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 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 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

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	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
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	Quantity	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 parameter 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_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
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