Merge pull request #730 from odriverobotics/devel

Fw v0.5.6 Release Candidate

Author: Wetmelon

.gitignore

@@ -65,3 +65,4 @@ GUI/node_modules
 GUI/build
 
 docs/reStructuredText/_build/
+tools/odrive-cansimple.ini

CHANGELOG.md

@@ -1,7 +1,42 @@
-# Unreleased Features
-Please add a note of your changes below this heading if you make a Pull Request.
 
-# Releases
+## [0.5.6] - Unreleased
+
+### Fixed
+
+* Fixed race condition in homing sequence that was causing strange behaviour.  Fixes [#634](https://github.com/odriverobotics/ODrive/issues/634)]  
+* When using a load encoder, CAN will report the correct position and velocity.
+* When using a load encoder, homing will reset the correct linear position.  Fixes [#651](https://github.com/odriverobotics/ODrive/issues/651)
+* Implemented CAN controller error message, which was previously defined but not actually implemented.
+* Get Vbus Voltage message updated to match ODrive Pro's CANSimple implementation.
+* `vel_setpoint` and `torque_setpoint` will be clamped to `vel_limit` and the active torque limit.  Fixes [#647](https://github.com/odriverobotics/ODrive/issues/647)
+
+### Added
+
+* Added public `controller.get_anticogging_value(uint32)` fibre function to index into the the cogging map.  Fixes [#690](https://github.com/odriverobotics/ODrive/issues/690)
+* Added Get ADC Voltage message to CAN (0x1C).  Send the desired GPIO number in byte 1, and the ODrive will respond with the ADC voltage from that pin (if previously configured for analog)
+* Added CAN heartbeat message flags for motor, controller, and encoder error.  If flag is true, fetch the corresponding error with the respective message.
+* Added scoped enums, e.g. `CONTROL_MODE_POSITION_CONTROL` can be used as `ControlMode.POSITION_CONTROL`
+* Added more cyclic messages to can.  Use the `rate_ms` values in `<odrv>.<axis>.config.can` to set the cycle rate of the message in milliseconds.  Set a rate to 0 to disable sending.  The following variables are avaialble:
+
+Command ID | Rate Variable | Message Name
+:-- | :-- | :--
+ 0x01 | `heartbeat_rate_ms` | Heartbeat
+ 0x09 | `encoder_rate_ms` | Get Encoder Estimates
+ 0x03 | `motor_error_rate_ms` | Get Motor Error
+ 0x04 | `encoder_error_rate_ms` | Get Encoder Error
+ 0x1D | `controller_error_rate_ms` | Get Controller Error
+ 0x05 | `sensorless_error_rate_ms` | Get Sensorless Error
+ 0x0A | `encoder_count_rate_ms` | Get Encoder Count
+ 0x14 | `iq_rate_ms` | Get Iq
+ 0x15 | `sensorless_rate_ms` | Get Sensorless Estimates
+ 0x17 | `bus_vi_rate_ms` | Get Bus Voltage Current
+
+### Changed
+
+* Improved can_generate_dbc.py file and resultant .dbc.  Now supports 8 ODrive axes (0..7) natively
+* Add units and value tables to every signal in odrive-cansimple.dbc
+* Autogenerate odrive-cansimple.dbc on compile
+
 ## [0.5.5] - 2022-08-11
 
 * CANSimple messages which previously required the rtr bit to be set will now also respond if DLC = 0

Firmware/Makefile

@@ -33,6 +33,7 @@ all:
 	@tup --quiet -no-environ-check
 	@$(PY_CMD) interface_generator_stub.py --definitions odrive-interface.yaml --template ../tools/enums_template.j2 --output ../tools/odrive/enums.py
 	@$(PY_CMD) interface_generator_stub.py --definitions odrive-interface.yaml --template ../tools/arduino_enums_template.j2 --output ../Arduino/ODriveArduino/ODriveEnums.h
+	@cd ../tools/ && $(PY_CMD) create_can_dbc.py
 
 # Copy libfibre files to odrivetool if they were built
 	@ ! test -f "fibre-cpp/build/libfibre-linux-amd64.so" || cp fibre-cpp/build/libfibre-linux-amd64.so ../tools/odrive/pyfibre/fibre/

