Merge branch 'devel' into libfibre

Author: samuelsadok

.github/workflows/documentation.yml

@@ -2,7 +2,7 @@ name: Build and publish HTML documentation website
 
 on:
   push:
-    branches: [ feature/doc_autogen ]
+    branches: [ master ]
 
 jobs:
   jekyll:
@@ -52,15 +52,22 @@ jobs:
           cd /srv/jekyll/docs && \
           bundle config path vendor/bundle && \
           bundle install && \
-          JEKYLL_ENV=production bundle exec jekyll build
+          bundle exec jekyll build --baseurl \"\"
+          cd ..
+          mv docs/_site _site
+          rm -rdf docs
+          mv _site docs
+          touch docs/.nojekyll
         "
-        touch .nojekyll
+        # Extra checks to reduce likelihood of defect build
+        test -f docs/CNAME
+        test -f docs/index.html
 
     - name: Push to documentation branch
       run: |
         git config user.name "${GITHUB_ACTOR}"
         git config user.email "${GITHUB_ACTOR}@users.noreply.github.com"
-        git add -f docs/_site
+        git add -f docs
         git commit -m "jekyll build from Action ${GITHUB_SHA}"
         git push --force origin HEAD:${REMOTE_BRANCH}
       env:

.gitignore

@@ -58,3 +58,8 @@ ODrive\.files
 ODrive\.includes
 
 Firmware/Tests/bin/
+
+# GUI
+GUI/dist_electron
+GUI/node_modules
+GUI/build

Arduino/ODriveArduino/ODriveArduino.cpp

@@ -59,14 +59,14 @@ int32_t ODriveArduino::readInt() {
     return readString().toInt();
 }
 
-bool ODriveArduino::run_state(int axis, int requested_state, bool wait) {
-    int timeout_ctr = 100;
+bool ODriveArduino::run_state(int axis, int requested_state, bool wait_for_idle, float timeout) {
+    int timeout_ctr = (int)(timeout * 10.0f);
     serial_ << "w axis" << axis << ".requested_state " << requested_state << '\n';
-    if (wait) {
+    if (wait_for_idle) {
         do {
             delay(100);
             serial_ << "r axis" << axis << ".current_state\n";
-        } while (readInt() != requested_state && --timeout_ctr > 0);
+        } while (readInt() != AXIS_STATE_IDLE && --timeout_ctr > 0);
     }
 
     return timeout_ctr > 0;

Arduino/ODriveArduino/ODriveArduino.h

@@ -35,7 +35,7 @@ class ODriveArduino {
     int32_t readInt();
 
     // State helper
-    bool run_state(int axis, int requested_state, bool wait);
+    bool run_state(int axis, int requested_state, bool wait_for_idle, float timeout = 10.0f);
 private:
     String readString();
 

Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino

@@ -1,14 +1,39 @@
-
+// includes
+#include <HardwareSerial.h>
 #include <SoftwareSerial.h>
 #include <ODriveArduino.h>
-
-// Printing with stream operator
+// Printing with stream operator helper functions
 template<class T> inline Print& operator <<(Print &obj,     T arg) { obj.print(arg);    return obj; }
 template<>        inline Print& operator <<(Print &obj, float arg) { obj.print(arg, 4); return obj; }
 
-// Serial to the ODrive
-SoftwareSerial odrive_serial(8, 9); //RX (ODrive TX), TX (ODrive RX)
-// Note: you must also connect GND on ODrive to GND on Arduino!
+
+////////////////////////////////
+// Set up serial pins to the ODrive
+////////////////////////////////
+
+// Below are some sample configurations.
+// You can comment out the default Teensy one and uncomment the one you wish to use.
+// You can of course use something different if you like
+// Don't forget to also connect ODrive GND to Arduino GND.
+
+// Teensy 3 and 4 (all versions) - Serial1
+// pin 0: RX - connect to ODrive TX
+// pin 1: TX - connect to ODrive RX
+// See https://www.pjrc.com/teensy/td_uart.html for other options on Teensy
+HardwareSerial& odrive_serial = Serial1;
+
+// Arduino Mega or Due - Serial1
+// pin 19: RX - connect to ODrive TX
+// pin 18: TX - connect to ODrive RX
+// See https://www.arduino.cc/reference/en/language/functions/communication/serial/ for other options
+// HardwareSerial& odrive_serial = Serial1;
+
+// Arduino without spare serial ports (such as Arduino UNO) have to use software serial.
+// Note that this is implemented poorly and can lead to wrong data sent or read.
+// pin 8: RX - connect to ODrive TX
+// pin 9: TX - connect to ODrive RX
+// SoftwareSerial odrive_serial(8, 9);
+
 
