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:
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|farmbot_arduino_controller|
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v
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|Command |
----------- --------------
v
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|GCodeProcessor |
----------- --------------
v
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|***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 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 | 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 |
| 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 | 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 |
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 |