Merge branch 'master' of https://github.com/TimEvWw/farmbot-arduino-controller

2020-03-06 19:01:46 +01:00 · 2020-03-06 19:01:46 +01:00 · c1bf9d659c
parent 721e4edf94 34aae6eca7
commit c1bf9d659c
18 changed files with 367 additions and 203 deletions
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@ -0,0 +1,46 @@
+version: 2.1
+
+jobs:
+  build:
+    machine: true
+    parameters:
+      arduino_version:
+        description: "Arduino version"
+        default: "1.8.11"
+        type: string
+    steps:
+      - checkout
+      - restore_cache:
+          keys:
+            - arduino-<< parameters.arduino_version >>
+      - run:
+          name: Install Arduino
+          command: |
+            if [ ! -d "$HOME/arduino-<< parameters.arduino_version >>" ]
+            then
+              wget https://downloads.arduino.cc/arduino-<< parameters.arduino_version >>-linux64.tar.xz
+              tar xf arduino-<< parameters.arduino_version >>-linux64.tar.xz -C $HOME
+            fi
+      - save_cache:
+          key: arduino-<< parameters.arduino_version >>
+          paths:
+            - ~/arduino-<< parameters.arduino_version >>
+      - run:
+          name: Compile
+          command: make
+      - run:
+          name: Check strings
+          command: make strings_test
+      - run:
+          name: Check software version
+          command: |
+            export SOFTWARE_VERSION=$(cat src/Config.h | grep -w SOFTWARE_VERSION | cut -d'"' -f 2 | cut -d'\' -f 1)
+            strings bin/arduino_firmware.hex.bin | grep $SOFTWARE_VERSION
+            export SHORT_COMMIT_SHA=$(echo $CIRCLE_SHA1 | cut -c1-8)
+            export COMMIT_SUFFIX=$(strings bin/arduino_firmware.hex.bin | grep $SHORT_COMMIT_SHA)
+            export NEW_FW_DIR=bin/$SOFTWARE_VERSION$COMMIT_SUFFIX
+            mkdir $NEW_FW_DIR
+            rm bin/*.bin
+            mv bin/*.hex $NEW_FW_DIR
+      - store_artifacts:
+          path: bin
--- a/.gitignore
+++ b/.gitignore
@ -43,3 +43,4 @@ bin
 src.ino.cpp
 src.ino.mega.hex
 src.ino.with_bootloader.mega.hex
+src/CommitSHA.h
--- a/28
+++ b/28
@ -8,11 +8,16 @@ FBARDUINO_FIRMWARE_LIB_BUILD_DIR ?= $(BUILD_DIR)/libraries

 ARDUINO_INSTALL_DIR ?= $(HOME)/arduino-1.8.11

+# Get current commit SHA
+COMMIT_SHA := $(shell git -C $(FBARDUINO_FIRMWARE_SRC_DIR)/.. rev-parse --short=8 HEAD)
+MODIFIER := $(shell echo $$(if [ -z "$$(git -C $(FBARDUINO_FIRMWARE_SRC_DIR)/.. status -s -uall)" ];then echo "";else echo "+";fi))
+CREATE_COMMIT_SHA_H := $(shell echo "\#ifndef COMMIT_SHA_H_\n\#define COMMIT_SHA_H_\n\#define SOFTWARE_COMMIT \"-$(COMMIT_SHA)$(MODIFIER)\"\n\#endif" > $(FBARDUINO_FIRMWARE_SRC_DIR)/CommitSHA.h)
+
 # Files to be tracked for make to know to rebuild.
 COPY_INO := $(shell cp $(FBARDUINO_FIRMWARE_SRC_DIR)/src.ino $(FBARDUINO_FIRMWARE_SRC_DIR)/src.ino.cpp)
 CXX_SRC := $(wildcard $(FBARDUINO_FIRMWARE_SRC_DIR)/*.cpp)
 SRC := $(CXX_SRC)
-SRC_DEPS := $(SRC) $(wildcard $(FBARDUINO_FIRMWARE_SRC_DIR)/*.h)
+HEADERS := $(wildcard $(FBARDUINO_FIRMWARE_SRC_DIR)/*.h)

 # Object files and Dependency files That will eventually be built.
 CXX_OBJ := $(CXX_SRC:.cpp=.o)
@ -42,7 +47,7 @@ include lib/targets/farmduino_k14.Makefile
 include lib/targets/farmduino_k15.Makefile
 include lib/targets/express_k10.Makefile

-.PHONY: all clean force_clean remove_ino_copy \
+.PHONY: all clean strings_test force_clean remove_temp \
 	dep_core dep_core_clean \
 	dep_Servo dep_Servo_clean \
 	dep_SPI dep_SPI_clean \
@ -57,9 +62,9 @@ DEPS := $(DEP_CORE) $(DEP_SPI) $(DEP_Servo) $(DEP_EEPROM)
 DEPS_OBJ := $(DEP_SPI_OBJ) $(DEP_Servo_OBJ) $(DEP_EEPROM_OBJ)
 DEPS_CFLAGS := $(DEP_CORE_CFLAGS) $(DEP_SPI_CFLAGS) $(DEP_Servo_CFLAGS) $(DEP_EEPROM_CFLAGS)

