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. 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 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:
  • 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 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)
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)

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)