farmbot-arduino-controller

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/

Command line flash tool installation

sudo apt-get install arduino gcc-avr avr-libc avrdude python-configobj python-jinja2 python-serial
mkdir tmp
cd tmp
git clone https://github.com/miracle2k/python-glob2
cd python-glob2
wget https://bootstrap.pypa.io/ez_setup.py -O - | sudo python
sudo python setup.py install
git clone git://github.com/amperka/ino.git
cd ino
sudo make install

Command line flash tool use

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 1.0:

git clone -b 'alpha-1.0' --single-branch  https://github.com/FarmBot/farmbot-arduino-firmware

To flash the firmware onto the device, run this:

cd farmbot-arduino-firmware
ino build
ino upload

Software overview

All files are in /src

Farmbot_arduino_controller contains the setup() and main(). This is the main sequence:

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

Codes used for communication

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

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 S	Move to location at given speed for axis (don't have to be a straight line), in absolute coordinates
G	01	X Y Z S	Move to location on a straight line
G	28		Move home all axis
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) *
F	12		Home Y axis (find 0) *
F	13		Home Z axis (find 0) *
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
F	32	P V	Write status
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 pin 4 and 5) 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
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	X Y Z	Report axis motor load (TMC2130)
R	99		Debug message

Error codes (R03)

Value	Description
0	No error
1	Emergency stop
2	Timeout
3	Stall detected
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
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

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.