-all: $(BIN_DIR) $(DEPS) target_ramps_v14 target_farmduino_v10 target_farmduino_k14 target_farmduino_k15 target_express_k10 remove_ino_copy
+all: $(BIN_DIR) $(DEPS) target_ramps_v14 target_farmduino_v10 target_farmduino_k14 target_farmduino_k15 target_express_k10 remove_temp

-clean: remove_ino_copy target_ramps_v14_clean target_farmduino_v10_clean target_farmduino_k14_clean target_farmduino_k15_clean target_express_k10_clean
+clean: remove_temp target_ramps_v14_clean target_farmduino_v10_clean target_farmduino_k14_clean target_farmduino_k15_clean target_express_k10_clean

 strings_test: all
 	$(OBJ_COPY) -I ihex $(TARGET_ramps_v14_HEX)     -O binary $(TARGET_ramps_v14_HEX).bin
@ -67,17 +72,18 @@ strings_test: all
 	$(OBJ_COPY) -I ihex $(TARGET_farmduino_k14_HEX) -O binary $(TARGET_farmduino_k14_HEX).bin
 	$(OBJ_COPY) -I ihex $(TARGET_farmduino_k15_HEX) -O binary $(TARGET_farmduino_k15_HEX).bin
 	$(OBJ_COPY) -I ihex $(TARGET_express_k10_HEX) -O binary $(TARGET_express_k10_HEX).bin
-	@strings $(TARGET_ramps_v14_HEX).bin | grep -q "6.5.0.R"
-	@strings $(TARGET_farmduino_v10_HEX).bin | grep -q "6.5.0.F"
-	@strings $(TARGET_farmduino_k14_HEX).bin | grep -q "6.5.0.G"
-	@strings $(TARGET_farmduino_k15_HEX).bin | grep -q "6.5.0.H"
-	@strings $(TARGET_express_k10_HEX).bin | grep -q "6.5.0.E"
+	@strings $(TARGET_ramps_v14_HEX).bin | grep -q ".R.genesisK12"
+	@strings $(TARGET_farmduino_v10_HEX).bin | grep -q ".F.genesisK13"
+	@strings $(TARGET_farmduino_k14_HEX).bin | grep -q ".G.genesisK14"
+	@strings $(TARGET_farmduino_k15_HEX).bin | grep -q ".H.genesisK15"
+	@strings $(TARGET_express_k10_HEX).bin | grep -q ".E.expressK10"

-force_clean: remove_ino_copy
+force_clean: remove_temp
 	$(RM) -r $(BUILD_DIR) $(BIN_DIR)

 $(BIN_DIR):
 	$(MKDIR_P) $(BIN_DIR)

-remove_ino_copy:
+remove_temp:
 	$(RM) $(FBARDUINO_FIRMWARE_SRC_DIR)/src.ino.cpp
+	$(RM) $(FBARDUINO_FIRMWARE_SRC_DIR)/CommitSHA.h
--- a/README.md
+++ b/README.md
@ -57,7 +57,7 @@ Software overview

 All files are in `/src`

-Farmbot_arduino_controller contains the setup() and main(). This is the main sequence:
+`src.ino` contains the setup() and main loop(). This is the main sequence:

 ```
     +--------------------------+
@ -84,52 +84,26 @@ Farmbot_arduino_controller contains the setup() and main(). This is the main seq

 ```

+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
 ============================

-Pin Numbering
-------------
+IMPORTANT
+---------

-### RAMPS 1.4 (for other boards, see [/src/pins.h](/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
+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
 -------
@ -221,6 +195,7 @@ Value |Description
 1     |Emergency stop
 2     |Timeout
 3     |Stall detected
+4     |Calibration error
 14    |Invalid command
 15    |No config

@ -280,112 +255,147 @@ ZB        |End stop 2 on z axis   |0/1
 Arduino parameter numbers
 ------------------------

-ID   | Name
-----|----------------------------
-2    | PARAM_CONFIG_OK
-3    | PARAM_USE_EEPROM
-4    | PARAM_E_STOP_ON_MOV_ERR
-5    | PARAM_MOV_NR_RETRY
-11   | MOVEMENT_TIMEOUT_X
-12   | MOVEMENT_TIMEOUT_Y
-13   | MOVEMENT_TIMEOUT_Z
-15   | MOVEMENT_KEEP_ACTIVE_X
-16   | MOVEMENT_KEEP_ACTIVE_Y
-17   | MOVEMENT_KEEP_ACTIVE_Z
-18   | MOVEMENT_HOME_AT_BOOT_X
-19   | MOVEMENT_HOME_AT_BOOT_Y
-20   | MOVEMENT_HOME_AT_BOOT_Z
-21   | MOVEMENT_INVERT_ENDPOINTS_X
-22   | MOVEMENT_INVERT_ENDPOINTS_Y
-23   | MOVEMENT_INVERT_ENDPOINTS_Z
-25   | MOVEMENT_ENABLE_ENDPOINTS_X
-26   | MOVEMENT_ENABLE_ENDPOINTS_Y
-27   | MOVEMENT_ENABLE_ENDPOINTS_Z
-31   | MOVEMENT_INVERT_MOTOR_X
-32   | MOVEMENT_INVERT_MOTOR_Y
-33   | MOVEMENT_INVERT_MOTOR_Z
-36   | MOVEMENT_SECONDARY_MOTOR_X
-37   | MOVEMENT_SECONDARY_MOTOR_INVERT_X
-41   | MOVEMENT_STEPS_ACC_DEC_X
-42   | MOVEMENT_STEPS_ACC_DEC_Y
-43   | MOVEMENT_STEPS_ACC_DEC_Z
-45   | MOVEMENT_STOP_AT_HOME_X
-46   | MOVEMENT_STOP_AT_HOME_Y
-47   | MOVEMENT_STOP_AT_HOME_Z
-51   | MOVEMENT_HOME_UP_X
-52   | MOVEMENT_HOME_UP_Y
-53   | MOVEMENT_HOME_UP_Z
-55   | MOVEMENT_STEP_PER_MM_X
-56   | MOVEMENT_STEP_PER_MM_Y
-57   | MOVEMENT_STEP_PER_MM_Z
-61   | MOVEMENT_MIN_SPD_X
-62   | MOVEMENT_MIN_SPD_Y
-63   | MOVEMENT_MIN_SPD_Z
-65   | MOVEMENT_HOME_SPD_X
-66   | MOVEMENT_HOME_SPD_Y
-67   | MOVEMENT_HOME_SPD_Z
-71   | MOVEMENT_MAX_SPD_X
-72   | MOVEMENT_MAX_SPD_Y
-73   | MOVEMENT_MAX_SPD_Z
-75   | MOVEMENT_INVERT_2_ENDPOINTS_X
-76   | MOVEMENT_INVERT_2_ENDPOINTS_Y
-77   | MOVEMENT_INVERT_2_ENDPOINTS_Z
-81   | MOVEMENT_MOTOR_CURRENT_X
-82   | MOVEMENT_MOTOR_CURRENT_Y
-83   | MOVEMENT_MOTOR_CURRENT_Z
-85   | MOVEMENT_STALL_SENSITIVITY_X
-86   | MOVEMENT_STALL_SENSITIVITY_Y
-87   | MOVEMENT_STALL_SENSITIVITY_Z
-91   | MOVEMENT_MICROSTEPS_X
-92   | MOVEMENT_MICROSTEPS_Y
-93   | MOVEMENT_MICROSTEPS_Z
-101  | ENCODER_ENABLED_X
-102  | ENCODER_ENABLED_Y
-103  | ENCODER_ENABLED_Z
-105  | ENCODER_TYPE_X
-106  | ENCODER_TYPE_Y
-107  | ENCODER_TYPE_Z
-111  | ENCODER_MISSED_STEPS_MAX_X
-112  | ENCODER_MISSED_STEPS_MAX_Y
-113  | ENCODER_MISSED_STEPS_MAX_Z
-115  | ENCODER_SCALING_X
-116  | ENCODER_SCALING_Y
-117  | ENCODER_SCALING_Z
-121  | ENCODER_MISSED_STEPS_DECAY_X
-122  | ENCODER_MISSED_STEPS_DECAY_Y
-123  | ENCODER_MISSED_STEPS_DECAY_Z
-125  | ENCODER_USE_FOR_POS_X
-126  | ENCODER_USE_FOR_POS_Y
-127  | ENCODER_USE_FOR_POS_Z
-131  | ENCODER_INVERT_X
-132  | ENCODER_INVERT_Y
-133  | ENCODER_INVERT_Z
-141  | MOVEMENT_AXIS_NR_STEPS_X
-142  | MOVEMENT_AXIS_NR_STEPS_Y
-143  | MOVEMENT_AXIS_NR_STEPS_Z
-145  | MOVEMENT_STOP_AT_MAX_X
-146  | MOVEMENT_STOP_AT_MAX_Y
-147  | MOVEMENT_STOP_AT_MAX_Z
-201  | PIN_GUARD_1_PIN_NR
-202  | PIN_GUARD_1_TIME_OUT
-203  | PIN_GUARD_1_ACTIVE_STATE
-205  | PIN_GUARD_2_PIN_NR
-206  | PIN_GUARD_2_TIME_OUT
-207  | PIN_GUARD_2_ACTIVE_STATE
-211  | PIN_GUARD_3_PIN_NR
-212  | PIN_GUARD_3_TIME_OUT
-213  | PIN_GUARD_3_ACTIVE_STATE
-215  | PIN_GUARD_4_PIN_NR
-216  | PIN_GUARD_4_TIME_OUT
-217  | PIN_GUARD_4_ACTIVE_STATE
-221  | PIN_GUARD_5_PIN_NR
-222  | PIN_GUARD_5_TIME_OUT
-223  | PIN_GUARD_5_ACTIVE_STATE
+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   | Express only
+86  | MOVEMENT_STALL_SENSITIVITY_Y      | integer   | Express only
+87  | MOVEMENT_STALL_SENSITIVITY_Z      | integer   | 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     | 

