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https://github.com/odriverobotics/ODrive.git
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add dump errors util function
This commit is contained in:
Oskar Weigl
@@ -1,6 +1,9 @@
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# Unreleased Features
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Please add a note of your changes below this heading if you make a Pull Request.
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### Added
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* `dump_errors()` utility function in odrivetool to dump, decode and optionally clear errors.
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# Releases
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## [0.4.7] - 2018-11-28
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### Added
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+2
-14
@@ -14,21 +14,9 @@ Table of Contents:
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<!-- /TOC -->
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## Error codes
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If your ODrive is not working as expected, run `odrivetool` and type `hex(<axis>.error)` <kbd>Enter</kbd> where `<axis>` is the axis that isn't working. This will display a [hexadecimal](https://en.wikipedia.org/wiki/Hexadecimal) representation of the error code. Each bit represents one error flag.
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<details><summary markdown="span">Example</summary><div markdown="block">
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Say you got this error output:
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```python
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In [1]: hex(odrv0.axis0.error)
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Out[1]: '0x6'
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```
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Written in binary, the number `0x6` corresponds to `110`, that means bits 1 and 2 are set (counting starts at 0).
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Looking at the reference below, this means that both `ERROR_DC_BUS_UNDER_VOLTAGE` and `ERROR_DC_BUS_OVER_VOLTAGE` occurred.
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</div></details>
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The axis error may say that some other component has failed. Say it reports `ERROR_ENCODER_FAILED`, then you need to go check the encoder error: `hex(<axis>.encoder.error)`.
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If your ODrive is not working as expected, run `odrivetool` and type `dump_errors(odrv0)` <kbd>Enter</kbd>. This will dump a list of all the errors that are present. To also clear all the errors, you can run `dump_errors(odrv0, True)`.
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The following sections will give some guidance on the most common errors. You may also check the code for the full list of errors:
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* Axis error flags defined [here](../Firmware/MotorControl/axis.hpp).
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* Motor error flags defined [here](../Firmware/MotorControl/motor.hpp).
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* Encoder error flags defined [here](../Firmware/MotorControl/encoder.hpp).
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+41
-11
@@ -11,17 +11,47 @@ AXIS_STATE_ENCODER_INDEX_SEARCH = 6
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AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7
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AXIS_STATE_CLOSED_LOOP_CONTROL = 8
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AXIS_ERROR_NONE = 0
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AXIS_ERROR_INVALID_STATE = 1
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#AXIS_ERROR_DC_BUS_UNDER_VOLTAGE = 2
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#AXIS_ERROR_DC_BUS_OVER_VOLTAGE = 3
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#AXIS_ERROR_CURRENT_MEASUREMENT_TIMEOUT = 4
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#AXIS_ERROR_CONTROL_LOOP_TIMEOUT = 5
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#AXIS_ERROR_MOTOR_FAILED = 6
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#AXIS_ERROR_SENSORLESS_ESTIMATOR_FAILED = 7
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#AXIS_ERROR_ENCODER_FAILED = 8
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#AXIS_ERROR_CONTROLLER_FAILED = 9
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#AXIS_ERROR_POS_CTRL_DURING_SENSORLESS = 10
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class errors:
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class axis:
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ERROR_NONE = 0x00
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ERROR_INVALID_STATE = 0x01 #<! an invalid state was requested
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ERROR_DC_BUS_UNDER_VOLTAGE = 0x02
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ERROR_DC_BUS_OVER_VOLTAGE = 0x04
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ERROR_CURRENT_MEASUREMENT_TIMEOUT = 0x08
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ERROR_BRAKE_RESISTOR_DISARMED = 0x10 #<! the brake resistor was unexpectedly disarmed
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ERROR_MOTOR_DISARMED = 0x20 #<! the motor was unexpectedly disarmed
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ERROR_MOTOR_FAILED = 0x40 # Go to motor.hpp for information, check odrvX.axisX.motor.error for error value
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ERROR_SENSORLESS_ESTIMATOR_FAILED = 0x80
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ERROR_ENCODER_FAILED = 0x100 # Go to encoder.hpp for information, check odrvX.axisX.encoder.error for error value
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ERROR_CONTROLLER_FAILED = 0x200
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ERROR_POS_CTRL_DURING_SENSORLESS = 0x400
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class motor:
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ERROR_NONE = 0
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ERROR_PHASE_RESISTANCE_OUT_OF_RANGE = 0x0001
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ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE = 0x0002
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ERROR_ADC_FAILED = 0x0004
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ERROR_DRV_FAULT = 0x0008
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ERROR_CONTROL_DEADLINE_MISSED = 0x0010
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ERROR_NOT_IMPLEMENTED_MOTOR_TYPE = 0x0020
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ERROR_BRAKE_CURRENT_OUT_OF_RANGE = 0x0040
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ERROR_MODULATION_MAGNITUDE = 0x0080
