diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml index 18f8786e..7bc8b8db 100644 --- a/.github/workflows/documentation.yml +++ b/.github/workflows/documentation.yml @@ -2,7 +2,7 @@ name: Build and publish HTML documentation website on: push: - branches: [ feature/doc_autogen ] + branches: [ master ] jobs: jekyll: @@ -52,15 +52,22 @@ jobs: cd /srv/jekyll/docs && \ bundle config path vendor/bundle && \ bundle install && \ - JEKYLL_ENV=production bundle exec jekyll build + bundle exec jekyll build --baseurl \"\" + cd .. + mv docs/_site _site + rm -rdf docs + mv _site docs + touch docs/.nojekyll " - touch .nojekyll + # Extra checks to reduce likelihood of defect build + test -f docs/CNAME + test -f docs/index.html - name: Push to documentation branch run: | git config user.name "${GITHUB_ACTOR}" git config user.email "${GITHUB_ACTOR}@users.noreply.github.com" - git add -f docs/_site + git add -f docs git commit -m "jekyll build from Action ${GITHUB_SHA}" git push --force origin HEAD:${REMOTE_BRANCH} env: diff --git a/.gitignore b/.gitignore index 88c045b3..eb5307ef 100644 --- a/.gitignore +++ b/.gitignore @@ -58,3 +58,8 @@ ODrive\.files ODrive\.includes Firmware/Tests/bin/ + +# GUI +GUI/dist_electron +GUI/node_modules +GUI/build diff --git a/Arduino/ODriveArduino/ODriveArduino.cpp b/Arduino/ODriveArduino/ODriveArduino.cpp index 465ba582..cd3fcd5e 100644 --- a/Arduino/ODriveArduino/ODriveArduino.cpp +++ b/Arduino/ODriveArduino/ODriveArduino.cpp @@ -59,14 +59,14 @@ int32_t ODriveArduino::readInt() { return readString().toInt(); } -bool ODriveArduino::run_state(int axis, int requested_state, bool wait) { - int timeout_ctr = 100; +bool ODriveArduino::run_state(int axis, int requested_state, bool wait_for_idle, float timeout) { + int timeout_ctr = (int)(timeout * 10.0f); serial_ << "w axis" << axis << ".requested_state " << requested_state << '\n'; - if (wait) { + if (wait_for_idle) { do { delay(100); serial_ << "r axis" << axis << ".current_state\n"; - } while (readInt() != requested_state && --timeout_ctr > 0); + } while (readInt() != AXIS_STATE_IDLE && --timeout_ctr > 0); } return timeout_ctr > 0; diff --git a/Arduino/ODriveArduino/ODriveArduino.h b/Arduino/ODriveArduino/ODriveArduino.h index 8e39b244..6620f859 100644 --- a/Arduino/ODriveArduino/ODriveArduino.h +++ b/Arduino/ODriveArduino/ODriveArduino.h @@ -35,7 +35,7 @@ public: int32_t readInt(); // State helper - bool run_state(int axis, int requested_state, bool wait); + bool run_state(int axis, int requested_state, bool wait_for_idle, float timeout = 10.0f); private: String readString(); diff --git a/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino b/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino index 1e835026..e75a1862 100644 --- a/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino +++ b/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino @@ -1,14 +1,39 @@ - +// includes +#include #include #include - -// Printing with stream operator +// Printing with stream operator helper functions template inline Print& operator <<(Print &obj, T arg) { obj.print(arg); return obj; } template<> inline Print& operator <<(Print &obj, float arg) { obj.print(arg, 4); return obj; } -// Serial to the ODrive -SoftwareSerial odrive_serial(8, 9); //RX (ODrive TX), TX (ODrive RX) -// Note: you must also connect GND on ODrive to GND on Arduino! + +//////////////////////////////// +// Set up serial pins to the ODrive +//////////////////////////////// + +// Below are some sample configurations. +// You can comment out the default Teensy one and uncomment the one you wish to use. +// You can of course use something different if you like +// Don't forget to also connect ODrive GND to Arduino GND. + +// Teensy 3 and 4 (all versions) - Serial1 +// pin 0: RX - connect to ODrive TX +// pin 1: TX - connect to ODrive RX +// See https://www.pjrc.com/teensy/td_uart.html for other options on Teensy +HardwareSerial& odrive_serial = Serial1; + +// Arduino Mega or Due - Serial1 +// pin 19: RX - connect to ODrive TX +// pin 18: TX - connect to ODrive RX +// See https://www.arduino.cc/reference/en/language/functions/communication/serial/ for other options +// HardwareSerial& odrive_serial = Serial1; + +// Arduino without spare serial ports (such as Arduino UNO) have to use software serial. +// Note that this is implemented poorly and can lead to wrong data sent or read. +// pin 8: RX - connect to ODrive TX +// pin 9: TX - connect to ODrive RX +// SoftwareSerial odrive_serial(8, 9); + // ODrive object ODriveArduino odrive(odrive_serial); @@ -28,7 +53,7 @@ void setup() { // You can of course set them different if you want. // See the documentation or play around in odrivetool to see the available parameters for (int axis = 0; axis < 2; ++axis) { - odrive_serial << "w axis" << axis << ".controller.config.vel_limit " << 22000.0f << '\n'; + odrive_serial << "w axis" << axis << ".controller.config.vel_limit " << 10.0f << '\n'; odrive_serial << "w axis" << axis << ".motor.config.current_lim " << 11.0f << '\n'; // This ends up writing something like "w axis0.motor.config.current_lim 10.0\n" } @@ -52,23 +77,23 @@ void loop() { requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION; Serial << "Axis" << c << ": Requesting state " << requested_state << '\n'; - odrive.run_state(motornum, requested_state, true); + if(!odrive.run_state(motornum, requested_state, true)) return; requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION; Serial << "Axis" << c << ": Requesting state " << requested_state << '\n'; - odrive.run_state(motornum, requested_state, true); + if(!odrive.run_state(motornum, requested_state, true, 25.0f)) return; requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL; Serial << "Axis" << c << ": Requesting state " << requested_state << '\n'; - odrive.run_state(motornum, requested_state, false); // don't wait + if(!odrive.run_state(motornum, requested_state, false /*don't wait*/)) return; } // Sinusoidal test move if (c == 's') { Serial.println("Executing test move"); for (float ph = 0.0f; ph < 6.28318530718f; ph += 0.01f) { - float pos_m0 = 20000.0f * cos(ph); - float pos_m1 = 20000.0f * sin(ph); + float pos_m0 = 2.0f * cos(ph); + float pos_m1 = 2.0f * sin(ph); odrive.SetPosition(0, pos_m0); odrive.SetPosition(1, pos_m1); delay(5); diff --git a/CHANGELOG.md b/CHANGELOG.md index 12b17c06..ea1c76d9 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,25 +2,32 @@ Please add a note of your changes below this heading if you make a Pull Request. ### Added * [Mechanical brake support](docs/mechanical-brakes.md) +* Added periodic sending of encoder position on CAN ### Changed - +* Modified encoder offset calibration to work correctly when calib_scan_distance is not a multiple of 4pi +* Moved thermistors from being a top level object to belonging to Motor objects. Also changed errors: thermistor errors rolled into motor errors * Use DMA for DRV8301 setup * Make NVM configuration code more dynamic so that the layout doesn't have to be known at compile time. * GPIO initialization logic was changed. GPIOs now need to be explicitly set to the mode corresponding to the feature that they are used by. See `.config.gpioX_mode`. * Previously, if two components used the same interrupt pin (e.g. step input for axis0 and axis1) then the one that was configured later would override the other one. Now this is no longer the case (the old component remains the owner of the pin). -### API Miration Notes +### API Migration Notes +* `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`. * `.motor.gate_driver` was moved to `.gate_driver`. * `.min_endstop.pullup` and `.max_endstop.pullup` were removed. Use `.config.gpioX_mode = GPIO_MODE_DIGITAL / GPIO_MODE_DIGITAL_PULL_UP / GPIO_MODE_DIGITAL_PULL_DOWN` instead. +* `.config.can_node_id` was moved to `.config.can.node_id` +* `.config.can_node_id_extended` was moved to `.config.can.is_extended` +* `.config.can_heartbeat_rate_ms` was moved to `.config.can.heartbeat_rate_ms` -# Release Candidate -## [0.5.1] - Date TBD +# Releases +## [0.5.1] - 2020-09-27 ### Added * Added motor `torque_constant`: units of torque are now [Nm] instead of just motor current. +* Added `motor.config.torque_lim`: limit for motor torque in [Nm]. * [Motor thermistors support](docs/thermistors.md) * Enable/disable of thermistor thermal limits according `setting axis..enabled`. * Introduced `odrive-interface.yaml` as a root source for the ODrive's API. `odrivetool` connects much faster as a side effect. @@ -28,12 +35,18 @@ Please add a note of your changes below this heading if you make a Pull Request. ### Changed * **`input_pos`, `input_vel`, `pos_estimate_linear`, `pos_estimate_circular`, are now in units of [turns] or [turns/s] instead of [counts] or [counts/s]** +* **`pos_gain`, `vel_gain`, `vel_integrator_gain`, are now in units of [(turns/s) / turns], [Nm/(turns/s)], [Nm/(turns/s * s)] instead of [(counts/s) / counts], [A/(counts/s)], [A/((counts/s) * s)].** `pos_gain` is not affected. Old values of `vel_gain` and `vel_integrator_gain` should be multiplied by `torque_constant * encoder cpr` to convert from the old units to the new units. `torque_constant` is approximately equal to 8.27 / (motor KV). * `axis.motor.thermal_current_lim` has been removed. Instead a new property is available `axis.motor.effective_current_lim` which contains the effective current limit including any thermal limits. * `axis.motor.get_inverter_temp()`, `axis.motor.inverter_temp_limit_lower` and `axis.motor.inverter_temp_limit_upper` have been moved to seperate fet thermistor object under `axis.fet_thermistor`. `get_inverter_temp()` function has been renamed to `temp` and is now a read-only property. * `axis.config.counts_per_step` is now `axis.config.turns_per_step` +* Outputs of `axis.sensorless_estimator` are now in turns/s instead of electrical rad/s +* Fixed bug of high current during lockin-ramp caused by `motor::update()` expecting a torque command instead of current +* Fixed bug where commanded velocity was extremely high just after sensorless ramp when using `input_mode` INPUT_MODE_VEL_RAMP caused by `vel_setpoint` and `axis.config.sensorless_ramp.vel` being in different units +### Fixed +* Fixed bug of high current during lockin-ramp caused by `motor::update()` expecting a torque command instead of current +* Fixed bug where commanded velocity was extremely high just after sensorless ramp when using `input_mode` INPUT_MODE_VEL_RAMP caused by `vel_setpoint` and `axis.config.sensorless_ramp.vel` being in different units -# Releases ## [0.5.0] - 2020-08-03 ### Added * AC Induction Motor support. diff --git a/Dockerfile b/Dockerfile index 9739928c..8810dc23 100644 --- a/Dockerfile +++ b/Dockerfile @@ -7,16 +7,22 @@ RUN add-apt-repository ppa:team-gcc-arm-embedded/ppa RUN add-apt-repository ppa:jonathonf/tup RUN apt-get update RUN apt-get -y upgrade -RUN apt-get -y install gcc-arm-embedded openocd tup python3.7 build-essential git +RUN apt-get -y install gcc-arm-embedded openocd tup python3.7 python3-yaml python3-jinja2 python3-jsonschema build-essential git # Build step below does not know about debian's python naming schemme RUN ln -s /usr/bin/python3.7 /usr/bin/python -# Copy the firmware tree into the container -RUN mkdir ODrive -COPY . ODrive +RUN mkdir -p ODrive WORKDIR ODrive/Firmware -# Hack around Tup's dependency on FUSE -RUN tup generate build.sh -RUN ./build.sh +# Must attach the firmware tree into the container +CMD \ + # Regenerate python interface + python interface_generator_stub.py \ + --definitions odrive-interface.yaml \ + --template ../tools/enums_template.j2 \ + --output ../tools/odrive/enums.py && \ + # Hack around Tup's dependency on FUSE + tup init && \ + tup generate build.sh && \ + ./build.sh diff --git a/Firmware/.vscode/c_cpp_properties.json b/Firmware/.vscode/c_cpp_properties.json index 299f69da..73555ecd 100644 --- a/Firmware/.vscode/c_cpp_properties.json +++ b/Firmware/.vscode/c_cpp_properties.json @@ -17,8 +17,18 @@ "__packed=\"__attribute__((__packed__))\"", "__GNUC__" ], - "intelliSenseMode": "gcc-x64", - "compilerPath": "\"${ARM_GCC_ROOT}/bin/arm-none-eabi-g++.exe\" -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float", + "intelliSenseMode": "gcc-arm", + "compilerPath": "arm-none-eabi-g++.exe", + "compilerArgs": [ + "-mthumb", + "-mcpu=cortex-m4", + "-mfpu=fpv4-sp-d16", + "-mfloat-abi=hard", + "-specs=nosys.specs", + "-specs=nano.specs", + "-u _printf_float", + "-u _scanf_float" + ], "cStandard": "c11", "cppStandard": "c++17" }, @@ -39,7 +49,7 @@ "__packed=\"__attribute__((__packed__))\"", "__GNUC__" ], - "intelliSenseMode": "gcc-x64", + "intelliSenseMode": "gcc-arm", "compilerPath": "arm-none-eabi-g++ -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float", "cStandard": "c11", "cppStandard": "c++17" @@ -61,7 +71,7 @@ "__packed=\"__attribute__((__packed__))\"", "__GNUC__" ], - "intelliSenseMode": "gcc-x64", + "intelliSenseMode": "gcc-arm", "cStandard": "c11", "cppStandard": "c++17" } diff --git a/Firmware/Board/v3/Src/stm32f4xx_it.c b/Firmware/Board/v3/Src/stm32f4xx_it.c index 1e69bcb9..69feb861 100644 --- a/Firmware/Board/v3/Src/stm32f4xx_it.c +++ b/Firmware/Board/v3/Src/stm32f4xx_it.c @@ -35,6 +35,7 @@ #include "stm32f4xx.h" #include "stm32f4xx_it.h" #include "cmsis_os.h" +#include /* USER CODE BEGIN 0 */ #include @@ -85,6 +86,13 @@ void get_regs(void** stack_ptr) { void* volatile pc __attribute__((unused)) = stack_ptr[6]; // Program counter void* volatile psr __attribute__((unused)) = stack_ptr[7]; // Program status register + void* volatile cfsr __attribute__((unused)) = (void*)SCB->CFSR; // Configurable fault status register + void* volatile cpacr __attribute__((unused)) = (void*)SCB->CPACR; + void* volatile fpccr __attribute__((unused)) = (void*)FPU->FPCCR; + + volatile bool preciserr __attribute__((unused)) = (uint32_t)cfsr & 0x200; + volatile bool ibuserr __attribute__((unused)) = (uint32_t)cfsr & 0x100; + volatile int stay_looping = 1; while(stay_looping); } diff --git a/Firmware/Board/v3/board.cpp b/Firmware/Board/v3/board.cpp index d2b0afbb..716329cf 100644 --- a/Firmware/Board/v3/board.cpp +++ b/Firmware/Board/v3/board.cpp @@ -58,20 +58,26 @@ OnboardThermistorCurrentLimiter fet_thermistors[AXIS_COUNT] = { } }; +OffboardThermistorCurrentLimiter motor_thermistors[AXIS_COUNT]; + Motor motors[AXIS_COUNT] = { { &htim1, // timer TIM_1_8_PERIOD_CLOCKS, // control_deadline 1.0f / SHUNT_RESISTANCE, // shunt_conductance [S] m0_gate_driver, // gate_driver - m0_gate_driver // opamp + m0_gate_driver, // opamp + fet_thermistors[0], + motor_thermistors[0] }, { &htim8, // timer (3 * TIM_1_8_PERIOD_CLOCKS) / 2, // control_deadline 1.0f / SHUNT_RESISTANCE, // shunt_conductance [S] m1_gate_driver, // gate_driver - m1_gate_driver // opamp + m1_gate_driver, // opamp + fet_thermistors[1], + motor_thermistors[1] } }; @@ -101,7 +107,6 @@ MechanicalBrake mechanical_brakes[AXIS_COUNT]; SensorlessEstimator sensorless_estimators[AXIS_COUNT]; Controller controllers[AXIS_COUNT]; TrapezoidalTrajectory trap[AXIS_COUNT]; -OffboardThermistorCurrentLimiter motor_thermistors[AXIS_COUNT]; std::array axes{{ { @@ -112,8 +117,6 @@ std::array axes{{ encoders[0], // encoder sensorless_estimators[0], // sensorless_estimator controllers[0], // controller - fet_thermistors[0], // fet_thermistor - motor_thermistors[0], // motor_thermistor motors[0], // motor trap[0], // trap endstops[0], endstops[1], // min_endstop, max_endstop @@ -132,8 +135,6 @@ std::array axes{{ encoders[1], // encoder sensorless_estimators[1], // sensorless_estimator controllers[1], // controller - fet_thermistors[1], // fet_thermistor - motor_thermistors[1], // motor_thermistor motors[1], // motor trap[1], // trap endstops[2], endstops[3], // min_endstop, max_endstop diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp index 6a89e3c3..5b685d87 100644 --- a/Firmware/MotorControl/axis.cpp +++ b/Firmware/MotorControl/axis.cpp @@ -14,8 +14,6 @@ Axis::Axis(int axis_num, Encoder& encoder, SensorlessEstimator& sensorless_estimator, Controller& controller, - OnboardThermistorCurrentLimiter& fet_thermistor, - OffboardThermistorCurrentLimiter& motor_thermistor, Motor& motor, TrapezoidalTrajectory& trap, Endstop& min_endstop, @@ -28,25 +26,15 @@ Axis::Axis(int axis_num, encoder_(encoder), sensorless_estimator_(sensorless_estimator), controller_(controller), - fet_thermistor_(fet_thermistor), - motor_thermistor_(motor_thermistor), motor_(motor), trap_traj_(trap), min_endstop_(min_endstop), max_endstop_(max_endstop), - mechanical_brake_(mechanical_brake), - current_limiters_(make_array( - static_cast(&fet_thermistor), - static_cast(&motor_thermistor))), - thermistors_(make_array( - static_cast(&fet_thermistor), - static_cast(&motor_thermistor))) + mechanical_brake_(mechanical_brake) { encoder_.axis_ = this; sensorless_estimator_.axis_ = this; controller_.axis_ = this; - fet_thermistor_.axis_ = this; - motor_thermistor.axis_ = this; motor_.axis_ = this; trap_traj_.axis_ = this; min_endstop_.axis_ = this; @@ -97,7 +85,7 @@ void Axis::clear_config() { config_ = {}; config_.step_gpio_pin = default_step_gpio_pin_; config_.dir_gpio_pin = default_dir_gpio_pin_; - config_.can_node_id = axis_num_; + config_.can.node_id = axis_num_; } // @brief Does Nothing @@ -180,18 +168,15 @@ bool Axis::do_checks() { // Sub-components should use set_error which will propegate to this error_ motor_.effective_current_lim(); - for (ThermistorCurrentLimiter* thermistor : thermistors_) { - thermistor->do_checks(); - } motor_.do_checks(); // encoder_.do_checks(); // sensorless_estimator_.do_checks(); // controller_.do_checks(); // Check for endstop presses - if (min_endstop_.config_.enabled && min_endstop_.get_state() && !(current_state_ == AXIS_STATE_HOMING)) { + if (min_endstop_.config_.enabled && min_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING)) { error_ |= ERROR_MIN_ENDSTOP_PRESSED; - } else if (max_endstop_.config_.enabled && max_endstop_.get_state() && !(current_state_ == AXIS_STATE_HOMING)) { + } else if (max_endstop_.config_.enabled && max_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING)) { error_ |= ERROR_MAX_ENDSTOP_PRESSED; } @@ -201,15 +186,14 @@ bool Axis::do_checks() { // @brief Update all esitmators bool Axis::do_updates() { // Sub-components should use set_error which will propegate to this error_ - for (ThermistorCurrentLimiter* thermistor : thermistors_) { - thermistor->update(); - } encoder_.update(); sensorless_estimator_.update(); + motor_.fet_thermistor_.update(); + motor_.motor_thermistor_.update(); min_endstop_.update(); max_endstop_.update(); bool ret = check_for_errors(); - odCAN->send_heartbeat(this); + odCAN->send_cyclic(*this); return ret; } @@ -238,9 +222,9 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config) { float x = 0.0f; run_control_loop([&]() { float phase = wrap_pm_pi(lockin_config.ramp_distance * x); - float I_mag = lockin_config.current * x; + float torque = lockin_config.current * motor_.config_.torque_constant * x; x += current_meas_period / lockin_config.ramp_time; - if (!motor_.update(I_mag, phase, 0.0f)) + if (!motor_.update(torque, phase, 0.0f)) return false; return x < 1.0f; }); @@ -269,7 +253,7 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config) { distance += vel * current_meas_period; phase = wrap_pm_pi(phase + vel * current_meas_period); - if (!motor_.update(lockin_config.current, phase, vel)) + if (!motor_.update(lockin_config.current * motor_.config_.torque_constant, phase, vel)) return false; return !spin_done(true); //vel_override to go to next phase }); @@ -285,7 +269,7 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config) { distance += vel * current_meas_period; phase = wrap_pm_pi(phase + vel * current_meas_period); - if (!motor_.update(lockin_config.current, phase, vel)) + if (!motor_.update(lockin_config.current * motor_.config_.torque_constant, phase, vel)) return false; return !spin_done(); }); @@ -410,6 +394,7 @@ bool Axis::run_homing() { // Avoid integrator windup issues controller_.vel_integrator_torque_ = 0.0f; + // Driving toward the endstop run_control_loop([this](){ // Note that all estimators are updated in the loop prefix in run_control_loop float torque_setpoint; @@ -561,7 +546,7 @@ void Axis::run_state_machine_loop() { if (status) { // call to controller.reset() that happend when arming means that vel_setpoint // is zeroed. So we make the setpoint the spinup target for smooth transition. - controller_.vel_setpoint_ = config_.sensorless_ramp.vel; + controller_.vel_setpoint_ = config_.sensorless_ramp.vel / (2.0f * M_PI * motor_.config_.pole_pairs); status = run_sensorless_control_loop(); } } break; diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp index b3965b39..a128c688 100644 --- a/Firmware/MotorControl/axis.hpp +++ b/Firmware/MotorControl/axis.hpp @@ -33,6 +33,13 @@ public: static LockinConfig_t default_sensorless(); static LockinConfig_t default_lockin(); + struct CANConfig_t { + uint32_t node_id = 0; + bool is_extended = false; + uint32_t heartbeat_rate_ms = 100; + uint32_t encoder_rate_ms = 10; + }; + struct Config_t { bool startup_motor_calibration = false; // current_limiters_; - std::array thermistors_; - osThreadId thread_id_; const uint32_t stack_size_ = 2048; // Bytes volatile bool thread_id_valid_ = false; @@ -246,8 +248,9 @@ public: AxisState& current_state_ = task_chain_.front(); uint32_t loop_counter_ = 0; LockinState lockin_state_ = LOCKIN_STATE_INACTIVE; - Homing_t homing_; - uint32_t last_heartbeat_ = 0; + Homing_t homing_; + CAN_t can_; + // watchdog uint32_t watchdog_current_value_= 0; diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp index d2ce992b..cc5c2d1d 100644 --- a/Firmware/MotorControl/encoder.cpp +++ b/Firmware/MotorControl/encoder.cpp @@ -228,10 +228,13 @@ bool Encoder::run_offset_calibration() { else return false; - // go to motor zero phase for start_lock_duration to get ready to scan + // go to start position of forward scan for start_lock_duration to get ready to scan int i = 0; axis_->run_control_loop([&](){ - if (!axis_->motor_.enqueue_voltage_timings(voltage_magnitude, 0.0f)) + float phase = wrap_pm_pi(0 - config_.calib_scan_distance / 2.0f); + float v_alpha = voltage_magnitude * our_arm_cos_f32(phase); + float v_beta = voltage_magnitude * our_arm_sin_f32(phase); + if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta)) return false; // error set inside enqueue_voltage_timings axis_->motor_.log_timing(TIMING_LOG_ENC_CALIB); return ++i < start_lock_duration * current_meas_hz; diff --git a/Firmware/MotorControl/endstop.cpp b/Firmware/MotorControl/endstop.cpp index e6878edc..2e5b9332 100644 --- a/Firmware/MotorControl/endstop.cpp +++ b/Firmware/MotorControl/endstop.cpp @@ -3,6 +3,7 @@ void Endstop::update() { debounceTimer_.update(); + last_state_ = endstop_state_; if (config_.enabled) { bool last_pin_state = pin_state_; @@ -19,10 +20,6 @@ void Endstop::update() { } } -bool Endstop::get_state() { - return endstop_state_; -} - bool Endstop::apply_config() { debounceTimer_.reset(); if (config_.enabled) { diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp index cbba2982..5126f55c 100644 --- a/Firmware/MotorControl/endstop.hpp +++ b/Firmware/MotorControl/endstop.hpp @@ -26,11 +26,22 @@ class Endstop { bool apply_config(); void update(); - bool get_state(); + constexpr bool get_state(){ + return endstop_state_; + } + + constexpr bool rose(){ + return (endstop_state_ != last_state_) && endstop_state_; + } + + constexpr bool fell(){ + return (endstop_state_ != last_state_) && !endstop_state_; + } bool endstop_state_ = false; private: + bool last_state_ = false; bool pin_state_ = false; float pos_when_pressed_ = 0.0f; Timer debounceTimer_; diff --git a/Firmware/MotorControl/low_level.cpp b/Firmware/MotorControl/low_level.cpp index a40d2ac6..3a611971 100644 --- a/Firmware/MotorControl/low_level.cpp +++ b/Firmware/MotorControl/low_level.cpp @@ -380,7 +380,7 @@ void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected) { } // 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 +// Timing diagram: Firmware/timing_diagram_v3.png void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) { #define calib_tau 0.2f //@TOTO make more easily configurable constexpr float calib_filter_k = CURRENT_MEAS_PERIOD / calib_tau; diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp index 1ada1b1c..eb8c67a7 100644 --- a/Firmware/MotorControl/main.cpp +++ b/Firmware/MotorControl/main.cpp @@ -49,8 +49,8 @@ static bool config_read_all() { config_manager.read(&axes[i].max_endstop_.config_) && config_manager.read(&axes[i].mechanical_brake_.config_) && config_manager.read(&motors[i].config_) && - config_manager.read(&fet_thermistors[i].config_) && - config_manager.read(&axes[i].motor_thermistor_.config_) && + config_manager.read(&motors[i].fet_thermistor_.config_) && + config_manager.read(&motors[i].motor_thermistor_.config_) && config_manager.read(&axes[i].config_); } return success; @@ -69,8 +69,8 @@ static bool config_write_all() { config_manager.write(&axes[i].max_endstop_.config_) && config_manager.write(&axes[i].mechanical_brake_.config_) && config_manager.write(&motors[i].config_) && - config_manager.write(&fet_thermistors[i].config_) && - config_manager.write(&axes[i].motor_thermistor_.config_) && + config_manager.write(&motors[i].fet_thermistor_.config_) && + config_manager.write(&motors[i].motor_thermistor_.config_) && config_manager.write(&axes[i].config_); } return success; @@ -89,8 +89,8 @@ static void config_clear_all() { axes[i].max_endstop_.config_ = {}; axes[i].mechanical_brake_.config_ = {}; motors[i].config_ = {}; - fet_thermistors[i].config_ = {}; - axes[i].motor_thermistor_.config_ = {}; + motors[i].fet_thermistor_.config_ = {}; + motors[i].motor_thermistor_.config_ = {}; axes[i].clear_config(); } } @@ -103,6 +103,7 @@ static bool config_apply_all() { && axes[i].min_endstop_.apply_config() && axes[i].max_endstop_.apply_config() && motors[i].apply_config() + && motors[i].motor_thermistor_.apply_config() && axes[i].apply_config(); } return success; diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp index 9bdbaa75..42ac5ccf 100644 --- a/Firmware/MotorControl/motor.cpp +++ b/Firmware/MotorControl/motor.cpp @@ -10,13 +10,19 @@ Motor::Motor(TIM_HandleTypeDef* timer, uint16_t control_deadline, float shunt_conductance, TGateDriver& gate_driver, - TOpAmp& opamp) : + TOpAmp& opamp, + OnboardThermistorCurrentLimiter& fet_thermistor, + OffboardThermistorCurrentLimiter& motor_thermistor) : timer_(timer), control_deadline_(control_deadline), shunt_conductance_(shunt_conductance), gate_driver_(gate_driver), - opamp_(opamp) { + opamp_(opamp), + fet_thermistor_(fet_thermistor), + motor_thermistor_(motor_thermistor) { apply_config(); + fet_thermistor_.motor_ = this; + motor_thermistor_.motor_ = this; } // @brief Arms the PWM outputs that belong to this motor. @@ -49,6 +55,7 @@ void Motor::reset_current_control() { current_control_.v_current_control_integral_d = 0.0f; current_control_.v_current_control_integral_q = 0.0f; current_control_.acim_rotor_flux = 0.0f; + current_control_.Ibus = 0.0f; } // @brief Tune the current controller based on phase resistance and inductance @@ -109,7 +116,16 @@ bool Motor::do_checks() { set_error(ERROR_DRV_FAULT); return false; } - + if (!motor_thermistor_.do_checks()) { + axis_->error_ |= Axis::ERROR_MOTOR_FAILED; + set_error(ERROR_MOTOR_THERMISTOR_OVER_TEMP); + return false; + } + if (!fet_thermistor_.do_checks()) { + axis_->error_ |= Axis::ERROR_MOTOR_FAILED; + set_error(ERROR_FET_THERMISTOR_OVER_TEMP); + return false; + } return true; } @@ -123,11 +139,9 @@ float Motor::effective_current_lim() { current_lim = std::min(current_lim, axis_->motor_.current_control_.max_allowed_current); } - // Apply axis current limiters - for (const CurrentLimiter* const limiter : axis_->current_limiters_) { - current_lim = std::min(current_lim, limiter->get_current_limit(config_.current_lim)); - } - + // Apply thermistor current limiters + current_lim = std::min(current_lim, motor_thermistor_.get_current_limit(config_.current_lim)); + current_lim = std::min(current_lim, fet_thermistor_.get_current_limit(config_.current_lim)); effective_current_lim_ = current_lim; return effective_current_lim_; diff --git a/Firmware/MotorControl/motor.hpp b/Firmware/MotorControl/motor.hpp index 3f61725a..088b300a 100644 --- a/Firmware/MotorControl/motor.hpp +++ b/Firmware/MotorControl/motor.hpp @@ -99,7 +99,9 @@ public: uint16_t control_deadline, float shunt_conductance, TGateDriver& gate_driver, - TOpAmp& opamp); + TOpAmp& opamp, + OnboardThermistorCurrentLimiter& fet_thermistor, + OffboardThermistorCurrentLimiter& motor_thermistor); bool arm(); void disarm(); @@ -130,6 +132,8 @@ public: const float shunt_conductance_; TGateDriver& gate_driver_; TOpAmp& opamp_; + OnboardThermistorCurrentLimiter& fet_thermistor_; + OffboardThermistorCurrentLimiter& motor_thermistor_; Config_t