-IMPORTANT
-=========
+Pin Numbering
+-------------

-Farmbot will NOT move until the configuration has been approved.
-To approve manually, send 'F22 P2 V1 Q0'
+### RAMPS 1.4 (for other boards, see [/src/pins.h](/src/pins.h))

-To move, use the command 'G00 X0 Y0 Z0 Q0' where you type in the coordinates just after X, Y and Z.
+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
--- a/lib/targets/express_k10.Makefile
+++ b/lib/targets/express_k10.Makefile
@ -12,7 +12,7 @@ $(TARGET_express_k10_BUILD_DIR)/express_k10.eep: $(TARGET_express_k10_BUILD_DIR)
 $(TARGET_express_k10_BUILD_DIR)/express_k10.elf: $(TARGET_express_k10_OBJ)
 	$(CC) -w -Os -g -flto -fuse-linker-plugin -Wl,--gc-sections,--relax -mmcu=atmega2560 -o $@ $(TARGET_express_k10_OBJ) $(DEPS_OBJ) $(DEP_CORE_LDFLAGS)

-$(TARGET_express_k10_BUILD_DIR)/%.o: $(FBARDUINO_FIRMWARE_SRC_DIR)/%.cpp
+$(TARGET_express_k10_BUILD_DIR)/%.o: $(FBARDUINO_FIRMWARE_SRC_DIR)/%.cpp $(HEADERS)
 	$(CXX) $(CXX_FLAGS) -DFARMBOT_BOARD_ID=3 $(DEPS_CFLAGS) $< -o $@

 $(TARGET_express_k10_BUILD_DIR):
--- a/lib/targets/farmduino_k14.Makefile
+++ b/lib/targets/farmduino_k14.Makefile
@ -12,7 +12,7 @@ $(TARGET_farmduino_k14_BUILD_DIR)/farmduino_k14.eep: $(TARGET_farmduino_k14_BUIL
 $(TARGET_farmduino_k14_BUILD_DIR)/farmduino_k14.elf: $(TARGET_farmduino_k14_OBJ)
 	$(CC) -w -Os -g -flto -fuse-linker-plugin -Wl,--gc-sections,--relax -mmcu=atmega2560 -o $@ $(TARGET_farmduino_k14_OBJ) $(DEPS_OBJ) $(DEP_CORE_LDFLAGS)

-$(TARGET_farmduino_k14_BUILD_DIR)/%.o: $(FBARDUINO_FIRMWARE_SRC_DIR)/%.cpp
+$(TARGET_farmduino_k14_BUILD_DIR)/%.o: $(FBARDUINO_FIRMWARE_SRC_DIR)/%.cpp $(HEADERS)
 	$(CXX) $(CXX_FLAGS) -DFARMBOT_BOARD_ID=2 $(DEPS_CFLAGS) $< -o $@

 $(TARGET_farmduino_k14_BUILD_DIR):
--- a/lib/targets/farmduino_k15.Makefile
+++ b/lib/targets/farmduino_k15.Makefile
@ -12,7 +12,7 @@ $(TARGET_farmduino_k15_BUILD_DIR)/farmduino_k15.eep: $(TARGET_farmduino_k15_BUIL
 $(TARGET_farmduino_k15_BUILD_DIR)/farmduino_k15.elf: $(TARGET_farmduino_k15_OBJ)
 	$(CC) -w -Os -g -flto -fuse-linker-plugin -Wl,--gc-sections,--relax -mmcu=atmega2560 -o $@ $(TARGET_farmduino_k15_OBJ) $(DEPS_OBJ) $(DEP_CORE_LDFLAGS)

-$(TARGET_farmduino_k15_BUILD_DIR)/%.o: $(FBARDUINO_FIRMWARE_SRC_DIR)/%.cpp
+$(TARGET_farmduino_k15_BUILD_DIR)/%.o: $(FBARDUINO_FIRMWARE_SRC_DIR)/%.cpp $(HEADERS)
 	$(CXX) $(CXX_FLAGS) -DFARMBOT_BOARD_ID=4 $(DEPS_CFLAGS) $< -o $@

