farmbot-arduino-controller

This software is responsible for receiving G-Codes from the Raspberry Pi, execute them and report 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 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

To flash the firmware onto the device, run this:

git clone https://github.com/FarmBot/farmbot-arduino-firmware.git
cd farmbot-arduino-firmware
ino build
ino upload

Software overview

All files are in /src

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

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

Codes used for communication

G-Codes

Code type	Number	Parameters	Function
		Codes send to the arduino
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	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 on an arduino pin (digital/analog)
F	42	P M	Read a value from an arduino pin (digital/analog)
F	43	P M	Set the mode of a pin in arduino (input/output)
F	44	P V W T M	Set the value V on an arduino pin, wait for time T, set value W on the arduino pin (d/a)
F	51	E P V	Set a value on the tool mount with I2C
F	52	E P	Read value from the tool mount with I2C
F	61	P V	Set the servo on the pin (only pin 4 and 5) to the requested angle
F	81		Report end stop
F	82		Report current position
F	83		Report software version
E			Emergency stop
		Codes received from the arduino
R			Report messages
R	01		Current command started
R	02		Current command finished succesfully
R	03		Current command finished with error
R	04		Current command running
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

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	Quanity	counter ticks
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 paramter numbers

Parameter name	Parameter id
PARAM_VERSION	0
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_INVERT_MOTOR_X	31
MOVEMENT_INVERT_MOTOR_Y	32
MOVEMENT_INVERT_MOTOR_Z	33
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
MOVEMENT_STEPS_PER_UNIT_X	901 (not in arduino)
MOVEMENT_STEPS_PER_UNIT_Y	902 (not in arduino)
MOVEMENT_STEPS_PER_UNIT_Z	903 (not in arduino)