Merge pull request #507 from madcowswe/move-thermistors

Change thermistors from top-level to Motor

CHANGELOG.md

@@ -6,13 +6,15 @@ Please add a note of your changes below this heading if you make a Pull Request.
 
 ### Changed
 
+* 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`.

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

Firmware/MotorControl/axis.cpp

@@ -14,8 +14,6 @@ Axis::Axis(int axis_num,
            Encoder& encoder,
            SensorlessEstimator& sensorless_estimator,
            Controller& controller,
-           OnboardThermistorCurrentLimiter& fet_thermistor,
-           OffboardThermistorCurrentLimiter& motor_thermistor,
            Motor& motor,
            TrapezoidalTrajectory& trap,
            Endstop& min_endstop,
@@ -28,25 +26,15 @@ Axis::Axis(int axis_num,
       encoder_(encoder),
       sensorless_estimator_(sensorless_estimator),
       controller_(controller),
-      fet_thermistor_(fet_thermistor),
-      motor_thermistor_(motor_thermistor),
       motor_(motor),
       trap_traj_(trap),
       min_endstop_(min_endstop),
       max_endstop_(max_endstop),
-      mechanical_brake_(mechanical_brake),
-      current_limiters_(make_array(
-          static_cast<CurrentLimiter*>(&fet_thermistor),
-          static_cast<CurrentLimiter*>(&motor_thermistor))),
-      thermistors_(make_array(
-          static_cast<ThermistorCurrentLimiter*>(&fet_thermistor),
-          static_cast<ThermistorCurrentLimiter*>(&motor_thermistor)))
+      mechanical_brake_(mechanical_brake)
 {
     encoder_.axis_ = this;
     sensorless_estimator_.axis_ = this;
     controller_.axis_ = this;
-    fet_thermistor_.axis_ = this;
-    motor_thermistor.axis_ = this;
     motor_.axis_ = this;
     trap_traj_.axis_ = this;
     min_endstop_.axis_ = this;
@@ -180,9 +168,6 @@ bool Axis::do_checks() {
 
     // Sub-components should use set_error which will propegate to this error_
     motor_.effective_current_lim();
-    for (ThermistorCurrentLimiter* thermistor : thermistors_) {
-        thermistor->do_checks();
-    }
     motor_.do_checks();
     // encoder_.do_checks();
     // sensorless_estimator_.do_checks();
@@ -201,11 +186,10 @@ bool Axis::do_checks() {
 // @brief Update all esitmators
 bool Axis::do_updates() {
     // Sub-components should use set_error which will propegate to this error_
-    for (ThermistorCurrentLimiter* thermistor : thermistors_) {
-        thermistor->update();
-    }
     encoder_.update();
     sensorless_estimator_.update();
+    motor_.fet_thermistor_.update();
+    motor_.motor_thermistor_.update();
     min_endstop_.update();
     max_endstop_.update();
     bool ret = check_for_errors();

Firmware/MotorControl/axis.hpp

@@ -97,8 +97,6 @@ class Axis : public ODriveIntf::AxisIntf {
             Encoder& encoder,
             SensorlessEstimator& sensorless_estimator,
             Controller& controller,
-            OnboardThermistorCurrentLimiter& fet_thermistor,
-            OffboardThermistorCurrentLimiter& motor_thermistor,
             Motor& motor,
             TrapezoidalTrajectory& trap,
             Endstop& min_endstop,
@@ -227,19 +225,12 @@ class Axis : public ODriveIntf::AxisIntf {
     Encoder& encoder_;
     SensorlessEstimator& sensorless_estimator_;
     Controller& controller_;
-    OnboardThermistorCurrentLimiter& fet_thermistor_;
-    OffboardThermistorCurrentLimiter& motor_thermistor_;
     Motor& motor_;
     TrapezoidalTrajectory& trap_traj_;
     Endstop& min_endstop_;
     Endstop& max_endstop_;
     MechanicalBrake& mechanical_brake_;
 
