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https://github.com/farmbot/farmbot-arduino-firmware
Arduino firmware that executes g-code like commands over a serial line to move the FarmBot and operate the tool mount
https://github.com/farmbot/farmbot-arduino-firmware
farmbot
Last synced: 2 days ago
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Arduino firmware that executes g-code like commands over a serial line to move the FarmBot and operate the tool mount
- Host: GitHub
- URL: https://github.com/farmbot/farmbot-arduino-firmware
- Owner: FarmBot
- License: mit
- Created: 2014-05-04T21:52:02.000Z (over 10 years ago)
- Default Branch: main
- Last Pushed: 2024-08-07T11:33:25.000Z (5 months ago)
- Last Synced: 2024-12-13T22:08:17.805Z (9 days ago)
- Topics: farmbot
- Language: C++
- Homepage:
- Size: 1.19 MB
- Stars: 421
- Watchers: 64
- Forks: 197
- Open Issues: 10
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Security: SECURITY.md
Awesome Lists containing this project
README
farmbot-arduino-firmware
==========================
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/
Development build instructions
==========================
**This firmware is automatically bundled into [FarmBot OS](https://github.com/FarmBot/farmbot_os).
The following instructions are for isolated Arduino development only.**
**NOTE:** We tag releases when they are stable. The latest version (on main) is not guaranteed to be stable.
See [releases](https://github.com/FarmBot/farmbot-arduino-firmware/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 v6.6.20:
```
git clone -b 'v6.6.20' --single-branch https://github.com/FarmBot/farmbot-arduino-firmware
```
Options for compiling and uploading:
* [Arduino IDE](https://www.arduino.cc/en/main/software):
* Open `farmbot-arduino-firmware/src/src.ino`.
* Select the `Mega 2560` board in _Tools_ > _Board_.
* Uncomment only the desired board in `src/Board.h`.
* To compile and flash the firmware onto the device:
* Connect a device via USB.
* Select _Sketch_ > _Upload_ or click the _upload_ button.
* To compile without flashing:
* Select _Sketch_ > _Export compiled binary_.
* The `.hex` file will save to the `src` directory.
* Make (Linux)
* [Download the Arduino 1.8.19 IDE](https://www.arduino.cc/download_handler.php?f=/arduino-1.8.19-linux64.tar.xz) and unpack to the `/home` directory.
* `cd farmbot-arduino-firmware`
* To compile:
* `make`
* `.hex` files for each board type will save to the `bin` directory.
* VSCode
* Set Arduino path and board type.
* To compile and flash the firmware onto the device:
* Connect a device via USB.
* Select _Arduino: Upload_.
Software overview
=================
All files are in `/src`
`src.ino` contains the setup() and main loop(). This is the main sequence:
```
+--------------------------+
|farmbot_arduino_controller|
+-----------+--------------+
v
+--------------------------+
|Command |
+-----------+--------------+
v
+--------------------------+
|GCodeProcessor |
+-----------+--------------+
v
+--------------------------+
|***Handler |
+-------+-----------+------+
| |
| |
v v
+--------+ +-----------+
|Movement| | PinControl|
+--------+ +-----------+
```
Board Feature Overview
======================
| board | kit | pin encoders | SPI encoders | SPI motors | SPI stall detection | peripheral current sensors |
|:----------------- |:------------ |:------------:|:------------:|:----------:|:-------------------:|:--------------------------:|
| RAMPS_V14 | Genesis v1.2 | x | | | | |
| FARMDUINO_V10 | Genesis v1.3 | x | | | | |
| FARMDUINO_V14 | Genesis v1.4 | | x | | | |
| FARMDUINO_V30 | Genesis v1.5 | | x | x | | x |
| FARMDUINO_V32 | Genesis v1.6 | | x | x | | x |
| FARMDUINO_EXP_V20 | Express v1.0 | | | x | x | |
| FARMDUINO_EXP_V22 | Express v1.1 | | | x | x | |
Codes used for communication
============================
IMPORTANT
---------
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`.