config_; Axis* axis_ = nullptr; // set by Axis constructor diff --git a/Firmware/MotorControl/sensorless_estimator.cpp b/Firmware/MotorControl/sensorless_estimator.cpp index d70c7d2d..878b6ee7 100644 --- a/Firmware/MotorControl/sensorless_estimator.cpp +++ b/Firmware/MotorControl/sensorless_estimator.cpp @@ -66,13 +66,15 @@ bool SensorlessEstimator::update() { } // predict PLL phase with velocity - pll_pos_ = wrap_pm_pi(pll_pos_ + current_meas_period * vel_estimate_); + pll_pos_ = wrap_pm_pi(pll_pos_ + current_meas_period * vel_estimate_erad_); // update PLL phase with observer permanent magnet phase phase_ = fast_atan2(eta[1], eta[0]); float delta_phase = wrap_pm_pi(phase_ - pll_pos_); pll_pos_ = wrap_pm_pi(pll_pos_ + current_meas_period * pll_kp * delta_phase); // update PLL velocity - vel_estimate_ += current_meas_period * pll_ki * delta_phase; + vel_estimate_erad_ += current_meas_period * pll_ki * delta_phase; + // convert to mechanical turns/s for controller usage. + vel_estimate_ = vel_estimate_erad_ / (std::max((float)axis_->motor_.config_.pole_pairs, 1.0f) * 2.0f * M_PI); vel_estimate_valid_ = true; return true; diff --git a/Firmware/MotorControl/sensorless_estimator.hpp b/Firmware/MotorControl/sensorless_estimator.hpp index 9f59b28a..a0a6ec3c 100644 --- a/Firmware/MotorControl/sensorless_estimator.hpp +++ b/Firmware/MotorControl/sensorless_estimator.hpp @@ -18,7 +18,8 @@ public: Error error_ = ERROR_NONE; float phase_ = 0.0f; // [rad] float pll_pos_ = 0.0f; // [rad] - float vel_estimate_ = 0.0f; // [rad/s] + float vel_estimate_ = 0.0f; // [turn/s] + float vel_estimate_erad_ = 0.0f; // [rad/s] bool vel_estimate_valid_ = false; // float pll_kp_ = 0.0f; // [rad/s / rad] // float pll_ki_ = 0.0f; // [(rad/s^2) / rad] diff --git a/Firmware/MotorControl/thermistor.cpp b/Firmware/MotorControl/thermistor.cpp index 3baf78a0..0b1f9704 100644 --- a/Firmware/MotorControl/thermistor.cpp +++ b/Firmware/MotorControl/thermistor.cpp @@ -14,8 +14,7 @@ ThermistorCurrentLimiter::ThermistorCurrentLimiter(uint16_t adc_channel, temperature_(NAN), temp_limit_lower_(temp_limit_lower), temp_limit_upper_(temp_limit_upper), - enabled_(enabled), - error_(ERROR_NONE) + enabled_(enabled) { } @@ -27,8 +26,6 @@ void ThermistorCurrentLimiter::update() { bool ThermistorCurrentLimiter::do_checks() { if (enabled_ && temperature_ >= temp_limit_upper_ + 5) { - error_ = ERROR_OVER_TEMP; - axis_->error_ |= Axis::ERROR_OVER_TEMP; return false; } return true; @@ -70,6 +67,12 @@ OffboardThermistorCurrentLimiter::OffboardThermistorCurrentLimiter() : decode_pin(); } +bool OffboardThermistorCurrentLimiter::apply_config() { + config_.parent = this; + decode_pin(); + return true; +} + void OffboardThermistorCurrentLimiter::decode_pin() { adc_channel_ = channel_from_gpio(get_gpio(config_.gpio_pin)); } diff --git a/Firmware/MotorControl/thermistor.hpp b/Firmware/MotorControl/thermistor.hpp index a7c29cfe..757a40fa 100644 --- a/Firmware/MotorControl/thermistor.hpp +++ b/Firmware/MotorControl/thermistor.hpp @@ -1,7 +1,7 @@ #ifndef __THERMISTOR_HPP #define __THERMISTOR_HPP -class Axis; // declared in axis.hpp +class Motor; // declared in motor.hpp #include "current_limiter.hpp" #include @@ -28,8 +28,7 @@ public: const float& temp_limit_lower_; const float& temp_limit_upper_; const bool& enabled_; - Error error_; - Axis* axis_ = nullptr; // set by Axis constructor + Motor* motor_ = nullptr; // set by Motor::apply_config() }; class OnboardThermistorCurrentLimiter : public ThermistorCurrentLimiter, public ODriveIntf::OnboardThermistorCurrentLimiterIntf { @@ -68,6 +67,8 @@ public: Config_t config_; + bool apply_config(); + private: void decode_pin(); }; diff --git a/Firmware/Tests/test_can.cpp b/Firmware/Tests/test_can.cpp index 5a0db2fe..3e4d6c51 100644 --- a/Firmware/Tests/test_can.cpp +++ b/Firmware/Tests/test_can.cpp @@ -39,6 +39,9 @@ TEST_SUITE("CAN Functions") { val = can_getSignal(rxmsg, 0, 16, true, 1, 0); CHECK(val == 0x1234); + val = can_getSignal(rxmsg, 0, 16, true); + CHECK(val == 0x1234); + val = can_getSignal(rxmsg, 0, 16, false, 1, 0); CHECK(val == 0x3412); diff --git a/Firmware/Tupfile.lua b/Firmware/Tupfile.lua index 16861330..802cc6cc 100644 --- a/Firmware/Tupfile.lua +++ b/Firmware/Tupfile.lua @@ -118,6 +118,7 @@ FLAGS += '-DUSE_HAL_DRIVER' FLAGS += '-mthumb' FLAGS += '-mfloat-abi=hard' FLAGS += { '-Wall', '-Wdouble-promotion', '-Wfloat-conversion', '-fdata-sections', '-ffunction-sections'} +FLAGS += '-g' FLAGS += '-DFIBRE_ENABLE_SERVER' -- linker flags @@ -128,7 +129,7 @@ LDFLAGS += '-Wl,--undefined=uxTopUsedPriority' -- debug build if tup.getconfig("DEBUG") == "true" then - FLAGS += '-g -gdwarf-2' + FLAGS += '-gdwarf-2' OPT += '-Og' else OPT += '-O2' diff --git a/Firmware/communication/ascii_protocol.cpp b/Firmware/communication/ascii_protocol.cpp index bf582b34..be18f548 100644 --- a/Firmware/communication/ascii_protocol.cpp +++ b/Firmware/communication/ascii_protocol.cpp @@ -115,6 +115,7 @@ void AsciiProtocol::process_line(cbufptr_t buffer) { case 'r': cmd_read_property(cmd, use_checksum); break; // read property case 'w': cmd_write_property(cmd, use_checksum); break; // write property case 'u': cmd_update_axis_wdg(cmd, use_checksum); break; // Update axis watchdog. + case 'e': cmd_encoder(cmd, use_checksum); break; // Encoder commands default : cmd_unknown(nullptr, use_checksum); break; } } @@ -213,11 +214,37 @@ void AsciiProtocol::cmd_set_torque(char * pStr, bool use_checksum) { } } +// @brief Sets the encoder linear count +// @param pStr buffer of ASCII encoded values +// @param response_channel reference to the stream to respond on +// @param use_checksum bool to indicate whether a checksum is required on response +void cmd_encoder(char * pStr, StreamSink& response_channel, bool use_checksum) { + if (pStr[1] == 's') { + pStr += 2; // Substring two characters to the right (ok because we have guaranteed null termination after all chars) + + unsigned motor_number; + int encoder_count; + + if (sscanf(pStr, "l %u %i", &motor_number, &encoder_count) < 2) { + respond(response_channel, use_checksum, "invalid command format"); + } else if (motor_number >= AXIS_COUNT) { + respond(response_channel, use_checksum, "invalid motor %u", motor_number); + } else { + Axis& axis = axes[motor_number]; + axis.encoder_.set_linear_count(encoder_count); + axis.watchdog_feed(); + respond(response_channel, use_checksum, "encoder set to %u", encoder_count); + } + } else { + respond(response_channel, use_checksum, "invalid command format"); + } +} + // @brief Executes the set trapezoid trajectory command // @param pStr buffer of ASCII encoded values // @param response_channel reference to the stream to respond on // @param use_checksum bool to indicate whether a checksum is required on response -void AsciiProtocol::cmd_set_trapezoid_trajectory(char * pStr, bool use_checksum) { +void AsciiProtocol::cmd_set_trapezoid_trajectory(char* pStr, bool use_checksum) { unsigned motor_number; float goal_point; diff --git a/Firmware/communication/ascii_protocol.hpp b/Firmware/communication/ascii_protocol.hpp index a90623fd..7c29588d 100644 --- a/Firmware/communication/ascii_protocol.hpp +++ b/Firmware/communication/ascii_protocol.hpp @@ -26,6 +26,7 @@ private: void cmd_write_property(char * pStr, bool use_checksum); void cmd_update_axis_wdg(char * pStr, bool use_checksum); void cmd_unknown(char * pStr, bool use_checksum); + void cmd_encoder(char * pStr, bool use_checksum); template void respond(bool include_checksum, const char * fmt, TArgs&& ... args); void process_line(fibre::cbufptr_t buffer); diff --git a/Firmware/communication/can_helpers.hpp b/Firmware/communication/can_helpers.hpp index 779b6a7a..d1e212c8 100644 --- a/Firmware/communication/can_helpers.hpp +++ b/Firmware/communication/can_helpers.hpp @@ -21,12 +21,16 @@ struct can_Signal_t { const float offset; }; +struct can_Cyclic_t { + uint32_t cycleTime_ms; + uint32_t lastTime_ms; +}; #include template -T can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel) { +constexpr T can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel) { uint64_t tempVal = 0; - uint64_t mask = (1ULL << length) - 1; + uint64_t mask = length < 64 ? (1ULL << length) - 1ULL : -1ULL; if (isIntel) { std::memcpy(&tempVal, msg.buf, sizeof(tempVal)); @@ -42,19 +46,12 @@ T can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, return retVal; } -template -float can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) { - T retVal = can_getSignal(msg, startBit, length, isIntel); - return (retVal * factor) + offset; -} - template -void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) { - T scaledVal = (val - offset) / factor; +constexpr void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel) { uint64_t valAsBits = 0; - std::memcpy(&valAsBits, &scaledVal, sizeof(scaledVal)); + std::memcpy(&valAsBits, &val, sizeof(val)); - uint64_t mask = (1ULL << length) - 1; + uint64_t mask = length < 64 ? (1ULL << length) - 1ULL : -1ULL; if (isIntel) { uint64_t data = 0; @@ -77,6 +74,18 @@ void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, con } } +template +void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) { + T scaledVal = static_cast((val - offset) / factor); + can_setSignal(msg, scaledVal, startBit, length, isIntel); +} + +template +float can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) { + T retVal = can_getSignal(msg, startBit, length, isIntel); + return (retVal * factor) + offset; +} + template float can_getSignal(can_Message_t msg, const can_Signal_t& signal) { return can_getSignal(msg, signal.startBit, signal.length, signal.isIntel, signal.factor, signal.offset); diff --git a/Firmware/communication/can_simple.cpp b/Firmware/communication/can_simple.cpp index a6222cdc..7622bdb4 100644 --- a/Firmware/communication/can_simple.cpp +++ b/Firmware/communication/can_simple.cpp @@ -1,412 +1,322 @@ #include "can_simple.hpp" + #include -#include - -static constexpr uint8_t NUM_NODE_ID_BITS = 6; -static constexpr uint8_t NUM_CMD_ID_BITS = 11 - NUM_NODE_ID_BITS; - -void CANSimple::handle_can_message(can_Message_t& msg) { - // This functional way of handling the messages is neat and is much cleaner from - // a data security point of view, but it will require some tweaking to fix the syntax. - // - // auto func = callback_map.find(msg.id); - // if(func != callback_map.end()){ - // func->second(msg); - // } - +void CANSimple::handle_can_message(const can_Message_t& msg) { // Frame // nodeID | CMD // 6 bits | 5 bits uint32_t nodeID = get_node_id(msg.id); - uint32_t cmd = get_cmd_id(msg.id); - Axis* axis = nullptr; - - bool validAxis = false; - for (uint8_t i = 0; i < AXIS_COUNT; i++) { - if ((axes[i].config_.can_node_id == nodeID) && (axes[i].config_.can_node_id_extended == msg.isExt)) { - axis = &axes[i]; - if (!validAxis) { - validAxis = true; - } else { - // Duplicate can IDs, don't assign to any axis - odCAN->set_error(ODriveCAN::ERROR_DUPLICATE_CAN_IDS); - validAxis = false; - break; - } - } - } - - if (validAxis) { - axis->watchdog_feed(); - switch (cmd) { - case MSG_CO_NMT_CTRL: - break; - case MSG_CO_HEARTBEAT_CMD: - break; - case MSG_ODRIVE_HEARTBEAT: - // We don't currently do anything to respond to ODrive heartbeat messages - break; - case MSG_ODRIVE_ESTOP: - estop_callback(axis, msg); - break; - case MSG_GET_MOTOR_ERROR: - get_motor_error_callback(axis, msg); - break; - case MSG_GET_ENCODER_ERROR: - get_encoder_error_callback(axis, msg); - break; - case MSG_GET_SENSORLESS_ERROR: - get_sensorless_error_callback(axis, msg); - break; - case MSG_SET_AXIS_NODE_ID: - set_axis_nodeid_callback(axis, msg); - break; - case MSG_SET_AXIS_REQUESTED_STATE: - set_axis_requested_state_callback(axis, msg); - break; - case MSG_SET_AXIS_STARTUP_CONFIG: - set_axis_startup_config_callback(axis, msg); - break; - case MSG_GET_ENCODER_ESTIMATES: - get_encoder_estimates_callback(axis, msg); - break; - case MSG_GET_ENCODER_COUNT: - get_encoder_count_callback(axis, msg); - break; - case MSG_SET_INPUT_POS: - set_input_pos_callback(axis, msg); - break; - case MSG_SET_INPUT_VEL: - set_input_vel_callback(axis, msg); - break; - case MSG_SET_INPUT_TORQUE: - set_input_torque_callback(axis, msg); - break; - case MSG_SET_CONTROLLER_MODES: - set_controller_modes_callback(axis, msg); - break; - case MSG_SET_VEL_LIMIT: - set_vel_limit_callback(axis, msg); - break; - case MSG_START_ANTICOGGING: - start_anticogging_callback(axis, msg); - break; - case MSG_SET_TRAJ_INERTIA: - set_traj_inertia_callback(axis, msg); - break; - case MSG_SET_TRAJ_ACCEL_LIMITS: - set_traj_accel_limits_callback(axis, msg); - break; - case MSG_SET_TRAJ_VEL_LIMIT: - set_traj_vel_limit_callback(axis, msg); - break; - case MSG_GET_IQ: - get_iq_callback(axis, msg); - break; - case MSG_GET_SENSORLESS_ESTIMATES: - get_sensorless_estimates_callback(axis, msg); - break; - case MSG_RESET_ODRIVE: - NVIC_SystemReset(); - break; - case MSG_GET_VBUS_VOLTAGE: - get_vbus_voltage_callback(axis, msg); - break; - case MSG_CLEAR_ERRORS: - clear_errors_callback(axis, msg); - break; - default: - break; + for (auto& axis : axes) { + if ((axis.config_.can.node_id == nodeID) && (axis.config_.can.is_extended == msg.isExt)) { + doCommand(axis, msg); + return; } } } -void CANSimple::nmt_callback(Axis* axis, can_Message_t& msg) { +void CANSimple::doCommand(Axis& axis, const can_Message_t& msg) { + const uint32_t cmd = get_cmd_id(msg.id); + axis.watchdog_feed(); + switch (cmd) { + case MSG_CO_NMT_CTRL: + break; + case MSG_CO_HEARTBEAT_CMD: + break; + case MSG_ODRIVE_HEARTBEAT: + // We don't currently do anything to respond to ODrive heartbeat messages + break; + case MSG_ODRIVE_ESTOP: + estop_callback(axis, msg); + break; + case MSG_GET_MOTOR_ERROR: + if (msg.rtr) + get_motor_error_callback(axis); + break; + case MSG_GET_ENCODER_ERROR: + if (msg.rtr) + get_encoder_error_callback(axis); + break; + case MSG_GET_SENSORLESS_ERROR: + if (msg.rtr) + get_sensorless_error_callback(axis); + break; + case MSG_SET_AXIS_NODE_ID: + set_axis_nodeid_callback(axis, msg); + break; + case MSG_SET_AXIS_REQUESTED_STATE: + set_axis_requested_state_callback(axis, msg); + break; + case MSG_SET_AXIS_STARTUP_CONFIG: + set_axis_startup_config_callback(axis, msg); + break; + case MSG_GET_ENCODER_ESTIMATES: + if (msg.rtr) + get_encoder_estimates_callback(axis); + break; + case MSG_GET_ENCODER_COUNT: + if (msg.rtr) + get_encoder_count_callback(axis); + break; + case MSG_SET_INPUT_POS: + set_input_pos_callback(axis, msg); + break; + case MSG_SET_INPUT_VEL: + set_input_vel_callback(axis, msg); + break; + case MSG_SET_INPUT_TORQUE: + set_input_torque_callback(axis, msg); + break; + case MSG_SET_CONTROLLER_MODES: + set_controller_modes_callback(axis, msg); + break; + case MSG_SET_VEL_LIMIT: + set_vel_limit_callback(axis, msg); + break; + case MSG_START_ANTICOGGING: + start_anticogging_callback(axis, msg); + break; + case MSG_SET_TRAJ_INERTIA: + set_traj_inertia_callback(axis, msg); + break; + case MSG_SET_TRAJ_ACCEL_LIMITS: + set_traj_accel_limits_callback(axis, msg); + break; + case MSG_SET_TRAJ_VEL_LIMIT: + set_traj_vel_limit_callback(axis, msg); + break; + case MSG_GET_IQ: + if (msg.rtr) + get_iq_callback(axis); + break; + case MSG_GET_SENSORLESS_ESTIMATES: + if (msg.rtr) + get_sensorless_estimates_callback(axis); + break; + case MSG_RESET_ODRIVE: + NVIC_SystemReset(); + break; + case MSG_GET_VBUS_VOLTAGE: + if (msg.rtr) + get_vbus_voltage_callback(axis); + break; + case MSG_CLEAR_ERRORS: + clear_errors_callback(axis, msg); + break; + default: + break; + } +} + +void CANSimple::nmt_callback(const Axis& axis, const can_Message_t& msg) { // Not implemented } -void CANSimple::estop_callback(Axis* axis, can_Message_t& msg) { - axis->error_ |= Axis::ERROR_ESTOP_REQUESTED; +void CANSimple::estop_callback(Axis& axis, const can_Message_t& msg) { + axis.error_ |= Axis::ERROR_ESTOP_REQUESTED; } -void CANSimple::get_motor_error_callback(Axis* axis, can_Message_t& msg) { - if (msg.rtr) { - can_Message_t txmsg; - txmsg.id = axis->config_.can_node_id << NUM_CMD_ID_BITS; - txmsg.id += MSG_GET_MOTOR_ERROR; // heartbeat ID - txmsg.isExt = axis->config_.can_node_id_extended; - txmsg.len = 8; +int32_t CANSimple::get_motor_error_callback(const Axis& axis) { + can_Message_t txmsg; + txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS; + txmsg.id += MSG_GET_MOTOR_ERROR; // heartbeat ID + txmsg.isExt = axis.config_.can.is_extended; + txmsg.len = 8; - txmsg.buf[0] = axis->motor_.error_; - txmsg.buf[1] = axis->motor_.error_ >> 8; - txmsg.buf[2] = axis->motor_.error_ >> 16; - txmsg.buf[3] = axis->motor_.error_ >> 24; + can_setSignal(txmsg, axis.motor_.error_, 0, 32, true); - odCAN->write(txmsg); - } + return odCAN->write(txmsg); } -void CANSimple::get_encoder_error_callback(Axis* axis, can_Message_t& msg) { - if (msg.rtr) { - can_Message_t txmsg; - txmsg.id = axis->config_.can_node_id << NUM_CMD_ID_BITS; - txmsg.id += MSG_GET_ENCODER_ERROR; // heartbeat ID - txmsg.isExt = axis->config_.can_node_id_extended; - txmsg.len = 8; +int32_t CANSimple::get_encoder_error_callback(const Axis& axis) { + can_Message_t txmsg; + txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS; + txmsg.id += MSG_GET_ENCODER_ERROR; // heartbeat ID + txmsg.isExt = axis.config_.can.is_extended; + txmsg.len = 8; - txmsg.buf[0] = axis->encoder_.error_; - txmsg.buf[1] = axis->encoder_.error_ >> 8; - txmsg.buf[2] = axis->encoder_.error_ >> 16; - txmsg.buf[3] = axis->encoder_.error_ >> 24; + can_setSignal(txmsg, axis.encoder_.error_, 0, 32, true); - odCAN->write(txmsg); - } + return odCAN->write(txmsg); } -void CANSimple::get_sensorless_error_callback(Axis* axis, can_Message_t& msg) { - if (msg.rtr) { - can_Message_t txmsg; - txmsg.id = axis->config_.can_node_id << NUM_CMD_ID_BITS; - txmsg.id += MSG_GET_SENSORLESS_ERROR; // heartbeat ID - txmsg.isExt = axis->config_.can_node_id_extended; - txmsg.len = 8; +int32_t CANSimple::get_sensorless_error_callback(const Axis& axis) { + can_Message_t txmsg; + txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS; + txmsg.id += MSG_GET_SENSORLESS_ERROR; // heartbeat ID + txmsg.isExt = axis.config_.can.is_extended; + txmsg.len = 8; - txmsg.buf[0] = axis->sensorless_estimator_.error_; - txmsg.buf[1] = axis->sensorless_estimator_.error_ >> 8; - txmsg.buf[2] = axis->sensorless_estimator_.error_ >> 16; - txmsg.buf[3] = axis->sensorless_estimator_.error_ >> 24; + can_setSignal(txmsg, axis.sensorless_estimator_.error_, 0, 32, true); - odCAN->write(txmsg); - } + return odCAN->write(txmsg); } -void CANSimple::set_axis_nodeid_callback(Axis* axis, can_Message_t& msg) { - axis->config_.can_node_id = can_getSignal(msg, 0, 32, true); +void CANSimple::set_axis_nodeid_callback(Axis& axis, const can_Message_t& msg) { + axis.config_.can.node_id = can_getSignal(msg, 0, 32, true); } -void CANSimple::set_axis_requested_state_callback(Axis* axis, can_Message_t& msg) { - axis->requested_state_ = static_cast(can_getSignal(msg, 0, 16, true)); +void CANSimple::set_axis_requested_state_callback(Axis& axis, const can_Message_t& msg) { + axis.requested_state_ = static_cast(can_getSignal(msg, 0, 16, true)); } -void CANSimple::set_axis_startup_config_callback(Axis* axis, can_Message_t& msg) { + +void CANSimple::set_axis_startup_config_callback(Axis& axis, const can_Message_t& msg) { // Not Implemented } -void CANSimple::get_encoder_estimates_callback(Axis* axis, can_Message_t& msg) { - if (msg.rtr) { - can_Message_t txmsg; - txmsg.id = axis->config_.can_node_id << NUM_CMD_ID_BITS; - txmsg.id += MSG_GET_ENCODER_ESTIMATES; // heartbeat ID - txmsg.isExt = axis->config_.can_node_id_extended; - txmsg.len = 8; - - // Undefined behaviour! - // uint32_t floatBytes = *(reinterpret_cast(&(axis->encoder_.pos_estimate_))); - - uint32_t floatBytes; - static_assert(sizeof axis->encoder_.pos_estimate_ == sizeof floatBytes); - std::memcpy(&floatBytes, &axis->encoder_.pos_estimate_, sizeof floatBytes); - - txmsg.buf[0] = floatBytes; - txmsg.buf[1] = floatBytes >> 8; - txmsg.buf[2] = floatBytes >> 16; - txmsg.buf[3] = floatBytes >> 24; - - static_assert(sizeof floatBytes == sizeof axis->encoder_.vel_estimate_); - std::memcpy(&floatBytes, &axis->encoder_.vel_estimate_, sizeof floatBytes); - txmsg.buf[4] = floatBytes; - txmsg.buf[5] = floatBytes >> 8; - txmsg.buf[6] = floatBytes >> 16; - txmsg.buf[7] = floatBytes >> 24; - - odCAN->write(txmsg); - } -} - -void CANSimple::get_sensorless_estimates_callback(Axis* axis, can_Message_t& msg) { - if (msg.rtr) { - can_Message_t txmsg; - txmsg.id = axis->config_.can_node_id << NUM_CMD_ID_BITS; - txmsg.id += MSG_GET_SENSORLESS_ESTIMATES; // heartbeat ID - txmsg.isExt = axis->config_.can_node_id_extended; - txmsg.len = 8; - - // Undefined behaviour! - // uint32_t floatBytes = *(reinterpret_cast(&(axis->encoder_.pos_estimate_))); - - uint32_t floatBytes; - static_assert(sizeof axis->sensorless_estimator_.pll_pos_ == sizeof floatBytes); - std::memcpy(&floatBytes, &axis->sensorless_estimator_.pll_pos_, sizeof floatBytes); - - txmsg.buf[0] = floatBytes; - txmsg.buf[1] = floatBytes >> 8; - txmsg.buf[2] = floatBytes >> 16; - txmsg.buf[3] = floatBytes >> 24; - - static_assert(sizeof floatBytes == sizeof axis->sensorless_estimator_.vel_estimate_); - std::memcpy(&floatBytes, &axis->sensorless_estimator_.vel_estimate_, sizeof floatBytes); - txmsg.buf[4] = floatBytes; - txmsg.buf[5] = floatBytes >> 8; - txmsg.buf[6] = floatBytes >> 16; - txmsg.buf[7] = floatBytes >> 24; - - odCAN->write(txmsg); - } -} - -void CANSimple::get_encoder_count_callback(Axis* axis, can_Message_t& msg) { - if (msg.rtr) { - can_Message_t txmsg; - txmsg.id = axis->config_.can_node_id << NUM_CMD_ID_BITS; - txmsg.id += MSG_GET_ENCODER_COUNT; - txmsg.isExt = axis->config_.can_node_id_extended; - txmsg.len = 8; - - txmsg.buf[0] = axis->encoder_.shadow_count_; - txmsg.buf[1] = axis->encoder_.shadow_count_ >> 8; - txmsg.buf[2] = axis->encoder_.shadow_count_ >> 16; - txmsg.buf[3] = axis->encoder_.shadow_count_ >> 24; - - txmsg.buf[4] = axis->encoder_.count_in_cpr_; - txmsg.buf[5] = axis->encoder_.count_in_cpr_ >> 8; - txmsg.buf[6] = axis->encoder_.count_in_cpr_ >> 16; - txmsg.buf[7] = axis->encoder_.count_in_cpr_ >> 24; - - odCAN->write(txmsg); - } -} - -void CANSimple::set_input_pos_callback(Axis* axis, can_Message_t& msg) { - axis->controller_.input_pos_ = can_getSignal(msg, 0, 32, true); - axis->controller_.input_vel_ = can_getSignal(msg, 32, 16, true, 0.001f, 0); - axis->controller_.input_torque_ = can_getSignal(msg, 48, 16, true, 0.001f, 0); - axis->controller_.input_pos_updated(); -} - -void CANSimple::set_input_vel_callback(Axis* axis, can_Message_t& msg) { - axis->controller_.input_vel_ = can_getSignal(msg, 0, 32, true); - axis->controller_.input_torque_ = can_getSignal(msg, 32, 32, true); -} - -void CANSimple::set_input_torque_callback(Axis* axis, can_Message_t& msg) { - axis->controller_.input_torque_ = can_getSignal(msg, 0, 32, true); -} - -void CANSimple::set_controller_modes_callback(Axis* axis, can_Message_t& msg) { - axis->controller_.config_.control_mode = static_cast(can_getSignal(msg, 0, 32, true)); - axis->controller_.config_.input_mode = static_cast(can_getSignal(msg, 32, 32, true)); -} - -void CANSimple::set_vel_limit_callback(Axis* axis, can_Message_t& msg) { - axis->controller_.config_.vel_limit = can_getSignal(msg, 0, 32, true); -} - -void CANSimple::start_anticogging_callback(Axis* axis, can_Message_t& msg) { - axis->controller_.start_anticogging_calibration(); -} - -void CANSimple::set_traj_vel_limit_callback(Axis* axis, can_Message_t& msg) { - axis->trap_traj_.config_.vel_limit = can_getSignal(msg, 0, 32, true); -} - -void CANSimple::set_traj_accel_limits_callback(Axis* axis, can_Message_t& msg) { - axis->trap_traj_.config_.accel_limit = can_getSignal(msg, 0, 32, true); - axis->trap_traj_.config_.decel_limit = can_getSignal(msg, 32, 32, true); -} - -void CANSimple::set_traj_inertia_callback(Axis* axis, can_Message_t& msg) { - axis->controller_.config_.inertia = can_getSignal(msg, 0, 32, true); -} - -void CANSimple::get_iq_callback(Axis* axis, can_Message_t& msg) { - if (msg.rtr) { - can_Message_t txmsg; - txmsg.id = axis->config_.can_node_id << NUM_CMD_ID_BITS; - txmsg.id += MSG_GET_IQ; - txmsg.isExt = axis->config_.can_node_id_extended; - txmsg.len = 8; - - uint32_t floatBytes; - static_assert(sizeof axis->motor_.current_control_.Iq_setpoint == sizeof floatBytes); - std::memcpy(&floatBytes, &axis->motor_.current_control_.Iq_setpoint, sizeof floatBytes); - - txmsg.buf[0] = floatBytes; - txmsg.buf[1] = floatBytes >> 8; - txmsg.buf[2] = floatBytes >> 16; - txmsg.buf[3] = floatBytes >> 24; - - static_assert(sizeof floatBytes == sizeof axis->motor_.current_control_.Iq_measured); - std::memcpy(&floatBytes, &axis->motor_.current_control_.Iq_measured, sizeof floatBytes); - txmsg.buf[4] = floatBytes; - txmsg.buf[5] = floatBytes >> 8; - txmsg.buf[6] = floatBytes >> 16; - txmsg.buf[7] = floatBytes >> 24; - - odCAN->write(txmsg); - } -} - -void CANSimple::get_vbus_voltage_callback(Axis* axis, can_Message_t& msg) { - if (msg.rtr) { - can_Message_t txmsg; - - txmsg.id = axis->config_.can_node_id << NUM_CMD_ID_BITS; - txmsg.id += MSG_GET_VBUS_VOLTAGE; - txmsg.isExt = axis->config_.can_node_id_extended; - txmsg.len = 8; - - uint32_t floatBytes; - static_assert(sizeof vbus_voltage == sizeof floatBytes); - std::memcpy(&floatBytes, &vbus_voltage, sizeof floatBytes); - - // This also works in principle, but I don't have hardware to verify endianness - // std::memcpy(&txmsg.buf[0], &vbus_voltage, sizeof vbus_voltage); - - txmsg.buf[0] = floatBytes; - txmsg.buf[1] = floatBytes >> 8; - txmsg.buf[2] = floatBytes >> 16; - txmsg.buf[3] = floatBytes >> 24; - - txmsg.buf[4] = 0; - txmsg.buf[5] = 0; - txmsg.buf[6] = 0; - txmsg.buf[7] = 0; - - odCAN->write(txmsg); - } -} - -void CANSimple::clear_errors_callback(Axis* axis, can_Message_t& msg) { - axis->clear_errors(); -} - -void CANSimple::send_heartbeat(Axis* axis) { +int32_t CANSimple::get_encoder_estimates_callback(const Axis& axis) { can_Message_t txmsg; - txmsg.id = axis->config_.can_node_id << NUM_CMD_ID_BITS; - txmsg.id += MSG_ODRIVE_HEARTBEAT; // heartbeat ID - txmsg.isExt = axis->config_.can_node_id_extended; + txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS; + txmsg.id += MSG_GET_ENCODER_ESTIMATES; // heartbeat ID + txmsg.isExt = axis.config_.can.is_extended; txmsg.len = 8; - // Axis errors in 1st 32-bit value - txmsg.buf[0] = axis->error_; - txmsg.buf[1] = axis->error_ >> 8; - txmsg.buf[2] = axis->error_ >> 16; - txmsg.buf[3] = axis->error_ >> 24; + static_assert(sizeof(float) == sizeof(axis.encoder_.pos_estimate_)); + static_assert(sizeof(float) == sizeof(axis.encoder_.vel_estimate_)); - // Current state of axis in 2nd 32-bit value - txmsg.buf[4] = axis->current_state_; - txmsg.buf[5] = axis->current_state_ >> 8; - txmsg.buf[6] = axis->current_state_ >> 16; - txmsg.buf[7] = axis->current_state_ >> 24; - odCAN->write(txmsg); + can_setSignal(txmsg, axis.encoder_.pos_estimate_, 0, 32, true); + can_setSignal(txmsg, axis.encoder_.vel_estimate_, 32, 32, true); + + return odCAN->write(txmsg); } -uint32_t CANSimple::get_node_id(uint32_t msgID) { - return (msgID >> NUM_CMD_ID_BITS); // Upper 6 or more bits +int32_t CANSimple::get_sensorless_estimates_callback(const Axis& axis) { + can_Message_t txmsg; + txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS; + txmsg.id += MSG_GET_SENSORLESS_ESTIMATES; // heartbeat ID + txmsg.isExt = axis.config_.can.is_extended; + txmsg.len = 8; + + static_assert(sizeof(float) == sizeof(axis.sensorless_estimator_.pll_pos_)); + static_assert(sizeof(float) == sizeof(axis.sensorless_estimator_.vel_estimate_)); + + can_setSignal(txmsg, axis.sensorless_estimator_.pll_pos_, 0, 32, true); + can_setSignal(txmsg, axis.sensorless_estimator_.vel_estimate_, 32, 32, true); + + return odCAN->write(txmsg); } -uint8_t CANSimple::get_cmd_id(uint32_t msgID) { - return (msgID & 0x01F); // Bottom 5 bits -} \ No newline at end of file +int32_t CANSimple::get_encoder_count_callback(const Axis& axis) { + can_Message_t txmsg; + txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS; + txmsg.id += MSG_GET_ENCODER_COUNT; + txmsg.isExt = axis.config_.can.is_extended; + txmsg.len = 8; + + can_setSignal(txmsg, axis.encoder_.shadow_count_, 0, 32, true); + can_setSignal(txmsg, axis.encoder_.count_in_cpr_, 32, 32, true); + return odCAN->write(txmsg); +} + +void CANSimple::set_input_pos_callback(Axis& axis, const can_Message_t& msg) { + axis.controller_.input_pos_ = can_getSignal(msg, 0, 32, true); + axis.controller_.input_vel_ = can_getSignal(msg, 32, 16, true, 0.001f, 0); + axis.controller_.input_torque_ = can_getSignal(msg, 48, 16, true, 0.001f, 0); + axis.controller_.input_pos_updated(); +} + +void CANSimple::set_input_vel_callback(Axis& axis, const can_Message_t& msg) { + axis.controller_.input_vel_ = can_getSignal(msg, 0, 32, true); + axis.controller_.input_torque_ = can_getSignal(msg, 32, 32, true); +} + +void CANSimple::set_input_torque_callback(Axis& axis, const can_Message_t& msg) { + axis.controller_.input_torque_ = can_getSignal(msg, 0, 32, true); +} + +void CANSimple::set_controller_modes_callback(Axis& axis, const can_Message_t& msg) { + axis.controller_.config_.control_mode = static_cast(can_getSignal(msg, 0, 32, true)); + axis.controller_.config_.input_mode = static_cast(can_getSignal(msg, 32, 32, true)); +} + +void CANSimple::set_vel_limit_callback(Axis& axis, const can_Message_t& msg) { + axis.controller_.config_.vel_limit = can_getSignal(msg, 0, 32, true); +} + +void CANSimple::start_anticogging_callback(const Axis& axis, const can_Message_t& msg) { + axis.controller_.start_anticogging_calibration(); +} + +void CANSimple::set_traj_vel_limit_callback(Axis& axis, const can_Message_t& msg) { + axis.trap_traj_.config_.vel_limit = can_getSignal(msg, 0, 32, true); +} + +void CANSimple::set_traj_accel_limits_callback(Axis& axis, const can_Message_t& msg) { + axis.trap_traj_.config_.accel_limit = can_getSignal(msg, 0, 32, true); + axis.trap_traj_.config_.decel_limit = can_getSignal(msg, 32, 32, true); +} + +void CANSimple::set_traj_inertia_callback(Axis& axis, const can_Message_t& msg) { + axis.controller_.config_.inertia = can_getSignal(msg, 0, 32, true); +} + +void CANSimple::set_linear_count_callback(Axis& axis, const can_Message_t& msg){ + axis.encoder_.set_linear_count(can_getSignal(msg, 0, 32, true)); +} + +int32_t CANSimple::get_iq_callback(const Axis& axis) { + can_Message_t txmsg; + txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS; + txmsg.id += MSG_GET_IQ; + txmsg.isExt = axis.config_.can.is_extended; + txmsg.len = 8; + + static_assert(sizeof(float) == sizeof(axis.motor_.current_control_.Iq_setpoint)); + static_assert(sizeof(float) == sizeof(axis.motor_.current_control_.Iq_measured)); + can_setSignal(txmsg, axis.motor_.current_control_.Iq_setpoint, 0, 32, true); + can_setSignal(txmsg, axis.motor_.current_control_.Iq_measured, 32, 32, true); + + return odCAN->write(txmsg); +} + +int32_t CANSimple::get_vbus_voltage_callback(const Axis& axis) { + can_Message_t txmsg; + + txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS; + txmsg.id += MSG_GET_VBUS_VOLTAGE; + txmsg.isExt = axis.config_.can.is_extended; + txmsg.len = 8; + + uint32_t floatBytes; + static_assert(sizeof(vbus_voltage) == sizeof(floatBytes)); + can_setSignal(txmsg, vbus_voltage, 0, 32, true); + + return odCAN->write(txmsg); +} + +void CANSimple::clear_errors_callback(Axis& axis, const can_Message_t& msg) { + axis.clear_errors(); +} + +int32_t CANSimple::send_heartbeat(const Axis& axis) { + can_Message_t txmsg; + txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS; + txmsg.id += MSG_ODRIVE_HEARTBEAT; // heartbeat ID + txmsg.isExt = axis.config_.can.is_extended; + txmsg.len = 8; + + can_setSignal(txmsg, axis.error_, 0, 32, true); + can_setSignal(txmsg, axis.current_state_, 32, 32, true); + + return odCAN->write(txmsg); +} + +void CANSimple::send_cyclic(Axis& axis) { + const uint32_t now = osKernelSysTick(); + + if (axis.config_.can.heartbeat_rate_ms > 0) { + if ((now - axis.can_.last_heartbeat) >= axis.config_.can.heartbeat_rate_ms) { + if(send_heartbeat(axis) >= 0) + axis.can_.last_heartbeat = now; + } + } + + if (axis.config_.can.encoder_rate_ms > 0) { + if ((now - axis.can_.last_encoder) >= axis.config_.can.encoder_rate_ms) { + if(get_encoder_estimates_callback(axis) >= 0) + axis.can_.last_encoder = now; + } + } +} diff --git a/Firmware/communication/can_simple.hpp b/Firmware/communication/can_simple.hpp index 0168b978..81ce4150 100644 --- a/Firmware/communication/can_simple.hpp +++ b/Firmware/communication/can_simple.hpp @@ -6,7 +6,7 @@ class CANSimple { public: enum { - MSG_CO_NMT_CTRL = 0x000, // CANOpen NMT Message REC + MSG_CO_NMT_CTRL = 0x000, // CANOpen NMT Message REC MSG_ODRIVE_HEARTBEAT, MSG_ODRIVE_ESTOP, MSG_GET_MOTOR_ERROR, // Errors @@ -34,51 +34,56 @@ class CANSimple { MSG_CO_HEARTBEAT_CMD = 0x700, // CANOpen NMT Heartbeat SEND }; - static void handle_can_message(can_Message_t& msg); - static void send_heartbeat(Axis* axis); + static void handle_can_message(const can_Message_t& msg); + static void doCommand(Axis& axis, const can_Message_t& cmd); + + // Cyclic Senders + static int32_t send_heartbeat(const Axis& axis); + static void send_cyclic(Axis& axis); private: - static void nmt_callback(Axis* axis, can_Message_t& msg); - static void estop_callback(Axis* axis, can_Message_t& msg); - static void get_motor_error_callback(Axis* axis, can_Message_t& msg); - static void get_encoder_error_callback(Axis* axis, can_Message_t& msg); - static void get_controller_error_callback(Axis* axis, can_Message_t& msg); - static void get_sensorless_error_callback(Axis* axis, can_Message_t& msg); - static void set_axis_nodeid_callback(Axis* axis, can_Message_t& msg); - static void set_axis_requested_state_callback(Axis* axis, can_Message_t& msg); - static void set_axis_startup_config_callback(Axis* axis, can_Message_t& msg); - static void get_encoder_estimates_callback(Axis* axis, can_Message_t& msg); - static void get_encoder_count_callback(Axis* axis, can_Message_t& msg); - static void set_input_pos_callback(Axis* axis, can_Message_t& msg); - static void set_input_vel_callback(Axis* axis, can_Message_t& msg); - static void set_input_torque_callback(Axis* axis, can_Message_t& msg); - static void set_controller_modes_callback(Axis* axis, can_Message_t& msg); - static void set_vel_limit_callback(Axis* axis, can_Message_t& msg); - static void start_anticogging_callback(Axis* axis, can_Message_t& msg); - static void set_traj_vel_limit_callback(Axis* axis, can_Message_t& msg); - static void set_traj_accel_limits_callback(Axis* axis, can_Message_t& msg); - static void set_traj_inertia_callback(Axis* axis, can_Message_t& msg); - static void get_iq_callback(Axis* axis, can_Message_t& msg); - static void get_sensorless_estimates_callback(Axis* axis, can_Message_t& msg); - static void get_vbus_voltage_callback(Axis* axis, can_Message_t& msg); - static void clear_errors_callback(Axis* axis, can_Message_t& msg); + // Get functions (msg.rtr bit must be set) + static int32_t get_motor_error_callback(const Axis& axis); + static int32_t get_encoder_error_callback(const Axis& axis); + static int32_t get_controller_error_callback(const Axis& axis); + static int32_t get_sensorless_error_callback(const Axis& axis); + static int32_t get_encoder_estimates_callback(const Axis& axis); + static int32_t get_encoder_count_callback(const Axis& axis); + static int32_t get_iq_callback(const Axis& axis); + static int32_t get_sensorless_estimates_callback(const Axis& axis); + static int32_t get_vbus_voltage_callback(const Axis& axis); + + // Set functions + static void set_axis_nodeid_callback(Axis& axis, const can_Message_t& msg); + static void set_axis_requested_state_callback(Axis& axis, const can_Message_t& msg); + static void set_axis_startup_config_callback(Axis& axis, const can_Message_t& msg); + static void set_input_pos_callback(Axis& axis, const can_Message_t& msg); + static void set_input_vel_callback(Axis& axis, const can_Message_t& msg); + static void set_input_torque_callback(Axis& axis, const can_Message_t& msg); + static void set_controller_modes_callback(Axis& axis, const can_Message_t& msg); + static void set_vel_limit_callback(Axis& axis, const can_Message_t& msg); + static void set_traj_vel_limit_callback(Axis& axis, const can_Message_t& msg); + static void set_traj_accel_limits_callback(Axis& axis, const can_Message_t& msg); + static void set_traj_inertia_callback(Axis& axis, const can_Message_t& msg); + static void set_linear_count_callback(Axis& axis, const can_Message_t& msg); + + // Other functions + static void nmt_callback(const Axis& axis, const can_Message_t& msg); + static void estop_callback(Axis& axis, const can_Message_t& msg); + static void clear_errors_callback(Axis& axis, const can_Message_t& msg); + static void start_anticogging_callback(const Axis& axis, const can_Message_t& msg); + + static constexpr uint8_t NUM_NODE_ID_BITS = 6; + static constexpr uint8_t NUM_CMD_ID_BITS = 11 - NUM_NODE_ID_BITS; // Utility functions - static uint32_t get_node_id(uint32_t msgID); - static uint8_t get_cmd_id(uint32_t msgID); + static constexpr uint32_t get_node_id(uint32_t msgID) { + return (msgID >> NUM_CMD_ID_BITS); // Upper 6 or more bits + }; - // Fetch a specific signal from the message - - // This functional way of handling the messages is neat and is much cleaner from - // a data security point of view, but it will require some tweaking - // - // const std::map> callback_map = { - // {0x000, std::bind(&CANSimple::heartbeat_callback, this, _1)} - // }; + static constexpr uint8_t get_cmd_id(uint32_t msgID) { + return (msgID & 0x01F); // Bottom 5 bits + } }; - - - - #endif \ No newline at end of file diff --git a/Firmware/communication/interface_can.cpp b/Firmware/communication/interface_can.cpp index cf612231..d1c748c1 100644 --- a/Firmware/communication/interface_can.cpp +++ b/Firmware/communication/interface_can.cpp @@ -36,13 +36,13 @@ void ODriveCAN::can_server_thread() { break; } } - HAL_CAN_ActivateNotification(handle_, CAN_IT_RX_FIFO0_MSG_PENDING); + HAL_CAN_ActivateNotification(handle_, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY); } else { if (status == HAL_CAN_ERROR_TIMEOUT) { HAL_CAN_ResetError(handle_); status = HAL_CAN_Start(handle_); if (status == HAL_OK) - status = HAL_CAN_ActivateNotification(handle_, CAN_IT_RX_FIFO0_MSG_PENDING); + status = HAL_CAN_ActivateNotification(handle_, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY); } } } @@ -75,7 +75,7 @@ bool ODriveCAN::start_can_server() { status = HAL_CAN_Start(handle_); if (status == HAL_OK) - status = HAL_CAN_ActivateNotification(handle_, CAN_IT_RX_FIFO0_MSG_PENDING); + status = HAL_CAN_ActivateNotification(handle_, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY); osThreadDef(can_server_thread_def, can_server_thread_wrapper, osPriorityNormal, 0, stack_size_ / sizeof(StackType_t)); thread_id_ = osThreadCreate(osThread(can_server_thread_def), this); @@ -85,7 +85,7 @@ bool ODriveCAN::start_can_server() { } // Send a CAN message on the bus -uint32_t ODriveCAN::write(can_Message_t &txmsg) { +int32_t ODriveCAN::write(can_Message_t &txmsg) { if (HAL_CAN_GetError(handle_) == HAL_CAN_ERROR_NONE) { CAN_TxHeaderTypeDef header; header.StdId = txmsg.id; @@ -98,8 +98,9 @@ uint32_t ODriveCAN::write(can_Message_t &txmsg) { uint32_t retTxMailbox = 0; if (HAL_CAN_GetTxMailboxesFreeLevel(handle_) > 0) HAL_CAN_AddTxMessage(handle_, &header, txmsg.buf, &retTxMailbox); - - return retTxMailbox; + else + return -1; + return (int32_t)retTxMailbox; } else { return -1; } @@ -168,32 +169,36 @@ void ODriveCAN::reinit_can() { HAL_CAN_Init(handle_); auto status = HAL_CAN_Start(handle_); if (status == HAL_OK) - status = HAL_CAN_ActivateNotification(handle_, CAN_IT_RX_FIFO0_MSG_PENDING); + status = HAL_CAN_ActivateNotification(handle_, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY); } void ODriveCAN::set_error(Error error) { error_ |= error; } + // This function is called by each axis. // It provides an abstraction from the specific CAN protocol in use -void ODriveCAN::send_heartbeat(Axis *axis) { +void ODriveCAN::send_cyclic(Axis &axis) { // Handle heartbeat message - if (axis->config_.can_heartbeat_rate_ms > 0) { - uint32_t now = osKernelSysTick(); - if ((now - axis->last_heartbeat_) >= axis->config_.can_heartbeat_rate_ms) { - switch (config_.protocol) { - case PROTOCOL_SIMPLE: - CANSimple::send_heartbeat(axis); - break; - } - axis->last_heartbeat_ = now; - } + switch (config_.protocol) { + case PROTOCOL_SIMPLE: + CANSimple::send_cyclic(axis); + break; } } -void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {} -void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {} -void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {} +void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) { + HAL_CAN_DeactivateNotification(hcan, CAN_IT_TX_MAILBOX_EMPTY); + osSemaphoreRelease(sem_can); +} +void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) { + HAL_CAN_DeactivateNotification(hcan, CAN_IT_TX_MAILBOX_EMPTY); + osSemaphoreRelease(sem_can); +} +void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) { + HAL_CAN_DeactivateNotification(hcan, CAN_IT_TX_MAILBOX_EMPTY); + osSemaphoreRelease(sem_can); +} void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) {} void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) {} void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) {} diff --git a/Firmware/communication/interface_can.hpp b/Firmware/communication/interface_can.hpp index 0ba7a1d0..89223f31 100644 --- a/Firmware/communication/interface_can.hpp +++ b/Firmware/communication/interface_can.hpp @@ -35,14 +35,14 @@ class ODriveCAN : public ODriveIntf::CanIntf { volatile bool thread_id_valid_ = false; bool start_can_server(); void can_server_thread(); - void send_heartbeat(Axis *axis); + void send_cyclic(Axis& axis); void reinit_can(); void set_error(Error error); // I/O Functions uint32_t available(); - uint32_t write(can_Message_t &txmsg); + int32_t write(can_Message_t &txmsg); bool read(can_Message_t &rxmsg); ODriveCAN::Config_t &config_; diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml index bb5f37c4..0a91f14e 100644 --- a/Firmware/odrive-interface.yaml +++ b/Firmware/odrive-interface.yaml @@ -366,7 +366,8 @@ interfaces: bit: 17 doc: the min endstop was not enabled during homing OverTemp: - doc: Check `fet_thermistor.error` and `motor_thermistor.error` for more information. + # unused + doc: Check `motor.error` for more details. step_dir_active: readonly bool current_state: readonly AxisState requested_state: AxisState @@ -414,7 +415,6 @@ interfaces: watchdog_timeout: type: float32 unit: s - doc: 0 disables watchdog enable_watchdog: bool step_gpio_pin: {type: uint16, c_setter: 'set_step_gpio_pin'} dir_gpio_pin: {type: uint16, c_setter: 'set_dir_gpio_pin'} @@ -428,11 +428,7 @@ interfaces: vel: float32 sensorless_ramp: LockinConfig general_lockin: LockinConfig - can_node_id: - type: uint32 - doc: Both axes will have the same id to start - can_node_id_extended: bool - can_heartbeat_rate_ms: uint32 + can: CanConfig gate_driver: c_name: gate_driver_exported_ c_is_class: False @@ -456,8 +452,6 @@ interfaces: # status_reg_2: readonly uint32 # ctrl_reg_1: readonly uint32 # ctrl_reg_2: readonly uint32 - fet_thermistor: OnboardThermistorCurrentLimiter - motor_thermistor: OffboardThermistorCurrentLimiter motor: Motor controller: Controller encoder: Encoder @@ -470,7 +464,7 @@ interfaces: watchdog_feed: doc: Feed the watchdog to prevent watchdog timeouts. clear_errors: - doc: Check the watchdog timer for expiration. Also sets the watchdog error bit if expired. + doc: Clear all the errors of this axis including all contained submodules. ODrive.Axis.LockinConfig: c_is_class: False @@ -497,13 +491,20 @@ interfaces: finish_on_distance: bool finish_on_enc_idx: bool + ODrive.Axis.CanConfig: + c_is_class: False + attributes: + node_id: uint32 + is_extended: bool + heartbeat_rate_ms: uint32 + encoder_rate_ms: uint32 + ODrive.ThermistorCurrentLimiter: c_is_class: False ODrive.OnboardThermistorCurrentLimiter: c_is_class: True attributes: - error: ThermistorCurrentLimiter.Error temperature: readonly float32 config: c_is_class: False @@ -519,7 +520,6 @@ interfaces: ODrive.OffboardThermistorCurrentLimiter: c_is_class: True attributes: - error: ThermistorCurrentLimiter.Error temperature: readonly float32 config: c_is_class: False @@ -617,6 +617,8 @@ interfaces: DcBusOverRegenCurrent: {doc: too much current pushed into the power supply} DcBusOverCurrent: {doc: too much current pulled out of the power supply} ModulationIsNan: + MotorThermistorOverTemp: {doc: The motor thermistor measured a temperature above motor.motor_thermistor.config.temp_limit_upper} + FetThermistorOverTemp: {doc: The inverter thermistor measured a temperature above motor.fet_thermistor.config.temp_limit_upper} armed_state: typeargs: {fibre.Property.mode: readonly} values: @@ -631,6 +633,8 @@ interfaces: DC_calib_phC: {type: float32, c_name: DC_calib_.phC} phase_current_rev_gain: float32 effective_current_lim: readonly float32 + fet_thermistor: OnboardThermistorCurrentLimiter + motor_thermistor: OffboardThermistorCurrentLimiter current_control: c_is_class: False attributes: @@ -746,12 +750,15 @@ interfaces: pos_gain: type: float32 unit: (turn/s) / turn + doc: units = (turn/s) / turn, default = 20 vel_gain: type: float32 unit: 'Nm/(turn/s)' + doc: units = 'Nm/(turn/s), default = 0.16 vel_integrator_gain: type: float32 unit: Nm/(turn/s * s) + doc: units = Nm/(turn/s * s), default = 0.32 vel_limit: type: float32 unit: turn/s @@ -1046,12 +1053,6 @@ valuetypes: doc: Endstops must be enabled to use this feature. - ODrive.ThermistorCurrentLimiter.Error: - nullflag: None - flags: - OverTemp: - doc: The thermistor temperature upper limit was exceeded. - ODrive.Encoder.Mode: values: Incremental: @@ -1179,4 +1180,4 @@ valuetypes: HighCurrent: #LowCurrent: # not implemented Gimbal: {value: 2} - Acim: \ No newline at end of file + Acim: diff --git a/Firmware/timing_diagram_v3.png b/Firmware/timing_diagram_v3.png new file mode 100644 index 00000000..f36d0af1 Binary files /dev/null and b/Firmware/timing_diagram_v3.png differ diff --git a/GUI/.gitignore b/GUI/.gitignore new file mode 100644 index 00000000..3b33109f --- /dev/null +++ b/GUI/.gitignore @@ -0,0 +1,28 @@ +.DS_Store +node_modules +/dist + +# local env files +.env.local +.env.*.local + +# Log files +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* + +# Editor directories and files +.idea +.vscode +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? + +#Electron-builder output +/dist_electron + +#Electron icon generator output +/build \ No newline at end of file diff --git a/GUI/LICENSE.md b/GUI/LICENSE.md new file mode 100644 index 00000000..0a7411b9 --- /dev/null +++ b/GUI/LICENSE.md @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2020 ODrive Robotics + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/GUI/README.md b/GUI/README.md new file mode 100644 index 00000000..6849cc57 --- /dev/null +++ b/GUI/README.md @@ -0,0 +1,42 @@ +# odrive_gui + +Python requirements: `pip install flask flask_socketio flask_cors odrive` + +If the default odrive python package is not desired, the path to the modules can be passed as command line arguments. + +example on windows 10: +``` +./odrive_gui_win.exe C:/Users//ODrive/tools C:/Users//ODrive/Firmware +``` + +The first argument is for your local version of odrivetool, the second is for fibre. + +## Development and testing instructions + +### Project setup +``` +npm install +``` + +### Compiles and hot-reloads for development +``` +npm run serve +``` + +### Lints and fixes files +``` +npm run lint +``` + +### Serve electron version of GUI +``` +npm run electron:serve +``` + +### Package electron app into executable +``` +npm run electron:build +``` + +### Customize configuration +See [Configuration Reference](https://cli.vuejs.org/config/). diff --git a/GUI/babel.config.js b/GUI/babel.config.js new file mode 100644 index 00000000..e9558405 --- /dev/null +++ b/GUI/babel.config.js @@ -0,0 +1,5 @@ +module.exports = { + presets: [ + '@vue/cli-plugin-babel/preset' + ] +} diff --git a/GUI/package-lock.json b/GUI/package-lock.json new file mode 100644 index 00000000..c212e983 --- /dev/null +++ b/GUI/package-lock.json @@ -0,0 +1,15382 @@ +{ + "name": "ODriveGUI", + "version": "0.1.0", + "lockfileVersion": 1, + "requires": true, + "dependencies": { + "7zip-bin": { + "version": "5.0.3", + "resolved": "https://registry.npmjs.org/7zip-bin/-/7zip-bin-5.0.3.tgz", + "integrity": 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"name": "ODriveGUI", + "version": "0.1.0", + "private": true, + "scripts": { + "serve": "vue-cli-service serve", + "build": "vue-cli-service build", + "lint": "vue-cli-service lint", + "electron:build": "electron-icon-builder --input=./public/icon.png --output=build --flatten && vue-cli-service electron:build", + "electron:serve": "vue-cli-service electron:serve", + "postinstall": "electron-builder install-app-deps", + "postuninstall": "electron-builder install-app-deps", + "electron:generate-icons": "electron-icon-builder --input=./public/icon.png --output=build --flatten" + }, + "main": "background.js", + "dependencies": { + "chart.js": "^2.9.3", + "chartjs-plugin-streaming": "^1.8.0", + "core-js": "^3.6.5", + "electron": "^9.1.1", + "file-saver": "^2.0.2", + "socket.io": "^2.3.0", + "socket.io-client": "^2.3.0", + "typeface-roboto": "0.0.75", + "uuid": "^8.2.0", + "vue": "^2.6.11", + "vue-chartjs": "^3.5.0", + "vue-context": "^5.2.0", + "vue-directive-tooltip": "^1.6.3", + "vue-json-component": "^0.4.1", + "vue-slider-component": "^3.2.2", + "vue-socket.io": "^3.0.9", + "vuex": "^3.5.1" + }, + "devDependencies": { + "@vue/cli-plugin-babel": "~4.4.0", + "@vue/cli-plugin-eslint": "~4.4.0", + "@vue/cli-plugin-router": "^4.4.6", + "@vue/cli-service": "~4.4.0", + "babel-eslint": "^10.1.0", + "electron": "^9.0.0", + "electron-devtools-installer": "^3.1.0", + "electron-icon-builder": "^1.0.2", + "eslint": "^6.7.2", + "eslint-plugin-vue": "^6.2.2", + "vue-cli-plugin-electron-builder": "~2.0.0-rc.4", + "vue-cli-plugin-yaml": "^1.0.2", + "vue-json-component": "^0.4.1", + "vue-template-compiler": "^2.6.11" + }, + "eslintConfig": { + "root": true, + "env": { + "node": true + }, + "extends": [ + "plugin:vue/essential", + "eslint:recommended" + ], + "parserOptions": { + "parser": "babel-eslint" + }, + "rules": {} + }, + "browserslist": [ + "> 1%", + "last 2 versions", + "not dead" + ] +} diff --git a/GUI/public/favicon.ico b/GUI/public/favicon.ico new file mode 100644 index 00000000..df36fcfb Binary files /dev/null and b/GUI/public/favicon.ico differ diff --git a/GUI/public/icon.png b/GUI/public/icon.png new file mode 100644 index 00000000..fa8c12b4 Binary files /dev/null and b/GUI/public/icon.png differ diff --git a/GUI/public/index.html b/GUI/public/index.html new file mode 100644 index 00000000..41235286 --- /dev/null +++ b/GUI/public/index.html @@ -0,0 +1,17 @@ + + + + + + + + <%= htmlWebpackPlugin.options.title %> + + + +
+ + + diff --git a/GUI/server/odrive_server.py b/GUI/server/odrive_server.py new file mode 100644 index 00000000..7501d7fa --- /dev/null +++ b/GUI/server/odrive_server.py @@ -0,0 +1,276 @@ +import sys +import flask +import os +from flask import make_response, request, jsonify, session +from flask_socketio import SocketIO, send, emit +from flask_cors import CORS +from engineio.payload import Payload +import json +import time +import argparse +import logging + +# interface for odrive GUI to get data from odrivetool + +# Flush stdout by default +# Source: +# https://stackoverflow.com/questions/230751/how-to-flush-output-of-python-print +old_print = print +def print(*args, **kwargs): + kwargs.pop('flush', False) + old_print(*args, **kwargs) + file = kwargs.get('file', sys.stdout) + file.flush() if file is not None else sys.stdout.flush() + +app = flask.Flask(__name__) +# disable logging, very noisy! +log = logging.getLogger('werkzeug') +log.disabled = True +app.config['SECRET_KEY'] = 'secret' +app.config.update( + SESSION_COOKIE_SECURE=True, + SESSION_COOKIE_HTTPONLY=True, + SESSION_COOKIE_SAMESITE='None' +) +CORS(app, support_credentials=True) +Payload.max_decode_packets = 100 +socketio = SocketIO(app, cors_allowed_origins="*", async_mode = "threading") + +#def get_odrive(): +# globals()['odrives'] = [] +# globals()['odrives'].append(odrive.find_any()) +# globals()['odrives'][0].__channel__._channel_broken.subscribe(lambda: handle_disconnect()) +# print("odrives found") +# socketio.emit('odrive-found') + +def discovered_device(device): + # when device is discovered, add it to list of serial numbers and global odrive list + # shamelessly lifted from odrive python package + serial_number = '{:012X}'.format(device.serial_number) if hasattr(device, 'serial_number') else "[unknown serial number]" + if serial_number in globals()['discovered_devices']: + index = globals()['discovered_devices'].index(serial_number) + else: + globals()['discovered_devices'].append(serial_number) + index = len(globals()['discovered_devices']) - 1 + odrive_name = "odrive" + str(index) + + # add to list of odrives + while globals()['inUse']: + time.sleep(0.1) + globals()['odrives'][odrive_name] = device + globals()['odrives_status'][odrive_name] = True + print("Found " + str(serial_number)) + print("odrive list: " + str([key for key in globals()['odrives'].keys()])) + # tell GUI the status of known ODrives (previously connected and then disconnected ODrives will be "False") + socketio.emit('odrives-status', json.dumps(globals()['odrives_status'])) + # triggers a getODrives socketio message + socketio.emit('odrive-found') + +def start_discovery(): + print("starting disco loop...") + log = fibre.Logger(verbose = False) + shutdown = fibre.Event() + fibre.find_all("usb", None, discovered_device, shutdown, shutdown, log) + +def handle_disconnect(odrive_name): + print("lost odrive") + globals()['odrives_status'][odrive_name] = False + # emit the whole list of odrive statuses + # in the GUI, mark and use status as ODrive state. + socketio.emit('odrives-status', json.dumps(globals()['odrives_status'])) + +@socketio.on('findODrives') +def getODrives(message): + print("looking for odrive") + start_discovery() + +@socketio.on('enableSampling') +def enableSampling(message): + print("sampling enabled") + session['samplingEnabled'] = True + emit('samplingEnabled') + +@socketio.on('stopSampling') +def stopSampling(message): + session['samplingEnabled'] = False + emit('samplingDisabled') + +@socketio.on('sampledVarNames') +def sampledVarNames(message): + session['sampledVars'] = message + print(session['sampledVars']) + +@socketio.on('startSampling') +def sendSamples(message): + print(session['samplingEnabled']) + while session['samplingEnabled']: + emit('sampledData', json.dumps(getSampledData(session['sampledVars']))) + time.sleep(0.02) + +@socketio.on('message') +def handle_message(message): + print(message) + emit('response', 'hello from server!') + +@socketio.on('getODrives') +def get_odrives(data): + # spinlock + while globals()['inUse']: + time.sleep(0.1) + + globals()['inUse'] = True + odriveDict = {} + #for (index, odrv) in enumerate(globals()['odrives']): + # odriveDict["odrive" + str(index)] = dictFromRO(odrv) + for key in globals()['odrives_status'].keys(): + if globals()['odrives_status'][key] == True: + odriveDict[key] = dictFromRO(globals()['odrives'][key]) + globals()['inUse'] = False + emit('odrives', json.dumps(odriveDict)) + +@socketio.on('getProperty') +def get_property(message): + # message is dict natively + # will be {"path": "odriveX.axisY.blah.blah"} + while globals()['inUse']: + time.sleep(0.1) + if globals()['odrives_status'][message["path"].split('.')[0]]: + globals()['inUse'] = True + val = getVal(globals()['odrives'], message["path"].split('.')) + globals()['inUse'] = False + emit('ODriveProperty', json.dumps({"path": message["path"], "val": val})) + +@socketio.on('setProperty') +def set_property(message): + # message is {"path":, "val":, "type":} + while globals()['inUse']: + time.sleep(0.1) + globals()['inUse'] = True + print("From setProperty event handler: " + str(message)) + postVal(globals()['odrives'], message["path"].split('.'), message["val"], message["type"]) + val = getVal(globals()['odrives'], message["path"].split('.')) + globals()['inUse'] = False + emit('ODriveProperty', json.dumps({"path": message["path"], "val": val})) + +@socketio.on('callFunction') +def call_function(message): + # message is {"path"}, no args yet (do we know which functions accept arguments from the odrive tree directly?) + while globals()['inUse']: + time.sleep(0.1) + print("From callFunction event handler: " + str(message)) + globals()['inUse'] = True + callFunc(globals()['odrives'], message["path"].split('.')) + globals()['inUse'] = False + +@app.route('/', methods=['GET']) +def home(): + return "

ODrive GUI Server