 // ODrive object
 ODriveArduino odrive(odrive_serial);
@@ -28,7 +53,7 @@ void setup() {
   // You can of course set them different if you want.
   // See the documentation or play around in odrivetool to see the available parameters
   for (int axis = 0; axis < 2; ++axis) {
-    odrive_serial << "w axis" << axis << ".controller.config.vel_limit " << 22000.0f << '\n';
+    odrive_serial << "w axis" << axis << ".controller.config.vel_limit " << 10.0f << '\n';
     odrive_serial << "w axis" << axis << ".motor.config.current_lim " << 11.0f << '\n';
     // This ends up writing something like "w axis0.motor.config.current_lim 10.0\n"
   }
@@ -52,23 +77,23 @@ void loop() {
 
       requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION;
       Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
-      odrive.run_state(motornum, requested_state, true);
+      if(!odrive.run_state(motornum, requested_state, true)) return;
 
       requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
       Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
-      odrive.run_state(motornum, requested_state, true);
+      if(!odrive.run_state(motornum, requested_state, true, 25.0f)) return;
 
       requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL;
       Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
-      odrive.run_state(motornum, requested_state, false); // don't wait
+      if(!odrive.run_state(motornum, requested_state, false /*don't wait*/)) return;
     }
 
     // Sinusoidal test move
     if (c == 's') {
       Serial.println("Executing test move");
       for (float ph = 0.0f; ph < 6.28318530718f; ph += 0.01f) {
-        float pos_m0 = 20000.0f * cos(ph);
-        float pos_m1 = 20000.0f * sin(ph);
+        float pos_m0 = 2.0f * cos(ph);
+        float pos_m1 = 2.0f * sin(ph);
         odrive.SetPosition(0, pos_m0);
         odrive.SetPosition(1, pos_m1);
         delay(5);

CHANGELOG.md

@@ -2,38 +2,51 @@
 Please add a note of your changes below this heading if you make a Pull Request.
 ### Added
 * [Mechanical brake support](docs/mechanical-brakes.md)
+* Added periodic sending of encoder position on CAN
 
 ### Changed
-
+* Modified encoder offset calibration to work correctly when calib_scan_distance is not a multiple of 4pi
+* Moved thermistors from being a top level object to belonging to Motor objects. Also changed errors: thermistor errors rolled into motor errors
 * Use DMA for DRV8301 setup
 * Make NVM configuration code more dynamic so that the layout doesn't have to be known at compile time.
 * GPIO initialization logic was changed. GPIOs now need to be explicitly set to the mode corresponding to the feature that they are used by. See `<odrv>.config.gpioX_mode`.
 * Previously, if two components used the same interrupt pin (e.g. step input for axis0 and axis1) then the one that was configured later would override the other one. Now this is no longer the case (the old component remains the owner of the pin).
 
-### API Miration Notes
+### API Migration Notes
 
+* `odrive.axis.fet_thermistor`, `odrive.axis.motor_thermistor` moved to `odrive.axis.motor` object
 * `enable_uart` and `uart_baudrate` were renamed to `enable_uart0` and `uart0_baudrate`.
 * `enable_i2c_instead_of_can` was replaced by the separate settings `enable_i2c0` and `enable_can0`.
 * `<axis>.motor.gate_driver` was moved to `<axis>.gate_driver`.
 * `<axis>.min_endstop.pullup` and `<axis>.max_endstop.pullup` were removed. Use `<odrv>.config.gpioX_mode = GPIO_MODE_DIGITAL / GPIO_MODE_DIGITAL_PULL_UP / GPIO_MODE_DIGITAL_PULL_DOWN` instead.
+* `<axis>.config.can_node_id` was moved to `<axis>.config.can.node_id`
+* `<axis>.config.can_node_id_extended` was moved to `<axis>.config.can.is_extended`
+* `<axis>.config.can_heartbeat_rate_ms` was moved to `<axis>.config.can.heartbeat_rate_ms`
 
-# Release Candidate
-## [0.5.1] - Date TBD
+# Releases
+## [0.5.1] - 2020-09-27
 ### Added
 * Added motor `torque_constant`: units of torque are now [Nm] instead of just motor current.
+* Added `motor.config.torque_lim`: limit for motor torque in [Nm].
 * [Motor thermistors support](docs/thermistors.md)
 * Enable/disable of thermistor thermal limits according `setting axis.<thermistor>.enabled`.
 * Introduced `odrive-interface.yaml` as a root source for the ODrive's API. `odrivetool` connects much faster as a side effect.
 * Added torque_constant and torque_lim to motor config
 