-    // List of current_limiters and thermistors to
-    // provide easy iteration.
-    std::array<CurrentLimiter*, 2> current_limiters_;
-    std::array<ThermistorCurrentLimiter*, 2> thermistors_;
-
     osThreadId thread_id_;
     const uint32_t stack_size_ = 2048; // Bytes
     volatile bool thread_id_valid_ = false;

Firmware/MotorControl/main.cpp

@@ -50,8 +50,8 @@ static bool config_read_all() {
                   config_manager.read(&axes[i].max_endstop_.config_) &&
                   config_manager.read(&axes[i].mechanical_brake_.config_) &&
                   config_manager.read(&motors[i].config_) &&
-                  config_manager.read(&fet_thermistors[i].config_) &&
-                  config_manager.read(&axes[i].motor_thermistor_.config_) &&
+                  config_manager.read(&motors[i].fet_thermistor_.config_) &&
+                  config_manager.read(&motors[i].motor_thermistor_.config_) &&
                   config_manager.read(&axes[i].config_);
     }
     return success;
@@ -70,8 +70,8 @@ static bool config_write_all() {
                   config_manager.write(&axes[i].max_endstop_.config_) &&
                   config_manager.write(&axes[i].mechanical_brake_.config_) &&
                   config_manager.write(&motors[i].config_) &&
-                  config_manager.write(&fet_thermistors[i].config_) &&
-                  config_manager.write(&axes[i].motor_thermistor_.config_) &&
+                  config_manager.write(&motors[i].fet_thermistor_.config_) &&
+                  config_manager.write(&motors[i].motor_thermistor_.config_) &&
                   config_manager.write(&axes[i].config_);
     }
     return success;
@@ -90,8 +90,8 @@ static void config_clear_all() {
         axes[i].max_endstop_.config_ = {};
         axes[i].mechanical_brake_.config_ = {};
         motors[i].config_ = {};
-        fet_thermistors[i].config_ = {};
-        axes[i].motor_thermistor_.config_ = {};
+        motors[i].fet_thermistor_.config_ = {};
+        motors[i].motor_thermistor_.config_ = {};
         axes[i].clear_config();
     }
 }
@@ -104,6 +104,7 @@ static bool config_apply_all() {
                && axes[i].min_endstop_.apply_config()
                && axes[i].max_endstop_.apply_config()
                && motors[i].apply_config()
+               && motors[i].motor_thermistor_.apply_config()
                && axes[i].apply_config();
     }
     return success;

Firmware/MotorControl/motor.cpp

@@ -10,13 +10,19 @@ Motor::Motor(TIM_HandleTypeDef* timer,
              uint16_t control_deadline,
              float shunt_conductance,
              TGateDriver& gate_driver,
-             TOpAmp& opamp) :
+             TOpAmp& opamp,
+             OnboardThermistorCurrentLimiter& fet_thermistor,
+             OffboardThermistorCurrentLimiter& motor_thermistor) :
         timer_(timer),
         control_deadline_(control_deadline),
         shunt_conductance_(shunt_conductance),
         gate_driver_(gate_driver),
-        opamp_(opamp) {
+        opamp_(opamp),
+        fet_thermistor_(fet_thermistor),
+        motor_thermistor_(motor_thermistor) {
     apply_config();
+    fet_thermistor_.motor_ = this;
+    motor_thermistor_.motor_ = this;
 }
 
 // @brief Arms the PWM outputs that belong to this motor.
@@ -110,7 +116,16 @@ bool Motor::do_checks() {
         set_error(ERROR_DRV_FAULT);
         return false;
     }
-
+    if (!motor_thermistor_.do_checks()) {
+        axis_->error_ |= Axis::ERROR_MOTOR_FAILED;
+        set_error(ERROR_MOTOR_THERMISTOR_OVER_TEMP);
+        return false;
+    }
+    if (!fet_thermistor_.do_checks()) {
+        axis_->error_ |= Axis::ERROR_MOTOR_FAILED;
+        set_error(ERROR_FET_THERMISTOR_OVER_TEMP);
+        return false;
+    }
     return true;
 }
 