" + +def dictFromRO(RO): + # create dict from an odrive RemoteObject that's suitable for sending as JSON + returnDict = {} + for key in RO._remote_attributes.keys(): + if isinstance(RO._remote_attributes[key], fibre.remote_object.RemoteObject): + # recurse + returnDict[key] = dictFromRO(RO._remote_attributes[key]) + elif isinstance(RO._remote_attributes[key], fibre.remote_object.RemoteProperty): + # grab value of that property + # indicate if this property can be written or not + returnDict[key] = {"val": str(RO._remote_attributes[key].get_value()), + "readonly": not RO._remote_attributes[key]._can_write, + "type": str(RO._remote_attributes[key]._property_type.__name__)} + elif isinstance(RO._remote_attributes[key], fibre.remote_object.RemoteFunction): + # this is a function - do nothing for now. + returnDict[key] = "function" + else: + returnDict[key] = RO._remote_attributes[key] + return returnDict + +def postVal(odrives, keyList, value, argType): + # expect a list of keys in the form of ["key1", "key2", "keyN"] + # "key1" will be "odriveN" + # like this: postVal(odrives, ["odrive0","axis0","config","calibration_lockin","accel"], 17.0) + try: + #index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()])) + odrv = keyList.pop(0) + RO = odrives[odrv] + for key in keyList: + RO = RO._remote_attributes[key] + if argType == "number": + RO.set_value(float(value)) + elif argType == "boolean": + RO.set_value(value) + else: + pass # dont support that type yet + except fibre.protocol.ChannelBrokenException: + handle_disconnect(odrv) + except: + print("exception in postVal") + +def getVal(odrives, keyList): + try: + #index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()])) + odrv = keyList.pop(0) + RO = odrives[odrv] + for key in keyList: + RO = RO._remote_attributes[key] + if isinstance(RO, fibre.remote_object.RemoteObject): + return dictFromRO(RO) + else: + return RO.get_value() + except fibre.protocol.ChannelBrokenException: + handle_disconnect(odrv) + except: + print("exception in getVal") + return 0 + +def getSampledData(vars): + #use getVal to populate a dict + #return a dict {path:value} + samples = {} + for path in vars["paths"]: + keys = path.split('.') + samples[path] = getVal(globals()['odrives'], keys) + + return samples + +def callFunc(odrives, keyList): + try: + #index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()])) + odrv = keyList.pop(0) + RO = odrives[odrv] + for key in keyList: + RO = RO._remote_attributes[key] + if isinstance(RO, fibre.remote_object.RemoteFunction): + RO.__call__() + except fibre.protocol.ChannelBrokenException: + handle_disconnect(odrv) + except: + print("fcn call failed") + +if __name__ == "__main__": + print("args from python: " + str(sys.argv[1:0])) + #print(sys.argv[1:]) + # try to import based on command line arguments or config file + + for optPath in sys.argv[1:]: + print("adding " + str(optPath.rstrip()) + " to import path for odrive_server.py") + sys.path.insert(0,optPath.rstrip()) + + import odrive + import odrive.utils # for dump_errors() + import fibre + + # global for holding references to all connected odrives + globals()['odrives'] = {} + # global dict {'odriveX': True/False} where True/False reflects status of connection + # on handle_disconnect, set it to False. On connection, set it to True + globals()['odrives_status'] = {} + globals()['discovered_devices'] = [] + # spinlock + globals()['inUse'] = False + + log = fibre.Logger(verbose=False) + shutdown = fibre.Event() + + socketio.run(app, host='0.0.0.0', port=5000) diff --git a/GUI/src/App.vue b/GUI/src/App.vue new file mode 100644 index 00000000..fd64070a --- /dev/null +++ b/GUI/src/App.vue @@ -0,0 +1,398 @@ + + + + + diff --git a/GUI/src/assets/dashboards/Tuning_0_4_12.json b/GUI/src/assets/dashboards/Tuning_0_4_12.json new file mode 100644 index 00000000..fdfdab99 --- /dev/null +++ b/GUI/src/assets/dashboards/Tuning_0_4_12.json @@ -0,0 +1,127 @@ +{ + "name": "Tuning", + "component": "Dashboard", + "id": "deadb33f", + "controls": [ + { + "controlType": "CtrlNumeric", + "path": "odrives.odrive0.axis0.motor.config.current_lim" + }, + { + "controlType": "CtrlNumeric", + "path": "odrives.odrive0.axis0.controller.config.vel_limit" + }, + { + "controlType": "CtrlSlider", + "path": "odrives.odrive0.axis0.controller.config.pos_gain" + }, + { + "controlType": "CtrlSlider", + "path": "odrives.odrive0.axis0.controller.config.vel_gain" + }, + { + "controlType": "CtrlSlider", + "path": "odrives.odrive0.axis0.controller.config.vel_integrator_gain" + }, + { + "controlType": "CtrlEnum", + "path": "odrives.odrive0.axis0.requested_state", + "options": [ + { + "text": "Undefined", + "value": 0 + }, + { + "text": "Idle", + "value": 1 + }, + { + "text": "Starup Sequence", + "value": 2 + }, + { + "text": "Full Calibration Sequence", + "value": 3 + }, + { + "text": "Motor Calibration", + "value": 4 + }, + { + "text": "Sensorless Control", + "value": 5 + }, + { + "text": "Encoder Index Search", + "value": 6 + }, + { + "text": "Encoder Offset Calibration", + "value": 7 + }, + { + "text": "Closed Loop Control", + "value": 8 + }, + { + "text": "Lockin Spin", + "value": 9 + }, + { + "text": "Encoder Direction Find", + "value": 10 + }, + { + "text": "Homing", + "value": 11 + } + ] + }, + { + "controlType": "CtrlFunction", + "path": "odrives.odrive0.save_configuration" + } + ], + "actions": [ + { + "actionType": "Action", + "id": "a699c462-cf8d-4b4e-aedf-0b200e84f97a", + "path": "odrives.odrive0.axis0.controller.pos_setpoint", + "val": 0 + }, + { + "actionType": "Action", + "id": "db267ae4-fdf4-4770-a2d3-eb61de026659", + "path": "odrives.odrive0.axis0.controller.pos_setpoint", + "val": 50000 + } + ], + "plots": [ + { + "name": "65a2768d-e61e-4dd5-bf80-dba153838f74", + "vars": [ + { + "path": "odrives.odrive0.axis0.controller.pos_setpoint", + "color": "#195bd7" + }, + { + "path": "odrives.odrive0.axis0.encoder.pos_estimate", + "color": "#d6941a" + } + ] + }, + { + "name": "d9ee2474-3e53-408f-9eab-1656342eb531", + "vars": [ + { + "path": "odrives.odrive0.axis0.controller.vel_setpoint", + "color": "#195bd7" + }, + { + "path": "odrives.odrive0.axis0.encoder.vel_estimate", + "color": "#d6941a" + } + ] + } + ] +} \ No newline at end of file diff --git a/GUI/src/assets/dashboards/Tuning_0_5_1.json b/GUI/src/assets/dashboards/Tuning_0_5_1.json new file mode 100644 index 00000000..a47bc9ba --- /dev/null +++ b/GUI/src/assets/dashboards/Tuning_0_5_1.json @@ -0,0 +1,127 @@ +{ + "name": "Tuning", + "component": "Dashboard", + "id": "deadb33f", + "controls": [ + { + "controlType": "CtrlNumeric", + "path": "odrives.odrive0.axis0.motor.config.current_lim" + }, + { + "controlType": "CtrlNumeric", + "path": "odrives.odrive0.axis0.controller.config.vel_limit" + }, + { + "controlType": "CtrlSlider", + "path": "odrives.odrive0.axis0.controller.config.pos_gain" + }, + { + "controlType": "CtrlSlider", + "path": "odrives.odrive0.axis0.controller.config.vel_gain" + }, + { + "controlType": "CtrlSlider", + "path": "odrives.odrive0.axis0.controller.config.vel_integrator_gain" + }, + { + "controlType": "CtrlEnum", + "path": "odrives.odrive0.axis0.requested_state", + "options": [ + { + "text": "Undefined", + "value": 0 + }, + { + "text": "Idle", + "value": 1 + }, + { + "text": "Starup Sequence", + "value": 2 + }, + { + "text": "Full Calibration Sequence", + "value": 3 + }, + { + "text": "Motor Calibration", + "value": 4 + }, + { + "text": "Sensorless Control", + "value": 5 + }, + { + "text": "Encoder Index Search", + "value": 6 + }, + { + "text": "Encoder Offset Calibration", + "value": 7 + }, + { + "text": "Closed Loop Control", + "value": 8 + }, + { + "text": "Lockin Spin", + "value": 9 + }, + { + "text": "Encoder Direction Find", + "value": 10 + }, + { + "text": "Homing", + "value": 11 + } + ] + }, + { + "controlType": "CtrlFunction", + "path": "odrives.odrive0.save_configuration" + } + ], + "actions": [ + { + "actionType": "Action", + "id": "a699c462-cf8d-4b4e-aedf-0b200e84f97a", + "path": "odrives.odrive0.axis0.controller.input_pos", + "val": 0 + }, + { + "actionType": "Action", + "id": "db267ae4-fdf4-4770-a2d3-eb61de026659", + "path": "odrives.odrive0.axis0.controller.input_pos", + "val": 10 + } + ], + "plots": [ + { + "name": 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+dictionary: [ODrive] # Prevent the word 'ODrive' from being detected as two words 'O' and 'Drive' + +interfaces: + ODrive: + c_is_class: True + attributes: + vbus_voltage: readonly float32 + ibus: readonly float32 + serial_number: readonly uint64 + hw_version_major: readonly uint8 + hw_version_minor: readonly uint8 + hw_version_variant: readonly uint8 + fw_version_major: readonly uint8 + fw_version_minor: readonly uint8 + fw_version_revision: readonly uint8 + fw_version_unreleased: + type: readonly uint8 + doc: 0 for official releases, 1 otherwise + brake_resistor_armed: readonly bool + brake_resistor_saturated: bool + system_stats: + c_is_class: False + attributes: + uptime: readonly uint32 + min_heap_space: readonly uint32 + min_stack_space_axis0: readonly uint32 + min_stack_space_axis1: readonly uint32 + min_stack_space_comms: readonly uint32 + min_stack_space_usb: readonly uint32 + min_stack_space_uart: readonly uint32 + min_stack_space_can: readonly uint32 + min_stack_space_usb_irq: readonly uint32 + min_stack_space_startup: readonly uint32 + stack_usage_axis0: readonly uint32 + stack_usage_axis1: readonly uint32 + stack_usage_comms: readonly uint32 + stack_usage_usb: readonly uint32 + stack_usage_uart: readonly uint32 + stack_usage_usb_irq: readonly uint32 + stack_usage_startup: readonly uint32 + stack_usage_can: readonly uint32 + usb: + c_is_class: False + attributes: + rx_cnt: readonly uint32 + tx_cnt: readonly uint32 + tx_overrun_cnt: readonly uint32 + i2c: + c_is_class: False + attributes: + addr: readonly uint8 + addr_match_cnt: readonly uint32 + rx_cnt: readonly uint32 + error_cnt: readonly uint32 + config: + c_is_class: False + attributes: + enable_uart: + type: bool + doc: 'TODO: changing this currently requires a reboot - fix this' + uart_baudrate: + type: uint32 + doc: "Defines the baudrate used on the UART interface. + Some baudrates will have a small timing error due to hardware limitations. + + Here's an (incomplete) list of baudrates for ODrive v3.x: + + Configured | Actual | Error [%] + -------------|---------------|----------- + 1.2 KBps | 1.2 KBps | 0 + 2.4 KBps | 2.4 KBps | 0 + 9.6 KBps | 9.6 KBps | 0 + 19.2 KBps | 19.195 KBps | 0.02 + 38.4 KBps | 38.391 KBps | 0.02 + 57.6 KBps | 57.613 KBps | 0.02 + 115.2 KBps | 115.068 KBps | 0.11 + 230.4 KBps | 230.769 KBps | 0.16 + 460.8 KBps | 461.538 KBps | 0.16 + 921.6 KBps | 913.043 KBps | 0.93 + 1.792 MBps | 1.826 MBps | 1.9 + 1.8432 MBps | 1.826 MBps | 0.93 + + For more information refer to Section 30.3.4 and Table 142 (the column with f_PCLK = 42 MHz) in the STM datasheet: + https://www.st.com/content/ccc/resource/technical/document/reference_manual/3d/6d/5a/66/b4/99/40/d4/DM00031020.pdf/files/DM00031020.pdf/jcr:content/translations/en.DM00031020.pdf" + enable_i2c_instead_of_can: + type: bool + doc: 'Changing this requires a reboot' + enable_ascii_protocol_on_usb: bool + max_regen_current: float32 + brake_resistance: + type: float32 + unit: Ohm + doc: Value of the brake resistor connected to the ODrive. Set to 0 to disable. + + dc_bus_undervoltage_trip_level: + type: float32 + unit: V + doc: Minimum voltage below which the motor stops operating. + dc_bus_overvoltage_trip_level: + type: float32 + unit: V + doc: Maximum voltage above which the motor stops operating. + This protects against cases in which the power supply fails to dissipate + the brake power if the brake resistor is disabled. + The default is 26V for the 24V board version and 52V for the 48V board version. + + enable_dc_bus_overvoltage_ramp: + type: bool + doc: 'If enabled, if the measured DC voltage exceeds `dc_bus_overvoltage_ramp_start`, + the ODrive will sink more power than usual into the the brake resistor + in an attempt to bring the voltage down again. + + The brake duty cycle is increased by the following amount: + vbus_voltage == dc_bus_overvoltage_ramp_start => brake_duty_cycle += 0% + vbus_voltage == dc_bus_overvoltage_ramp_end => brake_duty_cycle += 100% + + Remarks: + - This feature is active even when all motors are disarmed. + - This feature is disabled if `brake_resistance` is non-positive.' + dc_bus_overvoltage_ramp_start: + type: float32 + doc: See `enable_dc_bus_overvoltage_ramp`. + Do not set this lower than your usual vbus_voltage, + unless you like fried brake resistors. + dc_bus_overvoltage_ramp_end: + type: float32 + doc: See `enable_dc_bus_overvoltage_ramp`. + Must be larger than `dc_bus_overvoltage_ramp_start`, + otherwise the ramp feature is disabled. + + dc_max_positive_current: + type: float32 + unit: A + doc: Max current the power supply can source. + dc_max_negative_current: + type: float32 + unit: A + doc: Max current the power supply can sink. You most likely want a non-positive value here. Set to -INFINITY to disable. + + gpio1_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[0]'} # TODO: disable for ODrive v3.2 and older + gpio2_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[1]'} # TODO: disable for ODrive v3.2 and older + gpio3_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[2]'} # TODO: disable for ODrive v3.2 and older + gpio4_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[3]'} + gpio3_analog_mapping: {type: Endpoint, c_name: 'analog_mappings[2]'} + gpio4_analog_mapping: {type: Endpoint, c_name: 'analog_mappings[3]'} + user_config_loaded: readonly bool + + axis0: {type: Axis, c_name: get_axis(0)} + axis1: {type: Axis, c_name: get_axis(1)} + can: {type: Can, c_name: get_can()} + test_property: uint32 + + functions: + test_function: {in: {delta: int32}, out: {cnt: int32}} + get_oscilloscope_val: {in: {index: uint32}, out: {val: float32}} + get_adc_voltage: {in: {gpio: uint32}, out: {voltage: float32}} + save_configuration: + erase_configuration: + reboot: + enter_dfu_mode: + + ODrive.Can: + c_is_class: True + attributes: + error: + nullflag: None + flags: {DuplicateCanIds: } + config: + c_is_class: False + attributes: + baud_rate: readonly uint32 + protocol: Protocol + functions: + set_baud_rate: {in: {baudRate: uint32}} + + ODrive.Endpoint: + c_is_class: False + attributes: + endpoint: endpoint_ref + min: float32 + max: float32 + + ODrive.Axis: + c_is_class: True + attributes: + error: + nullflag: 'None' + flags: + InvalidState: + doc: An invalid state was requested. + DcBusUnderVoltage: + DcBusOverVoltage: + CurrentMeasurementTimeout: + BrakeResistorDisarmed: + doc: The brake resistor was unexpectedly disarmed. + MotorDisarmed: + doc: The motor was unexpectedly disarmed. + MotorFailed: + doc: Check `motor.error` for more information. + SensorlessEstimatorFailed: + EncoderFailed: + doc: Check `encoder.error` for more information. + ControllerFailed: + PosCtrlDuringSensorless: + doc: DEPRECATED + WatchdogTimerExpired: + MinEndstopPressed: + MaxEndstopPressed: + EstopRequested: + HomingWithoutEndstop: + bit: 17 + doc: the min endstop was not enabled during homing + step_dir_active: readonly bool + current_state: readonly AxisState + requested_state: AxisState + loop_counter: readonly uint32 + lockin_state: + typeargs: {fibre.Property.mode: readonly} + values: + Inactive: + Ramp: + Accelerate: + ConstVel: + is_homed: {type: bool, c_name: homing_.is_homed} + config: + c_is_class: False + attributes: + startup_motor_calibration: + type: bool + doc: run motor calibration at startup, skip otherwise + startup_encoder_index_search: + type: bool + doc: run encoder index search after startup, skip otherwise this only has an effect if encoder.config.use_index is also true + startup_encoder_offset_calibration: + type: bool + doc: run encoder offset calibration after startup, skip otherwise + startup_closed_loop_control: + type: bool + doc: enable closed loop control after calibration/startup + startup_sensorless_control: + type: bool + doc: enable sensorless control after calibration/startup + startup_homing: + type: bool + doc: enable homing after calibration/startup + enable_step_dir: + type: bool + doc: Enable step/dir input after calibration. + For M0 this has no effect if `enable_uart` is true. + step_dir_always_on: + type: bool + doc: Keep step/dir enabled while the motor is disabled. + This is ignored if enable_step_dir is false. + This setting only takes effect on a state transition + into idle or out of closed loop control. + counts_per_step: float32 + watchdog_timeout: + type: float32 + unit: s + doc: 0 disables watchdog + enable_watchdog: bool + step_gpio_pin: {type: uint16, c_setter: 'set_step_gpio_pin'} + dir_gpio_pin: {type: uint16, c_setter: 'set_dir_gpio_pin'} + calibration_lockin: # TODO: this is a subset of lockin state + c_is_class: False + attributes: + current: float32 + ramp_time: float32 + ramp_distance: float32 + accel: float32 + vel: float32 + sensorless_ramp: LockinConfig + general_lockin: LockinConfig + can_node_id: + type: uint32 + doc: Both axes will have the same id to start + can_node_id_extended: bool + can_heartbeat_rate_ms: uint32 + motor: Motor + controller: Controller + encoder: Encoder + sensorless_estimator: SensorlessEstimator + trap_traj: TrapezoidalTrajectory + min_endstop: Endstop + max_endstop: Endstop + functions: + watchdog_feed: + doc: Feed the watchdog to prevent watchdog timeouts. + clear_errors: + doc: Check the watchdog timer for expiration. Also sets the watchdog error bit if expired. + + ODrive.Axis.LockinConfig: + c_is_class: False + attributes: + current: + type: float32 + unit: A + ramp_time: + type: float32 + unit: s + ramp_distance: + type: float32 + unit: rad + accel: + type: float32 + unit: rad/s^2 + vel: + type: float32 + unit: rad/s + finish_distance: + type: float32 + unit: rad + finish_on_vel: bool + finish_on_distance: bool + finish_on_enc_idx: bool + + + ODrive.Motor: + c_is_class: True + attributes: + error: + nullflag: None + flags: + PhaseResistanceOutOfRange: + PhaseInductanceOutOfRange: + AdcFailed: + DrvFault: + ControlDeadlineMissed: + NotImplementedMotorType: + BrakeCurrentOutOfRange: + ModulationMagnitude: + BrakeDeadtimeViolation: + UnexpectedTimerCallback: + CurrentSenseSaturation: + InverterOverTemp: + CurrentLimitViolation: + BrakeDutyCycleNan: + DcBusOverRegenCurrent: {doc: too much current pushed into the power supply} + DcBusOverCurrent: {doc: too much current pulled out of the power supply} + armed_state: + typeargs: {fibre.Property.mode: readonly} + values: + Disarmed: + WaitingForTimings: + WaitingForUpdate: + Armed: + is_calibrated: readonly bool + current_meas_phB: {type: readonly float32, c_name: current_meas_.phB} + current_meas_phC: {type: readonly float32, c_name: current_meas_.phC} + DC_calib_phB: {type: float32, c_name: DC_calib_.phB} + DC_calib_phC: {type: float32, c_name: DC_calib_.phC} + phase_current_rev_gain: float32 + thermal_current_lim: readonly float32 + inverter_temp: + type: readonly float32 + unit: °C + doc: NaN while the ODrive is initializing. + current_control: + c_is_class: False + attributes: + p_gain: float32 + i_gain: float32 + v_current_control_integral_d: float32 + v_current_control_integral_q: float32 + Ibus: float32 + final_v_alpha: float32 + final_v_beta: float32 + Id_setpoint: float32 + Iq_setpoint: readonly float32 + Iq_measured: float32 + Id_measured: float32 + I_measured_report_filter_k: float32 + max_allowed_current: readonly float32 + overcurrent_trip_level: readonly float32 + acim_rotor_flux: float32 + async_phase_vel: readonly float32 + async_phase_offset: float32 + gate_driver: + c_name: gate_driver_exported_ + c_is_class: False + attributes: + drv_fault: + typeargs: {fibre.Property.mode: readonly} + nullflag: NoFault + flags: + FetLowCOvercurrent: {bit: 0, doc: FET Low side, Phase C Over Current fault} + FetHighCOvercurrent: {bit: 1, doc: FET High side, Phase C Over Current fault} + FetLowBOvercurrent: {bit: 2, doc: FET Low side, Phase B Over Current fault} + FetHighBOvercurrent: {bit: 3, doc: FET High side, Phase B Over Current fault} + FetLowAOvercurrent: {bit: 4, doc: FET Low side, Phase A Over Current fault} + FetHighAOvercurrent: {bit: 5, doc: FET High side, Phase A Over Current fault} + OvertemperatureWarning: {bit: 6, doc: Over Temperature Warning fault} + OvertemperatureShutdown: {bit: 7, doc: Over Temperature Shut Down fault} + PVddUndervoltage: {bit: 8, doc: Power supply Vdd Under Voltage fault} + GVddUndervoltage: {bit: 9, doc: DRV8301 Vdd Under Voltage fault} + GVddOvervoltage: {bit: 10, doc: DRV8301 Vdd Over Voltage fault} + # status_reg_1: readonly uint32 + # status_reg_2: readonly uint32 + # ctrl_reg_1: readonly uint32 + # ctrl_reg_2: readonly uint32 + timing_log: + c_is_class: False + attributes: + general: {type: readonly uint16, c_name: 'get(TIMING_LOG_GENERAL)'} + adc_cb_i: {type: readonly uint16, c_name: 'get(TIMING_LOG_ADC_CB_I)'} + adc_cb_dc: {type: readonly uint16, c_name: 'get(TIMING_LOG_ADC_CB_DC)'} + meas_r: {type: readonly uint16, c_name: 'get(TIMING_LOG_MEAS_R)'} + meas_l: {type: readonly uint16, c_name: 'get(TIMING_LOG_MEAS_L)'} + enc_calib: {type: readonly uint16, c_name: 'get(TIMING_LOG_ENC_CALIB)'} + idx_search: {type: readonly uint16, c_name: 'get(TIMING_LOG_IDX_SEARCH)'} + foc_voltage: {type: readonly uint16, c_name: 'get(TIMING_LOG_FOC_VOLTAGE)'} + foc_current: {type: readonly uint16, c_name: 'get(TIMING_LOG_FOC_CURRENT)'} + spi_start: {type: readonly uint16, c_name: 'get(TIMING_LOG_SPI_START)'} + sample_now: {type: readonly uint16, c_name: 'get(TIMING_LOG_SAMPLE_NOW)'} + spi_end: {type: readonly uint16, c_name: 'get(TIMING_LOG_SPI_END)'} + config: + c_is_class: False + attributes: + pre_calibrated: {type: bool, c_setter: set_pre_calibrated} + pole_pairs: int32 + calibration_current: float32 + resistance_calib_max_voltage: float32 + phase_inductance: {type: float32, c_setter: set_phase_inductance} + phase_resistance: {type: float32, c_setter: set_phase_resistance} + direction: int32 + motor_type: MotorType + current_lim: float32 + current_lim_margin: float32 + inverter_temp_limit_lower: float32 + inverter_temp_limit_upper: float32 + requested_current_range: float32 + current_control_bandwidth: {type: float32, c_setter: set_current_control_bandwidth} + acim_slip_velocity: float32 + acim_gain_min_flux: float32 + acim_autoflux_min_Id: float32 + acim_autoflux_enable: bool + acim_autoflux_attack_gain: float32 + acim_autoflux_decay_gain: float32 + + + ODrive.Controller: + c_is_class: True + attributes: + error: + nullflag: None + flags: + Overspeed: + InvalidInputMode: + UnstableGain: + InvalidMirrorAxis: + InvalidLoadEncoder: + InvalidEstimate: + input_pos: {type: float32, c_setter: set_input_pos} + input_vel: float32 + input_current: float32 + pos_setpoint: readonly float32 + vel_setpoint: readonly float32 + current_setpoint: readonly float32 + trajectory_done: readonly bool + vel_integrator_current: float32 + anticogging_valid: bool + config: + c_is_class: False + attributes: + gain_scheduling_width: float32 + enable_vel_limit: bool + enable_current_mode_vel_limit: + type: bool + doc: Enable velocity limit in current control mode (requires a valid velocity estimator). + enable_gain_scheduling: bool + enable_overspeed_error: bool + control_mode: ControlMode + input_mode: InputMode + pos_gain: + type: float32 + unit: (counts/s) / counts + vel_gain: + type: float32 + unit: 'A/(counts/s) (or A/(rad/s) in sensorless mode' + vel_integrator_gain: + type: float32 + unit: A/(counts/s * s) + vel_limit: + type: float32 + unit: counts/s + doc: Infinity to disable. + vel_limit_tolerance: + type: float32 + doc: Ratio to `vel_limit`. Infinity to disable. + vel_ramp_rate: float32 + current_ramp_rate: + type: float32 + unit: A / sec + homing_speed: + type: float32 + unit: counts/s + inertia: + type: float32 + unit: A/(count/s^2) + axis_to_mirror: uint8 + mirror_ratio: float32 + load_encoder_axis: + type: uint8 + # TODO: this is meaningless for a user. Should there be a separate developer note? + doc: Default depends on Axis number and is set in load_configuration() + input_filter_bandwidth: + type: float32 + unit: 1/s + c_setter: set_input_filter_bandwidth + anticogging: + c_is_class: False + attributes: + index: readonly uint32 + pre_calibrated: bool + calib_anticogging: readonly bool + calib_pos_threshold: float32 + calib_vel_threshold: float32 + cogging_ratio: readonly float32 + anticogging_enabled: bool + functions: + move_incremental: {in: {displacement: float32, from_input_pos: bool}} + start_anticogging_calibration: + + + ODrive.Encoder: + c_is_class: True + attributes: + error: + nullflag: None + flags: + UnstableGain: + CprPolepairsMismatch: + NoResponse: + UnsupportedEncoderMode: + IllegalHallState: + IndexNotFoundYet: + AbsSpiTimeout: + AbsSpiComFail: + AbsSpiNotReady: + is_ready: readonly bool + index_found: readonly bool + shadow_count: readonly int32 + count_in_cpr: readonly int32 + interpolation: readonly float32 + phase: readonly float32 + pos_estimate: readonly float32 + pos_cpr: readonly float32 + hall_state: readonly uint8 + vel_estimate: readonly float32 + calib_scan_response: readonly float32 + pos_abs: int32 + spi_error_rate: readonly float32 + config: + c_is_class: False + attributes: + mode: Mode + use_index: {type: bool, c_setter: set_use_index} + find_idx_on_lockin_only: {type: bool, c_setter: set_find_idx_on_lockin_only} + abs_spi_cs_gpio_pin: {type: uint16, c_setter: set_abs_spi_cs_gpio_pin} + zero_count_on_find_idx: bool + cpr: int32 + offset: int32 + pre_calibrated: {type: bool, c_setter: set_pre_calibrated} + offset_float: float32 + enable_phase_interpolation: bool + bandwidth: {type: float32, c_setter: set_bandwidth} + calib_range: float32 + calib_scan_distance: float32 + calib_scan_omega: float32 + idx_search_unidirectional: bool + ignore_illegal_hall_state: bool + sincos_gpio_pin_sin: uint16 + sincos_gpio_pin_cos: uint16 + functions: + set_linear_count: {in: {count: int32}} + + + ODrive.SensorlessEstimator: + c_is_class: True + attributes: + error: + nullflag: None + flags: + UnstableGain: + phase: float32 + pll_pos: float32 + vel_estimate: float32 + # pll_kp: float32 + # pll_ki: float32 + config: + c_is_class: False + attributes: + observer_gain: float32 + pll_bandwidth: float32 + pm_flux_linkage: float32 + + + ODrive.TrapezoidalTrajectory: + c_is_class: True + attributes: + config: + c_is_class: False + attributes: + vel_limit: float32 + accel_limit: float32 + decel_limit: float32 + + + ODrive.Endstop: + c_is_class: True + attributes: + endstop_state: readonly bool + config: + c_is_class: False + attributes: + gpio_num: {type: uint16, c_setter: set_gpio_num} + enabled: {type: bool, c_setter: set_enabled} + offset: float32 + is_active_high: bool + pullup: bool + debounce_ms: {type: uint32, c_setter: set_debounce_ms} + + +valuetypes: + ODrive.Can.Protocol: + values: {Simple: } + + ODrive.Axis.AxisState: # TODO: remove redundant "Axis" in name + values: + Undefined: + doc: will fall through to idle + Idle: + doc: disable PWM and do nothing + StartupSequence: + doc: the actual sequence is defined by the config.startup... flags + FullCalibrationSequence: + doc: run all calibration procedures, then idle + MotorCalibration: + doc: run motor calibration + SensorlessControl: + doc: run sensorless control + EncoderIndexSearch: + doc: run encoder index search + EncoderOffsetCalibration: + doc: run encoder offset calibration + ClosedLoopControl: + doc: run closed loop control + LockinSpin: + doc: run lockin spin + EncoderDirFind: + Homing: + doc: run axis homing function + + ODrive.Encoder.Mode: + values: + Incremental: + Hall: + Sincos: + SpiAbsCui: + value: 0x100 + doc: compatible with CUI AMT23xx + SpiAbsAms: + value: 0x101 + doc: compatible with AMS AS5047P, AS5048A/AS5048B (no daisy chain support) + SpiAbsAeat: + value: 0x102 + doc: not yet implemented + + ODrive.Controller.ControlMode: + values: + # Note: these should be sorted from lowest level of control to + # highest level of control, to allow "<" style comparisons. + VoltageControl: + CurrentControl: + VelocityControl: + PositionControl: + + ODrive.Controller.InputMode: + values: + Inactive: + Passthrough: + VelRamp: + PosFilter: + MixChannels: + TrapTraj: + CurrentRamp: + Mirror: + + + ODrive.Motor.MotorType: + values: + HighCurrent: + #LowCurrent: # not implemented + Gimbal: {value: 2} + Acim: \ No newline at end of file diff --git a/GUI/src/assets/odriveEnums.json b/GUI/src/assets/odriveEnums.json new file mode 100644 index 00000000..02dbc47a --- /dev/null +++ b/GUI/src/assets/odriveEnums.json @@ -0,0 +1,131 @@ +{ +"GPIO_MODE_DIGITAL" : 0, +"GPIO_MODE_DIGITAL_PULL_UP" : 1, +"GPIO_MODE_DIGITAL_PULL_DOWN" : 2, +"GPIO_MODE_ANALOG_IN" : 3, +"GPIO_MODE_UART0" : 4, +"GPIO_MODE_UART1" : 5, +"GPIO_MODE_UART2" : 6, +"GPIO_MODE_CAN0" : 7, +"GPIO_MODE_I2C0" : 8, +"GPIO_MODE_SPI0" : 9, +"GPIO_MODE_PWM0" : 10, +"GPIO_MODE_ENC0" : 11, +"GPIO_MODE_ENC1" : 12, +"GPIO_MODE_ENC2" : 13, + +"PROTOCOL_SIMPLE" : 0, + +"AXIS_STATE_UNDEFINED" : 0, +"AXIS_STATE_IDLE" : 1, +"AXIS_STATE_STARTUP_SEQUENCE" : 2, +"AXIS_STATE_FULL_CALIBRATION_SEQUENCE" : 3, +"AXIS_STATE_MOTOR_CALIBRATION" : 4, +"AXIS_STATE_SENSORLESS_CONTROL" : 5, +"AXIS_STATE_ENCODER_INDEX_SEARCH" : 6, +"AXIS_STATE_ENCODER_OFFSET_CALIBRATION" : 7, +"AXIS_STATE_CLOSED_LOOP_CONTROL" : 8, +"AXIS_STATE_LOCKIN_SPIN" : 9, +"AXIS_STATE_ENCODER_DIR_FIND" : 10, +"AXIS_STATE_HOMING" : 11, + +"ENCODER_MODE_INCREMENTAL" : 0, +"ENCODER_MODE_HALL" : 1, +"ENCODER_MODE_SINCOS" : 