 ### Changed
 * **`input_pos`, `input_vel`, `pos_estimate_linear`, `pos_estimate_circular`, are now in units of [turns] or [turns/s] instead of [counts] or [counts/s]**
+* **`pos_gain`, `vel_gain`, `vel_integrator_gain`, are now in units of [(turns/s) / turns], [Nm/(turns/s)], [Nm/(turns/s * s)] instead of [(counts/s) / counts], [A/(counts/s)], [A/((counts/s) * s)].** `pos_gain` is not affected. Old values of `vel_gain` and `vel_integrator_gain` should be multiplied by `torque_constant * encoder cpr` to convert from the old units to the new units. `torque_constant` is approximately equal to 8.27 / (motor KV).
 * `axis.motor.thermal_current_lim` has been removed. Instead a new property is available `axis.motor.effective_current_lim` which contains the effective current limit including any thermal limits.
 * `axis.motor.get_inverter_temp()`, `axis.motor.inverter_temp_limit_lower` and `axis.motor.inverter_temp_limit_upper` have been moved to seperate fet thermistor object under `axis.fet_thermistor`. `get_inverter_temp()` function has been renamed to `temp` and is now a read-only property.
 * `axis.config.counts_per_step` is now `axis.config.turns_per_step`
+* Outputs of `axis.sensorless_estimator` are now in turns/s instead of electrical rad/s
+* Fixed bug of high current during lockin-ramp caused by `motor::update()` expecting a torque command instead of current
+* Fixed bug where commanded velocity was extremely high just after sensorless ramp when using `input_mode` INPUT_MODE_VEL_RAMP caused by `vel_setpoint` and `axis.config.sensorless_ramp.vel` being in different units
 
+### Fixed
+* Fixed bug of high current during lockin-ramp caused by `motor::update()` expecting a torque command instead of current
+* Fixed bug where commanded velocity was extremely high just after sensorless ramp when using `input_mode` INPUT_MODE_VEL_RAMP caused by `vel_setpoint` and `axis.config.sensorless_ramp.vel` being in different units
 
-# Releases
 ## [0.5.0] - 2020-08-03
 ### Added
 * AC Induction Motor support.

Dockerfile

@@ -7,16 +7,22 @@ RUN add-apt-repository ppa:team-gcc-arm-embedded/ppa
 RUN add-apt-repository ppa:jonathonf/tup
 RUN apt-get update
 RUN apt-get -y upgrade
-RUN apt-get -y install gcc-arm-embedded openocd tup python3.7 build-essential git
+RUN apt-get -y install gcc-arm-embedded openocd tup python3.7 python3-yaml python3-jinja2 python3-jsonschema build-essential git
 
 # Build step below does not know about debian's python naming schemme
 RUN ln -s /usr/bin/python3.7 /usr/bin/python
 
-# Copy the firmware tree into the container
-RUN mkdir ODrive
-COPY . ODrive
+RUN mkdir -p ODrive
 WORKDIR ODrive/Firmware
 
-# Hack around Tup's dependency on FUSE
-RUN tup generate build.sh
-RUN ./build.sh
+# Must attach the firmware tree into the container
+CMD \
+	# Regenerate python interface
+	python interface_generator_stub.py \
+	--definitions odrive-interface.yaml \
+	--template ../tools/enums_template.j2 \
+	--output ../tools/odrive/enums.py && \
+	# Hack around Tup's dependency on FUSE
+	tup init && \
+	tup generate build.sh && \
+	./build.sh