 $(TARGET_farmduino_k15_BUILD_DIR):
--- a/lib/targets/farmduino_v10.Makefile
+++ b/lib/targets/farmduino_v10.Makefile
@ -12,7 +12,7 @@ $(TARGET_farmduino_v10_BUILD_DIR)/farmduino_v10.eep: $(TARGET_farmduino_v10_BUIL
 $(TARGET_farmduino_v10_BUILD_DIR)/farmduino_v10.elf: $(TARGET_farmduino_v10_OBJ)
 	$(CC) -w -Os -g -flto -fuse-linker-plugin -Wl,--gc-sections,--relax -mmcu=atmega2560 -o $@ $(TARGET_farmduino_v10_OBJ) $(DEPS_OBJ) $(DEP_CORE_LDFLAGS)

-$(TARGET_farmduino_v10_BUILD_DIR)/%.o: $(FBARDUINO_FIRMWARE_SRC_DIR)/%.cpp
+$(TARGET_farmduino_v10_BUILD_DIR)/%.o: $(FBARDUINO_FIRMWARE_SRC_DIR)/%.cpp $(HEADERS)
 	$(CXX) $(CXX_FLAGS) -DFARMBOT_BOARD_ID=1 $(DEPS_CFLAGS) $< -o $@

 $(TARGET_farmduino_v10_BUILD_DIR):
--- a/lib/targets/ramps_v14.Makefile
+++ b/lib/targets/ramps_v14.Makefile
@ -12,7 +12,7 @@ $(TARGET_ramps_v14_BUILD_DIR)/arduino_firmware.eep: $(TARGET_ramps_v14_BUILD_DIR
 $(TARGET_ramps_v14_BUILD_DIR)/arduino_firmware.elf: $(TARGET_ramps_v14_OBJ)
 	$(CC) -w -Os -g -flto -fuse-linker-plugin -Wl,--gc-sections,--relax -mmcu=atmega2560 -o $@ $(TARGET_ramps_v14_OBJ) $(DEPS_OBJ) $(DEP_CORE_LDFLAGS)

-$(TARGET_ramps_v14_BUILD_DIR)/%.o: $(FBARDUINO_FIRMWARE_SRC_DIR)/%.cpp
+$(TARGET_ramps_v14_BUILD_DIR)/%.o: $(FBARDUINO_FIRMWARE_SRC_DIR)/%.cpp $(HEADERS)
 	$(CXX) $(CXX_FLAGS) -DFARMBOT_BOARD_ID=0 $(DEPS_CFLAGS) $< -o $@

 $(TARGET_ramps_v14_BUILD_DIR):
--- a/src/Board.h
+++ b/src/Board.h
@ -29,7 +29,6 @@
  #elif FARMBOT_BOARD_ID == 3
    #define FARMDUINO_EXP_V20
  #elif FARMBOT_BOARD_ID == 4
-    #define FARMDUINO_EXP_V20
    #define FARMDUINO_V30
  #endif

--- a/src/Config.h
+++ b/src/Config.h
@ -9,6 +9,8 @@
 #ifndef CONFIG_H_
 #define CONFIG_H_

+  const char SOFTWARE_VERSION[] = "6.5.8\0";
+
  const int LOGGING = 0;

  const int INCOMING_CMD_BUF_SIZE = 100;
@ -224,8 +226,6 @@

  const long STATUS_GENERAL_DEFAULT = 0;

-//const char SOFTWARE_VERSION[] = "4.0.2\0";
-
 #define NSS_PIN 22 
 #define READ_ENA_PIN 49
 #define NULL 0
@ -240,22 +240,28 @@ enum MdlSpiEncoders
 };
 #endif /* CONFIG_H_ */

-#if defined(RAMPS_V14) && !defined(SOFTWARE_VERSION)
-#define SOFTWARE_VERSION "6.5.0.R\0"
+#if defined(RAMPS_V14) && !defined(SOFTWARE_VERSION_SUFFIX)
+#define SOFTWARE_VERSION_SUFFIX ".R.genesisK12\0"
 #endif

-#if defined(FARMDUINO_V10) && !defined(SOFTWARE_VERSION)
-#define SOFTWARE_VERSION "6.5.0.F\0"
+#if defined(FARMDUINO_V10) && !defined(SOFTWARE_VERSION_SUFFIX)
+#define SOFTWARE_VERSION_SUFFIX ".F.genesisK13\0"
 #endif

-#if defined(FARMDUINO_V14) && !defined(SOFTWARE_VERSION)
-#define SOFTWARE_VERSION "6.5.0.G\0"
+#if defined(FARMDUINO_V14) && !defined(SOFTWARE_VERSION_SUFFIX)
+#define SOFTWARE_VERSION_SUFFIX ".G.genesisK14\0"
 #endif

