385 lines
14 KiB
Markdown
385 lines
14 KiB
Markdown
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](https://github.com/FarmBot/farmbot-arduino-firmware/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](/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](#important))
|
||
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.
|