Firmware/.vscode/c_cpp_properties.json

@@ -17,8 +17,18 @@
                 "__packed=\"__attribute__((__packed__))\"",
                 "__GNUC__"
             ],
-            "intelliSenseMode": "gcc-x64",
-            "compilerPath": "\"${ARM_GCC_ROOT}/bin/arm-none-eabi-g++.exe\" -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float",
+            "intelliSenseMode": "gcc-arm",
+            "compilerPath": "arm-none-eabi-g++.exe",
+            "compilerArgs": [
+                "-mthumb",
+                "-mcpu=cortex-m4",
+                "-mfpu=fpv4-sp-d16",
+                "-mfloat-abi=hard",
+                "-specs=nosys.specs",
+                "-specs=nano.specs",
+                "-u _printf_float",
+                "-u _scanf_float"
+            ],
             "cStandard": "c11",
             "cppStandard": "c++17"
         },
@@ -39,7 +49,7 @@
                 "__packed=\"__attribute__((__packed__))\"",
                 "__GNUC__"
             ],
-            "intelliSenseMode": "gcc-x64",
+            "intelliSenseMode": "gcc-arm",
             "compilerPath": "arm-none-eabi-g++ -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float",
             "cStandard": "c11",
             "cppStandard": "c++17"
@@ -61,7 +71,7 @@
                 "__packed=\"__attribute__((__packed__))\"",
                 "__GNUC__"
             ],
-            "intelliSenseMode": "gcc-x64",
+            "intelliSenseMode": "gcc-arm",
             "cStandard": "c11",
             "cppStandard": "c++17"
         }

Firmware/Board/v3/Src/stm32f4xx_it.c

@@ -35,6 +35,7 @@
 #include "stm32f4xx.h"
 #include "stm32f4xx_it.h"
 #include "cmsis_os.h"
+#include <stdbool.h>
 
 /* USER CODE BEGIN 0 */
 #include <Drivers/STM32/stm32_system.h>
@@ -85,6 +86,13 @@ void get_regs(void** stack_ptr) {
   void* volatile pc __attribute__((unused)) = stack_ptr[6];  // Program counter
   void* volatile psr __attribute__((unused)) = stack_ptr[7];  // Program status register
 
+  void* volatile cfsr __attribute__((unused)) = (void*)SCB->CFSR; // Configurable fault status register
+  void* volatile cpacr __attribute__((unused)) = (void*)SCB->CPACR;
+  void* volatile fpccr __attribute__((unused)) = (void*)FPU->FPCCR;
+
+  volatile bool preciserr __attribute__((unused)) = (uint32_t)cfsr & 0x200;
+  volatile bool ibuserr __attribute__((unused)) = (uint32_t)cfsr & 0x100;
+
   volatile int stay_looping = 1;
   while(stay_looping);
 }

Firmware/Board/v3/board.cpp

@@ -58,20 +58,26 @@ OnboardThermistorCurrentLimiter fet_thermistors[AXIS_COUNT] = {
     }
 };
 
+OffboardThermistorCurrentLimiter motor_thermistors[AXIS_COUNT];
+
 Motor motors[AXIS_COUNT] = {
     {
         &htim1, // timer
         TIM_1_8_PERIOD_CLOCKS, // control_deadline
         1.0f / SHUNT_RESISTANCE, // shunt_conductance [S]
         m0_gate_driver, // gate_driver
-        m0_gate_driver // opamp
+        m0_gate_driver, // opamp
+        fet_thermistors[0],
+        motor_thermistors[0]
     },
     {
         &htim8, // timer
         (3 * TIM_1_8_PERIOD_CLOCKS) / 2, // control_deadline
         1.0f / SHUNT_RESISTANCE, // shunt_conductance [S]
         m1_gate_driver, // gate_driver
-        m1_gate_driver // opamp
+        m1_gate_driver, // opamp
+        fet_thermistors[1],
+        motor_thermistors[1]
     }
 };
 
@@ -101,7 +107,6 @@ MechanicalBrake mechanical_brakes[AXIS_COUNT];
 SensorlessEstimator sensorless_estimators[AXIS_COUNT];
 Controller controllers[AXIS_COUNT];
 TrapezoidalTrajectory trap[AXIS_COUNT];
-OffboardThermistorCurrentLimiter motor_thermistors[AXIS_COUNT];
 
 std::array<Axis, AXIS_COUNT> axes{{
     {
@@ -112,8 +117,6 @@ std::array<Axis, AXIS_COUNT> axes{{
         encoders[0], // encoder
         sensorless_estimators[0], // sensorless_estimator
         controllers[0], // controller
-        fet_thermistors[0], // fet_thermistor
-        motor_thermistors[0], // motor_thermistor
         motors[0], // motor
         trap[0], // trap
         endstops[0], endstops[1], // min_endstop, max_endstop
@@ -132,8 +135,6 @@ std::array<Axis, AXIS_COUNT> axes{{
         encoders[1], // encoder
         sensorless_estimators[1], // sensorless_estimator
         controllers[1], // controller
-        fet_thermistors[1], // fet_thermistor
-        motor_thermistors[1], // motor_thermistor
         motors[1], // motor
         trap[1], // trap
         endstops[2], endstops[3], // min_endstop, max_endstop