-#if defined(FARMDUINO_V30) && !defined(SOFTWARE_VERSION)
-#define SOFTWARE_VERSION "6.5.0.H\0"
+#if defined(FARMDUINO_V30) && !defined(SOFTWARE_VERSION_SUFFIX)
+#define SOFTWARE_VERSION_SUFFIX ".H.genesisK15\0"
 #endif

-#if defined(FARMDUINO_EXP_V20) && !defined(SOFTWARE_VERSION)
-#define SOFTWARE_VERSION "6.5.0.E\0"
+#if defined(FARMDUINO_EXP_V20) && !defined(SOFTWARE_VERSION_SUFFIX)
+#define SOFTWARE_VERSION_SUFFIX ".E.expressK10\0"
+#endif
+
+#ifndef FARMBOT_BOARD_ID
+#define SOFTWARE_COMMIT ""
+#else
+#include "CommitSHA.h"
 #endif
--- a/src/CurrentState.h
+++ b/src/CurrentState.h
@ -16,6 +16,7 @@ enum ErrorListEnum
  ERR_EMERGENCY_STOP = 1,
  ERR_TIMEOUT = 2,
  ERR_STALL_DETECTED = 3,
+  ERR_CALIBRATION_ERROR = 4,

  ERR_INVALID_COMMAND = 14,
  ERR_PARAMS_NOT_OK = 15,
--- a/src/F83Handler.cpp
+++ b/src/F83Handler.cpp
@ -34,6 +34,8 @@ int F83Handler::execute(Command *command)

  Serial.print("R83 ");
  Serial.print(SOFTWARE_VERSION);
+  Serial.print(SOFTWARE_VERSION_SUFFIX);
+  Serial.print(SOFTWARE_COMMIT);
  //Serial.print("\r\n");
  CurrentState::getInstance()->printQAndNewLine();

--- a/src/Movement.cpp
+++ b/src/Movement.cpp
@ -522,7 +522,7 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
  // Let the interrupt handle all the movements
  while ((axisActive[0] || axisActive[1] || axisActive[2]) && !emergencyStop)
  {
-    #if defined(FARMDUINO_V14)
+    #if defined(FARMDUINO_V14) || defined(FARMDUINO_V30)
    checkEncoders();
    #endif

@ -741,7 +741,7 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
        case 1:
          serialBuffer += CurrentState::getInstance()->getPosition();
          serialBuffer += CurrentState::getInstance()->getQAndNewLine();
-          #if defined(FARMDUINO_V14)
+          #if defined(FARMDUINO_V14) || defined(FARMDUINO_V30)
            getEncoderReport();
          #endif
          break;
@ -765,14 +765,14 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS

      serialMessageNr++;

-      #if !defined(FARMDUINO_EXP_V20) && !defined(FARMDUINO_V30)
+      #if !defined(FARMDUINO_EXP_V20)
      if (serialMessageNr > 1)
      {
        serialMessageNr = 0;
      }
      #endif

-      #if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
+      #if defined(FARMDUINO_EXP_V20)
      
      if (serialMessageNr > 2)
      {
@ -928,7 +928,7 @@ int Movement::calibrateAxis(int axis)
  loadMotorSettings();
  loadEncoderSettings();

-  //unsigned long timeStart             = millis();
+  unsigned long timeStart = millis();

  bool movementDone = false;

@ -1004,7 +1004,7 @@ int Movement::calibrateAxis(int axis)
    break;
  default:
    Serial.print("R99 Calibration error: invalid axis selected\r\n");
-    error = 1;
+    error = ERR_CALIBRATION_ERROR;
    CurrentState::getInstance()->setLastError(error);
    return error;
  }
@ -1014,7 +1014,7 @@ int Movement::calibrateAxis(int axis)
  if (calibAxis->endStopMin() || calibAxis->endStopMax())
  {
    Serial.print("R99 Calibration error: end stop active before start\r\n");
-    error = 1;
+    error = ERR_CALIBRATION_ERROR;
    CurrentState::getInstance()->setLastError(error);
    return error;
  }
@ -1053,12 +1053,47 @@ int Movement::calibrateAxis(int axis)
  while (!movementDone && error == 0)
  {

-    #if defined(FARMDUINO_V14)
+    #if defined(FARMDUINO_V14) || defined(FARMDUINO_V30)
      checkEncoders();
    #endif

    checkAxisVsEncoder(calibAxis, calibEncoder, &motorConsMissedSteps[axis], &motorLastPosition[axis], &motorConsEncoderLastPosition[axis], &motorConsEncoderUseForPos[axis], &motorConsMissedStepsDecay[axis], &motorConsEncoderEnabled[axis]);

