Changed step and direction handling to always require circular positioning

CHANGELOG.md

@@ -33,7 +33,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * Accumulate integer steps in step/dir to avoid float precision errors
 
 ### API Migration Notes
-
+* `axis.config.turns_per_step` changed to `axis.controller.config.steps_per_circular_range`
 * `odrive.axis.fet_thermistor`, `odrive.axis.motor_thermistor` moved to `odrive.axis.motor` object
 * `enable_uart` and `uart_baudrate` were renamed to `enable_uart0` and `uart0_baudrate`.
 * `enable_i2c_instead_of_can` was replaced by the separate settings `enable_i2c0` and `enable_can0`.

Firmware/MotorControl/axis.hpp

@@ -75,8 +75,6 @@ public:
 
         bool enable_sensorless_mode = false;
 
-        float turns_per_step = 1.0f / 1024.0f;
-
         float watchdog_timeout = 0.0f; // [s]
         bool enable_watchdog = false;
 

Firmware/MotorControl/controller.cpp

@@ -109,7 +109,11 @@ bool Controller::update() {
     std::optional<float> anticogging_vel_estimate = axis_->encoder_.vel_estimate_.present();
 
     if (axis_->step_dir_active_) {
-        input_pos_ = axis_->steps_ * axis_->config_.turns_per_step;
+        if (!pos_wrap.has_value()) {
+            set_error(ERROR_INVALID_CIRCULAR_RANGE);
+            return false;
+        }
+        input_pos_ = (float)(axis_->steps_ % config_.steps_per_circular_range) * (*pos_wrap / (float)(config_.steps_per_circular_range));
     }
 
     if (config_.anticogging.calib_anticogging) {
@@ -123,8 +127,11 @@ bool Controller::update() {
 
     // TODO also enable circular deltas for 2nd order filter, etc.
     if (config_.circular_setpoints) {
-        // Keep pos setpoint from drifting
-        input_pos_ = fmodf_pos(input_pos_, config_.circular_setpoint_range);
+        if (!pos_wrap.has_value()) {
+            set_error(ERROR_INVALID_CIRCULAR_RANGE);
+            return false;
+        }
+        input_pos_ = fmodf_pos(input_pos_, *pos_wrap);
     }
 
     // Update inputs
@@ -155,6 +162,13 @@ bool Controller::update() {
         case INPUT_MODE_POS_FILTER: {
             // 2nd order pos tracking filter
             float delta_pos = input_pos_ - pos_setpoint_; // Pos error
+            if (config_.circular_setpoints) {
+                if (!pos_wrap.has_value()) {
+                    set_error(ERROR_INVALID_CIRCULAR_RANGE);
+                    return false;
+                }
+                delta_pos = wrap_pm(delta_pos, *pos_wrap);
+            }
             float delta_vel = input_vel_ - vel_setpoint_; // Vel error
             float accel = input_filter_kp_*delta_pos + input_filter_ki_*delta_vel; // Feedback
             torque_setpoint_ = accel * config_.inertia; // Accel

Firmware/MotorControl/controller.hpp

@@ -36,10 +36,11 @@ public:
         float vel_ramp_rate = 1.0f;              // [(turn/s) / s]
         float torque_ramp_rate = 0.01f;          // Nm / sec
         bool circular_setpoints = false;
-        float circular_setpoint_range = 1.0f; // Circular range when circular_setpoints is true. [turn]
-        float inertia = 0.0f;                 // [Nm/(turn/s^2)]
-        float input_filter_bandwidth = 2.0f;  // [1/s]
-        float homing_speed = 0.25f;           // [turn/s]
+        float circular_setpoint_range = 1.0f;    // Circular range when circular_setpoints is true. [turn]
+        uint32_t steps_per_circular_range = 1024;
+        float inertia = 0.0f;                    // [Nm/(turn/s^2)]
+        float input_filter_bandwidth = 2.0f;     // [1/s]
+        float homing_speed = 0.25f;              // [turn/s]
         Anticogging_t anticogging;
         float gain_scheduling_width = 10.0f;
         bool enable_gain_scheduling = false;
@@ -57,6 +58,7 @@ public:
         // custom setters
         Controller* parent;
         void set_input_filter_bandwidth(float value) { input_filter_bandwidth = value; parent->update_filter_gains(); }
+        void set_steps_per_circular_range(uint32_t value) { steps_per_circular_range = value > 0 ? value : steps_per_circular_range; }
     };
 
     Controller() {}

Firmware/odrive-interface.yaml

@@ -418,6 +418,7 @@ interfaces:
             doc: There isn't a valid position estimate available.
       step_dir_active: readonly bool
       last_drv_fault: readonly uint32
+      steps: readonly int64
       current_state: readonly AxisState
       requested_state: AxisState
       is_homed: {type: bool, c_name: homing_.is_homed}
@@ -450,7 +451,6 @@ interfaces:
               This setting only takes effect on a state transition
               into idle or out of closed loop control.
           enable_sensorless_mode: bool
-          turns_per_step: float32
           watchdog_timeout:
             type: float32
             unit: s
@@ -829,6 +829,7 @@ interfaces:
           INVALID_MIRROR_AXIS:
           INVALID_LOAD_ENCODER:
           INVALID_ESTIMATE:
+          INVALID_CIRCULAR_RANGE:
       last_error_time: float32
       input_pos:
         type: float32
@@ -884,6 +885,10 @@ interfaces:
           circular_setpoint_range:
             type: float32
             doc: circular range in [turns] for position setpoints when circular_setpoints is True
+          steps_per_circular_range:
+            type: int32
+            doc: Number of steps within the circular setpoint range. Set this and the circular setpoint range to powers of 2 for the best results.
+            c_setter: set_steps_per_circular_range
           homing_speed:
             type: float32
             unit: turns/s

tools/odrive/enums.py

@@ -141,6 +141,7 @@ CONTROLLER_ERROR_UNSTABLE_GAIN           = 0x00000004
 CONTROLLER_ERROR_INVALID_MIRROR_AXIS     = 0x00000008
 CONTROLLER_ERROR_INVALID_LOAD_ENCODER    = 0x00000010
 CONTROLLER_ERROR_INVALID_ESTIMATE        = 0x00000020
+CONTROLLER_ERROR_INVALID_CIRCULAR_RANGE  = 0x00000040
 
 # ODrive.Encoder.Error
 ENCODER_ERROR_NONE                       = 0x00000000