402 lines
18 KiB
Markdown
402 lines
18 KiB
Markdown
farmbot-arduino-firmware
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==========================
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This software is responsible for receiving G-Codes from the Raspberry Pi, executing them, and reporting 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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Development build instructions
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==========================
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**This firmware is automatically bundled into [FarmBot OS](https://github.com/FarmBot/farmbot_os).
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The following instructions are for isolated Arduino development only.**
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**NOTE:** We tag releases when they are stable. The latest version (on master) is not guaranteed to be stable.
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See [releases](https://github.com/FarmBot/farmbot-arduino-firmware/releases) to find a stable release.
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**OPTION A:** For less stable "edge" version:
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```
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git clone https://github.com/FarmBot/farmbot-arduino-firmware
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```
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**OPTION B:** For stable release v6.4.2:
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```
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git clone -b 'v6.4.2' --single-branch https://github.com/FarmBot/farmbot-arduino-firmware
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```
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Options for compiling and uploading:
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* [Arduino IDE](https://www.arduino.cc/en/main/software):
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* Open `farmbot-arduino-firmware/src/src.ino`.
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* Select the `Mega 2560` board in _Tools_ > _Board_.
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* Uncomment only the desired board in `src/Board.h`.
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* To compile and flash the firmware onto the device:
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* Connect a device via USB.
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* Select _Sketch_ > _Upload_ or click the _upload_ button.
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* To compile without flashing:
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* Select _Sketch_ > _Export compiled binary_.
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* The `.hex` file will save to the `src` directory.
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* Make (Linux)
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* [Download the Arduino 1.8.12 IDE](https://www.arduino.cc/download_handler.php?f=/arduino-1.8.12-linux64.tar.xz) and unpack to the `/home` directory.
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* `cd farmbot-arduino-firmware`
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* To compile:
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* `make`
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* `.hex` files for each board type will save to the `bin` directory.
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* VSCode
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* Set Arduino path and board type.
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* To compile and flash the firmware onto the device:
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* Connect a device via USB.
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* Select _Arduino: Upload_.
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Software overview
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=================
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All files are in `/src`
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`src.ino` contains the setup() and main loop(). This is 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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| |
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v v
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+--------+ +-----------+
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|Movement| | PinControl|
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+--------+ +-----------+
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```
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Board Feature Overview
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======================
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| board | kit | pin encoders | SPI encoders | SPI motors | SPI stall detection |
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|:----------------- |:------------ |:------------:|:------------:|:----------:|:-------------------:|
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| RAMPS_V14 | Genesis v1.2 | x | | | |
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| FARMDUINO_V10 | Genesis v1.3 | x | | | |
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| FARMDUINO_V14 | Genesis v1.4 | | x | | |
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| FARMDUINO_V30 | Genesis v1.5 | | x | x | |
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| FARMDUINO_EXP_V20 | Express v1.0 | | | x | x |
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Codes used for communication
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============================
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IMPORTANT
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---------
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Farmbot will NOT move until the configuration has been approved.
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To approve manually, send 'F22 P2 V1 Q0'
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To move, use the command 'G00 X0 Y0 Z0 Q0' where you type in the coordinates just after X, Y and Z.
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G-Codes
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-------
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### Codes sent to the arduino
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Code type|Number|Parameters|Function
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---------|------|----------|--------
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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 A B C|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 A B C|Move to location on a straight line (not implemented)
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G |28 | |Move home all axis (Z, Y, X axis order)
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_F_ | | |_Farm commands, commands specially added for FarmBot_
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F |01 |T |Dose amount of water using time in millisecond (not implemented)
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F |02 |N |Dose amount of water using flow meter that measures pulses (not implemented)
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F |09 | |Reset emergency stop
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F |11 | |Home X axis (find 0, 3 attempts) __*__
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F |12 | |Home Y axis (find 0, 3 attempts) __*__
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F |13 | |Home Z axis (find 0, 3 attempts) __*__
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F |14 | |Calibrate X axis (measure length + find 0) __*__
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F |15 | |Calibrate Y axis (measure length + find 0) __*__
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F |16 | |Calibrate Z axis (measure length + find 0) __*__
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F |20 | |List all parameters and value
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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 (not enabled)
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F |32 |P V |Write status (not enabled)
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F |41 |P V M |Set a value V on an arduino pin in mode M (digital=0/analog=1)
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F |42 |P M |Read a value from an arduino pin P in mode M (digital=0/analog=1)
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F |43 |P M |Set the I/O mode M (input=0/output=1) of a pin P in arduino
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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)
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F |51 |E P V |Set a value on the tool mount with I2C (not implemented)
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F |52 |E P |Read value from the tool mount with I2C (not implemented)
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F |61 |P V |Set the servo on the pin P (only pins 4, 5, 6, and 11) to the requested angle V
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F |81 | |Report end stop
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F |82 | |Report current position
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F Â Â Â |83 Â | Â Â Â Â |Report software version
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F Â Â Â |84 Â Â |X Y Z Â Â |Set axis current position to zero (yes=1/no=0)
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E Â Â Â | Â Â | Â Â Â Â Â |Emergency stop
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__*__ Requires the use of encoders or end stops.
