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
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
F	84	X Y Z	Set axis current position to zero (yes=1/no=0)
E			Emergency stop

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		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	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	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	99		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	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
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