Firmware/MotorControl/axis.cpp

@@ -354,9 +354,6 @@ bool Axis::run_closed_loop_control_loop() {
 // Slowly drive in the negative direction at homing_speed until the min endstop is pressed
 // When pressed, set the linear count to the offset (default 0), and then go to position 0
 bool Axis::run_homing() {
-    Controller::ControlMode stored_control_mode = controller_.config_.control_mode;
-    Controller::InputMode stored_input_mode = controller_.config_.input_mode;
-
     // TODO: theoretically this check should be inside the update loop,
     // otherwise someone could disable the endstop while homing is in progress.
     if (!min_endstop_.config_.enabled) {
@@ -424,13 +421,20 @@ bool Axis::run_homing() {
         return false;
     }
 
-    // Set the current position to 0.
-    encoder_.set_linear_count(0);
-    controller_.input_pos_ = 0;
+    // Set the current position to 0, the target to zero, and make sure we're path planning from 0 to 0
+    encoder_.set_linear_count(0); 
+    const auto load_encoder_axis = controller_.config_.load_encoder_axis;
+    if(load_encoder_axis != axis_num_ && load_encoder_axis < AXIS_COUNT) {
+        axes[load_encoder_axis].encoder_.set_linear_count(0);
+    }
+    controller_.input_pos_ = 0.0f;
+    controller_.pos_setpoint_ = 0.0f;
+    controller_.vel_setpoint_ = 0.0f;
     controller_.input_pos_updated();
 
-    controller_.config_.control_mode = stored_control_mode;
-    controller_.config_.input_mode = stored_input_mode;
+    // Force encoder estimate to update
+    osDelay(1);
+
     homing_.is_homed = true;
 
     return check_for_errors();
@@ -540,9 +544,13 @@ void Axis::run_state_machine_loop() {
             } break;
 
             case AXIS_STATE_HOMING: {
-                //if (odrv.any_error())
-                //    goto invalid_state_label;
+                Controller::ControlMode stored_control_mode = controller_.config_.control_mode;
+                Controller::InputMode stored_input_mode = controller_.config_.input_mode;
+                
                 status = run_homing();
+
+                controller_.config_.control_mode = stored_control_mode;
+                controller_.config_.input_mode = stored_input_mode;
             } break;
 
             case AXIS_STATE_ENCODER_OFFSET_CALIBRATION: {

Firmware/MotorControl/axis.hpp

@@ -56,6 +56,14 @@ class Axis : public ODriveIntf::AxisIntf {
         bool is_extended = false;
         uint32_t heartbeat_rate_ms = 100;
         uint32_t encoder_rate_ms = 10;
+        uint32_t motor_error_rate_ms = 0;
+        uint32_t encoder_error_rate_ms = 0;
+        uint32_t controller_error_rate_ms = 0;
+        uint32_t sensorless_error_rate_ms = 0;
+        uint32_t encoder_count_rate_ms = 0;
+        uint32_t iq_rate_ms = 0;
+        uint32_t sensorless_rate_ms = 0;
+        uint32_t bus_vi_rate_ms = 0;
     };
 
     struct Config_t {
@@ -101,6 +109,14 @@ class Axis : public ODriveIntf::AxisIntf {
     struct CAN_t {
         uint32_t last_heartbeat = 0;
         uint32_t last_encoder = 0;
+        uint32_t last_motor_error = 0;
+        uint32_t last_encoder_error = 0;
+        uint32_t last_controller_error = 0;
+        uint32_t last_sensorless_error = 0;
+        uint32_t last_encoder_count = 0;
+        uint32_t last_iq = 0;
+        uint32_t last_sensorless = 0;
+        uint32_t last_bus_vi = 0;
     };
 
     Axis(int axis_num,

Firmware/MotorControl/controller.cpp

@@ -1,6 +1,7 @@
 
 #include "odrive_main.h"
 #include <algorithm>
+#include <numeric>
 
 bool Controller::apply_config() {
     config_.parent = this;
@@ -53,6 +54,20 @@ void Controller::start_anticogging_calibration() {
     }
 }
 
+float Controller::remove_anticogging_bias()
+{
+    auto& cogmap = config_.anticogging.cogging_map;
+    
+    auto sum = std::accumulate(std::begin(cogmap), std::end(cogmap), 0.0f);
+    auto average = sum / std::size(cogmap);
+
+    for(auto& val : cogmap) {
+        val -= average;
+    }
+
+    return average;
+}
+
 