2, +"ENCODER_MODE_SPI_ABS_CUI" : 256, +"ENCODER_MODE_SPI_ABS_AMS" : 257, +"ENCODER_MODE_SPI_ABS_AEAT" : 258, +"ENCODER_MODE_SPI_ABS_RLS" : 259, + +"CONTROL_MODE_VOLTAGE_CONTROL" : 0, +"CONTROL_MODE_TORQUE_CONTROL" : 1, +"CONTROL_MODE_VELOCITY_CONTROL" : 2, +"CONTROL_MODE_POSITION_CONTROL" : 3, + +"INPUT_MODE_INACTIVE" : 0, +"INPUT_MODE_PASSTHROUGH" : 1, +"INPUT_MODE_VEL_RAMP" : 2, +"INPUT_MODE_POS_FILTER" : 3, +"INPUT_MODE_MIX_CHANNELS" : 4, +"INPUT_MODE_TRAP_TRAJ" : 5, +"INPUT_MODE_TORQUE_RAMP" : 6, +"INPUT_MODE_MIRROR" : 7, + +"MOTOR_TYPE_HIGH_CURRENT" : 0, +"MOTOR_TYPE_GIMBAL" : 2, +"MOTOR_TYPE_ACIM" : 3, + +"CAN_ERROR_NONE" : 0, +"CAN_ERROR_DUPLICATE_CAN_IDS" : 1, + +"AXIS_ERROR_NONE" : 0, +"AXIS_ERROR_INVALID_STATE" : 1, +"AXIS_ERROR_DC_BUS_UNDER_VOLTAGE" : 2, +"AXIS_ERROR_DC_BUS_OVER_VOLTAGE" : 4, +"AXIS_ERROR_CURRENT_MEASUREMENT_TIMEOUT" : 8, +"AXIS_ERROR_BRAKE_RESISTOR_DISARMED" : 16, +"AXIS_ERROR_MOTOR_DISARMED" : 32, +"AXIS_ERROR_MOTOR_FAILED" : 64, +"AXIS_ERROR_SENSORLESS_ESTIMATOR_FAILED" : 128, +"AXIS_ERROR_ENCODER_FAILED" : 256, +"AXIS_ERROR_CONTROLLER_FAILED" : 512, +"AXIS_ERROR_POS_CTRL_DURING_SENSORLESS" : 1024, +"AXIS_ERROR_WATCHDOG_TIMER_EXPIRED" : 2048, +"AXIS_ERROR_MIN_ENDSTOP_PRESSED" : 4096, +"AXIS_ERROR_MAX_ENDSTOP_PRESSED" : 8192, +"AXIS_ERROR_ESTOP_REQUESTED" : 16384, +"AXIS_ERROR_HOMING_WITHOUT_ENDSTOP" : 131072, +"AXIS_ERROR_OVER_TEMP" : 262144, + +"LOCKIN_STATE_INACTIVE" : 0, +"LOCKIN_STATE_RAMP" : 1, +"LOCKIN_STATE_ACCELERATE" : 2, +"LOCKIN_STATE_CONST_VEL" : 3, + +"MOTOR_ERROR_NONE" : 0, +"MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE" : 1, +"MOTOR_ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE" : 2, +"MOTOR_ERROR_ADC_FAILED" : 4, +"MOTOR_ERROR_DRV_FAULT" : 8, +"MOTOR_ERROR_CONTROL_DEADLINE_MISSED" : 16, +"MOTOR_ERROR_NOT_IMPLEMENTED_MOTOR_TYPE" : 32, +"MOTOR_ERROR_BRAKE_CURRENT_OUT_OF_RANGE" : 64, +"MOTOR_ERROR_MODULATION_MAGNITUDE" : 128, +"MOTOR_ERROR_BRAKE_DEADTIME_VIOLATION" : 256, +"MOTOR_ERROR_UNEXPECTED_TIMER_CALLBACK" : 512, +"MOTOR_ERROR_CURRENT_SENSE_SATURATION" : 1024, +"MOTOR_ERROR_CURRENT_LIMIT_VIOLATION" : 4096, +"MOTOR_ERROR_BRAKE_DUTY_CYCLE_NAN" : 8192, +"MOTOR_ERROR_DC_BUS_OVER_REGEN_CURRENT" : 16384, +"MOTOR_ERROR_DC_BUS_OVER_CURRENT" : 32768, +"MOTOR_ERROR_MODULATION_IS_NAN" : 65536, +"MOTOR_ERROR_MOTOR_THERMISTOR_OVER_TEMP" : 131072, +"MOTOR_ERROR_FET_THERMISTOR_OVER_TEMP" : 262144, + +"ARMED_STATE_DISARMED" : 0, +"ARMED_STATE_WAITING_FOR_TIMINGS" : 1, +"ARMED_STATE_WAITING_FOR_UPDATE" : 2, +"ARMED_STATE_ARMED" : 3, + +"CONTROLLER_ERROR_NONE" : 0, +"CONTROLLER_ERROR_OVERSPEED" : 1, +"CONTROLLER_ERROR_INVALID_INPUT_MODE" : 2, +"CONTROLLER_ERROR_UNSTABLE_GAIN" : 4, +"CONTROLLER_ERROR_INVALID_MIRROR_AXIS" : 8, +"CONTROLLER_ERROR_INVALID_LOAD_ENCODER" : 16, +"CONTROLLER_ERROR_INVALID_ESTIMATE" : 32, + +"ENCODER_ERROR_NONE" : 0, +"ENCODER_ERROR_UNSTABLE_GAIN" : 1, +"ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH" : 2, +"ENCODER_ERROR_NO_RESPONSE" : 4, +"ENCODER_ERROR_UNSUPPORTED_ENCODER_MODE" : 8, +"ENCODER_ERROR_ILLEGAL_HALL_STATE" : 16, +"ENCODER_ERROR_INDEX_NOT_FOUND_YET" : 32, +"ENCODER_ERROR_ABS_SPI_TIMEOUT" : 64, +"ENCODER_ERROR_ABS_SPI_COM_FAIL" : 128, +"ENCODER_ERROR_ABS_SPI_NOT_READY" : 256, + +"SENSORLESS_ESTIMATOR_ERROR_NONE" : 0, +"SENSORLESS_ESTIMATOR_ERROR_UNSTABLE_GAIN" : 1 +} \ No newline at end of file diff --git a/GUI/src/assets/odrive_logo.png b/GUI/src/assets/odrive_logo.png new file mode 100644 index 00000000..617c636b Binary files /dev/null and b/GUI/src/assets/odrive_logo.png differ diff --git a/GUI/src/assets/styles/style.css b/GUI/src/assets/styles/style.css new file mode 100644 index 00000000..d17e84df --- /dev/null +++ b/GUI/src/assets/styles/style.css @@ -0,0 +1,23 @@ +.card { + padding: 10px; + margin: 10px; + background-color: #fff; + box-shadow: 0 4px 8px 0 rgba(0, 0, 0, 0.4); +} + +.close-button { + font-weight: bold; + cursor: pointer; + padding: 0 5px; + margin-right: 10px; + border: 1px solid black; +} + +.close-button:active { + background-color: var(--bg-color); +} + +.choice-inactive { + background-color: var(--bg-color); + color: grey; +} \ No newline at end of file diff --git a/GUI/src/assets/styles/vars.css b/GUI/src/assets/styles/vars.css new file mode 100644 index 00000000..1e48dbd0 --- /dev/null +++ b/GUI/src/assets/styles/vars.css @@ -0,0 +1,6 @@ +:root { + --bg-color: rgb(235, 235, 235); + --fg-color: #fff; + --top-height: 39px; + --bottom-height: 29px; +} \ No newline at end of file diff --git a/GUI/src/assets/wizard/configTemplate.json b/GUI/src/assets/wizard/configTemplate.json new file mode 100644 index 00000000..e6406e96 --- /dev/null +++ b/GUI/src/assets/wizard/configTemplate.json @@ -0,0 +1,73 @@ +{ + "config": { + "brake_resistance": null + }, + "axis0": { + "motor": { + "config": { + "pole_pairs": null, + "phase_resistance": null, + "phase_inductance": null, + "motor_type": null, + "current_lim": null, + "torque_constant": null + } + }, + "encoder": { + "config": { + "mode": null, + "use_index": null, + "cpr": null + } + }, + "controller": { + "config": { + "input_mode": null, + "control_mode": null, + "vel_limit": null, + "inertia": null + } + }, + "trap_traj": { + "config": { + "vel_limit": null, + "accel_limit": null, + "decel_limit": null + } + } + }, + "axis1": { + "motor": { + "config": { + "pole_pairs": null, + "phase_resistance": null, + "phase_inductance": null, + "motor_type": null, + "current_lim": null, + "torque_constant": null + } + }, + "encoder": { + "config": { + "mode": null, + "use_index": null, + "cpr": null + } + }, + "controller": { + "config": { + "input_mode": null, + "control_mode": null, + "vel_limit": null, + "inertia": null + } + }, + "trap_traj": { + "config": { + "vel_limit": null, + "accel_limit": null, + "decel_limit": null + } + } + } +} \ No newline at end of file diff --git a/GUI/src/assets/wizard/wizard.js b/GUI/src/assets/wizard/wizard.js new file mode 100644 index 00000000..aa0486f4 --- /dev/null +++ b/GUI/src/assets/wizard/wizard.js @@ -0,0 +1,929 @@ +import odriveEnums from "../odriveEnums.json"; + +// wizard is an object of pages. +// each page has a number, title, vue component name, next destination, back destination, and array of choices +// certain choices require a hook - for example, hall effect encoder cpr is 6 * motor.config.pole_pairs +// each hook takes a config object, modifies it, and returns it after running appropriate calculations. +// see choiceHandler() in Wizard.vue for how this happens + +// Pages can also have custom components displayed below the choice tiles +// Example - on motor pages, there are buttons to run motor calibration and clear errors. +export let pages = { + ODrive: { + title: "Which ODrive do you have?", + link: "ODrive Version", + component: "wizardPage", + next: "Brake", + back: "ODrive", + nextTooltip: "Make a choice!", + choiceMade: false, + choices: [ + { + component: "wizardChoice", + data: { + imageURL: require("../images/24v_300x300.png"), + }, + title: "ODrive v3.6 24V", + requirements: [], + hooks: [], + tooltip: null, + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/56v_300x300.png"), + }, + title: "ODrive v3.6 56V", + requirements: [], + hooks: [], + tooltip: null, + altTooltip: null, + }, + ], + customComponents: [], + pageComponents: [], + }, + Brake: { + title: "Brake Resistor", + link: "Brake Resistor", + component: "wizardPage", + next: "Motor_0", + back: "ODrive", + nextTooltip: "Make a choice!", + choiceMade: false, + choices: [ + { + component: "wizardBrake", + data: {}, + title: "Brake Resistor", + requirements: [], + hooks: [], + tooltip: "When you slow down a motor, the energy has to go somewhere.\n\r \ + It either goes to the brake resistor or back to your power supply.", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: null, + configStub: { + config: { + brake_resistance: 0, + } + }, + }, + title: "I don't have a brake resistor", + hooks: [], + requirements: [], + tooltip: "Only operate without a brake resistor if your power source can handle reverse current, like a battery." + } + ], + }, + Motor_0: { + title: "Which motor are you using on Axis 0?", + link: "Motor 0", + component: "wizardPage", + next: "Encoder_0", + back: "Brake", + nextTooltip: "ODrive needs to know the inductance and resistance of your motor in order to control it.\ + Click the Calibrate Motor button to start the measurement process. The motor will beep\ + during calibration.", + choiceMade: false, + choices: [ + { + component: "wizardChoice", + data: { + imageURL: require("../images/D5065_300x300.png"), + configStub: { + axis0: { + motor: { + config: { + pole_pairs: 7, + torque_constant: 8.27 / 270, + // R and L come from "Calibrate Motor" button on page + //phase_resistance: 0.039, // from test rig + //phase_inductance: 1.57e-5, + motor_type: odriveEnums.MOTOR_TYPE_HIGH_CURRENT, // MOTOR_TYPE_HIGH_CURRENT + }, + }, + }, + }, + }, + title: "ODrive D5065", + requirements: [], + hooks: [], + tooltip: "D5065 motor from the ODrive shop", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/D6374_300x300.png"), + configStub: { + axis0: { + motor: { + config: { + pole_pairs: 7, + torque_constant: 8.27 / 150, + // R and L come from "Calibrate Motor" button on page + //phase_resistance: 0.041, // measurement from PJ + //phase_inductance: 2.23e-5, + motor_type: odriveEnums.MOTOR_TYPE_HIGH_CURRENT, // MOTOR_TYPE_HIGH_CURRENT, + }, + }, + }, + }, + }, + title: "ODrive D6374", + requirements: [], + hooks: [], + tooltip: "D6374 motor from the ODrive shop", + altTooltip: null, + }, + { + component: "wizardMotor", + data: { + axis: "axis0", + }, + title: "Other Motor", + requirements: [], + hooks: [], + tooltip: "Bring your own motor!", + altTooltip: null, + }, + ], + pageComponents: [ + { + component: "wizardMotorCal", + id: 0, + data: { + axis: "axis0", + } + }, + { + component: "wizardCalStatus", + id: 1, + data: { + success: "Calibration succeeded!", + failure: "Calibration failed", + tooltip: "Double check your motor connections. If the connections are good, it is \ + possible that your motor has a higher resistance or lower inductance than ODrive expects." + } + } + ] + }, + Encoder_0: { + title: "Which encoder are you using for Axis 0?", + link: "Encoder 0", + component: "wizardPage", + next: "Control_0", + back: "Motor_0", + nextTooltip: "ODrive needs to know the relation between the encoder position and motor position in order to function. \ + Click the Calibrate Encoder button to start the measurement process. The motor will slowly rotate back \ + and forth during calibration.", + choiceMade: false, + choices: [ + { + component: "wizardChoice", + data: { + imageURL: require("../images/amt102-v_300x300.png"), + configStub: { + axis0: { + encoder: { + config: { + cpr: 8192, + use_index: true, + mode: odriveEnums.ENCODER_MODE_INCREMENTAL, // ENCODER_MODE_INCREMENTAL + } + } + } + }, + }, + title: "CUI AMT102V", + requirements: [], + hooks: [], + tooltip: "Incremental 8192cpr encoder from the ODrive shop", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/hall_effect_300x300.png"), + configStub: { + axis0: { + encoder: { + config: { + use_index: false, + mode: odriveEnums.ENCODER_MODE_HALL, + } + } + } + }, + }, + title: "Hall Effect", + requirements: [], + hooks: [ + // hook takes a config object (normally this.wizardConfig in Wizard.vue), creates and returns a copy + (configObj) => { + let newConfig = configObj; + newConfig.axis0.encoder.config.cpr = 6 * newConfig.axis0.motor.config.pole_pairs; + return newConfig; + }, + ], + tooltip: "If your motor is 'sensored' and you don't have another encoder, select this option", + altTooltip: null, + }, + { + component: "wizardEncoderIncremental", + data: { + axis: "axis0", + }, + title: "Incremental Without Index", + requirements: [], + hooks: [], + tooltip: "Generic incremental encoder without index. Set cpr to 4 * PPR (pulses per revolution).", + altTooltip: null, + }, + { + component: "wizardEncoderIncrementalIndex", + data: { + axis: "axis0", + }, + title: "Incremental With Index", + requirements: [], + hooks: [], + tooltip: "Generic incremental encoder with index. Set cpr to 4 * PPR (pulses per revolution).", + altTooltip: null, + }, + ], + pageComponents: [ + { + component: "wizardEncoderCal", + id: 0, + data: { + axis: "axis0", + } + }, + { + component: "wizardCalStatus", + id: 1, + data: { + success: "Calibration succeeded!", + failure: "Calibration failed", + tooltip: "Double check your encoder connections. If the connections are good, you \ + have a wrong setting for motor pole pairs or encoder cpr." + } + } + ] + }, + Control_0: { + title: "Control mode for Axis 0", + link: "Control Modes 0", + component: "wizardPage", + next: "Misc_0", + back: "Encoder_0", + nextTooltip: "Make a choice!", + choiceMade: false, + choices: [ + { + component: "wizardChoice", + data: { + imageURL: require("../images/temp.png"), + configStub: { + axis0: { + controller: { + config: { + control_mode: odriveEnums.CONTROL_MODE_POSITION_CONTROL, + }, + }, + }, + }, + }, + title: "Position Control", + requirements: [], + hooks: [], + tooltip: "Use this mode to control the position of the motor", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/temp.png"), + configStub: { + axis0: { + controller: { + config: { + control_mode: odriveEnums.CONTROL_MODE_VELOCITY_CONTROL, + }, + }, + }, + }, + }, + title: "Velocity Control", + requirements: [], + hooks: [], + tooltip: "Use this mode to control the velocity of the motor", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/temp.png"), + configStub: { + axis0: { + controller: { + config: { + control_mode: odriveEnums.CONTROL_MODE_TORQUE_CONTROL, + }, + }, + }, + }, + }, + title: "Torque Control", + requirements: [], + hooks: [], + tooltip: "Use this mode to control the torque output of the motor", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/temp.png"), + configStub: { + axis0: { + controller: { + config: { + control_mode: odriveEnums.CONTROL_MODE_VOLTAGE_CONTROL, + }, + }, + }, + }, + }, + title: "Voltage Control", + requirements: [], + hooks: [], + tooltip: "This mode is used for gimbal motors", + altTooltip: null, + }, + ], + customComponents: [], + pageComponents: [], + }, + /* + Input_0: { + title: "Input mode selection for Axis 0", + link: "Input Modes 0", + component: "wizardPage", + next: "Misc_0", + back: "Control_0", + nextTooltip: "Make a choice!", + choiceMade: false, + choices: [ + { + component: "wizardChoice", + data: { + imageURL: require("../images/temp.png"), + configStub: { + axis0: { + controller: { + config: { + input_mode: odriveEnums.INPUT_MODE_PASSTHROUGH, + }, + }, + }, + }, + }, + title: "Input Passthrough", + requirements: [], + hooks: [], + tooltip: "This is the default input mode. Input commands are passed to the controller without modification.", + altTooltip: null, + }, + { + component: "wizardInputFiltered", + data: { + axis: "axis0", + }, + title: "Position Input Filtering", + requirements: [ + (configObj) => { + return configObj.axis0.controller.config.control_mode == odriveEnums.CONTROL_MODE_POSITION_CONTROL; + }, + ], + hooks: [], + tooltip: "Filtered position mode. This provides smoother motion than the passthrough mode. \ + Input position commands are sent through a 2nd order filter. A higher bandwidth will cause quicker position changes.", + altTooltip: "Control mode must be Position Control for this input mode", + }, + { + component: "wizardInputVelRamp", + data: { + axis: "axis0", + }, + title: "Velocity Input Ramping", + requirements: [ + (configObj) => { + return configObj.axis0.controller.config.control_mode == odriveEnums.CONTROL_MODE_VELOCITY_CONTROL; + }, + ], + hooks: [], + tooltip: "For velocity control mode, you can choose to have the input velocities ramped between values. vel_ramp_rate is the \ + acceleration between velocities.", + altTooltip: "Control mode must be Velocity Control for this input mode", + }, + { + component: "wizardInputTrajectory", + data: { + axis: "axis0", + }, + title: "Trajectory Planning", + requirements: [ + (configObj) => { + return configObj.axis0.controller.config.control_mode == odriveEnums.CONTROL_MODE_POSITION_CONTROL; + }, + ], + hooks: [], + tooltip: "This mode lets you smoothly accelerate, coast, and decelerate from one position to another. vel_limit is your coasting speed, \ + accel_limit is the maximum acceleration in turns/s^2, decel_limit is the maximum decelaration in turns/s^2 and inertia is an \ + optional value to correlate acceleration with motor torque.", + altTooltip: "Control mode must be Position Control for this input mode", + } + ], + pageComponents: [], + }, + */ + Misc_0: { + title: "Finishing touches for Axis 0", + link: "Misc 0", + component: "wizardPage", + next: "Motor_1", + back: "Control_0", + nextTooltip: "Make a choice!", + choiceMade: false, + choices: [ + { + component: "wizardMisc", + data: { + axis: "axis0", + }, + title: "Miscellaneous Parameters", + requirements: [], + hooks: [], + tooltip: null, + altTooltip: null, + }, + ], + pageComponents: [], + }, + Motor_1: { + title: "Which motor are you using for Axis 1?", + link: "Motor 1", + component: "wizardPage", + next: "Encoder_1", + back: "Misc_0", + nextTooltip: "ODrive needs to know the inductance and resistance of your motor in order to control it.\ + Click the Calibrate Motor button to start the measurement process. The motor will beep\ + during calibration.", + choiceMade: false, + choices: [ + { + component: "wizardChoice", + data: { + imageURL: require("../images/D5065_300x300.png"), + configStub: { + axis1: { + motor: { + config: { + pole_pairs: 7, + torque_constant: 8.27 / 270, + // R and L come from "Calibrate Motor" button on page + //phase_resistance: 0.039, // from test rig + //phase_inductance: 1.57e-5, + motor_type: odriveEnums.MOTOR_TYPE_HIGH_CURRENT, // MOTOR_TYPE_HIGH_CURRENT + }, + }, + }, + }, + }, + title: "ODrive D5065", + requirements: [], + hooks: [], + tooltip: "D5065 motor from the ODrive shop", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/D6374_300x300.png"), + configStub: { + axis1: { + motor: { + config: { + pole_pairs: 7, + torque_constant: 8.27 / 150, + // R and L come from "Calibrate Motor" button on page + //phase_resistance: 0.041, // measurement from PJ + //phase_inductance: 2.23e-5, + motor_type: odriveEnums.MOTOR_TYPE_HIGH_CURRENT, // MOTOR_TYPE_HIGH_CURRENT, + }, + }, + }, + }, + }, + title: "ODrive D6374", + requirements: [], + hooks: [], + tooltip: "D6374 motor from the ODrive shop", + altTooltip: null, + }, + { + component: "wizardMotor", + data: { + axis: "axis1", + }, + title: "Other Motor", + requirements: [], + hooks: [], + tooltip: "Bring your own motor!", + altTooltip: null, + }, + ], + pageComponents: [ + { + component: "wizardMotorCal", + id: 0, + data: { + axis: "axis1", + } + }, + { + component: "wizardCalStatus", + id: 1, + data: { + success: "Calibration succeeded!", + failure: "Calibration failed", + tooltip: "Double check your motor connections. If the connections are good, it is \ + possible that your motor has a higher resistance or lower inductance than ODrive expects." + } + } + ] + }, + Encoder_1: { + title: "Which encoder are you using for Axis 1?", + link: "Encoder 1", + component: "wizardPage", + next: "Control_1", + back: "Motor_1", + nextTooltip: "ODrive needs to know the relation between the encoder position and motor position in order to function. \ + Click the Calibrate Encoder button to start the measurement process. The motor will slowly rotate back \ + and forth during calibration.", + choiceMade: false, + choices: [ + { + component: "wizardChoice", + data: { + imageURL: require("../images/amt102-v_300x300.png"), + configStub: { + axis1: { + encoder: { + config: { + cpr: 8192, + use_index: true, + mode: odriveEnums.ENCODER_MODE_INCREMENTAL, // ENCODER_MODE_INCREMENTAL + } + } + } + }, + }, + title: "CUI AMT102V", + requirements: [], + hooks: [], + tooltip: "Incremental 8192cpr encoder from the ODrive shop", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/hall_effect_300x300.png"), + configStub: { + axis1: { + encoder: { + config: { + use_index: false, + mode: odriveEnums.ENCODER_MODE_HALL, + } + } + } + }, + }, + title: "Hall Effect", + requirements: [], + hooks: [ + // hook takes a config object (normally this.wizardConfig in Wizard.vue), creates and returns a copy + (configObj) => { + let newConfig = configObj; + newConfig.axis1.encoder.config.cpr = 6 * newConfig.axis1.motor.config.pole_pairs; + return newConfig; + }, + ], + tooltip: "If your motor is 'sensored' and you don't have another encoder, select this option", + altTooltip: null, + }, + { + component: "wizardEncoderIncremental", + data: { + axis: "axis1", + }, + title: "Incremental Without Index", + requirements: [], + hooks: [], + tooltip: "Generic incremental encoder without index. Set cpr to 4 * PPR (pulses per revolution).", + altTooltip: null, + }, + { + component: "wizardEncoderIncrementalIndex", + data: { + axis: "axis1", + }, + title: "Incremental With Index", + requirements: [], + hooks: [], + tooltip: "Generic incremental encoder with index. Set cpr to 4 * PPR (pulses per revolution).", + altTooltip: null, + }, + ], + pageComponents: [ + { + component: "wizardEncoderCal", + id: 0, + data: { + axis: "axis1", + } + }, + { + component: "wizardCalStatus", + id: 1, + data: { + success: "Calibration succeeded!", + failure: "Calibration failed", + tooltip: "Double check your encoder connections. If the connections are good, you either \ + have a wrong setting for motor pole pairs or encoder cpr." + } + } + ] + }, + Control_1: { + title: "Control mode for Axis 1", + link: "Control Modes 1", + component: "wizardPage", + next: "Misc_1", + back: "Encoder_1", + nextTooltip: "Make a choice!", + choiceMade: false, + choices: [ + { + component: "wizardChoice", + data: { + imageURL: require("../images/temp.png"), + configStub: { + axis1: { + controller: { + config: { + control_mode: odriveEnums.CONTROL_MODE_POSITION_CONTROL, + }, + }, + }, + }, + }, + title: "Position Control", + requirements: [], + hooks: [], + tooltip: "Use this mode to control the position of the motor", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/temp.png"), + configStub: { + axis1: { + controller: { + config: { + control_mode: odriveEnums.CONTROL_MODE_VELOCITY_CONTROL, + }, + }, + }, + }, + }, + title: "Velocity Control", + requirements: [], + hooks: [], + tooltip: "Use this mode to control the velocity of the motor", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/temp.png"), + configStub: { + axis1: { + controller: { + config: { + control_mode: odriveEnums.CONTROL_MODE_TORQUE_CONTROL, + }, + }, + }, + }, + }, + title: "Torque Control", + requirements: [], + hooks: [], + tooltip: "Use this mode to control the torque output of the motor", + altTooltip: null, + }, + { + component: "wizardChoice", + data: { + imageURL: require("../images/temp.png"), + configStub: { + axis1: { + controller: { + config: { + control_mode: odriveEnums.CONTROL_MODE_VOLTAGE_CONTROL, + }, + }, + }, + }, + }, + title: "Voltage Control", + requirements: [], + hooks: [], + tooltip: "This mode is used for gimbal motors", + altTooltip: null, + }, + ], + customComponents: [], + pageComponents: [], + }, + /* + Input_1: { + title: "Input mode selection for Axis 1", + link: "Input Modes 1", + component: "wizardPage", + next: "Misc_1", + back: "Control_1", + nextTooltip: "Make a choice!", + choiceMade: false, + choices: [ + { + component: "wizardChoice", + data: { + imageURL: require("../images/temp.png"), + configStub: { + axis1: { + controller: { + config: { + input_mode: odriveEnums.INPUT_MODE_PASSTHROUGH, + }, + }, + }, + }, + }, + title: "Input Passthrough", + requirements: [], + hooks: [], + tooltip: "This is the default input mode. Input commands are passed to the controller without modification.", + altTooltip: null, + }, + { + component: "wizardInputFiltered", + data: { + axis: "axis1", + }, + title: "Position Input Filtering", + requirements: [ + (configObj) => { + return configObj.axis1.controller.config.control_mode == odriveEnums.CONTROL_MODE_POSITION_CONTROL; + }, + ], + hooks: [], + tooltip: "Filtered position mode. This provides smoother motion than the passthrough mode. \ + Input position commands are sent through a 2nd order filter. A higher bandwidth will cause quicker position changes.", + altTooltip: "Control mode must be Position Control for this input mode", + }, + { + component: "wizardInputVelRamp", + data: { + axis: "axis1", + }, + title: "Velocity Input Ramping", + requirements: [ + (configObj) => { + return configObj.axis1.controller.config.control_mode == odriveEnums.CONTROL_MODE_VELOCITY_CONTROL; + }, + ], + hooks: [], + tooltip: "For velocity control mode, you can choose to have the input velocities ramped between values. vel_ramp_rate is the \ + acceleration between velocities.", + altTooltip: "Control mode must be Velocity Control for this input mode", + }, + { + component: "wizardInputTrajectory", + data: { + axis: "axis1", + }, + title: "Trajectory Planning", + requirements: [ + (configObj) => { + return configObj.axis1.controller.config.control_mode == odriveEnums.CONTROL_MODE_POSITION_CONTROL; + }, + ], + hooks: [], + tooltip: "This mode lets you smoothly accelerate, coast, and decelerate from one position to another. vel_limit is your coasting speed, \ + accel_limit is the maximum acceleration in turns/s^2, decel_limit is the maximum decelaration in turns/s^2 and inertia is an \ + optional value to correlate acceleration with motor torque.", + altTooltip: "Control most must be Position Control for this input mode", + } + ], + pageComponents: [], + }, + */ + Misc_1: { + title: "Finishing touches for Axis 1", + link: "Misc 1", + component: "wizardPage", + next: "End", + back: "Control_1", + nextTooltip: "Make a choice!", + choiceMade: false, + choices: [ + { + component: "wizardMisc", + data: { + axis: "axis1", + }, + title: "Miscellaneous Parameters", + requirements: [], + hooks: [], + tooltip: null, + altTooltip: null, + }, + ], + pageComponents: [], + }, + End: { + title: "Review choices", + link: "Review and Apply", + component: "wizardPage", + next: "End", + back: "Misc_1", + choiceMade: false, + choices: [ + { + component: "wizardEnd", + data: {}, + title: null, + requirements: [], + hooks: [], + tooltip: "Old config values are on the left, new config values are on the right in green", + altTooltip: null, + } + ], + pageComponents: [], + } +} + +export let enumVars = { + // for wizardEnd.vue + motor_type: { + 0: "MOTOR_TYPE_HIGH_CURRENT", + 2: "MOTOR_TYPE_GIMBAL", + 3: "MOTOR_TYPE_ACIM", + }, + mode: { + 0: "ENCODER_MODE_INCREMENTAL", + 1: "ENCODER_MODE_HALL", + 2: "ENCODER_MODE_SINCOS", + 256: "ENCODER_MODE_SPI_ABS_CUI", + 257: "ENCODER_MODE_SPI_ABS_AMS", + 258: "ENCODER_MODE_SPI_ABS_AEAT", + 259: "ENCODER_MODE_SPI_ABS_RLS", + }, + input_mode: { + 0: "INPUT_MODE_INACTIVE", + 1: "INPUT_MODE_PASSTHROUGH", + 2: "INPUT_MODE_VEL_RAMP", + 3: "INPUT_MODE_POS_FILTER", + 4: "INPUT_MODE_MIX_CHANNELS", + 5: "INPUT_MODE_TRAP_TRAJ", + 6: "INPUT_MODE_TORQUE_RAMP", + 7: "INPUT_MODE_MIRROR", + }, + control_mode: { + 0: "CONTROL_MODE_VOLTAGE_CONTROL", + 1: "CONTROL_MODE_TORQUE_CONTROL", + 2: "CONTROL_MODE_VELOCITY_CONTROL", + 3: "CONTROL_MODE_POSITION_CONTROL", + }, +} \ No newline at end of file diff --git a/GUI/src/background.js b/GUI/src/background.js new file mode 100644 index 00000000..382155fe --- /dev/null +++ b/GUI/src/background.js @@ -0,0 +1,186 @@ +'use strict' + +import { app, protocol, BrowserWindow, ipcMain } from 'electron' +import { createProtocol } from 'vue-cli-plugin-electron-builder/lib' +import installExtension, { VUEJS_DEVTOOLS } from 'electron-devtools-installer' +const isDevelopment = process.env.NODE_ENV !