+    // Check timeouts
+    if (!movementDone && ((millis() >= timeStart && millis() - timeStart > timeOut[axis] * 1000) || (millis() < timeStart && millis() > timeOut[axis] * 1000)))
+    {
+      calibAxis->disableMotor();
+      switch (axis)
+      {
+      case 0:
+        Serial.print(COMM_REPORT_TIMEOUT_X);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout X axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      case 1:
+        Serial.print(COMM_REPORT_TIMEOUT_Y);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout Y axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      case 2:
+        Serial.print(COMM_REPORT_TIMEOUT_Z);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout Z axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      default:
+        Serial.print("R99 Calibration error: invalid axis selected\r\n");
+        error = ERR_CALIBRATION_ERROR;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      }
+    }
+
    // Check if there is an emergency stop command
    if (Serial.available() > 0)
    {
@ -1070,7 +1105,7 @@ int Movement::calibrateAxis(int axis)
        CurrentState::getInstance()->setEmergencyStop();
        Serial.print(COMM_REPORT_EMERGENCY_STOP);
        CurrentState::getInstance()->printQAndNewLine();
-        error = 1;
+        error = ERR_EMERGENCY_STOP;
      }
    }

@ -1175,6 +1210,8 @@ int Movement::calibrateAxis(int axis)
  Serial.print(" calibrating length");
  Serial.print("\r\n");

+  timeStart = millis();
+
  stepsCount = 0;
  movementDone = false;
  *missedSteps = 0;
@ -1195,12 +1232,47 @@ int Movement::calibrateAxis(int axis)
  while (!movementDone && error == 0)
  {

-    #if defined(FARMDUINO_V14)
+    #if defined(FARMDUINO_V14) || defined(FARMDUINO_V30)
       checkEncoders();
    #endif

    checkAxisVsEncoder(calibAxis, calibEncoder, &motorConsMissedSteps[axis], &motorLastPosition[axis], &motorConsEncoderLastPosition[axis], &motorConsEncoderUseForPos[axis], &motorConsMissedStepsDecay[axis], &motorConsEncoderEnabled[axis]);

+    // Check timeouts
+    if (!movementDone && ((millis() >= timeStart && millis() - timeStart > timeOut[axis] * 1000) || (millis() < timeStart && millis() > timeOut[axis] * 1000)))
+    {
+      calibAxis->disableMotor();
+      switch (axis)
+      {
+      case 0:
+        Serial.print(COMM_REPORT_TIMEOUT_X);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout X axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      case 1:
+        Serial.print(COMM_REPORT_TIMEOUT_Y);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout Y axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      case 2:
+        Serial.print(COMM_REPORT_TIMEOUT_Z);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout Z axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      default:
+        Serial.print("R99 Calibration error: invalid axis selected\r\n");
+        error = ERR_CALIBRATION_ERROR;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      }
+    }
+
    // Check if there is an emergency stop command
    if (Serial.available() > 0)
    {
@ -1212,7 +1284,7 @@ int Movement::calibrateAxis(int axis)
        CurrentState::getInstance()->setEmergencyStop();
        Serial.print(COMM_REPORT_EMERGENCY_STOP);
        CurrentState::getInstance()->printQAndNewLine();
-        error = 1;
+        error = ERR_EMERGENCY_STOP;
      }
    }

@ -1686,7 +1758,7 @@ bool Movement::endStopsReached()
 void Movement::storePosition()
 {

-#if !defined(FARMDUINO_EXP_V20) &&  !defined(FARMDUINO_V30)
+#if !defined(FARMDUINO_EXP_V20)
  if (motorConsEncoderEnabled[0])
  {
    CurrentState::getInstance()->setX(encoderX.currentPosition());
@ -1715,7 +1787,7 @@ void Movement::storePosition()
  }
 #endif

-#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
+#if defined(FARMDUINO_EXP_V20)
  CurrentState::getInstance()->setX(axisX.currentPosition());
  CurrentState::getInstance()->setY(axisY.currentPosition());
  CurrentState::getInstance()->setZ(axisZ.currentPosition());
--- a/src/MovementEncoder.cpp
+++ b/src/MovementEncoder.cpp
@ -76,20 +76,24 @@ void MovementEncoder::loadMdlEncoderId(MdlSpiEncoders encoder)

 void MovementEncoder::setPosition(long newPosition)
 {
-  #if defined(RAMPS_V14) || defined(FARMDUINO_V10) || defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
+  #if defined(RAMPS_V14) || defined(FARMDUINO_V10) || defined(FARMDUINO_EXP_V20)
    position = newPosition;
  #endif

-  #if defined(FARMDUINO_V14)
+  #if defined(FARMDUINO_V14) || defined(FARMDUINO_V30)
    if (newPosition == 0)
    {
      position = newPosition;

      const byte reset_cmd = 0x00;

