Merge pull request #635 from odriverobotics/endstop_fixes

Fix synchronization-related endstop bugs

CHANGELOG.md

@@ -1,6 +1,11 @@
 # Unreleased Features
 Please add a note of your changes below this heading if you make a Pull Request.
 
+* CANSimple messages which previously required the rtr bit to be set will now also respond if DLC = 0
+* Ensure endstops update before being checked for errors, to prevent [#625](https://github.com/odriverobotics/ODrive/issues/625)
+* Reset trajectory_done_ during homing to ensure a new trajectory is actually computed [#634](https://github.com/odriverobotics/ODrive/issues/634)
+* Use `input_xxx` as a DC offset in tuning mode
+
 # Releases
 ## [0.5.4] - 2021-10-12
 

Firmware/MotorControl/axis.cpp

@@ -421,6 +421,10 @@ bool Axis::run_homing() {
     controller_.pos_setpoint_ = pos_estimate_local.value();
     controller_.vel_setpoint_ = 0.0f;
     controller_.input_pos_updated();
+
+    // Synchronization issue.  Ensure trajectory_done is false prior to the while loop, so that
+    // the controller has time to run move_to_pos() on the next update()
+    controller_.trajectory_done_ = false; 
     
     while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_ && !(done = controller_.trajectory_done_)) {
         osDelay(1);

Firmware/MotorControl/main.cpp

@@ -400,6 +400,13 @@ void ODrive::control_loop_cb(uint32_t timestamp) {
         odrv.oscilloscope_.update();
     }
 
+    for (auto& axis : axes) {
+        MEASURE_TIME(axis.task_times_.endstop_update) {
+            axis.min_endstop_.update();
+            axis.max_endstop_.update();
+        }
+    }
+
     MEASURE_TIME(task_times_.control_loop_checks) {
         for (auto& axis: axes) {
             // look for errors at axis level and also all subcomponents
@@ -432,11 +439,6 @@ void ODrive::control_loop_cb(uint32_t timestamp) {
         MEASURE_TIME(axis.task_times_.sensorless_estimator_update)
             axis.sensorless_estimator_.update();
 
-        MEASURE_TIME(axis.task_times_.endstop_update) {
-            axis.min_endstop_.update();
-            axis.max_endstop_.update();
-        }
-
         MEASURE_TIME(axis.task_times_.controller_update)
             axis.controller_.update(); // uses position and velocity from encoder