== 'production' + +const { spawnSync, execSync } = require('child_process'); +const spawn = require('child_process').spawn; +const path = require('path'); + +// Keep a global reference of the window object, if you don't, the window will +// be closed automatically when the JavaScript object is garbage collected. +let win; + +// var for python server +let server; + +// Scheme must be registered before the app is ready +protocol.registerSchemesAsPrivileged([ + { scheme: 'app', privileges: { secure: true, standard: true } } +]) + +// function to get determine correct command for python +function getPyCmd() { + // call both 'python' and 'python3' to figure out the correct command + let spawnRet = spawnSync('python', ['-V']); + let success = spawnRet.status != null; + let outputString; + let cmd = ''; + if (success) { + if (spawnRet.stdout.toString().length > 1) { + outputString = spawnRet.stdout.toString(); + } + else { + outputString = spawnRet.stderr.toString(); + } + if (outputString.includes("Python 3")) { + cmd = 'python'; + } + } + if (cmd == '') { + spawnRet = spawnSync('python3', ['-V']); + success = spawnRet.status != null; + if (success) { + if (spawnRet.stdout.toString().length > 1) { + outputString = spawnRet.stdout.toString(); + } + else { + outputString = spawnRet.stderr.toString(); + } + if (outputString.includes("Python 3")) { + cmd = 'python3'; + } + } + } + return cmd; +} + +function createWindow() { + + // Create the browser window. + win = new BrowserWindow({ + width: 800, + height: 600, + webPreferences: { + // Use pluginOptions.nodeIntegration, leave this alone + // See nklayman.github.io/vue-cli-plugin-electron-builder/guide/security.html#node-integration for more info + nodeIntegration: process.env.ELECTRON_NODE_INTEGRATION, + preload: path.join(__dirname, 'preload.js') + }, + icon: path.join(__static, 'icon.png') + }) + win.maximize(); + win.setMenu(null); + + if (process.env.WEBPACK_DEV_SERVER_URL) { + // Load the url of the dev server if in development mode + win.loadURL(process.env.WEBPACK_DEV_SERVER_URL) + if (!process.env.IS_TEST) win.webContents.openDevTools() + } else { + createProtocol('app') + // Load the index.html when not in development + win.loadURL('app://./index.html') + } + + win.on('closed', () => { + win = null + }) +} + +// Quit when all windows are closed. +app.on('window-all-closed', () => { + // kill flask server + if (process.platform !== 'win32') { + execSync('kill $(ps aux | grep \'[o]drive_server.py\' | awk \'{print $2}\')'); + console.log("killed flask server"); + } + // On macOS it is common for applications and their menu bar + // to stay active until the user quits explicitly with Cmd + Q + if (process.platform !== 'darwin') { + app.quit() + } +}) + +app.on('activate', () => { + // On macOS it's common to re-create a window in the app when the + // dock icon is clicked and there are no other windows open. + if (win === null) { + createWindow() + } +}) + +// This method will be called when Electron has finished +// initialization and is ready to create browser windows. +// Some APIs can only be used after this event occurs. +app.on('ready', async () => { + if (isDevelopment && !process.env.IS_TEST) { + // Install Vue Devtools + try { + await installExtension(VUEJS_DEVTOOLS) + } catch (e) { + console.error('Vue Devtools failed to install:', e.toString()) + } + } + createWindow() + // Figure out correct path and arguments to launch python server + let scriptFilename = path.join(app.getAppPath(), '../server', 'odrive_server.py'); + const args = process.argv; + let effectiveCommand = []; + effectiveCommand.push(scriptFilename); + if (app.isPackaged === true) { + for (const arg of args.slice(1)) { + effectiveCommand.push(arg); + } + } + else { + for (const arg of args.slice(2)) { + effectiveCommand.push(arg); + } + } + // launch python server on event from renderer process (gui) and pipe stdout/stderr to it + ipcMain.on('start-server', () => { + server = spawn(getPyCmd(), effectiveCommand); + server.stdout.on('data', function (data) { + try { + console.log(data.toString('utf8')); + } catch (error) { + console.log(error); + } + try { + win.webContents.send('server-stdout', String(data.toString('utf8'))); + } catch (error) { + console.log(error); + } + }); + server.stderr.on('data', function (data) { + console.log(data.toString('utf8')); + try { + win.webContents.send('server-stderr', String(data.toString('utf8'))); + } catch (error) { + console.log(error); + } + }); + }) + ipcMain.on('kill-server', () => { + server.kill('SIGINT'); + }) +}) + +// Exit cleanly on request from parent process in development mode. +if (isDevelopment) { + if (process.platform === 'win32') { + process.on('message', (data) => { + if (data === 'graceful-exit') { + server.kill('SIGINT'); + app.quit() + } + }) + } else { + process.on('SIGTERM', () => { + server.kill('SIGINT'); + app.quit() + }) + } +} diff --git a/GUI/src/comms/socketio.js b/GUI/src/comms/socketio.js new file mode 100644 index 00000000..4bd9ff95 --- /dev/null +++ b/GUI/src/comms/socketio.js @@ -0,0 +1,33 @@ +import io from 'socket.io-client'; + +let socket = undefined; +let url = 'https://0.0.0.0:8080'; + +function initSocket(url) { + socket = io(url); +} + +export function setUrl(path) { + if (socket) { + socket.close(); + socket = undefined; + } + url = path; + initSocket(url); +} + +export function closeSocket() { + socket.close(); + socket = undefined; +} + +export function addEventListener(event) { + if (!socket) { + initSocket(url); + } + socket.on(event.type, event.callback); +} + +export function sendEvent(event) { + socket.emit(event.type, event.data); +} \ No newline at end of file diff --git a/GUI/src/components/Axis.vue b/GUI/src/components/Axis.vue new file mode 100644 index 00000000..8d0806ba --- /dev/null +++ b/GUI/src/components/Axis.vue @@ -0,0 +1,284 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/actions/Action.vue b/GUI/src/components/actions/Action.vue new file mode 100644 index 00000000..d78948b6 --- /dev/null +++ b/GUI/src/components/actions/Action.vue @@ -0,0 +1,97 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/actions/ActionEnum.vue b/GUI/src/components/actions/ActionEnum.vue new file mode 100644 index 00000000..96662bdb --- /dev/null +++ b/GUI/src/components/actions/ActionEnum.vue @@ -0,0 +1,95 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/clearErrors.vue b/GUI/src/components/clearErrors.vue new file mode 100644 index 00000000..35bd01ee --- /dev/null +++ b/GUI/src/components/clearErrors.vue @@ -0,0 +1,38 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/controls/CtrlBoolean.vue b/GUI/src/components/controls/CtrlBoolean.vue new file mode 100644 index 00000000..455d379c --- /dev/null +++ b/GUI/src/components/controls/CtrlBoolean.vue @@ -0,0 +1,90 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/controls/CtrlEnum.vue b/GUI/src/components/controls/CtrlEnum.vue new file mode 100644 index 00000000..98decc9b --- /dev/null +++ b/GUI/src/components/controls/CtrlEnum.vue @@ -0,0 +1,107 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/controls/CtrlFunction.vue b/GUI/src/components/controls/CtrlFunction.vue new file mode 100644 index 00000000..485b908f --- /dev/null +++ b/GUI/src/components/controls/CtrlFunction.vue @@ -0,0 +1,57 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/controls/CtrlNumeric.vue b/GUI/src/components/controls/CtrlNumeric.vue new file mode 100644 index 00000000..2e3af0a6 --- /dev/null +++ b/GUI/src/components/controls/CtrlNumeric.vue @@ -0,0 +1,107 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/controls/CtrlSlider.vue b/GUI/src/components/controls/CtrlSlider.vue new file mode 100644 index 00000000..5d9e8520 --- /dev/null +++ b/GUI/src/components/controls/CtrlSlider.vue @@ -0,0 +1,124 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/plots/LineChart.js b/GUI/src/components/plots/LineChart.js new file mode 100644 index 00000000..96c67459 --- /dev/null +++ b/GUI/src/components/plots/LineChart.js @@ -0,0 +1,14 @@ +import { Line, mixins } from 'vue-chartjs'; +import 'chartjs-plugin-streaming'; +const { reactiveProp } = mixins; + +export default { + extends: Line, + mixins: [reactiveProp], + props: ['options'], + mounted () { + // this.chartData is created in the mixin. + // If you want to pass options please create a local options object + this.renderChart(this.chartData, this.options) + } +} \ No newline at end of file diff --git a/GUI/src/components/plots/Plot.vue b/GUI/src/components/plots/Plot.vue new file mode 100644 index 00000000..d3e03dd4 --- /dev/null +++ b/GUI/src/components/plots/Plot.vue @@ -0,0 +1,174 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/choices/wizardBrake.vue b/GUI/src/components/wizard/choices/wizardBrake.vue new file mode 100644 index 00000000..42a69e73 --- /dev/null +++ b/GUI/src/components/wizard/choices/wizardBrake.vue @@ -0,0 +1,91 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/choices/wizardChoice.vue b/GUI/src/components/wizard/choices/wizardChoice.vue new file mode 100644 index 00000000..b988b8bc --- /dev/null +++ b/GUI/src/components/wizard/choices/wizardChoice.vue @@ -0,0 +1,56 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/choices/wizardEncoderIncremental.vue b/GUI/src/components/wizard/choices/wizardEncoderIncremental.vue new file mode 100644 index 00000000..2c296abd --- /dev/null +++ b/GUI/src/components/wizard/choices/wizardEncoderIncremental.vue @@ -0,0 +1,100 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/choices/wizardEncoderIncrementalIndex.vue b/GUI/src/components/wizard/choices/wizardEncoderIncrementalIndex.vue new file mode 100644 index 00000000..85357d41 --- /dev/null +++ b/GUI/src/components/wizard/choices/wizardEncoderIncrementalIndex.vue @@ -0,0 +1,101 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/choices/wizardEnd.vue b/GUI/src/components/wizard/choices/wizardEnd.vue new file mode 100644 index 00000000..e26a9756 --- /dev/null +++ b/GUI/src/components/wizard/choices/wizardEnd.vue @@ -0,0 +1,127 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/choices/wizardInputFiltered.vue b/GUI/src/components/wizard/choices/wizardInputFiltered.vue new file mode 100644 index 00000000..6b56f89d --- /dev/null +++ b/GUI/src/components/wizard/choices/wizardInputFiltered.vue @@ -0,0 +1,117 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/choices/wizardInputTrajectory.vue b/GUI/src/components/wizard/choices/wizardInputTrajectory.vue new file mode 100644 index 00000000..7be09d86 --- /dev/null +++ b/GUI/src/components/wizard/choices/wizardInputTrajectory.vue @@ -0,0 +1,160 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/choices/wizardInputVelRamp.vue b/GUI/src/components/wizard/choices/wizardInputVelRamp.vue new file mode 100644 index 00000000..c1651297 --- /dev/null +++ b/GUI/src/components/wizard/choices/wizardInputVelRamp.vue @@ -0,0 +1,117 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/choices/wizardMisc.vue b/GUI/src/components/wizard/choices/wizardMisc.vue new file mode 100644 index 00000000..f5aaa484 --- /dev/null +++ b/GUI/src/components/wizard/choices/wizardMisc.vue @@ -0,0 +1,166 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/choices/wizardMotor.vue b/GUI/src/components/wizard/choices/wizardMotor.vue new file mode 100644 index 00000000..6fbc71bc --- /dev/null +++ b/GUI/src/components/wizard/choices/wizardMotor.vue @@ -0,0 +1,198 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/page_components/wizardCalStatus.vue b/GUI/src/components/wizard/page_components/wizardCalStatus.vue new file mode 100644 index 00000000..bf9e20b0 --- /dev/null +++ b/GUI/src/components/wizard/page_components/wizardCalStatus.vue @@ -0,0 +1,38 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/page_components/wizardEncoderCal.vue b/GUI/src/components/wizard/page_components/wizardEncoderCal.vue new file mode 100644 index 00000000..653fe5aa --- /dev/null +++ b/GUI/src/components/wizard/page_components/wizardEncoderCal.vue @@ -0,0 +1,35 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/page_components/wizardMotorCal.vue b/GUI/src/components/wizard/page_components/wizardMotorCal.vue new file mode 100644 index 00000000..43961c4d --- /dev/null +++ b/GUI/src/components/wizard/page_components/wizardMotorCal.vue @@ -0,0 +1,36 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/components/wizard/wizardPage.vue b/GUI/src/components/wizard/wizardPage.vue new file mode 100644 index 00000000..de976211 --- /dev/null +++ b/GUI/src/components/wizard/wizardPage.vue @@ -0,0 +1,190 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/lib/odrive_utils.js b/GUI/src/lib/odrive_utils.js new file mode 100644 index 00000000..69b9fa2f --- /dev/null +++ b/GUI/src/lib/odrive_utils.js @@ -0,0 +1,244 @@ +import store from "../store.js"; +import * as socketio from "../comms/socketio.js"; +import {wait, waitFor} from "./utils.js"; +import odriveEnums from "../assets/odriveEnums.json" + +// helper functions and utilities for getting ODrive values + +// given a path like "odrive0.axis0.config.blah", return the value +export function getParam(path) { + let keys = path.split('.'); + if (store.state.ODrivesConnected[keys[0]]) { + let odriveObj = store.state.odrives; + for (const key of keys) { + odriveObj = odriveObj[key]; + } + return odriveObj; + } + else { + console.log("getParam for " + path + " is for disconnected ODrive"); + return undefined; + } +} + +// wrapper for val field +export function getVal(path) { + return getParam(path + ".val"); +} + +// wrapper for readonly field +export function getReadonly(path) { + return getParam(path + '.readonly'); +} + +export function fetchParam(path) { + if (store.state.serverConnected){ + socketio.sendEvent({ + type: "getProperty", + data: {path: path}, + }); + } +} + +export function parseMath(inString) { + // given an input string that is valid arithmetic, use eval() to evaluate it + let allowedChars = "0123456789eE/*-+.()"; + let send = true; + for (const c of inString) { + if (!allowedChars.includes(c)) { + send = false; + } + } + if (send) { + return eval(inString); + } + else { + return false; + } +} + +export function putVal(path, value) { + console.log("path: " + path + ", val: " + value + ", type: " + typeof value); + if (store.state.ODrivesConnected[path.split('.')[0]]) { + socketio.sendEvent({ + type: "setProperty", + data: {path: path, val: value, type: typeof value} + }); + } + else { + console.log("requesting " + path + " from disconnected odrive") + } +} + +// path is path to function, args is list of parameters +export function callFcn(path, args = []) { + console.log("calling function: " + path); + socketio.sendEvent({ + type: "callFunction", + data: {path: path, args: args} + }); +} + +export function odriveMinorVersion(odrive) { + // given an odrive object, return the minor version + return odrive.fw_version_minor.val; +} + +export function getUnit(odrive, path) { + let unit = undefined; + for ( const key of Object.keys(odriveUnits[odriveMinorVersion(odrive)]) ) { + if (path.includes(key)) { + unit = odriveUnits[odriveMinorVersion(odrive)][key]; + } + } + return unit; +} + +export function clearErrors(odrive, axis) { + // odrive is odrive path like 'odrive0' + // axis is 'axis0', etc + let paths = []; + [".error", ".motor.error", ".encoder.error", ".controller.error"].forEach((path) => { + paths.push(odrive + axis + path); + }); + paths.forEach((path) => { + putVal(path, 0); + }) +} + +export async function motorCalibration(odrive, axis) { + // set up our continuous fetch + let state; + let motorError; + + let updateVals = () => { + fetchParam(odrive + axis + ".current_state"); + fetchParam(odrive + axis + ".motor.config.phase_resistance"); + fetchParam(odrive + axis + ".motor.config.phase_inductance"); + fetchParam(odrive + axis + ".motor.is_calibrated"); + fetchParam(odrive + axis + ".motor.error") + + state = getVal(odrive + axis + ".current_state"); + motorError = getVal(odrive + axis + ".motor.error"); + if (run) { + setTimeout(updateVals, 100); + } + } + + // set up our state watch function + let end = () => { + // return {done: boolean, data } + if (state != odriveEnums.AXIS_STATE_MOTOR_CALIBRATION) { + return {done: true, data: motorError} + } + else { + return {done: false} + } + } + + // start getting live updates + let run = true; + updateVals(); + + // send motor calibration command to correct odrive and axis + putVal(odrive + axis + ".requested_state", odriveEnums.AXIS_STATE_MOTOR_CALIBRATION); + + // give it some time to start + await wait(500); + + // only two things can happen now, either we successfully calibrate or we error out for some reason + const result = await waitFor(end); + + // stop our parameter updates + run = false; + + return result; +} + +export async function encoderCalibration(odrive,axis) { + // set up our continuous fetch + let state; + let encoderError; + + let updateVals = () => { + fetchParam(odrive + axis + ".current_state"); + fetchParam(odrive + axis + ".encoder.is_ready"); + fetchParam(odrive + axis + ".encoder.error") + + state = getVal(odrive + axis + ".current_state"); + encoderError = getVal(odrive + axis + ".encoder.error"); + if (run) { + setTimeout(updateVals, 100); + } + } + + // set up our state watch function + let end = () => { + // return {done: boolean, data } + if (state != odriveEnums.AXIS_STATE_ENCODER_OFFSET_CALIBRATION) { + return {done: true, data: encoderError} + } + else { + return {done: false} + } + } + + // start getting live updates + let run = true; + updateVals(); + + // start encoder offset cal + putVal(odrive + axis + ".requested_state", odriveEnums.AXIS_STATE_ENCODER_OFFSET_CALIBRATION); + + // give it some time to start + await wait(500); + + // only two things can happen now, either we successfully calibrate or we error out for some reason + const result = await waitFor(end); + + // stop our parameter updates + run = false; + + return result; +} + +// standins for wizard and gui unit displays +// TODO - convert between odrive api units and user-defined units like degrees and rpm +export let odriveUnits = { + "4": { + "config.brake_resistance": "Ohms", + "controller.pos_setpoint": "counts", + "controller.vel_setpoint": "counts/s", + "controller.current_setpoint": "Amps", + "controller.config.vel_limit": "counts/s", + "controller.config.vel_ramp_rate": "counts/s^2", + "encoder.pos_estimate": "counts", + "encoder.vel_estimate": "counts/s", + "trap_traj.config.vel_limit": "counts/s", + "trap_traj.config.accel_limit": "counts/s^2", + "trap_traj.config.decel_limit": "counts/s^2", + "motor.config.phase_resistance": "Ohms", + "motor.config.phase_inductance": "Henries", + "motor.config.current_lim": "Amps", + "vbus_voltage": "Volts", + }, + "5": { + "config.brake_resistance": "Ohms", + "controller.input_pos": "turns", + "controller.input_vel": "turns/s", + "controller.torque_setpoint": "Amps", + "controller.input_torque": "N/m", + "controller.config.vel_limit": "turns/s", + "controller.config.vel_ramp_rate": "turns/s^2", + "encoder.pos_estimate": "turns", + "encoder.vel_estimate": "turns/s", + "trap_traj.config.vel_limit": "turns/s", + "trap_traj.config.accel_limit": "turns/s^2", + "trap_traj.config.decel_limit": "turns/s^2", + "motor.config.phase_resistance": "Ohms", + "motor.config.phase_inductance": "Henries", + "motor.config.current_lim": "Amps", + "motor.config.torque_lim": "N/m", + "vbus_voltage": "Volts", + } +} \ No newline at end of file diff --git a/GUI/src/lib/utils.js b/GUI/src/lib/utils.js new file mode 100644 index 00000000..b35694e2 --- /dev/null +++ b/GUI/src/lib/utils.js @@ -0,0 +1,58 @@ +// general utilities for use in the GUI + +// given an object and a test function, return a new object where only +// the values where test(value) == true are kept, as well as the parents +// of those objects. Nested non-matching children are set to {} +// ex: obj = {parent: {child1: {child2: "hello"}, child1a: {child2a: "world"}}}, test = ((o) => o == "hello"), +// filterBy(obj, test) -> {parent: {child1: {child2: "hello"}, child1a: {}}} + +export let filterBy = (obj, test) => { + let retobj = {}; + Object.entries(obj).forEach(([key, val]) => { + if (test(val)) { + retobj[key] = val; + } + else if (typeof val == 'object' && val != null) { + retobj[key] = filterBy(val, test); + } + }) + return retobj; +} + +// given an object and test function, delete values where test(val) == true +// modifies obj in place +export let deleteBy = (obj, test) => { + Object.keys(obj).forEach((key) => { + if (typeof obj[key] == 'object' && obj[key] != null) { + deleteBy(obj[key], test); + } + if (test(obj[key])) { + delete obj[key]; + } + }) +} + +// sets up a timeout to wait for fun() to evaluate to true; +// fun must return {done: boolean, data: } +export let waitFor = (fun) => { + return new Promise(resolve => { + let check = () => { + let res = fun(); + if (res.done) { + resolve(res.data); + } + else { + setTimeout(check,100); + } + } + check(); + }); +} + +// utility function to allow time for things to happen +// async wait +export let wait = (time) => { + return new Promise(resolve => { + setTimeout(() => resolve(), time); + }); +} \ No newline at end of file diff --git a/GUI/src/main.js b/GUI/src/main.js new file mode 100644 index 00000000..4c313025 --- /dev/null +++ b/GUI/src/main.js @@ -0,0 +1,14 @@ +import Vue from 'vue' +import App from './App.vue' +import store from './store' +import Tooltip from 'vue-directive-tooltip'; +import 'vue-directive-tooltip/dist/vueDirectiveTooltip.css'; +import 'typeface-roboto/index.css'; + +Vue.config.productionTip = false +Vue.use(Tooltip); + +new Vue({ + store, + render: h => h(App) +}).$mount('#app') diff --git a/GUI/src/preload.js b/GUI/src/preload.js new file mode 100644 index 00000000..c92da27b --- /dev/null +++ b/GUI/src/preload.js @@ -0,0 +1,2 @@ +import { ipcRenderer } from 'electron' +window.ipcRenderer = ipcRenderer \ No newline at end of file diff --git a/GUI/src/store.js b/GUI/src/store.js new file mode 100644 index 00000000..16be7562 --- /dev/null +++ b/GUI/src/store.js @@ -0,0 +1,393 @@ +import Vue from 'vue'; +import Vuex from 'vuex'; +import TuningDashOld from "./assets/dashboards/Tuning_0_4_12.json"; +import TuningDashNew from "./assets/dashboards/Tuning_0_5_1.json"; +import * as socketio from "./comms/socketio"; +import {filterBy, deleteBy } from "./lib/utils.js"; +//import { v4 as uuidv4 } from "uuid"; + + + + +Vue.use(Vuex); + +export default new Vuex.Store({ + // state is the data for this app + state: { + odrives: Object, + odriveConfigs: Object, + odriveParameters: Object, + odriveFunctions: Object, + axes: Array, + odriveServerAddress: String, + serverConnected: Boolean, + ODrivesConnected: Object, + serverOutput: [], + dashboards: [ + { + name: "Start", + component: "Start", + }, + ], + timeSampleStart: 0, + sampledProperties: [], // make this an object where the full path is a key and the value is the sampled var + propSamples: { time: [] }, // {time: [time values], ...path: [path var values]} + newData: false, + sampling: false, + currentDash: "Start", + firstConn: false, + wizardMotor: "odrive0", + }, + // mutations are functions that change the data + mutations: { + setWizardMotor(state, odrive) { + // odrive is string, "odrive0" or "odriveN" + state.wizardMotor = odrive; + }, + setDash(state, dashName) { + state.currentDash = dashName; + }, + setOdrives(state, odrives) { + state.odrives = odrives; + if (state.firstConn == false) { + // first time we're getting odrive data, add correct config page + let TuningDash; + if (state.odrives.odrive0.fw_version_minor.val == "5") { + TuningDash = TuningDashNew; + } + else if (state.odrives.odrive0.fw_version_minor.val == "4") { + TuningDash = TuningDashOld; + } + else { + TuningDash = TuningDashNew; + } + state.dashboards.push({ + name: "Wizard", + component: "Wizard", + }); + state.dashboards.push(TuningDash); + // plots will have variables associated, add them to sampled variables list + for (const plot of TuningDash.plots) { + for (const plotVar of plot.vars) { + //addsampledprop(path); + let path = plotVar.path; + if (!(path in state.sampledProperties)) { + let newPath = path.split('.'); + newPath.splice(0, 1); + state.sampledProperties.push(newPath.join('.')); + state.propSamples[newPath.join('.')] = []; + } + socketio.sendEvent({ + type: 'sampledVarNames', + data: { + paths: state.sampledProperties + } + }); + } + } + } + state.firstConn = true; + }, + setOdriveConfigs(state, payload) { + state.odriveConfigs['full'] = payload.full; + state.odriveConfigs['functions'] = payload.functions; + state.odriveConfigs['params'] = payload.params; + state.odriveConfigs['writeAble'] = payload.writeAble; + state.odriveConfigs['writeAbleNumeric'] = payload.writeAbleNumeric; + }, + setODrivesStatus(state, obj) { + // obj is {"odriveX": true/false} + for (const odrive of Object.keys(obj)){ + state.ODrivesConnected[odrive] = obj[odrive]; + console.log(state.ODrivesConnected); + } + }, + setAxes(state, axes) { + state.axes = axes; + }, + setServerAddress(state, address) { + state.odriveServerAddress = address; + }, + updateOdriveProp(state, payload) { + // need to use Vue.set!!! + // payload is {path, value} + // + const createNestedObject = (odrive, path) => { + let ref = odrive; + let keys = path.split('.'); + for (const key of keys) { + ref = ref[key]; + } + return ref; + }; + Vue.set(createNestedObject(state.odrives, payload.path), "val", payload.val); + + }, + addSampledProperty(state, path) { + if (!(path in state.sampledProperties)) { + let newPath = path.split('.'); + newPath.splice(0, 1); + state.sampledProperties.push(newPath.join('.')); + state.propSamples[newPath.join('.')] = []; + } + socketio.sendEvent({ + type: 'sampledVarNames', + data: { + paths: state.sampledProperties + } + }); + }, + removeSampledProperty(state, path) { + let newPath = path.split('.'); + newPath.splice(0, 1); + const index = state.sampledProperties.indexOf(newPath.join('.')); + if (index > -1) { + state.sampledProperties.splice(index, 1); + } + }, + updateSampledProperty(state, payload) { + // payload is object of paths and values + for (const path of Object.keys(payload)) { + state.propSamples[path].push(payload[path]); + if (state.propSamples[path].length > 250) { + state.propSamples[path].splice(0, 1); // emulate circular buffer + } + } + state.propSamples["time"].push((Date.now() - state.timeSampleStart) / 1000); + if (state.propSamples["time"].length > 250) { + state.propSamples["time"].splice(0, 1); + } + state.newData = true; + }, + logServerMessage(state, payload) { + // payload is string + state.serverOutput.push(payload); + // cut off to 1000 lines + if (state.serverOutput.length > 1000) { + state.serverOutput.splice(0,1); + } + }, + setServerStatus(state, val) { + state.serverConnected = val; + }, + removeCtrlFromDash(state, obj) { + // obj is {dash: dashID, path: control path} + for (const dash of state.dashboards) { + if (obj.dashID == dash.id) { + for (const control of dash.controls) { + if (obj.path == control.path) { + dash.controls.splice(dash.controls.indexOf(control), 1); + break; + } + } + break; + } + } + }, + removeActionFromDash(state, obj) { + // obj is {dashID: dashID, actionID: action ID} + for (const dash of state.dashboards) { + if (obj.dashID == dash.id) { + for (const action of dash.actions) { + if (obj.actionID == action.id) { + dash.actions.splice(dash.actions.indexOf(action), 1); + break; + } + } + break; + } + } + }, + removePlotFromDash(state, obj) { + // obj is {dashID: dash ID, plotID: plot ID} + for (const dash of state.dashboards) { + if (obj.dashID == dash.id) { + for (const plot of dash.plots) { + if (obj.plotID == plot.name) { + dash.plots.splice(dash.plots.indexOf(plot), 1); + break; + } + } + break; + } + } + }, + setActionVal(state, obj) { + // obj is {dashID: dash ID, actionID: action ID, val: val} + for (const dash of state.dashboards) { + if (obj.dashID == dash.id) { + for (const action of dash.actions) { + if (obj.actionID == action.id) { + action.val = obj.val; + break; + } + } + break; + } + } + }, + }, + // actions trigger mutations + actions: { + getOdrives() { + socketio.sendEvent({ + type: 'getODrives', + }); + }, + getOdriveConfigs(context) { + // transform ODrive JSON + function treeParse(odriveObj) { + let retObj = {}; + for (const key of Object.keys(odriveObj)) { + if (typeof odriveObj[key] === 'object' && odriveObj[key] !