+      SPI.beginTransaction(SPISettings(SPI_CLOCK_DIV4, MSBFIRST, SPI_MODE0));
      digitalWrite(NSS_PIN, LOW);
+      delayMicroseconds(2);
      SPI.transfer(reset_cmd | (mdlEncoder << mdl_spi_encoder_offset));
+      delayMicroseconds(5);
      digitalWrite(NSS_PIN, HIGH);
+      SPI.endTransaction();
    }
  #endif
 }
@ -105,7 +109,7 @@ long MovementEncoder::currentPosition()
  }
  else
  {
-    #if defined(FARMDUINO_V14)
+    #if defined(FARMDUINO_V14) || defined(FARMDUINO_V30)
      floatScalingFactor = scalingFactor / 40000.0;
      return position * floatScalingFactor * encoderInvert;
    #endif
@ -127,7 +131,7 @@ void MovementEncoder::checkEncoder(bool channelA, bool channelB, bool channelAQ,
    processEncoder();
  #endif

-  #if defined(FARMDUINO_V14)
+  #if defined(FARMDUINO_V14) || defined(FARMDUINO_V30)
    processEncoder();
  #endif

@ -169,14 +173,16 @@ void MovementEncoder::processEncoder()
  #endif

  // If using farmduino, revision 1.4, use the SPI interface to read from the Motor Dynamics Lab chip
-  #if defined(FARMDUINO_V14)
+  #if defined(FARMDUINO_V14) || defined(FARMDUINO_V30)
    const byte read_cmd = 0x0F;
    int readSize = 4;
    long encoderVal = 0;

+    SPI.beginTransaction(SPISettings(SPI_CLOCK_DIV4, MSBFIRST, SPI_MODE0));
    digitalWrite(NSS_PIN, LOW);
+    delayMicroseconds(2);
    SPI.transfer(read_cmd | (mdlEncoder << mdl_spi_encoder_offset));
-    delayMicroseconds(10);
+    delayMicroseconds(5);

    for (int i = 0; i < readSize; ++i)
    {
@ -185,6 +191,7 @@ void MovementEncoder::processEncoder()
    }

    digitalWrite(NSS_PIN, HIGH);
+    SPI.endTransaction();
    position = encoderVal;
  #endif

@ -277,7 +284,7 @@ float MovementEncoder::getMissedSteps()

 void MovementEncoder::checkMissedSteps()
 {
-  #if !defined(FARMDUINO_EXP_V20) && !defined(FARMDUINO_V30)
+  #if !defined(FARMDUINO_EXP_V20)
    if (encoderEnabled)
    {
      bool stepMissed = false;
@ -327,4 +334,4 @@ void MovementEncoder::checkMissedSteps()
    }
  #endif
 */
-}
+}
--- a/src/farmbot_arduino_controller.cpp
+++ b/src/farmbot_arduino_controller.cpp
@ -296,7 +296,7 @@ void checkParamsChanged()
 void checkEncoders()
 {
  
-  #if defined(FARMDUINO_V14)
+  #if defined(FARMDUINO_V14) || defined(FARMDUINO_V30)
    // Check encoders out of interrupt for farmduino 1.4
    Movement::getInstance()->checkEncoders();
  #endif
@ -594,6 +594,20 @@ void setPinInputOutput()
  digitalWrite(SERVO_1_PIN, LOW);
  digitalWrite(SERVO_2_PIN, LOW);
  digitalWrite(SERVO_3_PIN, LOW);
+
+  #if defined(FARMDUINO_V30)
+
+    reportingPeriod = 500;
+
+    pinMode(READ_ENA_PIN, INPUT_PULLUP);
+    pinMode(NSS_PIN, OUTPUT);
+    digitalWrite(NSS_PIN, HIGH);
+
+    SPI.setBitOrder(MSBFIRST);
+    SPI.setDataMode(SPI_MODE0);
+    SPI.setClockDivider(SPI_CLOCK_DIV4);
+    SPI.begin();
+  #endif
 }
 #endif

@ -631,7 +645,7 @@ void startInterrupt()
  //  Serial.println("set timer");
  //      TIMSK2 = (TIMSK2 & B11111110) | 0x01; // Enable timer overflow
  //      TCCR2B = (TCCR2B & B11111000) | 0x01; // Set divider to 1
-  //      OCR2A = 4; // Set overflow to 4 for total of 64 µs
+  //      OCR2A = 4; // Set overflow to 4 for total of 64 µs
  //#endif
 }

--- a/src/pins.h
+++ b/src/pins.h
@ -334,7 +334,7 @@
  #define SERVO_0_PIN 4
  #define SERVO_1_PIN 5
  #define SERVO_2_PIN 6
-  #define SERVO_3_PIN -1
+  #define SERVO_3_PIN 11

    // Encoder X channel A: pin 16, port H1
  #define ENC_X_A_PORT PINH
--- a/src/src.ino
+++ b/src/src.ino
@ -32,7 +32,7 @@ void setup()
  loadMovementSetting();
  startMotor();
  startPinGuard();
-  startServo();
+  //startServo();
  startInterrupt();
  initLastAction();
  homeOnBoot();
@ -57,4 +57,4 @@ void loop()
  checkParamsChanged();
  periodicChecksAndReport();

-}
+}