Merge branch 'master' into v3.3-pinout

CHANGELOG.md

@@ -0,0 +1,13 @@
+
+## [0.1] - UNRELEASED
+### Added
+* Step/Dir interface
+* this Changelog
+* motor control interrupt timing diagram
+* uint16 exposed variable type
+* null termination to USB string parsing
+
+### Changed
+* Fixed Resistance measurement bug
+* Simplified motor control adc triggers
+* Increased AUX bridge deadtime

MotorControl/low_level.c

@@ -45,7 +45,7 @@ static float elec_rad_per_enc = POLE_PAIRS * 2 * M_PI * (1.0f / (float)ENCODER_C
 // TODO: For nice encapsulation, consider not having the motor objects public
 Motor_t motors[] = {
     {   // M0
-        .control_mode = CTRL_MODE_CURRENT_CONTROL,
+        .control_mode = CTRL_MODE_POSITION_CONTROL, //see: Motor_control_mode_t
         .enable_step_dir = false, //auto enabled after calibration
         .counts_per_step = 2.0f,
         .error = ERROR_NO_ERROR,
@@ -62,8 +62,8 @@ Motor_t motors[] = {
         .phase_resistance = 0.0f, // to be set by measure_phase_resistance
         .motor_thread = 0,
         .thread_ready = false,
-        .enable_control = false,
-        .do_calibration = false,
+        .enable_control = true,
+        .do_calibration = true,
         .calibration_ok = false,
         .motor_timer = &htim1,
         .next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
@@ -108,7 +108,7 @@ Motor_t motors[] = {
         .timing_log = {0}
     },
     {   // M1
-        .control_mode = CTRL_MODE_CURRENT_CONTROL,
+        .control_mode = CTRL_MODE_POSITION_CONTROL, //see: Motor_control_mode_t
         .enable_step_dir = false, //auto enabled after calibration
         .counts_per_step = 2.0f,
         .error = ERROR_NO_ERROR,
@@ -125,8 +125,8 @@ Motor_t motors[] = {
         .phase_resistance = 0.0f, // to be set by measure_phase_resistance
         .motor_thread = 0,
         .thread_ready = false,
-        .enable_control = false,
-        .do_calibration = false,
+        .enable_control = true,
+        .do_calibration = true,
         .calibration_ok = false,
         .motor_timer = &htim8,
         .next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
@@ -590,10 +590,6 @@ static void start_adc_pwm(){
     __HAL_DBGMCU_FREEZE_TIM1();
     __HAL_DBGMCU_FREEZE_TIM8();
 
-    // Turn off the regular conversion trigger for the inital phase
-    hadc2.Instance->CR2 &= ~ADC_CR2_EXTEN;
-    hadc3.Instance->CR2 &= ~ADC_CR2_EXTEN;
-
     start_pwm(&htim1);
     start_pwm(&htim8);
     // TODO: explain why this offset
@@ -708,7 +704,7 @@ void step_cb(uint16_t GPIO_Pin) {
     }
 }
 
-void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc) {
+void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
     static const float voltage_scale = 3.3f * 11.0f / (float)(1<<12);
     // Only one conversion in sequence, so only rank1
     uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
@@ -717,7 +713,7 @@ void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc) {
 
 // This is the callback from the ADC that we expect after the PWM has triggered an ADC conversion.
 // TODO: Document how the phasing is done, link to timing diagram
-void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
+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;
 
@@ -727,27 +723,17 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
         return;
     };
 