== null) { + // check if "val" is a valid key + if (Object.prototype.hasOwnProperty.call(odriveObj[key], "val")) { + // parse from string to a type that we care about + switch (odriveObj[key]["type"]) { + case "float": + retObj[key] = parseFloat(parseFloat(odriveObj[key]["val"]).toFixed(3)); + break; + case "int": + retObj[key] = parseInt(odriveObj[key]["val"]); + break; + case "bool": + retObj[key] = odriveObj[key]["val"] == 'True'; + break; + default: + retObj[key] = odriveObj[key]["val"]; + } + } + else { + retObj[key] = treeParse(odriveObj[key]); + } + } + else if (odriveObj[key] == "function") { + retObj[key] = "function"; + } + else { + retObj[key] = odriveObj[key]; + } + } + return retObj; + } + // full parameter tree + // create object containing only ODrive functions + let fullTree = treeParse(context.state.odrives); + let fcns = filterBy(fullTree, ((o) => o == "function")); + deleteBy(fcns, ((o) => o.constructor == Object && Object.keys(o).length == 0)); + + // create object containing only ODrive parameters + let params = filterBy(fullTree, ((o) => o != "function" && typeof o != "object")); + deleteBy(params, ((o) => o.constructor == Object && Object.keys(o).length == 0)) + + // create object containing only ODrive parameters with write access + let writeAble = filterBy(context.state.odrives, ((o) => o['readonly'] == false)); + deleteBy(writeAble, ((o) => o.constructor == Object && Object.keys(o).length == 0)) + + // create object of only ODrive parameters that are writeable and numeric + let writeAbleNumeric = filterBy(context.state.odrives, ((o) => o['readonly'] == false && ['float', 'int', 'bool'].includes(o['type']))); + deleteBy(writeAbleNumeric, ((o) => o.constructor == Object && Object.keys(o).length == 0)) + + context.commit('setOdriveConfigs', {full: fullTree, + functions: fcns, + params: params, + writeAble: treeParse(writeAble), + writeAbleNumeric: treeParse(writeAbleNumeric)}); + }, + getAxes(context) { + let axes = []; + //for each connected odrive, collect axes and display them + for (const odrive of Object.keys(context.state.odrives)) { + if ('axis0' in context.state.odrives[odrive]) { + axes.push({ + name: `${odrive}.axis0`, + }); + } + if ('axis1' in context.state.odrives[odrive]) { + axes.push({ + name: `${odrive}.axis1`, + }); + } + } + context.commit('setAxes', axes); + }, + setServerAddress(context, address) { + context.commit('setServerAddress', address); + socketio.setUrl(address); + socketio.addEventListener({ + type: "connect", + callback: () => { + context.commit("setServerStatus", true); + console.log('connected to server'); + //context.dispatch("getOdrives"); + socketio.sendEvent({ + type: "findODrives", + }); + } + }); + socketio.addEventListener({ + type: "odrive-found", + callback: () => { + console.log("odrive-found recieved from server"); + context.dispatch("getOdrives"); + } + }) + socketio.addEventListener({ + type: "disconnect", + callback: () => { + context.commit("setServerStatus", false); + console.log('server disconnect'); + socketio.closeSocket(); + context.commit('setAxes', []); + } + }); + socketio.addEventListener({ + type: "sampledData", + callback: message => { + context.commit("updateSampledProperty", JSON.parse(message)); + } + }); + socketio.addEventListener({ + type: "samplingEnabled", + callback: () => { + socketio.sendEvent({ + type: "startSampling" + }); + } + }); + socketio.addEventListener({ + type: "odrives", + callback: odrives => { + context.commit('setOdrives', JSON.parse(odrives)); + context.dispatch('getOdriveConfigs'); + context.dispatch('getAxes'); + } + }); + // getVal event gets sent to server, server emits ODriveProperty event with path and val of property + socketio.addEventListener({ + type: "ODriveProperty", + callback: retmsg => { + // retmsg is {path, val} + context.commit('updateOdriveProp', JSON.parse(retmsg)); + } + }); + socketio.addEventListener({ + type: "odrive-disconnected", + callback: (odrive_name) => { + console.log(odrive_name + " disconnected"); + //console.log("restarting server..."); + //window.ipcRenderer.send('kill-server'); + //window.ipcRenderer.send('start-server'); + //context.dispatch('setServerAddress', context.state.odriveServerAddress); + } + }); + socketio.addEventListener({ + type: "odrives-status", + callback: (odrives_status) => { + console.log("From odrives-status msg " + odrives_status); + context.commit('setODrivesStatus', JSON.parse(odrives_status)); + } + }); + } + } +}) \ No newline at end of file diff --git a/GUI/src/views/Dashboard.vue b/GUI/src/views/Dashboard.vue new file mode 100644 index 00000000..07dbae0e --- /dev/null +++ b/GUI/src/views/Dashboard.vue @@ -0,0 +1,501 @@ + + + + + \ No newline at end of file diff --git a/GUI/src/views/Start.vue b/GUI/src/views/Start.vue new file mode 100644 index 00000000..6134d797 --- /dev/null +++ b/GUI/src/views/Start.vue @@ -0,0 +1,118 @@ + + + + + diff --git a/GUI/src/views/Wizard.vue b/GUI/src/views/Wizard.vue new file mode 100644 index 00000000..11c96c14 --- /dev/null +++ b/GUI/src/views/Wizard.vue @@ -0,0 +1,381 @@ + + + + + \ No newline at end of file diff --git a/GUI/vue.config.js b/GUI/vue.config.js new file mode 100644 index 00000000..b0d91683 --- /dev/null +++ b/GUI/vue.config.js @@ -0,0 +1,31 @@ +// this file is used for configuring electron-builder + +module.exports = { + pluginOptions: { + electronBuilder: { + preload: 'src/preload.js', + //nodeIntegration: true, + builderOptions: { + "productName": "ODriveGUI", + "asar": false, + "extraResources": "server", + "artifactName": "${name}.${ext}", + "win" : { + "target" : [ + { + "target": "portable", + } + ] + }, + "linux" : { + "target" : [ + { + "target": "AppImage", + } + ] + } + }, + //mainProcessArgs: ['C:/Users/pajoh/Desktop/ODrive_work/ODrive/tools', 'C:/Users/pajoh/Desktop/ODrive_work/ODrive/Firmware'] + } + } +} \ No newline at end of file diff --git a/ODrive_Workspace.code-workspace b/ODrive_Workspace.code-workspace index 34f5b335..f8da7d1e 100644 --- a/ODrive_Workspace.code-workspace +++ b/ODrive_Workspace.code-workspace @@ -11,6 +11,9 @@ }, { "path": "analysis" + }, + { + "path": "GUI" } ], "settings": { diff --git a/dockerbuild.sh b/dockerbuild.sh index 779b9bf1..acf77e9d 100755 --- a/dockerbuild.sh +++ b/dockerbuild.sh @@ -1,6 +1,6 @@ function cleanup { echo "Removing previous build artifacts" - rm -rf build + rm -rf build/ Firmware/autogen Firmware/build Firmware/.tup docker rm odrive-build-cont } @@ -13,14 +13,11 @@ function gc { function build { cleanup - echo "Building the firmware" + echo "Building the build-environment image" docker build -t odrive-build-img . - echo "Create container" - docker create --name odrive-build-cont odrive-build-img:latest - - echo "Extract build artifacts" - docker cp odrive-build-cont:ODrive/Firmware/build . + echo "Build in container" + docker run -v $(pwd):/ODrive --name odrive-build-cont odrive-build-img:latest } function usage { diff --git a/docs/_data/index.yaml b/docs/_data/index.yaml index 273029b6..0c093df9 100644 --- a/docs/_data/index.yaml +++ b/docs/_data/index.yaml @@ -11,24 +11,44 @@ sections: url: /odrivetool - title: Parameters & Commands url: /commands - - title: Interfaces - url: /interfaces - title: Encoders url: /encoders - - title: Homing & Endstops - url: /endstops - - title: Mechanical Brakes - url: /mechanical-brakes - - title: Thermistors - url: /thermistors - title: Control & Tuning url: /control - title: Troubleshooting url: /troubleshooting + - title: Specifications + url: /specifications - title: Tutorials docs: - title: Hoverboard Guide url: /hoverboard + - title: Migration Guide + url: /migration + - title: Interfaces & Protocols + docs: + - title: Pinout + url: /pinout + - title: USB + url: /usb + - title: UART + url: /uart + - title: Native Protocol + url: /native-protocol + - title: ASCII Protocol + url: /ascii-protocol + - title: CAN Protocol + url: /can-protocol + - title: Step & Direction + url: /step-direction + - title: RC PWM + url: /rc-pwm + - title: Analog Input + url: /analog-input + - title: Homing & Endstops + url: /endstops + - title: Thermistors + url: /thermistors - title: API Reference - title: For ODrive Developers docs: diff --git a/docs/_layouts/default.html b/docs/_layouts/default.html index 5569b3a5..33462b23 100644 --- a/docs/_layouts/default.html +++ b/docs/_layouts/default.html @@ -16,6 +16,7 @@ +
The docs reflect firmware version 0.5.1. There are many breaking changes. Please find docs for v0.4.12 here.
@@ -78,7 +79,7 @@ {% if page.edit_url %} - {% assign edit_url = "https://www.github.com/madcowswe/ODrive/edit/master/" | append: edit_url %} + {% assign edit_url = "https://www.github.com/madcowswe/ODrive/edit/master/" | append: page.edit_url %} {% else %} {% assign edit_url = "https://www.github.com/madcowswe/ODrive/edit/master/docs/" | append: pagename | append: ".md" %} {% endif %} @@ -90,7 +91,7 @@ - {{page.download.text}} + {{page.download.text}}
{% endif %}
diff --git a/docs/analog-input.md b/docs/analog-input.md new file mode 100644 index 00000000..2b0186d6 --- /dev/null +++ b/docs/analog-input.md @@ -0,0 +1,5 @@ +# Analog Input + +Analog inputs can be used to measure voltages between 0 and 3.3V. ODrive uses a 12 bit ADC (4096 steps) and so has a maximum resolution of 0.8 mV. A GPIO must be configured with `.config.gpioX_mode = GPIO_MODE_ANALOG_IN` before it can be used as an analog input. To read the voltage on GPIO1 in odrivetool the following would be entered: `odrv0.get_adc_voltage(1)`. + +Similar to RC PWM input, analog inputs can also be used to feed any of the numerical properties that are visible in `odrivetool`. This is done by configuring `odrv0.config.gpio3_analog_mapping` and `odrv0.config.gpio4_analog_mapping`. Refer to [RC PWM](rc-pwm) for instructions on how to configure the mappings. diff --git a/docs/ascii-protocol.md b/docs/ascii-protocol.md index 7f6857ee..47b6aff0 100644 --- a/docs/ascii-protocol.md +++ b/docs/ascii-protocol.md @@ -6,12 +6,15 @@ * **Via USB:** * **Windows:** Use [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/) to manually send commands or open the COM port using your favorite programming language * **Linux/macOS:** Run `/dev/tty*` to list all serial ports. The ODrive will show up as `/dev/ttyACM0` (or similar) on Linux and `/dev/tty.usbmodem[...]` on macOS. Once you know the name, you can use `screen /dev/ttyACM0` (with the correct name) to send commands manually or open the device using your favorite programming language. Serial ports on Unix can be opened, written to and read from like a normal file. - * **Via UART:** Connect the ODrive's TX (GPIO1) to your host's RX. Connect your ODrive's RX (GPIO2) to your host's TX. The logic level of the ODrive is 3.3V. + * **Via UART:** Connect the ODrive's TX (GPIO1) to your host's RX. Connect your ODrive's RX (GPIO2) to your host's TX. See [UART](uart) for more info. * **Arduino:** You can use the [ODrive Arduino library](https://github.com/madcowswe/ODrive/tree/master/Arduino/ODriveArduino) to talk to the ODrive. * **Windows/Linux/macOS:** You can use an FTDI USB-UART cable to connect to the ODrive. The ODrive does not echo commands. That means that when you type commands into a program like `screen`, the characters you type won't show up in the console. +### Arduino +There is an Arduino library that gives some examples on how to use the ASCII protocol to communicate with the ODrive. Check it out [here](../Arduino/ODriveArduino). + ## Command format The ASCII protocol is human-readable and line-oriented, with each line having the following format: diff --git a/docs/assets/css/style.scss b/docs/assets/css/style.scss index 92bf03ca..d03b37ac 100644 --- a/docs/assets/css/style.scss +++ b/docs/assets/css/style.scss @@ -337,6 +337,9 @@ header li { .navitem a { display: block; width: 100%; + text-overflow: ellipsis; + overflow: hidden; + white-space: nowrap; } .levelbar { diff --git a/docs/can-protocol.md b/docs/can-protocol.md index 0b3f0c84..e9060277 100644 --- a/docs/can-protocol.md +++ b/docs/can-protocol.md @@ -60,6 +60,7 @@ CMD ID | Name | Sender | Signals | Start byte | Signal Type | Bits | Factor | Of 0x016 | Reboot ODrive | Master\*\*\* | - | - | - | - | - | - | - 0x017 | Get Vbus Voltage | Master\*\*\* | Vbus Voltage | 0 | IEEE 754 Float | 32 | 1 | 0 | Intel 0x018 | Clear Errors | Master | - | - | - | - | - | - | - +0x019 | Set Linear Count | Master | Position | 0 | Signed Int | 32 | 1 | 0 | Intel 0x700 | CANOpen Heartbeat Message\*\* | Slave | - | - | - | - | - | - | - -|-|-|----------------------------------|-|--------------------|-|-|-|_ @@ -73,7 +74,7 @@ Configuration of the CAN parameters should be done via USB before putting the de To set the desired baud rate, use `.can.set_baud_rate()`. The baud rate can be done without rebooting the device. If you'd like to keep the baud rate, simply call `.save_configuration()` before rebooting. -Each axis looks like a separate node on the bus. Thus, they both have the two properties `can_node_id` and `can_node_id_extended`. The node ID can be from 0 to 63 (0x3F) inclusive, or, if extended CAN IDs are used, from 0 to 16777215 (0xFFFFFF). +Each axis looks like a separate node on the bus. Thus, they both have the two properties `can_node_id` and `can_node_id_extended`. The node ID can be from 0 to 63 (0x3F) inclusive, or, if extended CAN IDs are used, from 0 to 16777215 (0xFFFFFF). If you want to connect more than one ODrive on a CAN bus, you must set different node IDs for the second ODrive or they will conflict and crash the bus. ### Example Configuration diff --git a/docs/commands.md b/docs/commands.md index 1b41b30f..b5ca64d2 100644 --- a/docs/commands.md +++ b/docs/commands.md @@ -38,19 +38,20 @@ See [here](api/odrive.axis.axisstate) for a description of each state. ### Control Mode The default control mode is position control. If you want a different mode, you can change `.controller.config.control_mode`. -Possible values are listed [here](api/odrive.axis.controller.controlmode). +Possible values are listed [here](api/odrive.controller.controlmode). ### Input Mode As of version v0.5.0, ODrive now intercepts the incoming commands and can apply filters to them. The old protocol values `pos_setpoint`, `vel_setpoint`, and `current_setpoint` are still used internally by the closed-loop cascade control, but the user cannot write to them directly. This allows us to condense the number of ways the ODrive accepts motion commands. The new commands are: +### Control Commands * `.controller.input_pos = ` * `.controller.input_vel = ` * `.controller.input_torque = ` Modes can be selected by changing `.controller.config.input_mode`. The default input mode is `INPUT_MODE_PASSTHROUGH`. -Possible values are listed [here](api/odrive.axis.controller.inputmode). +Possible values are listed [here](api/odrive.controller.inputmode). ## System monitoring commands @@ -82,15 +83,15 @@ All variables that are part of a `[...].config` object can be saved to non-volat ## Setting up sensorless The ODrive can run without encoder/hall feedback, but there is a minimum speed, usually around a few hunderd RPM. -To give an example, suppose you have a motor with 7 pole pairs, and you want to spin it at 3000 RPM. Then you would set the `input_vel` to `3000 * 2*pi/60 * 7 = 2199 rad/s electrical`. - -Below are some suggested starting parameters that you can use. Note that you _must_ set the `pm_flux_linkage` correctly for sensorless mode to work. +Below are some suggested starting parameters that you can use. Note that you _must_ set the `pm_flux_linkage` correctly for sensorless mode to work. Motor calibration and setup must also be completed before sensorless mode will work. ``` odrv0.axis0.controller.config.vel_gain = 0.01 odrv0.axis0.controller.config.vel_integrator_gain = 0.05 odrv0.axis0.controller.config.control_mode = 2 -odrv0.axis0.controller.input_vel = 400 +odrv0.axis0.controller.input_vel = 10 +odrv0.axis0.controller.config.vel_limit = +odrv0.axis0.motor.config.current_lim = 2 * odrv0.axis0.config.sensorless_ramp.current odrv0.axis0.motor.config.direction = 1 odrv0.axis0.sensorless_estimator.config.pm_flux_linkage = 5.51328895422 / ( * ) ``` diff --git a/docs/control.md b/docs/control.md index 0f00d05f..886d7772 100644 --- a/docs/control.md +++ b/docs/control.md @@ -29,6 +29,8 @@ voltage_integral += current_error * current_integrator_gain voltage_cmd = current_error * current_gain + voltage_integral (+ voltage_feedforward when we have motor model) ``` +Note: `current_gain` and `current_integrator_gain` are automatically set according to `motor.config.current_control_bandwidth` + For more detail refer to [controller.cpp](https://github.com/madcowswe/ODrive/blob/master/Firmware/MotorControl/controller.cpp#L86). ### Controller Details: diff --git a/docs/developer-guide.md b/docs/developer-guide.md index 6d7de336..cafe7eb2 100644 --- a/docs/developer-guide.md +++ b/docs/developer-guide.md @@ -256,6 +256,8 @@ python ../Firmware/interface_generator_stub.py --definitions ../Firmware/odrive- bundle exec jekyll serve --incremental --host=0.0.0.0 ``` +On Ubuntu 18.04, prerequisites are: `ruby ruby-dev zlib1g-dev`. + ## Releases We use GitHub Releases to provide firmware releases. diff --git a/docs/encoders.md b/docs/encoders.md index 06cfb12b..a5f63ce6 100644 --- a/docs/encoders.md +++ b/docs/encoders.md @@ -43,7 +43,7 @@ That's it, now on every reboot the motor will turn in one direction until it fin * If your motor has problems reaching the index location due to the mechanical load, you can increase `.motor.config.calibration_current`. ### Reversing index search -Sometimes you would like the index search to only happen in a particular direction (the reverse of the default), instead of swapping the motor leads, you can ensure the following three values are negative: +Sometimes you would like the index search to only happen in a particular direction (the reverse of the default). Instead of swapping the motor leads, you can ensure that the following three values are negative: * `.config.calibration_lockin.vel` * `.config.calibration_lockin.accel` * `.config.calibration_lockin.ramp_distance` @@ -51,6 +51,17 @@ Sometimes you would like the index search to only happen in a particular directi *IMPORTANT:* Your motor should find the same rotational position when the ODrive performs an index search if the index signal is working properly. This means that the motor should spin, and stop at the same position if you have set .config.startup_encoder_index_search so the search starts on reboot, or you if call the command:.requested_state = AXIS_STATE_ENCODER_INDEX_SEARCH after reboot. You can test this. Send the reboot() command, and while it's rebooting turn your motor, then make sure the motor returns back to the correct position each time when it comes out of reboot. Try this procedure a couple of times to be sure. +### Hall Effect Encoders +Hall effect encoders can also be used with ODrive. The encoder CPR should be set to `6 * <# of motor pole pairs>`. Due to the low resolution of hall effect encoders compared to other types of encoders, low speed performance will be worse than other encoder types. + +When the encoder mode is set to hall feedback, the pinout on the encoder port is as follows: + +| Label on ODrive | Hall feedback | +|-----------------|---------------| +| A | Hall A | +| B | Hall B | +| Z | Hall C | + ### Startup sequence notes The following are variables that MUST be set up for your encoder configuration. Your values will vary depending on your encoder: @@ -78,7 +89,7 @@ Do you still have no errors? Awesome. Now, setup the motor and encoder to use kn * `.encoder.config.pre_calibrated = True` * `.motor.config.pre_calibrated = True ` -And see if ODrive agrees that calibration worked by just running +And see if ODrive agrees that the calibration worked by just running * `.encoder.config.pre_calibrated` (using no "= True" ). Make sure that 'pre_calibrated' is in fact True. @@ -121,6 +132,7 @@ Connect to the I pin, see if you get a pulse on a complete rotation. Sometimes t If you are using SPI, use a logic analyzer and connect to the CLK, MISO, and CS pins. Set a trigger for the CS pin and ensure that the encoder position is being sent and is increasing/decreasing as you spin the motor. There is extremely cheap hardware that is supported by [Sigrok](https://sigrok.org/) for protocol analysis. + ## Encoder Noise Noise is found in all circuits, life is just about figuring out if it is preventing your system from working. Lots of users have no problems with noise interfering with their ODrive operation, others will tell you "_I've been using the same encoder as you with no problems_". Power to 'em, that may be true, but it doesn't mean it will work for you. If you are concerned about noise, there are several possible sources: @@ -128,13 +140,13 @@ Noise is found in all circuits, life is just about figuring out if it is prevent * Long wires between encoder and ODrive * Use of ribbon cable -The following _might_ mitigate noise problems. Use shielded cable, or use twisted pairs, where one side of each twisted pair is tied to ground, the other side is tied to your signal. If you are using SPI, use a 20-50 ohm resistor in series on CLK, which is more susceptible noise. +The following _might_ mitigate noise problems. Use shielded cable, or use twisted pairs, where one side of each twisted pair is tied to ground and the other side is tied to your signal. If you are using SPI, use a 20-50 ohm resistor in series on CLK, which is more susceptible noise. -If you are using an encoder with an index signal, another problem that has been encountered is with noise on the Z input of ODrive. Symptoms for this problem include: +If you are using an encoder with an index signal, another problem that has been encountered is noise on the Z input of ODrive. Symptoms for this problem include: * difficulty with requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE, where your calibration sequence may not complete * strange behavior after performing odrv0.save_configuration() and odrv0.reboot() * when performing an index_search, the motor does not return to the same position each time. -One easy step that _might_ fix the noise on the Z input has been to solder a 22nF-47nF capacitor to the Z pin and the GND pin on the underside of the ODrive board. +One easy step that _might_ fix the noise on the Z input is to solder a 22nF-47nF capacitor to the Z pin and the GND pin on the underside of the ODrive board. ## Hall feedback pinout If position accuracy is not a concern, you can use A/B/C hall effect encoders for position feedback. @@ -170,12 +182,15 @@ Apart from (incremental) quadrature encoders, ODrive also supports absolute SPI Some of these chips come with evaluation boards that can simplify mounting the chips to your motor. For our purposes if you are using an evaluation board you should select the settings for 3.3v. +**Note:** The AMT23x family has a hardware bug that causes them to not properly tristate the MISO line. To use them with ODrive, there are two workarounds. One is to sequence power to the encoder a second or two after the ODrive recieves power. This allows 1 encoder to be used without issue. Another solution is to add a tristate buffer, such as the 74AHC1G125SE, on the MISO line between the ODrive and each AMT23x encoder. Tie the enable pin on the buffer to the CS line for the respective encoder. This allows for more than one AMT23x encoder, or one AMT23x and another SPI encoder, to be used at the same time. + 1. Connect the encoder to the ODrive's SPI interface: - - The encoder's SCK, MISO (aka "DATA" on CUI encoders), GND and 3.3V should connect to the ODrive pins with the same label. - - The encoder's MOSI should be tied to 3.3V (AMS encoders only. CUI encoders don't have this pin.) + - The encoder's SCK, MISO (aka "DATA" on CUI encoders), MOSI (if present on the encoder), GND and 3.3V should connect to the ODrive pins with the same label. If you want to save a wire with AMS encoders, you can also connect the encoder's MOSI to the encoder's VDD instead. - The encoder's Chip Select (aka nCS/CSn) can be connected to any of the ODrive's GPIOs (caution: GPIOs 1 and 2 are usually used by UART). +If you are having calibration problems, make sure that your magnet is centered on the axis of rotation on the motor. Some users report that this has a significant impact on calibration. Also make sure that your magnet height is within range of the spec sheet. + 2. In `odrivetool`, run: .encoder.config.abs_spi_cs_gpio_pin = 4 # or which ever GPIO pin you choose diff --git a/docs/getting-started.md b/docs/getting-started.md index afb14129..c6554f59 100644 --- a/docs/getting-started.md +++ b/docs/getting-started.md @@ -41,7 +41,7 @@ permalink: / -* A power supply (12V-24V for the 24V board variant, 12V-48V for the 48V board variant). A battery is also fine. Some advice on choosing a power supply can be found [here](https://things-in-motion.blogspot.com/2018/12/how-to-select-right-power-source-for.html). +* A power supply (12V-24V for the 24V board variant, 12V-56V for the 56V board variant). A battery is also fine. Some advice on choosing a power supply can be found [here](https://things-in-motion.blogspot.com/2018/12/how-to-select-right-power-source-for.html).
What voltage variant do I have?
On all ODrives shipped July 2018 or after have a silkscreen label clearly indicating the voltage variant. @@ -61,14 +61,14 @@ All non-power I/O is 3.3V output and 5V tolerant on input, on ODrive v3.3 and ne ### Wiring up the encoders Connect the encoder(s) to J4. The A,B phases are required, and the Z (index pulse) is optional. The A,B and Z lines have 3.3k pull up resistors, for use with open-drain encoder outputs. For single ended push-pull signals with weak drive current (\<4mA), you may want to desolder the pull-ups. -![Image of ODrive all hooked up](https://docs.google.com/drawings/d/e/2PACX-1vTCD0P40Cd-wvD7Fl8UYEaxp3_UL81oI4qUVqrrCJPi6tkJeSs2rsffIXQRpdu6rNZs6-2mRKKYtILG/pub?w=1716&h=1281) +![Image of ODrive all hooked up](https://docs.google.com/drawings/d/e/2PACX-1vTpJziAisrkvV1kTL4vckAJkmJ-BAvTwN1GeZZNCNwpTHv47Cf8bpz-gJqK2Z3un6FCHT4E-rcuUg6c/pub?w=1716&h=1281) ### Safety & Power UP
Always think safety before powering up the ODrive if motors are attached. Consider what might happen if the motor spins as soon as power is applied.
-* Unlike some devices, the ODrive does not recieve power over the USB port so the 24/48 volt power input is required even just to communicate with it using USB. It is ok to power up the ODrive before or after connecting the USB cable. -* To power up the ODrive, connect the power source to the DC terminals. Make sure to pay attention to the polarity. A small spark is normal. This is caused by the capacitors charging up. +* Unlike some devices, the ODrive does not recieve power over the USB port so the 24/56 volt power input is required even just to communicate with it using USB. It is ok to power up the ODrive before or after connecting the USB cable. +* To power up the ODrive, connect the power source to the DC terminals. Make sure to pay attention to the polarity. Try to connect the power source first and then turn it on to avoid inrush current. If this can't be avoided then a small spark is normal. This is caused by the capacitors charging up. ## Downloading and Installing Tools Most instructions in this guide refer to a utility called `odrivetool`, so you should install that first. @@ -81,7 +81,7 @@ Most instructions in this guide refer to a utility called `odrivetool`, so you s 2. Launch the command prompt. * __Anaconda__: In the start menu, type `Anaconda Prompt` Enter * __Standalone Python__: In the start menu, type `cmd` Enter -3. Install the ODrive tools by typing `pip install odrive` Enter +3. Install the ODrive tools by typing `pip install --upgrade odrive` Enter ### OSX @@ -104,13 +104,13 @@ brew install libusb ``` 5. Now that you have Python 3 and all the package managers, run: ```bash -pip3 install odrive +pip3 install --upgrade odrive ``` __Troubleshooting__ 1. Permission Errors: Just run the previous command in sudo ```bash - sudo pip3 install odrive + sudo pip3 install --upgrade odrive ``` 2. Dependency Errors: If the installer doesn't complete and you get a dependency @@ -129,7 +129,7 @@ error (Ex. "No module..." or "module_name not found") ### Linux 1. [Install Python 3](https://www.python.org/downloads/). (for example, on Ubuntu, `sudo apt install python3 python3-pip`) -2. Install the ODrive tools by opening a terminal and typing `sudo pip3 install odrive` Enter +2. Install the ODrive tools by opening a terminal and typing `sudo pip3 install --upgrade odrive` Enter * This should automatically add the udev rules. If this fails for some reason you can add them manually: ```bash echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="1209", ATTR{idProduct}=="0d[0-9][0-9]", MODE="0666"' | sudo tee /etc/udev/rules.d/91-odrive.rules @@ -150,7 +150,7 @@ To launch the main interactive ODrive tool, type `odrivetool` Enter. It should look something like this: ```text -ODrive control utility v0.4.0 +ODrive control utility v0.5.1 Please connect your ODrive. Type help() for help. @@ -202,6 +202,10 @@ This is the number of **magnet poles** in the rotor, **divided by two**. To find A good way to find the number of pole pairs is with a current limited power supply. Connect any two of the three phases to a power supply outputting around 2A, spin the motor by hand, and count the number of detents. This will be the number of pole pairs. If you can't distinguish the detents from the normal cogging present when the motor is disconnected, increase the current. Another way is sliding a loose magnet in your hand around the rotor, and counting how many times it stops. This will be the number of _pole pairs_. If you use a ferrous piece of metal instead of a magnet, you will get the number of _magnet poles_. +`odrv0.axis0.motor.config.torque_constant` +This is the ratio of torque produced by the motor per Amp of current delivered to the motor. This should be set to **8.27 / (motor KV)**. +If you decide that you would rather command torque in units of Amps, you could simply set the torque constant to 1. + `odrv0.axis0.motor.config.motor_type` This is the type of motor being used. Currently two types of motors are supported: High-current motors (`MOTOR_TYPE_HIGH_CURRENT`) and gimbal motors (`MOTOR_TYPE_GIMBAL`).
