183 lines
6.5 KiB
Markdown
183 lines
6.5 KiB
Markdown
farmbot-arduino-controller
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==========================
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This software is responsible for receiving G-Codes from the Raspberry Pi, execute them and report back the results.
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Technicals
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==========================
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Created with eclipseArduino V2 - For more details see http://www.baeyens.it/eclipse/
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Command line flash tool installation
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==========================
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```
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sudo apt-get install gcc-avr avr-libc avrdude python-configobj python-jinja2 python-serial
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mkdir tmp
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cd tmp
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git clone https://github.com/miracle2k/python-glob2
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cd python-glob2
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wget https://bootstrap.pypa.io/ez_setup.py -O - | sudo python
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sudo python setup.py install
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git clone git://github.com/amperka/ino.git
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cd ino
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sudo make install
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```
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Command line flash tool use
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==========================
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To flash the firmware onto the device, run this:
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```
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git clone https://github.com/FarmBot/farmbot-arduino-firmware.git
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cd farmbot-arduino-firmware
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ino build
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ino upload
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```
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Software overview
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=================
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All files are in /src
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Farmbot_arduino_controller contains the setup() and main(). This the main sequence:
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```
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+--------------------------+
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|farmbot_arduino_controller|
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+-----------+--------------+
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v
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+--------------------------+
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|Command |
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+-----------+--------------+
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v
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+--------------------------+
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|GCodeProcessor |
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+-----------+--------------+
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v
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+--------------------------+
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|***Handler |
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+-------+-----------+------+
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| +---+
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v v
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+--------------+ +-----------+
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|StepperControl| | PinControl|
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+--------------+ +-----------+
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```
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Codes used for communication
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============================
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G-Codes
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-------
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Code type|Number|Parameters|Function
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---------|------|----------|--------
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| | |Codes send to the arduino
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G | | |G-Code, the codes working the same as a 3D printer
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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
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G |01 |X Y Z S |Move to location on a straight line
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G |28 | |Move home all axis
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F | | |Farm commands, commands specially added for the farmbot
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F |01 |T |Dose amount of water using time in millisecond
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F |02 |N |Dose amount of water using flow meter that measures pulses
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F |11 | |Home X axis
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F |12 | |Home Y axis
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F |13 | |Home Z axis
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F |14 | |Calibrate X axis
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F |15 | |Calibrate Y axis
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F |16 | |Calibrate Z axis
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F |21 |P |Read parameter
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F |22 |P V |Write parameter
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F |23 |P V |Update parameter (during calibration)
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F |31 |P |Read status
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F |32 |P V |Write status
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F |41 |P V M |Set a value on an arduino pin (digital/analog)
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F |42 |P M |Read a value from an arduino pin (digital/analog)
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F |43 |P M |Set the mode of a pin in arduino (input/output)
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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)
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F |51 |E P V |Set a value on the tool mount with I2C
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F |52 |E P |Read value from the tool mount with I2C
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F |61 |P V |Set the servo on the pin (only pin 4 and 5) to the requested angle
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F |81 | |Report end stop
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F |82 | |Report current position
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F |83 | |Report software version
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E | | |Emergency stop
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| | |Codes received from the arduino
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R | | |Report messages
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R |01 | |Current command started
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R |02 | |Current command finished succesfully
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R |03 | |Current command finished with error
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R |04 | |Current command running
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R |21 |P V |Report parameter value
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R |31 |P V |Report status value
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R |41 |P V |Report pin value
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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
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R |82 |X Y Z |Report current position
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R |83 |C |Report software version
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R |99 |C |Debug message
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Parameters for commands
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-----------------------
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Parameters|Description |Unit of Measurement
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----------|-----------------------|-------------------
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X |X movement |steps
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Y |Y movement |steps
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Z |Z movement |steps
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S |Speed |steps/second
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Q |Quanity |counter ticks
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T |Time |seconds
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C |Comment |text
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P |Parameter/pin number |#
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V |Value number |#
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W |Secondary value |#
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L |Number |#
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E |Element (in tool mount)|#
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M |Mode (set pin mode) |0 = output / 1 = input
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M |Mode (read/write) |0 = digital / 1 = analog
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XA |End stop 1 on x axis |0/1
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XB |End stop 2 on x axis |0/1
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YA |End stop 1 on y axis |0/1
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YB |End stop 2 on y axis |0/1
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ZA |End stop 1 on z axis |0/1
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ZB |End stop 2 on z axis |0/1
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Arduino paramter numbers
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------------------------
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Parameter name |Parameter id
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-----------------------------|------------
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PARAM_VERSION |0
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MOVEMENT_TIMEOUT_X |11
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MOVEMENT_TIMEOUT_Y |12
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MOVEMENT_TIMEOUT_Z |13
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MOVEMENT_INVERT_ENDPOINTS_X |21
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MOVEMENT_INVERT_ENDPOINTS_Y |22
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MOVEMENT_INVERT_ENDPOINTS_Z |23
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MOVEMENT_INVERT_MOTOR_X |31
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MOVEMENT_INVERT_MOTOR_Y |32
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MOVEMENT_INVERT_MOTOR_Z |33
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MOVEMENT_STEPS_ACC_DEC_X |41
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MOVEMENT_STEPS_ACC_DEC_Y |42
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MOVEMENT_STEPS_ACC_DEC_Z |43
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MOVEMENT_HOME_UP_X |51
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MOVEMENT_HOME_UP_Y |52
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MOVEMENT_HOME_UP_Z |53
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MOVEMENT_MIN_SPD_X |61
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MOVEMENT_MIN_SPD_Y |62
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MOVEMENT_MIN_SPD_Z |63
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MOVEMENT_MAX_SPD_X |71
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MOVEMENT_MAX_SPD_Y |72
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MOVEMENT_MAX_SPD_Z |73
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MOVEMENT_STEPS_PER_UNIT_X |901 (not in arduino)
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MOVEMENT_STEPS_PER_UNIT_Y |902 (not in arduino)
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MOVEMENT_STEPS_PER_UNIT_Z |903 (not in arduino)
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