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ERROR_BRAKE_DEADTIME_VIOLATION = 0x0100
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ERROR_UNEXPECTED_TIMER_CALLBACK = 0x0200
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ERROR_CURRENT_SENSE_SATURATION = 0x0400
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class encoder:
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ERROR_NONE = 0
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ERROR_UNSTABLE_GAIN = 0x01
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ERROR_CPR_OUT_OF_RANGE = 0x02
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ERROR_NO_RESPONSE = 0x04
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ERROR_UNSUPPORTED_ENCODER_MODE = 0x08
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ERROR_ILLEGAL_HALL_STATE = 0x10
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ERROR_INDEX_NOT_FOUND_YET = 0x20
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class controller:
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ERROR_NONE = 0
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ERROR_OVERSPEED = 0x01
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MOTOR_TYPE_HIGH_CURRENT = 0
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#MOTOR_TYPE_LOW_CURRENT = 1
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@@ -5,7 +5,7 @@ import threading
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import fibre
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import odrive
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import odrive.enums
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from odrive.utils import start_liveplotter
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from odrive.utils import start_liveplotter, dump_errors
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#from odrive.enums import * # pylint: disable=W0614
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def print_banner():
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@@ -76,7 +76,8 @@ def launch_shell(args, logger, app_shutdown_token):
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"""
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interactive_variables = {
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'start_liveplotter': start_liveplotter
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'start_liveplotter': start_liveplotter,
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'dump_errors': dump_errors
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}
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# Expose all enums from odrive.enums
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+39
-3
@@ -7,6 +7,7 @@ import platform
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import subprocess
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import os
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from fibre.utils import Event
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from odrive.enums import errors
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try:
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if platform.system() == 'Windows':
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@@ -19,13 +20,48 @@ except ImportError:
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sys.stdout.flush()
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pass
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data_rate = 100
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plot_rate = 10
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num_samples = 1000
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_VT100Colors = {
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'green': '\x1b[92;1m',
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'cyan': '\x1b[96;1m',
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'yellow': '\x1b[93;1m',
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'red': '\x1b[91;1m',
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'default': '\x1b[0m'
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}
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class OperationAbortedException(Exception):
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pass
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def dump_errors(odrv, clear=False):
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axes = [axis for name, axis in odrv._remote_attributes.items() if 'axis' in name]
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for num, axis in enumerate(axes):
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print('Axis{}:'.format(num))
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# Flatten axis and submodules
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# (name, remote_obj, errorcode)
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module_decode_map = [
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('axis', axis, errors.axis),
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('motor', axis.motor, errors.motor),
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('encoder', axis.encoder, errors.encoder),
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('controller', axis.controller, errors.controller),
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]
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# Module error decode
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for name, remote_obj, errorcodes in module_decode_map:
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prefix = ' '*2 + name + ": "
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if (remote_obj.error != errorcodes.ERROR_NONE):
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print(prefix + _VT100Colors['red'] + "Error(s):" + _VT100Colors['default'])
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errorcodes_tup = [(name, val) for name, val in errorcodes.__dict__.items() if 'ERROR_' in name]
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for codename, codeval in errorcodes_tup:
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if remote_obj.error & codeval != 0:
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print(" " + codename)
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if clear:
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remote_obj.error = errorcodes.ERROR_NONE
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else:
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print(prefix + _VT100Colors['green'] + "no error" + _VT100Colors['default'])
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data_rate = 100
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plot_rate = 10
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num_samples = 1000
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def start_liveplotter(get_var_callback):
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"""
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Starts a liveplotter.
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