11 KiB
11 KiB
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
| 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 the farmbot | ||
| F | 01 | T | Dose amount of water using time in millisecond |
| F | 02 | N | Dose amount of water using flow meter that measures pulses |
| F | 11 | Home X axis | |
| F | 12 | Home Y axis | |
| F | 13 | Home Z axis | |
| F | 14 | Calibrate X axis | |
| F | 15 | Calibrate Y axis | |
| F | 16 | Calibrate Z axis | |
| 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 | |
| E | Emergency stop |
Codes received from the arduino
| Code type | Number | Parameters | Function |
|---|---|---|---|
| R | Report messages | ||
| R | 01 | Current command started | |
| R | 02 | Current command finished successfully | |
| R | 03 | Current command finished with error | |
| R | 04 | Current command running | |
| R | 05 | Report motor/axis state | |
| R | 06 | Report calibration state during execution | |
| R | 21 | P V | Report parameter value |
| R | 31 | P V | Report status value |
| R | 41 | P V | Report pin value |
| R | 81 | X1 X2 Y1 Y2 Z1 Z2 | Reporting end stops - parameters: X1 (end stop x axis min) X2 (end stop x axis max) Y1 Y2 Z1 Z2 |
| R | 82 | X Y Z | Report current position |
| R | 83 | C | Report software version |
| R | 99 | C | Debug message |
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 | steps |
| Y | Y movement | steps |
| Z | Z movement | steps |
| S | Speed | steps/second |
| Q | Queue number | # |
| T | Time | seconds |
| C | Comment | text |
| P | Parameter/pin number | # |
| V | Value number | # |
| W | Secondary value | # |
| L | Number | # |
| 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
| Parameter name | Parameter id |
|---|---|
| PARAM_CONFIG_OK | 2 |
| PARAM_USE_EEPROM | 3 |
| MOVEMENT_TIMEOUT_X | 11 |
| MOVEMENT_TIMEOUT_Y | 12 |
| MOVEMENT_TIMEOUT_Z | 13 |
| MOVEMENT_INVERT_ENDPOINTS_X | 21 |
| MOVEMENT_INVERT_ENDPOINTS_Y | 22 |
| MOVEMENT_INVERT_ENDPOINTS_Z | 23 |
| MOVEMENT_ENABLE_ENDPOINTS_X | 25 |
| MOVEMENT_ENABLE_ENDPOINTS_Y | 26 |
| MOVEMENT_ENABLE_ENDPOINTS_Z | 27 |
| MOVEMENT_INVERT_MOTOR_X | 31 |
| MOVEMENT_INVERT_MOTOR_Y | 32 |
| MOVEMENT_INVERT_MOTOR_Z | 33 |
| MOVEMENT_SECONDARY_MOTOR_X | 36 |
| MOVEMENT_SECONDARY_MOTOR_INVERT_X | 37 |
| MOVEMENT_STEPS_ACC_DEC_X | 41 |
| MOVEMENT_STEPS_ACC_DEC_Y | 42 |
| MOVEMENT_STEPS_ACC_DEC_Z | 43 |
| MOVEMENT_HOME_UP_X | 51 |
| MOVEMENT_HOME_UP_Y | 52 |
| MOVEMENT_HOME_UP_Z | 53 |
| MOVEMENT_MIN_SPD_X | 61 |
| MOVEMENT_MIN_SPD_Y | 62 |
| MOVEMENT_MIN_SPD_Z | 63 |
| MOVEMENT_MAX_SPD_X | 71 |
| MOVEMENT_MAX_SPD_Y | 72 |
| MOVEMENT_MAX_SPD_Z | 73 |
| ENCODER_ENABLED_X | 101 |
| ENCODER_ENABLED_Y | 102 |
| ENCODER_ENABLED_Z | 103 |
| ENCODER_MISSED_STEPS_MAX_X | 111 |
| ENCODER_MISSED_STEPS_MAX_Y | 112 |
| ENCODER_MISSED_STEPS_MAX_Z | 113 |
| ENCODER_MISSED_STEPS_DECAY_X | 121 |
| ENCODER_MISSED_STEPS_DECAY_Y | 122 |
| ENCODER_MISSED_STEPS_DECAY_Z | 123 |
| MOVEMENT_AXIS_NR_STEPS_X | 141 |
| MOVEMENT_AXIS_NR_STEPS_Y | 142 |
| MOVEMENT_AXIS_NR_STEPS_Z | 143 |
| PIN_GUARD_1_PIN_NR | 201 |
| PIN_GUARD_1_TIME_OUT | 202 |
| PIN_GUARD_1_ACTIVE_STATE | 203 |
| PIN_GUARD_2_PIN_NR | 205 |
| PIN_GUARD_2_TIME_OUT | 206 |
| PIN_GUARD_2_ACTIVE_STATE | 207 |
| PIN_GUARD_3_PIN_NR | 211 |
| PIN_GUARD_3_TIME_OUT | 212 |
| PIN_GUARD_3_ACTIVE_STATE | 213 |
| PIN_GUARD_4_PIN_NR | 215 |
| PIN_GUARD_4_TIME_OUT | 216 |
| PIN_GUARD_4_ACTIVE_STATE | 217 |
| PIN_GUARD_5_PIN_NR | 221 |
| PIN_GUARD_5_TIME_OUT | 222 |
| PIN_GUARD_5_ACTIVE_STATE | 223 |
IMPORTANT
Farmbot will NOT move until the configuration has been approved. To approve manually, send 'F22 P2 V1 Q0' (after the next PR)
To move, use the command 'G00 X0 Y0 Z0 Q0' where you type in the coordinates just after X, Y and Z.