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### Codes received from the arduino
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Code type|Number|Parameters |Function
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---------|------|-----------------|--------
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_R_ | | |_Report messages_
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R |00 | |Idle
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R |01 | |Current command started
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R |02 | |Current command finished successfully
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R |03 |V |Current command finished with error
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R |04 | |Current command running
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R |05 |X Y Z |Report motor/axis state
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R |06 |X Y Z |Report calibration state during execution
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R |07 | |Retry movement
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R |08 | |Command echo
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R |09 | |Command invalid
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R |11 | |X axis homing complete
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R |12 | |Y axis homing complete
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R |13 | |Z axis homing complete
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R |15 | X |Firmware used a different X coordinate than given in move command
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R |16 | Y |Firmware used a different Y coordinate than given in move command
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R |17 | Z |Firmware used a different Z coordinate than given in move command
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R |20 | |Report all paramaters complete
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R |21 |P V |Report parameter value
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R |23 |P V |Report updated parameter (during calibration)
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R |31 |P V |Report status value (not enabled)
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R |41 |P V |Report pin value
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R |71 | |X axis timeout
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R |72 | |Y axis timeout
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R |73 | |Z axis timeout
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R |81 |XA XB YA YB ZA ZB|Report end stops
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R |82 |X Y Z |Report current position
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R |83 | |Report software version
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R |84 |X Y Z |Report encoder position scaled
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R |85 |X Y Z |Report encoder position raw
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R |87 | |Emergency lock
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R |88 | |No config (see [configuration approval](#important))
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R |89 |X Y Z |Report axis motor load (TMC2130) (not enabled)
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R |99 | |Debug message
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Error codes (R03)
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-----------------
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Value |Description
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------|------------
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0 |No error
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1 |Emergency stop
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2 |Timeout
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3 |Stall detected
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4 |Calibration error
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14 |Invalid command
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15 |No config
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Axis states (R05)
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-----------------
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The state is reported for each axis individually, using the prefix X, Y or Z
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Value |Description
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------|------------
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0 |Idle
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1 |Starting motor
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2 |Accelerating
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3 |Cruising
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4 |Decelerating
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5 |Stopping motor
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6 |Crawling
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Calibration states (R06)
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------------------------
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The status for calibration is also reported for the axis that is calibrating
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Value |Description
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------|------------
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0 |Idle
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1 |Moving to home
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2 |Moving to end
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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 |millimeters
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Y |Y movement |millimeters
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Z |Z movement |millimeters
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A |X speed |steps/second
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B |Y speed |steps/second
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C |Z speed |steps/second
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Q |Queue number |#
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T |Time |seconds
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N |Number |#
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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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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 parameter numbers
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------------------------
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ID | Name | Unit | Notes
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----| ----------------------------------| ----------| ---------------------------------------
