Merge branch 'devel' into control-loop-refactor

.github/workflows/compile.yaml

@@ -108,9 +108,22 @@ jobs:
           mv tup_build.sh tup_build.bat # in reality this is a .bat script on windows
           .\tup_build.bat
 
-  #code-checks:
-  #  runs-on: ubuntu-latest
-  #  steps:
+  code-checks:
+    strategy:
+      fail-fast: false
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Check that we're not using std::isnan
+        run: |
+          cd ${{ github.workspace }}/Firmware
+
+          if grep 'std::isnan' -R .; then
+            echo "Don't use std::isnan because it's not compatible with '-ffast-math'. Use is_nan() instead."
+            return 1;
+          fi
+
   #    TODO:
   #     - check if enums.py is consistent with yaml
   #     - clang-format check

.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

@@ -65,4 +65,4 @@ Firmware/Tests/bin/
 # GUI
 GUI/dist_electron
 GUI/node_modules
-GUI/build
+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

@@ -2,9 +2,11 @@
 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`.
@@ -24,12 +26,16 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * More informative profiling instrumentation was added.
 * A system-level error property was introduced.
 
-### 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`
 * `<odrv>.get_oscilloscope_val()` was moved to `<odrv>.oscilloscope.get_val()`.
 * Several error flags from `<odrv>.<axis>.error` were removed. Some were moved to `<odrv>.error` and some are no longer relevant because implementation details changed.
 * Several error flags from `<odrv>.<axis>.motor.error` were removed. Some were moved to `<odrv>.error` and some are no longer relevant because implementation details changed.
@@ -48,30 +54,34 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * `<axis>.motor.timing_log` was removed in favor of `<odrv>.task_times` and `<odrv>.<axis>.task_times`.
 * `<axis>.motor.config.direction` was moved to `<axis>.encoder.config.direction`.
 * `<axis>.motor.config.acim_slip_velocity` was moved to `<axis>.async_estimator.config.slip_velocity`.
-* `<axis>.encoder.config.idx_search_unidirectional` was removed. Offset calibration direction is fully defined by the sign of `<axis>.encoder.config.calib_scan_omega` and how the motor is wired up.
-* The unit of `<axis>.sensorless_estimator.vel_estimate` was changed from `rad/s` to `turns/s`.
 * Several properties were changed to readonly.
+* `<axis>.encoder.config.offset` was renamed to ``<axis>.encoder.config.phase_offset`
+* `<axis>.encoder.config.offset_float` was renamed to ``<axis>.encoder.config.phase_offset_float`
 
-# 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

@@ -6,18 +6,29 @@
                 "${workspaceFolder}/**"
             ],
             "defines": [
+                "__arm__",
                 "STM32F405xx",
+                "FPU_FPV4",
                 "USE_HAL_DRIVER",
                 "HW_VERSION_MAJOR=3",
                 "HW_VERSION_MINOR=6",
                 "HW_VERSION_VOLTAGE=56",
-                "USB_PROTOCOL_NATIVE",
                 "__weak=\"__attribute__((weak))\"",
                 "__packed=\"__attribute__((__packed__))\"",
                 "__GNUC__"
             ],
-            "intelliSenseMode": "gcc-x64",
-            "compilerPath": "\"${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"
         },
@@ -27,7 +38,9 @@
                 "${workspaceFolder}/**"
             ],
             "defines": [
+                "__arm__",
                 "STM32F405xx",
+                "FPU_FPV4",
                 "USE_HAL_DRIVER",
                 "HW_VERSION_MAJOR=3",
                 "HW_VERSION_MINOR=6",
@@ -36,7 +49,7 @@
                 "__packed=\"__attribute__((__packed__))\"",
                 "__GNUC__"
             ],
-            "intelliSenseMode": "gcc-x64",
+            "intelliSenseMode": "gcc-arm",
             "compilerPath": "arm-none-eabi-g++ -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float",
             "cStandard": "c11",
             "cppStandard": "c++17"
@@ -47,16 +60,18 @@
                 "${workspaceFolder}/**"
             ],
             "defines": [
+                "__arm__",
                 "STM32F405xx",
+                "FPU_FPV4",
                 "USE_HAL_DRIVER",
                 "HW_VERSION_MAJOR=3",
                 "HW_VERSION_MINOR=4",
-                "HW_VERSION_VOLTAGE=24",
+                "HW_VERSION_VOLTAGE=56",
                 "__weak=\"__attribute__((weak))\"",
                 "__packed=\"__attribute__((__packed__))\"",
                 "__GNUC__"
             ],
-            "intelliSenseMode": "gcc-x64",
+            "intelliSenseMode": "gcc-arm",
             "cStandard": "c11",
             "cppStandard": "c++17"
         }