@@ -124,11 +139,9 @@ float Motor::effective_current_lim() {
         current_lim = std::min(current_lim, axis_->motor_.current_control_.max_allowed_current);
     }
 
-    // Apply axis current limiters
-    for (const CurrentLimiter* const limiter : axis_->current_limiters_) {
-        current_lim = std::min(current_lim, limiter->get_current_limit(config_.current_lim));
-    }
-
+    // Apply thermistor current limiters
+    current_lim = std::min(current_lim, motor_thermistor_.get_current_limit(config_.current_lim));
+    current_lim = std::min(current_lim, fet_thermistor_.get_current_limit(config_.current_lim));
     effective_current_lim_ = current_lim;
 
     return effective_current_lim_;

Firmware/MotorControl/motor.hpp

@@ -99,7 +99,9 @@ class Motor : public ODriveIntf::MotorIntf {
          uint16_t control_deadline,
          float shunt_conductance,
          TGateDriver& gate_driver,
-         TOpAmp& opamp);
+         TOpAmp& opamp,
+         OnboardThermistorCurrentLimiter& fet_thermistor,
+         OffboardThermistorCurrentLimiter& motor_thermistor);
 
     bool arm();
     void disarm();
@@ -130,6 +132,8 @@ class Motor : public ODriveIntf::MotorIntf {
     const float shunt_conductance_;
     TGateDriver& gate_driver_;
     TOpAmp& opamp_;
+    OnboardThermistorCurrentLimiter& fet_thermistor_;
+    OffboardThermistorCurrentLimiter& motor_thermistor_;
 
     Config_t config_;
     Axis* axis_ = nullptr; // set by Axis constructor

Firmware/MotorControl/thermistor.cpp

@@ -14,8 +14,7 @@ ThermistorCurrentLimiter::ThermistorCurrentLimiter(uint16_t adc_channel,
     temperature_(NAN),
     temp_limit_lower_(temp_limit_lower),
     temp_limit_upper_(temp_limit_upper),
-    enabled_(enabled),
-    error_(ERROR_NONE)
+    enabled_(enabled)
 {
 }
 
@@ -27,8 +26,6 @@ void ThermistorCurrentLimiter::update() {
 
 bool ThermistorCurrentLimiter::do_checks() {
     if (enabled_ && temperature_ >= temp_limit_upper_ + 5) {
-        error_ = ERROR_OVER_TEMP;
-        axis_->error_ |= Axis::ERROR_OVER_TEMP;
         return false;
     }
     return true;
@@ -70,6 +67,12 @@ OffboardThermistorCurrentLimiter::OffboardThermistorCurrentLimiter() :
     decode_pin();
 }
 
+bool OffboardThermistorCurrentLimiter::apply_config() {
+    config_.parent = this;
+    decode_pin();
+    return true;
+}
+
 void OffboardThermistorCurrentLimiter::decode_pin() {
     adc_channel_ = channel_from_gpio(get_gpio(config_.gpio_pin));
 }

Firmware/MotorControl/thermistor.hpp

@@ -1,7 +1,7 @@
 #ifndef __THERMISTOR_HPP
 #define __THERMISTOR_HPP
 
-class Axis; // declared in axis.hpp
+class Motor; // declared in motor.hpp
 
 #include "current_limiter.hpp"
 #include <autogen/interfaces.hpp>
@@ -28,8 +28,7 @@ class ThermistorCurrentLimiter : public CurrentLimiter, public ODriveIntf::Therm
     const float& temp_limit_lower_;
     const float& temp_limit_upper_;
     const bool& enabled_;
-    Error error_;
-    Axis* axis_ = nullptr; // set by Axis constructor
+    Motor* motor_ = nullptr; // set by Motor::apply_config()
 };
 
 class OnboardThermistorCurrentLimiter : public ThermistorCurrentLimiter, public ODriveIntf::OnboardThermistorCurrentLimiterIntf {
@@ -68,6 +67,8 @@ class OffboardThermistorCurrentLimiter : public ThermistorCurrentLimiter, public
 
     Config_t config_;
 
+    bool apply_config();
+
 private:
     void decode_pin();
 };