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2 | PARAM_CONFIG_OK | 0 / 1 |
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3 | PARAM_USE_EEPROM | 0 / 1 |
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4 | PARAM_E_STOP_ON_MOV_ERR | 0 / 1 |
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5 | PARAM_MOV_NR_RETRY | integer |
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11 | MOVEMENT_TIMEOUT_X | seconds |
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12 | MOVEMENT_TIMEOUT_Y | seconds |
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13 | MOVEMENT_TIMEOUT_Z | seconds |
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15 | MOVEMENT_KEEP_ACTIVE_X | 0 / 1 |
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16 | MOVEMENT_KEEP_ACTIVE_Y | 0 / 1 |
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17 | MOVEMENT_KEEP_ACTIVE_Z | 0 / 1 |
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18 | MOVEMENT_HOME_AT_BOOT_X | 0 / 1 |
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19 | MOVEMENT_HOME_AT_BOOT_Y | 0 / 1 |
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20 | MOVEMENT_HOME_AT_BOOT_Z | 0 / 1 |
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21 | MOVEMENT_INVERT_ENDPOINTS_X | 0 / 1 | switch ends
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22 | MOVEMENT_INVERT_ENDPOINTS_Y | 0 / 1 | switch ends
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23 | MOVEMENT_INVERT_ENDPOINTS_Z | 0 / 1 | switch ends
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25 | MOVEMENT_ENABLE_ENDPOINTS_X | 0 / 1 |
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26 | MOVEMENT_ENABLE_ENDPOINTS_Y | 0 / 1 |
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27 | MOVEMENT_ENABLE_ENDPOINTS_Z | 0 / 1 |
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31 | MOVEMENT_INVERT_MOTOR_X | 0 / 1 |
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32 | MOVEMENT_INVERT_MOTOR_Y | 0 / 1 |
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33 | MOVEMENT_INVERT_MOTOR_Z | 0 / 1 |
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36 | MOVEMENT_SECONDARY_MOTOR_X | 0 / 1 |
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37 | MOVEMENT_SECONDARY_MOTOR_INVERT_X | 0 / 1 |
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41 | MOVEMENT_STEPS_ACC_DEC_X | steps |
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42 | MOVEMENT_STEPS_ACC_DEC_Y | steps |
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43 | MOVEMENT_STEPS_ACC_DEC_Z | steps |
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45 | MOVEMENT_STOP_AT_HOME_X | 0 / 1 |
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46 | MOVEMENT_STOP_AT_HOME_Y | 0 / 1 |
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47 | MOVEMENT_STOP_AT_HOME_Z | 0 / 1 |
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51 | MOVEMENT_HOME_UP_X | 0 / 1 |
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52 | MOVEMENT_HOME_UP_Y | 0 / 1 |
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53 | MOVEMENT_HOME_UP_Z | 0 / 1 |
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55 | MOVEMENT_STEP_PER_MM_X | steps |
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56 | MOVEMENT_STEP_PER_MM_Y | steps |
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57 | MOVEMENT_STEP_PER_MM_Z | steps |
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61 | MOVEMENT_MIN_SPD_X | steps/s |
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62 | MOVEMENT_MIN_SPD_Y | steps/s |
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63 | MOVEMENT_MIN_SPD_Z | steps/s |
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65 | MOVEMENT_HOME_SPD_X | steps/s |
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66 | MOVEMENT_HOME_SPD_Y | steps/s |
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67 | MOVEMENT_HOME_SPD_Z | steps/s |
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71 | MOVEMENT_MAX_SPD_X | steps/s |
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72 | MOVEMENT_MAX_SPD_Y | steps/s |
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73 | MOVEMENT_MAX_SPD_Z | steps/s |
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75 | MOVEMENT_INVERT_2_ENDPOINTS_X | 0 / 1 | switch NO and NC
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76 | MOVEMENT_INVERT_2_ENDPOINTS_Y | 0 / 1 | switch NO and NC
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77 | MOVEMENT_INVERT_2_ENDPOINTS_Z | 0 / 1 | switch NO and NC
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81 | MOVEMENT_MOTOR_CURRENT_X | milliamps | TMC2130 only
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82 | MOVEMENT_MOTOR_CURRENT_Y | milliamps | TMC2130 only
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83 | MOVEMENT_MOTOR_CURRENT_Z | milliamps | TMC2130 only
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85 | MOVEMENT_STALL_SENSITIVITY_X | integer | Express only
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86 | MOVEMENT_STALL_SENSITIVITY_Y | integer | Express only
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87 | MOVEMENT_STALL_SENSITIVITY_Z | integer | Express only
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91 | MOVEMENT_MICROSTEPS_X | integer | TMC2130 only
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92 | MOVEMENT_MICROSTEPS_Y | integer | TMC2130 only
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93 | MOVEMENT_MICROSTEPS_Z | integer | TMC2130 only
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101 | ENCODER_ENABLED_X | 0 / 1 | enables stall detection on Express
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102 | ENCODER_ENABLED_Y | 0 / 1 | enables stall detection on Express
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103 | ENCODER_ENABLED_Z | 0 / 1 | enables stall detection on Express
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105 | ENCODER_TYPE_X | 0 | differential channels disabled
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106 | ENCODER_TYPE_Y | 0 | differential channels disabled
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107 | ENCODER_TYPE_Z | 0 | differential channels disabled
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111 | ENCODER_MISSED_STEPS_MAX_X | steps |
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112 | ENCODER_MISSED_STEPS_MAX_Y | steps |
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113 | ENCODER_MISSED_STEPS_MAX_Z | steps |
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115 | ENCODER_SCALING_X | integer | `10000*motor/encoder` (except Express)
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116 | ENCODER_SCALING_Y | integer | `10000*motor/encoder` (except Express)
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117 | ENCODER_SCALING_Z | integer | `10000*motor/encoder` (except Express)