+    // Motor 0 is on Timer 1, which triggers ADC 2 and 3 on an injected conversion
+    // Motor 1 is on Timer 8, which triggers ADC 2 and 3 on a regular conversion
+    // If the corresponding timer is counting up, we just sampled in SVM vector 0, i.e. real current
+    // If we are counting down, we just sampled in SVM vector 7, with zero current
+    Motor_t* motor = injected ? &motors[0] : &motors[1];
+    bool counting_down = motor->motor_timer->Instance->CR1 & TIM_CR1_DIR;
+    
     bool current_meas_not_DC_CAL;
-    Motor_t* motor;
-
-    // Check if this trigger was the CC4 channel, used for actual current measurement at SVM vector 0
-    // or the update trigger, which is used for DC_CAL measurement at SVM vector 7
-    // M1 DC_CAL is a special case since due to hardware limitations, it uses the "regular" conversions
-    // rather than the injected ones.
-    uint32_t inj_src = hadc->Instance->CR2 & ADC_CR2_JEXTSEL;
-    uint32_t reg_edge = hadc->Instance->CR2 & ADC_CR2_EXTEN;
-    if (reg_edge != ADC_EXTERNALTRIGCONVEDGE_NONE) {
+    if (motor == &motors[1] && counting_down) {
         // We are measuring M1 DC_CAL here
         current_meas_not_DC_CAL = false;
-        motor = &motors[1];
-        // Next measurement on this motor will be M1 current measurement
-        HAL_GPIO_WritePin(M1_DC_CAL_GPIO_Port, M1_DC_CAL_Pin, GPIO_PIN_RESET);
-        // Next measurement on this ADC will be M0 current
-        hadc->Instance->CR2 &= ~(ADC_CR2_JEXTEN | ADC_CR2_EXTEN | ADC_CR2_JEXTSEL);
-        hadc->Instance->CR2 |= (ADC_EXTERNALTRIGINJECCONVEDGE_RISING | ADC_EXTERNALTRIGINJECCONV_T1_CC4);
-        // Set ADC channels for next measurement
-        hadc->Instance->JSQR &= ~ADC_JSQR(ADC_JSQR_JSQ1, 1, 1);
-        hadc->Instance->JSQR |= ADC_JSQR((hadc == &hadc2) ? ADC_CHANNEL_10 : ADC_CHANNEL_11, 1, 1);
         // Load next timings for M0 (only once is sufficient)
         if (hadc == &hadc2) {
             motors[0].motor_timer->Instance->CCR1 = motors[0].next_timings[0];
@@ -757,18 +743,9 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
         // Check the timing of the sequencing
         check_timing(motor);
 
-    } else if (inj_src == ADC_EXTERNALTRIGINJECCONV_T1_CC4) {
+    } else if (motor == &motors[0] && !counting_down) {
         // We are measuring M0 current here
         current_meas_not_DC_CAL = true;
-        motor = &motors[0];
-        // Next measurement on this motor will be M0 DC_CAL measurement
-        HAL_GPIO_WritePin(M0_DC_CAL_GPIO_Port, M0_DC_CAL_Pin, GPIO_PIN_SET);
-        // Next measurement on this ADC will be M1 current
-        hadc->Instance->CR2 &= ~(ADC_CR2_JEXTEN | ADC_CR2_EXTEN | ADC_CR2_JEXTSEL);
-        hadc->Instance->CR2 |= (ADC_EXTERNALTRIGINJECCONVEDGE_RISING | ADC_EXTERNALTRIGINJECCONV_T8_CC4);
-        // Set ADC channels for next measurement
-        hadc->Instance->JSQR &= ~ADC_JSQR(ADC_JSQR_JSQ1, 1, 1);
-        hadc->Instance->JSQR |= ADC_JSQR((hadc == &hadc2) ? ADC_CHANNEL_13 : ADC_CHANNEL_12, 1, 1);
         // Load next timings for M1 (only once is sufficient)
         if (hadc == &hadc2) {
             motors[1].motor_timer->Instance->CCR1 = motors[1].next_timings[0];
@@ -778,33 +755,15 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
         // Check the timing of the sequencing
         check_timing(motor);
 
-    } else if (inj_src == ADC_EXTERNALTRIGINJECCONV_T8_CC4) {
+    } else if (motor == &motors[1] && !counting_down) {
         // We are measuring M1 current here
         current_meas_not_DC_CAL = true;
-        motor = &motors[1];
-        // Next measurement on this motor will be M1 DC_CAL measurement
-        HAL_GPIO_WritePin(M1_DC_CAL_GPIO_Port, M1_DC_CAL_Pin, GPIO_PIN_SET);
-        // Next measurement on this ADC will be M0 DC_CAL
-        hadc->Instance->CR2 &= ~(ADC_CR2_JEXTEN | ADC_CR2_EXTEN | ADC_CR2_JEXTSEL);
-        hadc->Instance->CR2 |= (ADC_EXTERNALTRIGINJECCONVEDGE_RISING | ADC_EXTERNALTRIGINJECCONV_T1_TRGO);
-        // Set ADC channels for next measurement
-        hadc->Instance->JSQR &= ~ADC_JSQR(ADC_JSQR_JSQ1, 1, 1);
-        hadc->Instance->JSQR |= ADC_JSQR((hadc == &hadc2) ? ADC_CHANNEL_10 : ADC_CHANNEL_11, 1, 1);
         // Check the timing of the sequencing
         check_timing(motor);
 