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 A B C|Move to location at given speed for axis (don't have to be a straight line), in absolute coordinates
G |01 |X Y Z A B C|Move to location on a straight line (not implemented)
G |28 | |Move home all axis (Z, Y, X axis order)
_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, 3 attempts) __*__
F |12 | |Home Y axis (find 0, 3 attempts) __*__
F |13 | |Home Z axis (find 0, 3 attempts) __*__
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 (not enabled)
F |32 |P V |Write status (not enabled)
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 pins 4, 5, 6, and 11) 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
@ | | |Movement abort
__*__ Requires the use of encoders or end stops.
### 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 |V |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 |15 | X |Firmware used a different X coordinate than given in move command
R |16 | Y |Firmware used a different Y coordinate than given in move command
R |17 | Z |Firmware used a different Z coordinate than given in move command
R |20 | |Report all parameters complete
R |21 |P V |Report parameter value
R |23 |P V |Report updated parameter (during calibration)
R |31 |P V |Report status value (not enabled)
R |41 |P V |Report pin value
R |61 |P V |Report pin monitor analog 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 |86 | |Report movement abort
R |87 | |Emergency lock
R |88 | |No config (see [configuration approval](#important))
R |89 |U X V Y W Z |Report # axis steps (U,V,W) and highest missed steps in last 500 (X,Y,Z)
R |99 | |Debug message
Error codes (R03)
-----------------
Value |Description
------|------------
0 |No error
1 |Emergency stop
2 |Timeout
3 |Stall detected
4 |Calibration error
5 |Movement abort
14 |Invalid command
15 |No config
31 |Stall detected X axis
32 |Stall detected Y axis
33 |Stall detected Z axis
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 | Unit | Notes
----| ----------------------------------| ----------| ---------------------------------------
2 | PARAM_CONFIG_OK | 0 / 1 |
3 | PARAM_USE_EEPROM | 0 / 1 |
4 | PARAM_E_STOP_ON_MOV_ERR | 0 / 1 |
5 | PARAM_MOV_NR_RETRY | integer |
11 | MOVEMENT_TIMEOUT_X | seconds |
12 | MOVEMENT_TIMEOUT_Y | seconds |
13 | MOVEMENT_TIMEOUT_Z | seconds |
15 | MOVEMENT_KEEP_ACTIVE_X | 0 / 1 |
16 | MOVEMENT_KEEP_ACTIVE_Y | 0 / 1 |
17 | MOVEMENT_KEEP_ACTIVE_Z | 0 / 1 |
18 | MOVEMENT_HOME_AT_BOOT_X | 0 / 1 |
19 | MOVEMENT_HOME_AT_BOOT_Y | 0 / 1 |
20 | MOVEMENT_HOME_AT_BOOT_Z | 0 / 1 |
21 | MOVEMENT_INVERT_ENDPOINTS_X | 0 / 1 | switch ends
22 | MOVEMENT_INVERT_ENDPOINTS_Y | 0 / 1 | switch ends
23 | MOVEMENT_INVERT_ENDPOINTS_Z | 0 / 1 | switch ends
