This software is responsible for receiving G-Codes from the Raspberry Pi, executing them, and reporting back the results.
Created with eclipseArduino V2 - For more details see http://www.baeyens.it/eclipse/
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
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
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|
+--------------+ +-----------+
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 |
| 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 (find 0) * | |
| F | 12 | Home Y axis (find 0) * | |
| F | 13 | Home Z axis (find 0) * | |
| F | 14 | Calibrate X axis (measure length + find 0) * | |
| F | 15 | Calibrate Y axis (measure length + find 0) * | |
| F | 16 | Calibrate Z axis (measure length + find 0) * | |
| 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 |
* Requires the use of encoders or end stops.
| 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 | 71 | X axis timeout | |
| R | 72 | Y axis timeout | |
| R | 73 | Z axis timeout | |
| 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 | 88 | No config (see configuration approval) | |
| R | 99 | Debug message |
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 |
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 | 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 |
| 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 |
Farmbot will NOT move until the configuration has been approved. To approve manually, send 'F22 P2 V1 Q0'
To move, use the command 'G00 X0 Y0 Z0 Q0' where you type in the coordinates just after X, Y and Z.