-    } else if (inj_src == ADC_EXTERNALTRIGINJECCONV_T1_TRGO) {
+    } else if (motor == &motors[0] && counting_down) {
         // We are measuring M0 DC_CAL here
         current_meas_not_DC_CAL = false;
-        motor = &motors[0];
-        // Next measurement on this motor will be M0 current measurement
-        HAL_GPIO_WritePin(M0_DC_CAL_GPIO_Port, M0_DC_CAL_Pin, GPIO_PIN_RESET);
-        // Next measurement on this ADC will be M1 DC_CAL
-        hadc->Instance->CR2 &= ~(ADC_CR2_JEXTEN | ADC_CR2_EXTEN | ADC_CR2_JEXTSEL);
-        hadc->Instance->CR2 |= ADC_EXTERNALTRIGCONVEDGE_RISING;
-        // Set ADC channels for next measurement
-        hadc->Instance->JSQR &= ~ADC_JSQR(ADC_JSQR_JSQ1, 1, 1);
-        hadc->Instance->JSQR |= ADC_JSQR((hadc == &hadc2) ? ADC_CHANNEL_13 : ADC_CHANNEL_12, 1, 1);
         // Check the timing of the sequencing
         check_timing(motor);
 
@@ -814,10 +773,10 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
     }
 
     uint32_t ADCValue;
-    if (reg_edge != ADC_EXTERNALTRIGCONVEDGE_NONE) {
-        ADCValue = HAL_ADC_GetValue(hadc);
-    } else {
+    if (injected) {
         ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
+    } else {
+        ADCValue = HAL_ADC_GetValue(hadc);
     }
     float current = phase_current_from_adcval(motor, ADCValue);
 
@@ -873,7 +832,8 @@ static bool measure_phase_resistance(Motor_t* motor, float test_current, float m
         queue_voltage_timings(motor, test_voltage, 0.0f);
 
         // Check we meet deadlines after queueing
-        if (!(check_timing(motor) < motor->control_deadline)){
+        motor->last_cpu_time = check_timing(motor);
+        if (!(motor->last_cpu_time < motor->control_deadline)){
             motor->error = ERROR_PHASE_RESISTANCE_TIMING;
             return false;
         }
@@ -1293,25 +1253,8 @@ void motor_thread(void const * argument) {
     motor->motor_thread = osThreadGetId();
     motor->thread_ready = true;
 
-#ifdef STANDALONE_MODE
-    //Only run tests on M0 for now
-    // if (motor == &motors[1]) {
-    //     // TODO: figure out why M1 MOE must be enabled to run M0 correctly
-    //     __HAL_TIM_MOE_ENABLE(motor->motor_timer);
-    //     FOC_voltage_loop(motor, 0.0f, 0.0f);
-    // }
-
-    motor->do_calibration = true;
-    motor->enable_control = true;
-
-    //Turn on position control by default.
-    //NOTE: This may not be the preffered behaviour in your application.
-    set_pos_setpoint(motor, 0.0f, 0.0f, 0.0f);
-#endif
-
     for (;;) {
         if (motor->do_calibration) {
-            osDelay(10);
             __HAL_TIM_MOE_ENABLE(motor->motor_timer);// enable pwm outputs
             motor_calibration(motor);
             if(!motor->calibration_ok){
@@ -1321,7 +1264,6 @@ void motor_thread(void const * argument) {
         }
         
         if (motor->calibration_ok && motor->enable_control) {
-            osDelay(10);
             motor->enable_step_dir = true;
             __HAL_TIM_MOE_ENABLE(motor->motor_timer);
             control_motor_loop(motor);

MotorControl/low_level.h

@@ -130,8 +130,8 @@ void set_current_setpoint(Motor_t* motor, float current_setpoint);
 void safe_assert(int arg);
 void init_motor_control();
 void step_cb(uint16_t GPIO_Pin);
-void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc);
-void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc);
+void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
+void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
 
 //@TODO move motor thread to high level file
 void motor_thread(void const * argument);

