Merge branch 'rc-v0.5.0' into devel

CHANGELOG.md

@@ -1,6 +1,8 @@
 # Unreleased Features
 Please add a note of your changes below this heading if you make a Pull Request.
 
+# Releases
+## [0.5.0] - 2020-08-03
 ### Added
 * AC Induction Motor support.
   * Tracking of rotor flux through rotor time constant
@@ -48,7 +50,6 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * Fixed a numerical issue in the trajectory planner that could cause sudden jumps of the position setpoint
 * `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]
 
-# Releases
 ## [0.4.12] - 2020-05-06
 ### Fixed
 * Fixed a numerical issue in the trajectory planner that could cause sudden jumps of the position setpoint

Firmware/MotorControl/axis.cpp

@@ -336,6 +336,7 @@ bool Axis::run_closed_loop_control_loop() {
             controller_.input_pos_ = *controller_.pos_estimate_linear_src_;
         }
     }
+    controller_.input_pos_updated();
 
     // Avoid integrator windup issues
     controller_.vel_integrator_torque_ = 0.0f;

Firmware/MotorControl/encoder.cpp

@@ -181,8 +181,8 @@ bool Encoder::run_direction_find() {
 // and the encoder state 0.
 // TODO: Do the scan with current, not voltage!
 bool Encoder::run_offset_calibration() {
-    static const float start_lock_duration = 1.0f;
-    static const int num_steps = (int)(config_.calib_scan_distance / config_.calib_scan_omega * (float)current_meas_hz);
+    const float start_lock_duration = 1.0f;
+    const int num_steps = (int)(config_.calib_scan_distance / config_.calib_scan_omega * (float)current_meas_hz);
 
     // Require index found if enabled
     if (config_.use_index && !index_found_) {
@@ -311,6 +311,7 @@ void Encoder::sample_now() {
         case MODE_SPI_ABS_AMS:
         case MODE_SPI_ABS_CUI:
         case MODE_SPI_ABS_AEAT:
+        case MODE_SPI_ABS_RLS:
         {
             axis_->motor_.log_timing(TIMING_LOG_SAMPLE_NOW);
             // Do nothing
@@ -400,6 +401,11 @@ void Encoder::abs_spi_cb(){
             pos = rawVal & 0x3fff;
         } break;
 
+        case MODE_SPI_ABS_RLS: {
+            uint16_t rawVal = abs_spi_dma_rx_[0];
+            pos = (rawVal >> 2) & 0x3fff;
+        } break;
+
         default: {
            set_error(ERROR_UNSUPPORTED_ENCODER_MODE);
            return;
@@ -470,6 +476,7 @@ bool Encoder::update() {
                 delta_enc -= 6283;
         } break;
 
+        case MODE_SPI_ABS_RLS:
         case MODE_SPI_ABS_AMS:
         case MODE_SPI_ABS_CUI: 
         case MODE_SPI_ABS_AEAT: {

Firmware/MotorControl/low_level.cpp

@@ -28,8 +28,8 @@
 /* Private macros ------------------------------------------------------------*/
 /* Private typedef -----------------------------------------------------------*/
 /* Global constant data ------------------------------------------------------*/
-const float adc_full_scale = (float)(1 << 12);
-const float adc_ref_voltage = 3.3f;
+constexpr float adc_full_scale = static_cast<float>(1UL << 12UL);
+constexpr float adc_ref_voltage = 3.3f;
 /* Global variables ----------------------------------------------------------*/
 
 // This value is updated by the DC-bus reading ADC.
@@ -454,7 +454,7 @@ float get_adc_voltage_channel(uint16_t channel)
 //--------------------------------
 
 void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
-    static const float voltage_scale = adc_ref_voltage * VBUS_S_DIVIDER_RATIO / adc_full_scale;
+    constexpr float voltage_scale = adc_ref_voltage * VBUS_S_DIVIDER_RATIO / adc_full_scale;
     // Only one conversion in sequence, so only rank1
     uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
     vbus_voltage = ADCValue * voltage_scale;
@@ -493,7 +493,7 @@ static void decode_hall_samples(Encoder& enc, uint16_t GPIO_samples[num_GPIO]) {
 // TODO: Document how the phasing is done, link to timing diagram
 void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
 #define calib_tau 0.2f  //@TOTO make more easily configurable
-    static const float calib_filter_k = CURRENT_MEAS_PERIOD / calib_tau;
+    constexpr float calib_filter_k = CURRENT_MEAS_PERIOD / calib_tau;
 
     // Ensure ADCs are expected ones to simplify the logic below
     if (!(hadc == &hadc2 || hadc == &hadc3)) {

Firmware/MotorControl/motor.cpp

@@ -73,9 +73,9 @@ void Motor::DRV8301_setup() {
 
     // Solve for exact gain, then snap down to have equal or larger range as requested
     // or largest possible range otherwise
-    static const float kMargin = 0.90f;
-    static const float kTripMargin = 1.0f; // Trip level is at edge of linear range of amplifer
-    static const float max_output_swing = 1.35f; // [V] out of amplifier
+    constexpr float kMargin = 0.90f;
+    constexpr float kTripMargin = 1.0f; // Trip level is at edge of linear range of amplifer
+    constexpr float max_output_swing = 1.35f; // [V] out of amplifier
     float max_unity_gain_current = kMargin * max_output_swing * hw_config_.shunt_conductance; // [A]
     float requested_gain = max_unity_gain_current / config_.requested_current_range; // [V/V]
 

Firmware/communication/can_simple.cpp

@@ -4,7 +4,7 @@
 
 #include <cstring>
 
-static const uint8_t NUM_NODE_ID_BITS = 6;
+static constexpr uint8_t NUM_NODE_ID_BITS = 6;
 static constexpr uint8_t NUM_CMD_ID_BITS = 11 - NUM_NODE_ID_BITS;
 
 void CANSimple::handle_can_message(can_Message_t& msg) {

Firmware/odrive-interface.yaml

@@ -924,6 +924,9 @@ valuetypes:
       SpiAbsAeat:
         value: 0x102
         doc: not yet implemented
+      SpiAbsRls:
+        value: 0x103
+        doc: RLS Encoders
 
   ODrive.Controller.ControlMode:
     values: