Express
103 ENCODER_ENABLED_Z 0 / 1 enables stall detection on Express
105 ENCODER_TYPE_X 0 differential channels disabled
106 ENCODER_TYPE_Y 0 differential channels disabled
107 ENCODER_TYPE_Z 0 differential channels disabled
111 ENCODER_MISSED_STEPS_MAX_X steps
112 ENCODER_MISSED_STEPS_MAX_Y steps
113 ENCODER_MISSED_STEPS_MAX_Z steps
115 ENCODER_SCALING_X integer 10000*motor/encoder (except Express)
116 ENCODER_SCALING_Y integer 10000*motor/encoder (except Express)
117 ENCODER_SCALING_Z integer 10000*motor/encoder (except Express)
121 ENCODER_MISSED_STEPS_DECAY_X steps 1-99
122 ENCODER_MISSED_STEPS_DECAY_Y steps 1-99
123 ENCODER_MISSED_STEPS_DECAY_Z steps 1-99
125 ENCODER_USE_FOR_POS_X 0 / 1 except Express
126 ENCODER_USE_FOR_POS_Y 0 / 1 except Express
127 ENCODER_USE_FOR_POS_Z 0 / 1 except Express
131 ENCODER_INVERT_X 0 / 1 except Express
132 ENCODER_INVERT_Y 0 / 1 except Express
133 ENCODER_INVERT_Z 0 / 1 except Express
141 MOVEMENT_AXIS_NR_STEPS_X steps 0 = limit disabled
142 MOVEMENT_AXIS_NR_STEPS_Y steps 0 = limit disabled
143 MOVEMENT_AXIS_NR_STEPS_Z steps 0 = limit disabled
145 MOVEMENT_STOP_AT_MAX_X 0 / 1
146 MOVEMENT_STOP_AT_MAX_Y 0 / 1
147 MOVEMENT_STOP_AT_MAX_Z 0 / 1
201 PIN_GUARD_1_PIN_NR integer
202 PIN_GUARD_1_TIME_OUT seconds
203 PIN_GUARD_1_ACTIVE_STATE 0 / 1
205 PIN_GUARD_2_PIN_NR integer
206 PIN_GUARD_2_TIME_OUT seconds
207 PIN_GUARD_2_ACTIVE_STATE 0 / 1
211 PIN_GUARD_3_PIN_NR integer
212 PIN_GUARD_3_TIME_OUT seconds
213 PIN_GUARD_3_ACTIVE_STATE 0 / 1
215 PIN_GUARD_4_PIN_NR integer
216 PIN_GUARD_4_TIME_OUT seconds
217 PIN_GUARD_4_ACTIVE_STATE 0 / 1
221 PIN_GUARD_5_PIN_NR integer
222 PIN_GUARD_5_TIME_OUT seconds
223 PIN_GUARD_5_ACTIVE_STATE 0 / 1

Pin Numbering

RAMPS 1.4 (for other boards, see /src/pins.h)

Tag Pin Nr Comment
X_STEP_PIN 54 X axis step signal
X_DIR_PIN 55 X axis direction choice
X_ENABLE_PIN 38 X axis enable
X_MIN_PIN 3 X axis end stop at home position
X_MAX_PIN 2 X axis end stop at far position
X_ENCDR_A 16 X axis encoder A channel
X_ENCDR_B 17 X axis encoder B channel
X_ENCDR_A_Q 31 X axis encoder A channel for quarature (not implemented)
X_ENCDR_B_Q 33 X axis encoder B channel for quarature (not implemented)
Y_STEP_PIN 60 Y axis step signal
Y_DIR_PIN 61 Y axis direction choice
Y_ENABLE_PIN 56 Y axis enable
Y_MIN_PIN 14 Y axis end stop at home position
Y_MAX_PIN 15 Y axis end stop at far position
Y_ENCDR_A 23 Y axis encoder A channel
Y_ENCDR_B 25 Y axis encoder B channel
Y_ENCDR_A_Q 35 Y axis encoder A channel for quarature (not implemented)
Y_ENCDR_B_Q 37 Y axis encoder B channel for quarature (not implemented)
Z_STEP_PIN 46 Z axis step signal
Z_DIR_PIN 48 Z axis direction choice
Z_ENABLE_PIN 62 Z axis enable
Z_MIN_PIN 18 Z axis end stop at home position
Z_MAX_PIN 19 Z axis end stop at far position
Z_ENCDR_A 27 Z axis encoder A channel
Z_ENCDR_B 29 Z axis encoder B channel
Z_ENCDR_A_Q 39 Z axis encoder A channel for quarature (not implemented)
Z_ENCDR_B_Q 41 Z axis encoder B channel for quarature (not implemented)
LED_PIN 13 on board LED
FAN_PIN 9 RAMPS board fan pin
HEATER_0_PIN 10 RAMPS board heating pin 0
HEATER_1_PIN 8 RAMPS board heating pin 1
SERVO_0_PIN 4 Servo motor 0 signal pin
SERVO_1_PIN 5 Servo motor 1 signal pin
SERVO_2_PIN 6 Servo motor 2 signal pin
SERVO_3_PIN 11 Servo motor 3 signal pin