Odrive.ioc

@@ -10,7 +10,7 @@ ADC1.EOCSelection=ADC_EOC_SINGLE_CONV
 ADC1.EnableAnalogWatchDog=false
 ADC1.ExternalTrigConv=ADC_SOFTWARE_START
 ADC1.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_NONE
-ADC1.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_CC4
+ADC1.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_TRGO
 ADC1.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
 ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,master,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,ExternalTrigConvEdge,InjNumberOfConversion,EnableAnalogWatchDog,Rank-1\#ChannelInjectedConversion,Channel-1\#ChannelInjectedConversion,SamplingTime-1\#ChannelInjectedConversion,InjectedOffset-1\#ChannelInjectedConversion,InjectedConvMode,ExternalTrigInjecConvEdge,ExternalTrigInjecConv,ExternalTrigConv
 ADC1.InjNumberOfConversion=1
@@ -36,7 +36,7 @@ ADC2.EOCSelection=ADC_EOC_SINGLE_CONV
 ADC2.EnableAnalogWatchDog=false
 ADC2.ExternalTrigConv=ADC_EXTERNALTRIGCONV_T8_TRGO
 ADC2.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_RISING
-ADC2.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_CC4
+ADC2.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_TRGO
 ADC2.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
 ADC2.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,InjNumberOfConversion,EnableAnalogWatchDog,Rank-1\#ChannelInjectedConversion,Channel-1\#ChannelInjectedConversion,SamplingTime-1\#ChannelInjectedConversion,InjectedOffset-1\#ChannelInjectedConversion,ExternalTrigInjecConvEdge,ExternalTrigConvEdge,InjectedConvMode,ExternalTrigInjecConv,ExternalTrigConv
 ADC2.InjNumberOfConversion=1
@@ -61,7 +61,7 @@ ADC3.EOCSelection=ADC_EOC_SINGLE_CONV
 ADC3.EnableAnalogWatchDog=false
 ADC3.ExternalTrigConv=ADC_EXTERNALTRIGCONV_T8_TRGO
 ADC3.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_RISING
-ADC3.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_CC4
+ADC3.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_TRGO
 ADC3.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
 ADC3.IPParameters=Rank-7\#ChannelRegularConversion,Channel-7\#ChannelRegularConversion,SamplingTime-7\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,ExternalTrigConvEdge,InjNumberOfConversion,EnableAnalogWatchDog,Rank-8\#ChannelInjectedConversion,Channel-8\#ChannelInjectedConversion,SamplingTime-8\#ChannelInjectedConversion,InjectedOffset-8\#ChannelInjectedConversion,ExternalTrigInjecConvEdge,InjectedConvMode,ExternalTrigInjecConv,ExternalTrigConv
 ADC3.InjNumberOfConversion=1

README.md

@@ -54,6 +54,10 @@ An upcoming feature will enable automatic tuning. Until then, here is a rough tu
 * Back down `pos_gain` until you do not have overshoot anymore.
 * The integrator is not easily tuned, nor is it strictly required. Tune at your own discression.
 
+### Optional parameters
+By default both motors are enabled, and the default control mode is position control.
+If you want a different mode, you can change `.control_mode`. To disable a motor, set `.enable_control` and `.do_calibration` to false.
+
 ## Compiling and downloading firmware
 
 ### Getting a programmer

Src/adc.c

@@ -102,7 +102,7 @@ void MX_ADC1_Init(void)
   sConfigInjected.InjectedNbrOfConversion = 1;
   sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
   sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
-  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_CC4;
+  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
   sConfigInjected.AutoInjectedConv = DISABLE;
   sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
   sConfigInjected.InjectedOffset = 0;
@@ -154,7 +154,7 @@ void MX_ADC2_Init(void)
   sConfigInjected.InjectedNbrOfConversion = 1;
   sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
   sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
-  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_CC4;
+  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
   sConfigInjected.AutoInjectedConv = DISABLE;
   sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
   sConfigInjected.InjectedOffset = 0;
@@ -206,7 +206,7 @@ void MX_ADC3_Init(void)
   sConfigInjected.InjectedNbrOfConversion = 1;
   sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
   sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
-  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_CC4;
+  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
   sConfigInjected.AutoInjectedConv = DISABLE;
   sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
   sConfigInjected.InjectedOffset = 0;

Src/stm32f4xx_it.c

@@ -40,7 +40,7 @@
 #include "freertos_vars.h"
 #include "low_level.h"
 
-typedef void (*ADC_handler_t)(ADC_HandleTypeDef* hadc);
+typedef void (*ADC_handler_t)(ADC_HandleTypeDef* hadc, bool injected);
 void ADC_IRQ_Dispatch(ADC_HandleTypeDef* hadc, ADC_handler_t callback);
 
 /* USER CODE END 0 */
@@ -250,14 +250,14 @@ void ADC_IRQ_Dispatch(ADC_HandleTypeDef* hadc, ADC_handler_t callback) {
   uint32_t JEOC = __HAL_ADC_GET_FLAG(hadc, ADC_FLAG_JEOC);
   uint32_t JEOC_IT_EN = __HAL_ADC_GET_IT_SOURCE(hadc, ADC_IT_JEOC);
   if (JEOC && JEOC_IT_EN) {
-    callback(hadc);
+    callback(hadc, true);
     __HAL_ADC_CLEAR_FLAG(hadc, (ADC_FLAG_JSTRT | ADC_FLAG_JEOC));
   }
   // Regular measurements
   uint32_t EOC = __HAL_ADC_GET_FLAG(hadc, ADC_FLAG_EOC);
   uint32_t EOC_IT_EN = __HAL_ADC_GET_IT_SOURCE(hadc, ADC_IT_EOC);
   if (EOC && EOC_IT_EN) {
-    callback(hadc);
+    callback(hadc, false);
     __HAL_ADC_CLEAR_FLAG(hadc, (ADC_FLAG_STRT | ADC_FLAG_EOC));
   }
 }