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121 | ENCODER_MISSED_STEPS_DECAY_X | steps | 1-99
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122 | ENCODER_MISSED_STEPS_DECAY_Y | steps | 1-99
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123 | ENCODER_MISSED_STEPS_DECAY_Z | steps | 1-99
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125 | ENCODER_USE_FOR_POS_X | 0 / 1 | except Express
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126 | ENCODER_USE_FOR_POS_Y | 0 / 1 | except Express
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127 | ENCODER_USE_FOR_POS_Z | 0 / 1 | except Express
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131 | ENCODER_INVERT_X | 0 / 1 | except Express
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132 | ENCODER_INVERT_Y | 0 / 1 | except Express
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133 | ENCODER_INVERT_Z | 0 / 1 | except Express
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141 | MOVEMENT_AXIS_NR_STEPS_X | steps | 0 = limit disabled
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142 | MOVEMENT_AXIS_NR_STEPS_Y | steps | 0 = limit disabled
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143 | MOVEMENT_AXIS_NR_STEPS_Z | steps | 0 = limit disabled
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145 | MOVEMENT_STOP_AT_MAX_X | 0 / 1 |
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146 | MOVEMENT_STOP_AT_MAX_Y | 0 / 1 |
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147 | MOVEMENT_STOP_AT_MAX_Z | 0 / 1 |
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201 | PIN_GUARD_1_PIN_NR | integer |
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202 | PIN_GUARD_1_TIME_OUT | seconds |
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203 | PIN_GUARD_1_ACTIVE_STATE | 0 / 1 |
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205 | PIN_GUARD_2_PIN_NR | integer |
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206 | PIN_GUARD_2_TIME_OUT | seconds |
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207 | PIN_GUARD_2_ACTIVE_STATE | 0 / 1 |
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211 | PIN_GUARD_3_PIN_NR | integer |
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212 | PIN_GUARD_3_TIME_OUT | seconds |
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213 | PIN_GUARD_3_ACTIVE_STATE | 0 / 1 |
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215 | PIN_GUARD_4_PIN_NR | integer |
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216 | PIN_GUARD_4_TIME_OUT | seconds |
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217 | PIN_GUARD_4_ACTIVE_STATE | 0 / 1 |
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221 | PIN_GUARD_5_PIN_NR | integer |
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222 | PIN_GUARD_5_TIME_OUT | seconds |
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223 | PIN_GUARD_5_ACTIVE_STATE | 0 / 1 |
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Pin Numbering
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-------------
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### RAMPS 1.4 (for other boards, see [/src/pins.h](/src/pins.h))
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Tag |Pin Nr|Comment
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-----------------|------|-------
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X_STEP_PIN | 54 | X axis step signal
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X_DIR_PIN | 55 | X axis direction choice
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X_ENABLE_PIN | 38 | X axis enable
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X_MIN_PIN | 3 | X axis end stop at home position
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X_MAX_PIN | 2 | X axis end stop at far position
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X_ENCDR_A | 16 | X axis encoder A channel
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X_ENCDR_B | 17 | X axis encoder B channel
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X_ENCDR_A_Q | 31 | X axis encoder A channel for quarature (not implemented)
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X_ENCDR_B_Q | 33 | X axis encoder B channel for quarature (not implemented)
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Y_STEP_PIN | 60 | Y axis step signal
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Y_DIR_PIN | 61 | Y axis direction choice
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Y_ENABLE_PIN | 56 | Y axis enable
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Y_MIN_PIN | 14 | Y axis end stop at home position
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Y_MAX_PIN | 15 | Y axis end stop at far position
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Y_ENCDR_A | 23 | Y axis encoder A channel
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Y_ENCDR_B | 25 | Y axis encoder B channel
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Y_ENCDR_A_Q | 35 | Y axis encoder A channel for quarature (not implemented)
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Y_ENCDR_B_Q | 37 | Y axis encoder B channel for quarature (not implemented)
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Z_STEP_PIN | 46 | Z axis step signal
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Z_DIR_PIN | 48 | Z axis direction choice
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Z_ENABLE_PIN | 62 | Z axis enable
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Z_MIN_PIN | 18 | Z axis end stop at home position
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Z_MAX_PIN | 19 | Z axis end stop at far position
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Z_ENCDR_A | 27 | Z axis encoder A channel
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Z_ENCDR_B | 29 | Z axis encoder B channel
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Z_ENCDR_A_Q | 39 | Z axis encoder A channel for quarature (not implemented)
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Z_ENCDR_B_Q | 41 | Z axis encoder B channel for quarature (not implemented)
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LED_PIN | 13 | on board LED
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FAN_PIN | 9 | RAMPS board fan pin
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HEATER_0_PIN | 10 | RAMPS board heating pin 0
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HEATER_1_PIN | 8 | RAMPS board heating pin 1
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SERVO_0_PIN | 4 | Servo motor 0 signal pin
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SERVO_1_PIN | 5 | Servo motor 1 signal pin
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SERVO_2_PIN | 6 | Servo motor 2 signal pin
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SERVO_3_PIN | 11 | Servo motor 3 signal pin
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