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

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

* Requires the use of encoders or end stops.

Codes received from the arduino

Error codes (R03)

Axis states (R05)

The state is reported for each axis individually, using the prefix X, Y or Z

Calibration states (R06)

The status for calibration is also reported for the axis that is calibrating

Parameters for commands

Arduino parameter numbers