Merge branch 'devel' into DRV-error-readouts

Firmware/.vscode/launch.json

@@ -6,7 +6,8 @@
     "configurations": [
         {
             // For the Cortex-Debug extension
-            "type": "openocd-gdb",
+            "type": "cortex-debug",
+            "servertype": "openocd",
             "request": "launch",
             "name": "Debug ODrive",
             "executable": "${workspaceRoot}/build/ODriveFirmware.elf",

Firmware/CHANGELOG.md

@@ -1,10 +1,16 @@
-## [0.3.4] - 2018-02-21
+## UNRELEASED
+Please add a note of your changes below this heading if you make a PR
 
 ### Added
 * Reporting of DRV status/control registers and fault codes
 * DRV status read script
 * Microsecond delay function
 
+## [0.3.4] - 2018-02-13
+
+### Fixed
+* Broken way to check for python 2. Python 2 not supported yet.
+
 ## [0.3.3] - 2018-02-12
 
 ### Added
@@ -14,6 +20,9 @@
 ### Changed
 * Modified python code to be Python 2 compatible
 
+### Fixed
+* USB CSC (USB serial) now reports a sensible baud rate
+
 ## [0.3.2] - 2018-02-02
 
 ### Added

Firmware/MotorControl/low_level.c

@@ -72,7 +72,7 @@ Motor_t motors[] = {
         .vel_limit = 20000.0f,           // [counts/s]
         .current_setpoint = 0.0f,        // [A]
         .calibration_current = 10.0f,    // [A]
-        .resistance_calib_max_voltage = 1.0f, // [V]
+        .resistance_calib_max_voltage = 1.0f, // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
         .phase_inductance = 0.0f,        // to be set by measure_phase_inductance
         .phase_resistance = 0.0f,        // to be set by measure_phase_resistance
         .motor_thread = 0,
@@ -178,7 +178,7 @@ Motor_t motors[] = {
         .vel_limit = 20000.0f,                    // [counts/s]
         .current_setpoint = 0.0f,                 // [A]
         .calibration_current = 10.0f,             // [A]
-        .resistance_calib_max_voltage = 1.0f, // [V]
+        .resistance_calib_max_voltage = 1.0f, // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
         .phase_inductance = 0.0f,                 // to be set by measure_phase_inductance
         .phase_resistance = 0.0f,                 // to be set by measure_phase_resistance
         .motor_thread = 0,

Firmware/README.md

@@ -16,6 +16,7 @@ The project is under active development, so make sure to check the [Changelog](C
 - [Continuing without an IDE](#no-ide-instructions)
 - [Communicating over USB or UART](#communicating-over-usb-or-uart)
 - [Encoder Calibration](#encoder-calibration)
+- [Checking for error codes](#checking-for-error-codes)
 - [Generating startup code](#generating-startup-code)
 - [Notes for Contributors](#notes-for-contributors)
 
@@ -226,6 +227,36 @@ If you have an encoder with an index (Z) signal, you may avoid having to do the
 * If you wish to scan for the index pulse in the other direction (if for example your axis usually starts close to a hard-stop), you can set a negative value in `.encoder.idx_search_speed`.
 * If your motor has problems reaching the index location due to the mechanical load, you can increase `.calibration_current`.
 
+<br><br>
+## Checking for error codes
+`explore_odrive.py`can also be used to check error codes when your odrive is not working as expected. For example `my_odrive.motor0.error` will list the error code associated with motor 0.
+<br><br>
+The error nummber corresponds to the following:
+0. `ERROR_NO_ERROR`
+1. `ERROR_PHASE_RESISTANCE_TIMING`
+2. `ERROR_PHASE_RESISTANCE_MEASUREMENT_TIMEOUT`
+3. `ERROR_PHASE_RESISTANCE_OUT_OF_RANGE`
+4. `ERROR_PHASE_INDUCTANCE_TIMING`
+5. `ERROR_PHASE_INDUCTANCE_MEASUREMENT_TIMEOUT`
+6. `ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE`
+7. `ERROR_ENCODER_RESPONSE`
+8. `ERROR_ENCODER_MEASUREMENT_TIMEOUT`
+9. `ERROR_ADC_FAILED`
+10. `ERROR_CALIBRATION_TIMING`
+11. `ERROR_FOC_TIMING`
+12. `ERROR_FOC_MEASUREMENT_TIMEOUT`
+13. `ERROR_SCAN_MOTOR_TIMING`
+14. `ERROR_FOC_VOLTAGE_TIMING`
+15. `ERROR_GATEDRIVER_INVALID_GAIN`
+16. `ERROR_PWM_SRC_FAIL`
+17. `ERROR_UNEXPECTED_STEP_SRC`
+18. `ERROR_POS_CTRL_DURING_SENSORLESS`
+19. `ERROR_SPIN_UP_TIMEOUT`
+20. `ERROR_DRV_FAULT`
+21. `ERROR_NOT_IMPLEMENTED_MOTOR_TYPE`
+
+If you get an error code larger than this, it may be the case that someone added a code and forgot to update the documentation. In that case, please check [MotorControl/low_level.h](MotorControl/low_level.h) for the full enum.
+
 <br><br>
 ## Generating startup code
 **Note:** You do not need to run this step to program the board. This is only required if you wish to update the auto generated code.

Firmware/protocol.md

@@ -26,8 +26,8 @@ by default while UART runs the stream based variant.
 
 ## Packet format ##
 We will call the ODrive "server" and the PC "client". A request is a message
-from the PC to the ODrive and a response is a message from the PC to the
-ODrive.
+from the PC to the ODrive and a response is a message from the ODrive to the
+PC.
 
 Each request-response transaction corresponds to a single endpoint operation.
 

tools/odrive/protocol.py

@@ -6,14 +6,14 @@ import sys
 
 import abc
 
-if sys.version_info >= (3, 4):
-    ABC = abc.ABC
-else:
-    ABC = abc.ABCMeta('ABC', (), {})
+# if sys.version_info >= (3, 4):
+ABC = abc.ABC
+# else:
+#     ABC = abc.ABCMeta('ABC', (), {})
 
-if sys.version_info <= (3, 3):
-    from monotonic import monotonic
-    time.monotonic = monotonic
+# if sys.version_info <= (3, 3):
+#     from monotonic import monotonic
+#     time.monotonic = monotonic
 
 SYNC_BYTE = 0xAA
 CRC8_INIT = 0x42