Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-18 18:20:15 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

drv fault only reads fault regs, add blackside loopback tests

Browse Source
This commit is contained in:
Oskar Weigl
2018-04-21 14:27:37 -07:00
parent 8407721744
commit 0ac2871dec
4 changed files with 45 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/motor.cpp
+3 -3
View File
@@ -117,9 +117,9 @@ bool Motor::check_DRV_fault() {
// Update DRV Fault Code
drv_fault_ = DRV8301_getFaultType(&gate_driver_);
// Update/Cache all SPI device registers
DRV_SPI_8301_Vars_t* local_regs = &gate_driver_regs_;
local_regs->RcvCmd = true;
DRV8301_readData(&gate_driver_, local_regs);
// DRV_SPI_8301_Vars_t* local_regs = &gate_driver_regs_;
// local_regs->RcvCmd = true;
// DRV8301_readData(&gate_driver_, local_regs);
return false;
};
return true;
Firmware/MotorControl/motor.hpp
+5 -5
View File
@@ -180,11 +180,11 @@ public:
make_protocol_property("max_allowed_current", &current_control_.max_allowed_current)
),
make_protocol_object("gate_driver",
make_protocol_ro_property("drv_fault", &drv_fault_),
make_protocol_ro_property("status_reg_1", &gate_driver_regs_.Stat_Reg_1_Value),
make_protocol_ro_property("status_reg_2", &gate_driver_regs_.Stat_Reg_2_Value),
make_protocol_ro_property("ctrl_reg_1", &gate_driver_regs_.Ctrl_Reg_1_Value),
make_protocol_ro_property("ctrl_reg_2", &gate_driver_regs_.Ctrl_Reg_2_Value)
make_protocol_ro_property("drv_fault", &drv_fault_)
// make_protocol_ro_property("status_reg_1", &gate_driver_regs_.Stat_Reg_1_Value),
// make_protocol_ro_property("status_reg_2", &gate_driver_regs_.Stat_Reg_2_Value),
// make_protocol_ro_property("ctrl_reg_1", &gate_driver_regs_.Ctrl_Reg_1_Value),
// make_protocol_ro_property("ctrl_reg_2", &gate_driver_regs_.Ctrl_Reg_2_Value)
),
make_protocol_object("timing_log",
make_protocol_ro_property("TIMING_LOG_GENERAL", &timing_log_[TIMING_LOG_GENERAL]),
tools/odrive/tests.py
+4 -4
View File
@@ -61,13 +61,13 @@ def test_assert_eq(observed, expected, range=None, accuracy=None):
def get_errors(axis_ctx: AxisTestContext):
errors = []
if axis_ctx.handle.motor.error != 0:
errors.append("motor failed with error {:04X}".format(axis_ctx.handle.motor.error))
errors.append("motor failed with error 0x{:04X}".format(axis_ctx.handle.motor.error))
if axis_ctx.handle.encoder.error != 0:
errors.append("encoder failed with error {:04X}".format(axis_ctx.handle.encoder.error))
errors.append("encoder failed with error 0x{:04X}".format(axis_ctx.handle.encoder.error))
if axis_ctx.handle.sensorless_estimator.error != 0:
errors.append("sensorless_estimator failed with error {:04X}".format(axis_ctx.handle.sensorless_estimator.error))
errors.append("sensorless_estimator failed with error 0x{:04X}".format(axis_ctx.handle.sensorless_estimator.error))
if axis_ctx.handle.error != 0:
errors.append("axis failed with error {:04X}".format(axis_ctx.handle.error))
errors.append("axis failed with error 0x{:04X}".format(axis_ctx.handle.error))
elif len(errors) > 0:
errors.append("and by the way: axis reports no error even though there is one")
return errors
tools/test-rig-loopback.yaml
+33 -2
View File
@@ -2,7 +2,37 @@
type: loopback
odrives:
- name: odrive-48V
- name: odrv-blackside
board-version: v3.4-24V
serial-number: "3061395B3235"
brake-resistance: 0.47
uart: /dev/serial/by-id/[not-yet-used]
usb: auto
programmer: '493f6f06493f56540929113f'
vbus-voltage: 24 # [V]
max-brake-power: 150 # [W]
axes:
- name: 'M0'
motor-phase-resistance: 0.028
motor-phase-inductance: 1.6e-05
motor-pole-pairs: 7
motor-direction: 1
motor-kv: 270
motor-max-current: 70
motor-max-voltage: 32
encoder-cpr: 8192
encoder-max-rpm: 7000
- name: 'M1'
motor-phase-resistance: 0.028
motor-phase-inductance: 1.6e-05
motor-pole-pairs: 7
motor-direction: -1
motor-kv: 270
motor-max-current: 70
motor-max-voltage: 32
encoder-cpr: 8192
encoder-max-rpm: 7000
- name: odrv-yellowside
board-version: v3.5-48V
serial-number: "3660335E3037"
brake-resistance: 0.47
@@ -35,4 +65,5 @@ odrives:
# Mechanical couplings
couplings:
- [ odrive-48V.M0, odrive-48V.M1 ]
- [ odrv-blackside.M0, odrv-blackside.M1 ]
- [ odrv-yellowside.M0, odrv-yellowside.M1 ]