25 | MOVEMENT_ENABLE_ENDPOINTS_X | 0 / 1 |
26 | MOVEMENT_ENABLE_ENDPOINTS_Y | 0 / 1 |
27 | MOVEMENT_ENABLE_ENDPOINTS_Z | 0 / 1 |
31 | MOVEMENT_INVERT_MOTOR_X | 0 / 1 |
32 | MOVEMENT_INVERT_MOTOR_Y | 0 / 1 |
33 | MOVEMENT_INVERT_MOTOR_Z | 0 / 1 |
36 | MOVEMENT_SECONDARY_MOTOR_X | 0 / 1 |
37 | MOVEMENT_SECONDARY_MOTOR_INVERT_X | 0 / 1 |
41 | MOVEMENT_STEPS_ACC_DEC_X | steps |
42 | MOVEMENT_STEPS_ACC_DEC_Y | steps |
43 | MOVEMENT_STEPS_ACC_DEC_Z | steps | (away from home)
44 | MOVEMENT_STEPS_ACC_DEC_Z2 | steps | (toward home)
45 | MOVEMENT_STOP_AT_HOME_X | 0 / 1 |
46 | MOVEMENT_STOP_AT_HOME_Y | 0 / 1 |
47 | MOVEMENT_STOP_AT_HOME_Z | 0 / 1 |
51 | MOVEMENT_HOME_UP_X | 0 / 1 |
52 | MOVEMENT_HOME_UP_Y | 0 / 1 |
53 | MOVEMENT_HOME_UP_Z | 0 / 1 |
55 | MOVEMENT_STEP_PER_MM_X | steps |
56 | MOVEMENT_STEP_PER_MM_Y | steps |
57 | MOVEMENT_STEP_PER_MM_Z | steps |
61 | MOVEMENT_MIN_SPD_X | steps/s |
62 | MOVEMENT_MIN_SPD_Y | steps/s |
63 | MOVEMENT_MIN_SPD_Z | steps/s | (away from home)
64 | MOVEMENT_MIN_SPD_Z2 | steps/s | (toward home)
65 | MOVEMENT_HOME_SPD_X | steps/s |
66 | MOVEMENT_HOME_SPD_Y | steps/s |
67 | MOVEMENT_HOME_SPD_Z | steps/s |
71 | MOVEMENT_MAX_SPD_X | steps/s |
72 | MOVEMENT_MAX_SPD_Y | steps/s |
73 | MOVEMENT_MAX_SPD_Z | steps/s | (away from home)
74 | MOVEMENT_MAX_SPD_Z2 | steps/s | (toward home)
75 | MOVEMENT_INVERT_2_ENDPOINTS_X | 0 / 1 | switch NO and NC
76 | MOVEMENT_INVERT_2_ENDPOINTS_Y | 0 / 1 | switch NO and NC
77 | MOVEMENT_INVERT_2_ENDPOINTS_Z | 0 / 1 | switch NO and NC
81 | MOVEMENT_MOTOR_CURRENT_X | milliamps | TMC2130 only
82 | MOVEMENT_MOTOR_CURRENT_Y | milliamps | TMC2130 only
83 | MOVEMENT_MOTOR_CURRENT_Z | milliamps | TMC2130 only
85 | MOVEMENT_STALL_SENSITIVITY_X | integer | -63 (high) to +63 (low), Express only
86 | MOVEMENT_STALL_SENSITIVITY_Y | integer | -63 (high) to +63 (low), Express only
87 | MOVEMENT_STALL_SENSITIVITY_Z | integer | -63 (high) to +63 (low), Express only
91 | MOVEMENT_MICROSTEPS_X | integer | TMC2130 only
92 | MOVEMENT_MICROSTEPS_Y | integer | TMC2130 only
93 | MOVEMENT_MICROSTEPS_Z | integer | TMC2130 only
101 | ENCODER_ENABLED_X | 0 / 1 | enables stall detection on Express
102 | ENCODER_ENABLED_Y | 0 / 1 | enables stall detection on Express
103 | ENCODER_ENABLED_Z | 0 / 1 | enables stall detection on Express
105 | ENCODER_TYPE_X | 0 | differential channels disabled
106 | ENCODER_TYPE_Y | 0 | differential channels disabled
107 | ENCODER_TYPE_Z | 0 | differential channels disabled
111 | ENCODER_MISSED_STEPS_MAX_X | steps |
112 | ENCODER_MISSED_STEPS_MAX_Y | steps |
113 | ENCODER_MISSED_STEPS_MAX_Z | steps |
115 | ENCODER_SCALING_X | integer | `10000*motor/encoder` (except Express)
116 | ENCODER_SCALING_Y | integer | `10000*motor/encoder` (except Express)