 /*
  * This anti-cogging implementation iterates through each encoder position,
@@ -267,6 +282,13 @@ bool Controller::update() {
 
     }
 
+    // Never command a setpoint beyond its limit
+    if(config_.enable_vel_limit) {
+        vel_setpoint_ = std::clamp(vel_setpoint_, -config_.vel_limit, config_.vel_limit);
+    }
+    const float Tlim = axis_->motor_.max_available_torque();
+    torque_setpoint_ = std::clamp(torque_setpoint_, -Tlim, Tlim);
+
     // Position control
     // TODO Decide if we want to use encoder or pll position here
     float gain_scheduling_multiplier = 1.0f;
@@ -373,7 +395,6 @@ bool Controller::update() {
 
     // Torque limiting
     bool limited = false;
-    float Tlim = axis_->motor_.max_available_torque();
     if (torque > Tlim) {
         limited = true;
         torque = Tlim;

Firmware/MotorControl/controller.hpp

@@ -81,7 +81,12 @@ class Controller : public ODriveIntf::ControllerIntf {
 
     // TODO: make this more similar to other calibration loops
     void start_anticogging_calibration();
+    float remove_anticogging_bias();
     bool anticogging_calibration(float pos_estimate, float vel_estimate);
+    
+    float get_anticogging_value(uint32_t index) {
+        return (index < 3600) ? config_.anticogging.cogging_map[index] : 0.0f;
+    }
 
     void update_filter_gains();
     bool update();

Firmware/MotorControl/endstop.hpp

@@ -18,7 +18,6 @@ class Endstop {
         void set_debounce_ms(uint32_t value) { debounce_ms = value; parent->apply_config(); }
     };
 
-    Endstop() {}
 
     Endstop::Config_t config_;
     Axis* axis_ = nullptr;

Firmware/Tupfile.lua

@@ -328,9 +328,16 @@ boards = {
 
 -- Toolchain setup -------------------------------------------------------------
 
-CC='arm-none-eabi-gcc -std=c99'
-CXX='arm-none-eabi-g++ -std=c++17 -Wno-register'
-LINKER='arm-none-eabi-g++'
+CCPATH = tup.getconfig('ARM_COMPILER_PATH')
+if CCPATH == "" then
+    CCPATH=''
+else
+    CCPATH = CCPATH..'/'
+end
+
+CC=CCPATH..'arm-none-eabi-gcc -std=c99'
+CXX=CCPATH..'arm-none-eabi-g++ -std=c++17 -Wno-register'
+LINKER=CCPATH..'arm-none-eabi-g++'
 
 -- C-specific flags
 CFLAGS += '-D__weak="__attribute__((weak))"'
@@ -440,13 +447,13 @@ tup.frule{
     outputs={'build/ODriveFirmware.elf', extra_outputs={'build/ODriveFirmware.map'}}
 }
 -- display the size
-tup.frule{inputs={'build/ODriveFirmware.elf'}, command='arm-none-eabi-size %f'}
+tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-size %f'}
 -- create *.hex and *.bin output formats
-tup.frule{inputs={'build/ODriveFirmware.elf'}, command='arm-none-eabi-objcopy -O ihex %f %o', outputs={'build/ODriveFirmware.hex'}}
-tup.frule{inputs={'build/ODriveFirmware.elf'}, command='arm-none-eabi-objcopy -O binary -S %f %o', outputs={'build/ODriveFirmware.bin'}}
+tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-objcopy -O ihex %f %o', outputs={'build/ODriveFirmware.hex'}}
+tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-objcopy -O binary -S %f %o', outputs={'build/ODriveFirmware.bin'}}
 
 if tup.getconfig('ENABLE_DISASM') == 'true' then
-    tup.frule{inputs={'build/ODriveFirmware.elf'}, command='arm-none-eabi-objdump %f -dSC > %o', outputs={'build/ODriveFirmware.asm'}}
+    tup.frule{inputs={'build/ODriveFirmware.elf'}, command=CCPATH..'arm-none-eabi-objdump %f -dSC > %o', outputs={'build/ODriveFirmware.asm'}}
 end
 
 if tup.getconfig('DOCTEST') == 'true' then