117 | ENCODER_SCALING_Z | integer | `10000*motor/encoder` (except Express)
121 | ENCODER_MISSED_STEPS_DECAY_X | steps | 1-99
122 | ENCODER_MISSED_STEPS_DECAY_Y | steps | 1-99
123 | ENCODER_MISSED_STEPS_DECAY_Z | steps | 1-99
125 | ENCODER_USE_FOR_POS_X | 0 / 1 | except Express
126 | ENCODER_USE_FOR_POS_Y | 0 / 1 | except Express
127 | ENCODER_USE_FOR_POS_Z | 0 / 1 | except Express
131 | ENCODER_INVERT_X | 0 / 1 | except Express
132 | ENCODER_INVERT_Y | 0 / 1 | except Express
133 | ENCODER_INVERT_Z | 0 / 1 | except Express
141 | MOVEMENT_AXIS_NR_STEPS_X | steps | 0 = limit disabled
142 | MOVEMENT_AXIS_NR_STEPS_Y | steps | 0 = limit disabled
143 | MOVEMENT_AXIS_NR_STEPS_Z | steps | 0 = limit disabled
145 | MOVEMENT_STOP_AT_MAX_X | 0 / 1 |
146 | MOVEMENT_STOP_AT_MAX_Y | 0 / 1 |
147 | MOVEMENT_STOP_AT_MAX_Z | 0 / 1 |
161 | MOVEMENT_CALIBRATION_RETRY_X | integer |
162 | MOVEMENT_CALIBRATION_RETRY_Y | integer |
163 | MOVEMENT_CALIBRATION_RETRY_Z | integer |
165 | MOVEMENT_AXIS_STEALTH_X | 0 / 1 |
166 | MOVEMENT_AXIS_STEALTH_Y | 0 / 1 |
167 | MOVEMENT_AXIS_STEALTH_Z | 0 / 1 |
171 | MOVEMENT_CALIBRATION_DEADZONE_X | integer |
172 | MOVEMENT_CALIBRATION_DEADZONE_Y | integer |
173 | MOVEMENT_CALIBRATION_DEADZONE_Z | integer |
175 | MOVEMENT_CALIBRATION_RETRY_TOTAL_X| integer |
176 | MOVEMENT_CALIBRATION_RETRY_TOTAL_Y| integer |
177 | MOVEMENT_CALIBRATION_RETRY_TOTAL_Z| integer |
198 | PIN_REPORT_1_PIN_NR | integer | reports every 500ms, 0 = disabled
199 | PIN_REPORT_2_PIN_NR | integer | reports every 500ms, 0 = disabled
201 | PIN_GUARD_1_PIN_NR | integer |
202 | PIN_GUARD_1_TIME_OUT | seconds |
203 | PIN_GUARD_1_ACTIVE_STATE | 0 / 1 |
205 | PIN_GUARD_2_PIN_NR | integer |
206 | PIN_GUARD_2_TIME_OUT | seconds |
207 | PIN_GUARD_2_ACTIVE_STATE | 0 / 1 |
211 | PIN_GUARD_3_PIN_NR | integer |
212 | PIN_GUARD_3_TIME_OUT | seconds |
213 | PIN_GUARD_3_ACTIVE_STATE | 0 / 1 |
215 | PIN_GUARD_4_PIN_NR | integer |
216 | PIN_GUARD_4_TIME_OUT | seconds |
217 | PIN_GUARD_4_ACTIVE_STATE | 0 / 1 |
221 | PIN_GUARD_5_PIN_NR | integer |
222 | PIN_GUARD_5_TIME_OUT | seconds |
223 | PIN_GUARD_5_ACTIVE_STATE | 0 / 1 |
Pin Numbering
-------------
### RAMPS 1.4 (for other boards, see [/src/pins.h](/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
SERVO_2_PIN | 6 | Servo motor 2 signal pin
SERVO_3_PIN | 11 | Servo motor 3 signal pin
### Peripheral current sensor pins (Genesis v1.6)
| peripheral | peripheral pin | current sensor pin |
|:------------------- |:--------------:|:------------------:|
| Lighting | 7 | A0 (D54) |
| Water | 8 | A1 (D55) |
| Vacuum | 9 | A4 (D58) |
| Peripheral 4 | 10 | A3 (D57) |
| Peripheral 5 | 12 | A2 (D56) |
| Rotary Tool Forward | 2 | A6 (D60) |
| Rotary Tool Reverse | 3 | A6 (D60) |