Which motor_type to choose?
@@ -233,7 +237,7 @@ You can save all `.config` parameters to persistent memory so the ODrive remembe ## Position control of M0 -Let's get motor 0 up and running. The procedure for motor 1 is exactly the same, so feel free to substitute `axis0` wherever it says `axis0`. +Let's get motor 0 up and running. The procedure for motor 1 is exactly the same, so feel free to substitute `axis1` wherever it says `axis0`. 1. Type `odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE` Enter. After about 2 seconds should hear a beep. Then the motor will turn slowly in one direction for a few seconds, then back in the other direction. @@ -362,17 +366,21 @@ Each axis has a configurable watchdog timer that can stop the motors if the control connection to the ODrive is interrupted. Each axis has a configurable watchdog timeout: `axis.config.watchdog_timeout`, -measured in seconds. A value of `0` disables the watchdog functionality. Any value -`> 0` will stop the motors if the watchdog has not been fed in the configured -time interval. +measured in seconds. Set `axis.config.enable_watchdog = True` to turn on this feature. -The watchdog is fed using the `axis.watchdog_feed()` method of each axis. +The watchdog is fed using the `axis.watchdog_feed()` method of each axis. Some [ascii commands](ascii-protocol.md#command-reference) feed the watchdog automatically. ## What's next? You can now: * [Properly tune](control.md) the motor controller to unlock the full potential of the ODrive. * See what other [commands and parameters](commands.md) are available, in order to better control the ODrive. -* Control the ODrive from your own program or hook it up to an existing system through one of it's [interfaces](interfaces.md). +* Control the ODrive from your own program or hook it up to an existing system through one of it's [interfaces](pinout.md). * See how you can improve the behavior during the startup procedure, like [bypassing encoder calibration](encoders.md#encoder-with-index-signal). If you have any issues or any questions please get in touch. The [ODrive Community](https://discourse.odriverobotics.com/) warmly welcomes you. + + +## Upgrading from 0.4.12 +A new version (0.5.1) of ODrive firmware has released, complete with a new odrivetool. Follow the installation instructions, making sure to add the `--upgrade` flag to pip commands, and check out the [Changelog](../CHANGELOG.md) for changes! + +The odrivetool will stage and restore your configuration. This probably isn't wise for the 0.4.12 -> 0.5.1 upgrade, so we suggest using `odrv0.erase_configuration()` immediately after connecting the first time. diff --git a/docs/hoverboard.md b/docs/hoverboard.md index 6c9d51c3..b0fe81a8 100644 --- a/docs/hoverboard.md +++ b/docs/hoverboard.md @@ -19,7 +19,7 @@ You may wire the motor phases in any order into a motor connector on the ODrive, | Green | Z | | Black | GND | -Note: In order to ber compatible with encoder inputs, the ODrive doesn't have any filtering capacitors on the pins where the hall sensors connect. Therefore to get a reliable hall signal, it is recommended that you add some filter capacitors to these pins. You can see instructions [here](https://discourse.odriverobotics.com/t/encoder-error-error-illegal-hall-state/1047/7?u=madcowswe). +Note: In order to be compatible with encoder inputs, the ODrive doesn't have any filtering capacitors on the pins where the hall sensors connect. Therefore to get a reliable hall signal, it is recommended that you add some filter capacitors to these pins. You can see instructions [here](https://discourse.odriverobotics.com/t/encoder-error-error-illegal-hall-state/1047/7?u=madcowswe). ### Hoverboard motor configuration @@ -36,7 +36,7 @@ odrv0.axis0.motor.config.requested_current_range = 25 #Requires config save and odrv0.axis0.motor.config.current_control_bandwidth = 100 ``` -Set the encoder to hall mode (instead of incremental). See the [pinout](interfaces.md#hall-feedback-pinout) for instructions on how to plug in the hall feedback. +Set the encoder to hall mode (instead of incremental). See the [pinout](encoders.md#hall-effect-encoders) for instructions on how to plug in the hall feedback. The hall feedback has 6 states for every pole pair in the motor. Since we have 15 pole pairs, we set the cpr to 15*6 = 90. ```txt odrv0.axis0.encoder.config.mode = ENCODER_MODE_HALL @@ -98,7 +98,7 @@ Check the status of the encoder object: odrv0.axis0.encoder ``` -Check that there are no errors. If your hall sensors has a standard timing angle then `offset_float` should be close to 0.5. +Check that there are no errors. If your hall sensors has a standard timing angle then `offset_float` should be close to 0.5 or 1.5. ```txt error = 0x0000 (int) offset_float = 0.5126956701278687 (float) @@ -124,7 +124,7 @@ odrv0.axis0.requested_state = AXIS_STATE_IDLE Hopefully you got your motor to spin! Feel free to repeat all of the above for the other axis if appropriate. ### PWM input -If you want to drive your hoverboard wheels around with an RC remote control you can use the [RC PWM input](interfaces.md#rc-pwm-input). There is more information in that link. +If you want to drive your hoverboard wheels around with an RC remote control you can use the [RC PWM input](rc-pwm.md). There is more information in that link. Lets use GPIO 3/4 for the velocity inputs so that we don't have to disable UART. Then let's map the full stick range of these inputs to some suitable velocity setpoint range. We also have to reboot to activate the PWM input. diff --git a/docs/interfaces.md b/docs/interfaces.md deleted file mode 100644 index 37400ca1..00000000 --- a/docs/interfaces.md +++ /dev/null @@ -1,172 +0,0 @@ -# Interfaces - -
While developing custom ODrive control code it is recommend that your motors are free to spin continuously and are not connected to a drivetrain with limited travel.
- -The ODrive can be controlled over various ports and protocols. If you're comfortable with embedded systems development, you can also run custom code directly on the ODrive. For that refer to the [developer documentation](developer-guide.md). - -### Table of contents - - -- [Pinout](#pinout) -- [Native Protocol](#native-protocol) -- [ASCII protocol](#ascii-protocol) -- [Step/direction](#stepdirection) -- [RC PWM input](#rc-pwm-input) -- [Ports](#ports) - - - -## Pinout - -| # | Label | `GPIO_MODE_DIGITAL` | `GPIO_MODE_ANALOG_IN` | `GPIO_MODE_UART0` | `GPIO_MODE_PWM0` | `GPIO_MODE_CAN0` | `GPIO_MODE_I2C0` | `GPIO_MODE_ENC0` | `GPIO_MODE_ENC1` | `GPIO_MODE_MECH_BRAKE` | -|----|---------------|------------------------|-----------------------|-------------------|------------------|------------------|------------------|------------------|------------------|------------------------| -| 0 | _not a pin_ | | | | | | | | | | -| 1 | GPIO1 (+) | general purpose | analog input | **UART0.TX** | PWM0.0 | | | | | mechanical brake | -| 2 | GPIO2 (+) | general purpose | analog input | **UART0.RX** | PWM0.1 | | | | | mechanical brake | -| 3 | GPIO3 | general purpose | **analog input** | | PWM0.2 | | | | | mechanical brake | -| 4 | GPIO4 | general purpose | **analog input** | | PWM0.3 | | | | | mechanical brake | -| 5 | GPIO5 | general purpose | **analog input** (*) | | | | | | | mechanical brake | -| 6 | GPIO6 (*) (+) | **general purpose** | | | | | | | | mechanical brake | -| 7 | GPIO7 (*) (+) | **general purpose** | | | | | | | | mechanical brake | -| 8 | GPIO8 (*) (+) | **general purpose** | | | | | | | | mechanical brake | -| 9 | M0.A | general purpose | | | | | | **ENC0.A** | | | -| 10 | M0.B | general purpose | | | | | | **ENC0.B** | | | -| 11 | M0.Z | **general purpose** | | | | | | | | | -| 12 | M1.A | general purpose | | | | | I2C.SCL | | **ENC1.A** | | -| 13 | M1.B | general purpose | | | | | I2C.SDA | | **ENC1.B** | | -| 14 | M1.Z | **general purpose** | | | | | | | | | -| 15 | _not exposed_ | general purpose | | | | **CAN0.RX** | I2C.SCL | | | | -| 16 | _not exposed_ | general purpose | | | | **CAN0.TX** | I2C.SDA | | | | - - -(*) ODrive v3.5 and later
-(+) On ODrive v3.5 and later these pins have noise suppression filters. This is useful for step/dir input.
- -Notes: -* Changes to the pin configuration only take effect after `odrv0.save_configuration()` and `odrv0.reboot()` -* Bold font marks the default configuration. -* If a GPIO is set to an unsupported mode it will be left uninitialized. -* When setting a GPIO to a special purpose mode (e.g. `GPIO_MODE_UART0`) you must also enable the corresponding feature (e.g. `.config.enable_uart`). -* Digital mode is a general purpose mode that can be used for these functions: step, dir, enable, encoder index, hall effect encoder, SPI encoder nCS. -* You must also connect GND between ODrive and your other board. -* ODrive v3.3 and onward have 5V tolerant GPIO pins. - -## Native Protocol - -This protocol is what the ODrive Tool uses to talk to the ODrive. If you have a choice, this is the recommended protocol for all applications. The native protocol runs on USB and can also be configured to run on UART. - -### Python - -The ODrive Tool you installed as part of the [Getting Started guide](getting-started.md#downloading-and-installing-tools) comes with a library that you can use to easily control the ODrive from Python. - -Assuming you already installed the odrive library (`pip install odrive`), the simplest program to control the ODrive is this: - -```python -import odrive -odrv0 = odrive.find_any() -print(str(odrv0.vbus_voltage)) -``` - -For a more comprehensive example, see [tools/odrive_demo.py](../tools/odrive_demo.py). - -### Other languages - -We don't have an official library for you just yet. Check the community, there might be someone working on it. If you want to write a library yourself, refer to the [native protocol specification](protocol). You are of course welcome to contribute it back. - -## ASCII protocol - -This is a simpler alternative to the native protocol if you don't need all its bells and whistles. Before you use this, be sure that you're ok with its limitations. The ASCII protocol is enabled by default on UART and can also be enabled on USB alongside with the native protocol. - -For more details, see the [ASCII protocol specification](ascii-protocol.md). - -### Arduino -There is an Arduino library that gives some examples on how to use the ASCII protocol to communicate with the ODrive. Check it out [here](../Arduino/ODriveArduino). - -## Step/direction -This is the simplest possible way of controlling the ODrive. It is also the most primitive and fragile one. So don't use it unless you must interoperate with other hardware that you don't control. - -Pinout: -* Step/dir signals: see [Pinout](#pinout) above. Note in that section how to reassign the pins. -* GND: you must connect the grounds of the devices together. Use any GND pin on J3 of the ODrive. - - 1. Choose any two of the unused GPIOs for step/dir input. Let's say you chose GPIO7 for the step signal and GPIO8 for the dir signal. - 2. Configure the GPIO modes: - - .config.gpio7_mode = GPIO_MODE_DIGITAL_PULL_DOWN - .config.gpio8_mode = GPIO_MODE_DIGITAL - - 3. Configure the axis: - - .config.step_gpio_pin = 7 - .config.dir_gpio_pin = 8 - .config.enable_step_dir = True - -There is also a config variable called `.config.turns_per_step`, which specifies how many turns a "step" corresponds to. The default value is 1.0f/1024.0f. It can be any floating point value. -The maximum step rate is pending tests, but it should handle at least 50kHz. If you want to test it, please be aware that the failure mode on too high step rates is expected to be that the motors shuts down and coasts. - -Please be aware that there is no enable line right now, and the step/direction interface is enabled by default, and remains active as long as the ODrive is in position control mode. To get the ODrive to go into position control mode at bootup, see how to configure the [startup procedure](commands.md#startup-procedure). - -## RC PWM input -You can control the ODrive directly from a hobby RC receiver. - -Any of the numerical parameters that are writable from the ODrive Tool can be hooked up to a PWM input. The [Pinout](#pinout) tells you which pins are PWM input capable. As an example, we'll configure GPIO4 to control the angle of axis 0. We want the axis to move within a range of -2 to 2 turns. - -1. Make sure you're able control the axis 0 angle by writing to `odrv0.axis0.controller.input_pos`. If you need help with this follow the [getting started guide](getting-started.md). -2. If you want to control your ODrive with the PWM input without using anything else to activate the ODrive, you can configure the ODrive such that axis 0 automatically goes operational at startup. See [here](commands.md#startup-procedure) for more information. -3. In ODrive Tool, configure the PWM input mapping - ``` - odrv0.config.gpio4_mode = GPIO_MODE_PWM0 - odrv0.config.gpio4_pwm_mapping.min = -2 - odrv0.config.gpio4_pwm_mapping.max = 2 - odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis0.controller._input_pos_property - ``` - Note: you can disable the input by setting `odrv0.config.gpio4_pwm_mapping.endpoint = None` -4. Save the configuration and reboot - ``` - odrv0.save_configuration() - odrv0.reboot() - ``` -5. With the ODrive powered off, connect the RC receiver ground to the ODrive's GND and one of the RC receiver signals to GPIO4. You may try to power the receiver from the ODrive's 5V supply if it doesn't draw too much power. Power up the the RC transmitter. You should now be able to control axis 0 from one of the RC sticks. - -Be sure to setup the Failsafe feature on your RC Receiver so that if connection is lost between the remote and the receiver, the receiver outputs 0 for the velocity setpoint of both axes (or whatever is safest for your configuration). Also note that if the receiver turns off (loss of power, etc) or if the signal from the receiver to the ODrive is lost (wire comes unplugged, etc), the ODrive will continue the last commanded velocity setpoint. There is currently no timeout function in the ODrive for PWM inputs. - -## Analog input -Analog inputs can be used to measure voltages between 0 and 3.3V. ODrive uses a 12 bit ADC (4096 steps) and so has a maximum resolution of 0.8 mV. A GPIO must be configured with `.config.gpioX_mode = GPIO_MODE_ANALOG_IN` before it can be used as an analog input. To read the voltage on GPIO1 in odrivetool the following would be entered: `odrv0.get_adc_voltage(1)`. - -## Ports -Note: when you use an existing library you don't have to deal with the specifics described in this section. - -### USB - -This section assumes that you are familiar with the general USB architecture, in particular with terms like "configuration", "interface" and "endpoint". - -On USB the ODrive provides a single configuration which is a composite device consisting of a CDC device (virtual COM port) and a vendor specific device. - -
What is a composite device?
-A composite device is a device where interfaces are grouped by interface association descriptors. For such devices, the host OS loads an intermediate driver, so that each of the interface groups can be treated like a separate device and have its own host-side driver attached. -
- -On the ODrive, the following interface groups are present: - - * Interface Association: Communication Device Class (CDC) - * Interface 0: - * Endpoint `0x82`: CDC commands - * Interface 1: - * Endpoint `0x01`: CDC data OUT - * Endpoint `0x81`: CDC data IN - * Interface Association: Vendor Specific Device Class - * Interface 2: - * Endpoint `0x03`: data OUT - * Endpoint `0x83`: data IN - -The endpoint pairs `0x01, 0x81` and `0x03, 0x83` behave exactly identical, only their descriptors (interface class, ...) are different. - -If you plan to access the USB endpoints directly it is recommended that you use interface 2. The other interfaces (the ones associated with the CDC device) are usually claimed by the CDC driver of the host OS, so their endpoints cannot be used without first detaching the CDC driver. - -### UART - -UART0 is enabled by default with a baudrate of 115200 on the pins as shown in [Pinout](#pinout). Don't forget to also connect GND of the two UART devices. You can use `odrv0.config.uart0_baudrate` to change the baudrate and `odrv0.config.enable_uart0` to disable/reenable UART0. - -## CAN Simple Protocol - -See [CAN Protocol](can-protocol). diff --git a/docs/migration.md b/docs/migration.md new file mode 100644 index 00000000..5870b89a --- /dev/null +++ b/docs/migration.md @@ -0,0 +1,43 @@ +# Migration Guide + +Certain changes occurred between firmware versions v0.4.12 and v0.5.1 that will break existing configurations. This document is a guide for how to take a working v0.4.12 ODrive config and change it to work with firmware v0.5.1. + +## Unit Changes +ODrive now uses units of [turns], [turns/s], and [turns/s^2] instead of [counts], [counts/s], and [counts/s^2]. In addition, the motor controller class now has an input command of torque in [Nm] instead of current in [Amps]. In general, every user-facing parameter that has to do with position or velocity is affected by the unit change. + +**Note:** For the torque to be in correct in [Nm] you need to configure the `motor.config.torque_constant`. See the updated [getting started](getting-started.md/#configure-m0) for more details. + +## Control Parameter Names +ODrive now uses `input_pos`, `input_vel`, and `input_torque` as commands instead of `pos_setpoint`, `vel_setpoint`, and `current_setpoint` + +## Guide +For a working v0.4.12 ODrive configuration, use the following equations to convert parameters as required. + +- `pos_gain` is unaffected ( [counts/s / count] -> [turns/s / turns] ) +- `vel_gain` is `vel_gain_old` * `torque_constant` * `encoder cpr` +- `vel_integrator_gain` is `vel_integrator_gain_old` * `torque_constant` * `encoder cpr` + +For other values, [turns] = [counts] / [encoder cpr]. Converting [counts/s] and [counts/s^2] is similar. + +### Affected Variables +- `axis.controller.input_pos` +- `axis.controller.input_vel` +- `axis.controller.input_torque` +- `axis.controller.config.vel_limit` +- `axis.controller.config.vel_ramp_rate` +- `axis.controller.config.current_ramp_rate` is now `axis.controller.config.torque_ramp_rate` +- `axis.controller.config.circular_setpoint_range` +- `axis.controller.config.inertia` +- `axis.controller.config.homing_speed` +- `axis.controller.pos_setpoint` +- `axis.controller.vel_setpoint` +- `axis.controller.torque_setpoint` instead of `axis.controller.current_setpoint` +- `axis.trap_traj.config.vel_limit` +- `axis.trap_traj.config.accel_limit` +- `axis.trap_traj.config.decel_limit` +- `axis.encoder.pos_estimate` +- `axis.encoder.pos_estimate_circular` +- `axis.encoder.vel_estimate` +- `axis.config.counts_per_step` is now `turns_per_step` for the step/direction interface +- `axis.sensorless_estimator.vel_estimate` is in mechanical [turns/s] instead of electrical [radians/s] + diff --git a/docs/native-protocol.md b/docs/native-protocol.md new file mode 100644 index 00000000..47f53dae --- /dev/null +++ b/docs/native-protocol.md @@ -0,0 +1,21 @@ +# Native Protocol + +This protocol is what the ODrive Tool uses to talk to the ODrive. If you have a choice, this is the recommended protocol for all applications. The native protocol runs on [USB](usb) and on [UART](uart). + +## Python + +The ODrive Tool you installed as part of the [Getting Started guide](getting-started.md#downloading-and-installing-tools) comes with a library that you can use to easily control the ODrive from Python. + +Assuming you already installed the odrive library (`pip install odrive`), the simplest program to control the ODrive is this: + +```python +import odrive +odrv0 = odrive.find_any() +print(str(odrv0.vbus_voltage)) +``` + +For a more comprehensive example, see [tools/odrive_demo.py](../tools/odrive_demo.py). + +## Other languages + +We don't have an official library for you just yet. Check the community, there might be someone working on it. If you want to write a library yourself, refer to the [native protocol specification](protocol). You are of course welcome to contribute it back. \ No newline at end of file diff --git a/docs/odrivetool.md b/docs/odrivetool.md index 3cd01972..352f6dc4 100644 --- a/docs/odrivetool.md +++ b/docs/odrivetool.md @@ -85,11 +85,12 @@ To compile firmware from source, refer to the [developer guide](developer-guide) ### Troubleshooting * __Windows__: During the update, a new device called "STM32 BOOTLOADER" will appear. Open the [Zadig utility](http://zadig.akeo.ie/) and set the driver for "STM32 BOOTLOADER" to libusb-win32. After that the firmware update will continue. +* __Linux__: Try running `sudo odrivetool dfu` instead of `odrivetool dfu`. * On some machines you will need to unplug and plug back in the USB cable to make the PC understand that we switched from regular mode to bootloader mode. * If the DFU script can't find the device, try forcing it into DFU mode.
How to force DFU mode (ODrive v3.5 and newer)
- Flick the DIP switch that "DFU, RUN" to "DFU" and power cycle the board. After you're done upgrading firmware, don't forget to put the switch back into the "RUN" position and power cycle the board again. + Flick the DIP switch that says "DFU, RUN" to "DFU" and power cycle the board. If that alone doesn't work, also connect the pin "GPIO6" to "GND". After you're done upgrading firmware, don't forget to put the switch back into the "RUN" position and power cycle the board again.
How to force DFU mode (ODrive v3.1, v3.2)
diff --git a/docs/pinout.md b/docs/pinout.md new file mode 100644 index 00000000..84401b3f --- /dev/null +++ b/docs/pinout.md @@ -0,0 +1,34 @@ +# Pinout + +| # | Label | `GPIO_MODE_DIGITAL` | `GPIO_MODE_ANALOG_IN` | `GPIO_MODE_UART0` | `GPIO_MODE_PWM0` | `GPIO_MODE_CAN0` | `GPIO_MODE_I2C0` | `GPIO_MODE_ENC0` | `GPIO_MODE_ENC1` | `GPIO_MODE_MECH_BRAKE` | +|----|---------------|------------------------|-----------------------|-------------------|------------------|------------------|------------------|------------------|------------------|------------------------| +| 0 | _not a pin_ | | | | | | | | | | +| 1 | GPIO1 (+) | general purpose | analog input | **UART0.TX** | PWM0.0 | | | | | mechanical brake | +| 2 | GPIO2 (+) | general purpose | analog input | **UART0.RX** | PWM0.1 | | | | | mechanical brake | +| 3 | GPIO3 | general purpose | **analog input** | | PWM0.2 | | | | | mechanical brake | +| 4 | GPIO4 | general purpose | **analog input** | | PWM0.3 | | | | | mechanical brake | +| 5 | GPIO5 | general purpose | **analog input** (*) | | | | | | | mechanical brake | +| 6 | GPIO6 (*) (+) | **general purpose** | | | | | | | | mechanical brake | +| 7 | GPIO7 (*) (+) | **general purpose** | | | | | | | | mechanical brake | +| 8 | GPIO8 (*) (+) | **general purpose** | | | | | | | | mechanical brake | +| 9 | M0.A | general purpose | | | | | | **ENC0.A** | | | +| 10 | M0.B | general purpose | | | | | | **ENC0.B** | | | +| 11 | M0.Z | **general purpose** | | | | | | | | | +| 12 | M1.A | general purpose | | | | | I2C.SCL | | **ENC1.A** | | +| 13 | M1.B | general purpose | | | | | I2C.SDA | | **ENC1.B** | | +| 14 | M1.Z | **general purpose** | | | | | | | | | +| 15 | _not exposed_ | general purpose | | | | **CAN0.RX** | I2C.SCL | | | | +| 16 | _not exposed_ | general purpose | | | | **CAN0.TX** | I2C.SDA | | | | + + +(*) ODrive v3.5 and later
+(+) On ODrive v3.5 and later these pins have noise suppression filters. This is useful for step/dir input.
+ +Notes: +* Changes to the pin configuration only take effect after `odrv0.save_configuration()` and `odrv0.reboot()` +* Bold font marks the default configuration. +* If a GPIO is set to an unsupported mode it will be left uninitialized. +* When setting a GPIO to a special purpose mode (e.g. `GPIO_MODE_UART0`) you must also enable the corresponding feature (e.g. `.config.enable_uart`). +* Digital mode is a general purpose mode that can be used for these functions: step, dir, enable, encoder index, hall effect encoder, SPI encoder nCS. +* You must also connect GND between ODrive and your other board. +* ODrive v3.3 and onward have 5V tolerant GPIO pins. diff --git a/docs/rc-pwm.md b/docs/rc-pwm.md new file mode 100644 index 00000000..1cd17a27 --- /dev/null +++ b/docs/rc-pwm.md @@ -0,0 +1,23 @@ +# RC PWM input +You can control the ODrive directly from a hobby RC receiver. + +Any of the numerical parameters that are writable from the ODrive Tool can be hooked up to a PWM input. The [Pinout](#pinout) tells you which pins are PWM input capable. As an example, we'll configure GPIO4 to control the angle of axis 0. We want the axis to move within a range of -2 to 2 turns. + +1. Make sure you're able control the axis 0 angle by writing to `odrv0.axis0.controller.input_pos`. If you need help with this follow the [getting started guide](getting-started.md). +2. If you want to control your ODrive with the PWM input without using anything else to activate the ODrive, you can configure the ODrive such that axis 0 automatically goes operational at startup. See [here](commands.md#startup-procedure) for more information. +3. In ODrive Tool, configure the PWM input mapping + ``` + odrv0.config.gpio4_mode = GPIO_MODE_PWM0 + odrv0.config.gpio4_pwm_mapping.min = -2 + odrv0.config.gpio4_pwm_mapping.max = 2 + odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis0.controller._input_pos_property + ``` + Note: you can disable the input by setting `odrv0.config.gpio4_pwm_mapping.endpoint = None` +4. Save the configuration and reboot + ``` + odrv0.save_configuration() + odrv0.reboot() + ``` +5. With the ODrive powered off, connect the RC receiver ground to the ODrive's GND and one of the RC receiver signals to GPIO4. You may try to power the receiver from the ODrive's 5V supply if it doesn't draw too much power. Power up the the RC transmitter. You should now be able to control axis 0 from one of the RC sticks. + +Be sure to setup the Failsafe feature on your RC Receiver so that if connection is lost between the remote and the receiver, the receiver outputs 0 for the velocity setpoint of both axes (or whatever is safest for your configuration). Also note that if the receiver turns off (loss of power, etc) or if the signal from the receiver to the ODrive is lost (wire comes unplugged, etc), the ODrive will continue the last commanded velocity setpoint. There is currently no timeout function in the ODrive for PWM inputs. \ No newline at end of file diff --git a/docs/specifications.md b/docs/specifications.md new file mode 100644 index 00000000..bf6c8e33 --- /dev/null +++ b/docs/specifications.md @@ -0,0 +1,29 @@ + +# Specifications + +## Electrical Specifications +Besides the input voltage range, (12V to 24V for ODrive v3.6 24V, 12V to 56V for ODrive v3.6 56V), the electrical specifications of both version of ODrive v3.6 are the same. + +Note: ODrive versions after v3.5 are closed-source with respect to board files and schematics. +### ODrive v3.6 24V and 56V +- Peak current per motor: 120 Amps +- Max continuous current depends on cooling. See [this](https://discourse.odriverobotics.com/t/odrive-mosfet-temperature-rise-measurements-using-the-onboard-thermistor/972) for more details. + - Heatsink in still air: 40A per channel + - Heatsink with basic fan cooling: 75A per channel + - Heatsing with overkill fan cooling: 90A per channel +- Max motor RPM: This depends on your power supply voltage, motor, and encoder. It is the lesser of: + - motor RPM limit + - encoder RPM limit + - motor KV * 0.7 * Supply voltage + - 35000 eRPM / # of motor pole pairs + - (840M counts/minute) / encoder counts per revolution (for incremental encoders - 4 x pulses per revolution). + +### Schematic +The electrical schematic for ODrive v3.5 is available [here](https://github.com/madcowswe/ODriveHardware/blob/master/v3/v3.5docs/schematic_v3.5.pdf) in PDF format. + +## Mechanical Specifications +### STEP file +A step file for ODrive v3.5 is available [here](https://github.com/madcowswe/ODriveHardware/blob/master/v3/v3.5docs/PCB_v3.5.step) + +### Board outline and mounting hole dimensions +![board dimensions](https://raw.githubusercontent.com/madcowswe/ODriveHardware/master/v3/v3.5docs/mech_dimensions.PNG) \ No newline at end of file diff --git a/docs/step-direction.md b/docs/step-direction.md new file mode 100644 index 00000000..0cf625b8 --- /dev/null +++ b/docs/step-direction.md @@ -0,0 +1,25 @@ +# Step/direction +This is the simplest possible way of controlling the ODrive. It is also the most primitive and fragile one. So don't use it unless you must interoperate with other hardware that you don't control. + +### Pinout +* Step/dir signals: Any GPIOs can be used. Also see [Pinout](pinout.md) for more info. +* GND: you must connect the grounds of the devices together. Use any GND pin on J3 of the ODrive. + +### How to configure + + 1. Choose any two of the unused GPIOs for step/dir input. Let's say you chose GPIO7 for the step signal and GPIO8 for the dir signal. + 2. Configure the GPIO modes: + + .config.gpio7_mode = GPIO_MODE_DIGITAL_PULL_DOWN + .config.gpio8_mode = GPIO_MODE_DIGITAL + + 3. Configure the axis: + + .config.step_gpio_pin = 7 + .config.dir_gpio_pin = 8 + .config.enable_step_dir = True + +There is also a config variable called `.config.turns_per_step`, which specifies how many turns a "step" corresponds to. The default value is 1.0f/1024.0f. It can be any floating point value. +The maximum step rate is pending tests, but it should handle at least 50kHz. If you want to test it, please be aware that the failure mode on too high step rates is expected to be that the motors shuts down and coasts. + +Please be aware that there is no enable line right now, and the step/direction interface is enabled by default, and remains active as long as the ODrive is in position control mode. To get the ODrive to go into position control mode at bootup, see how to configure the [startup procedure](commands.md#startup-procedure). \ No newline at end of file diff --git a/docs/thermistors.md b/docs/thermistors.md index 4b2a225d..144734fe 100644 --- a/docs/thermistors.md +++ b/docs/thermistors.md @@ -4,14 +4,14 @@ Thermistors are elements that change their resistance based on the temperature. They can be used to electrically measure temperature. The ODrive itself has thermistors on board near the FETs to ensure that they don't burn themselves out. In addition to this it's possible to connect your own thermistor to measure the temperature of the connected motors. There are two types of thermistors, Negative Temperature Coefficient (NTC) and Positive Temperature Coefficient (PTC). This indicates whether the resistance goes up or down when the temperature goes up or down. The ODrive only supports the NTC type thermistor. ## FET thermistor -The temperature of the onboard FET thermistors can be read out by using the `odrivetool` under `.fet_thermistor.temp`. The odrive will automatically start current limiting the motor when the `.fet_thermistor.config.temp_limit_lower` threshold is exceeded and once `.fet_thermistor.config.temp_limit_upper` is exceeded the ODrive will stop controlling the motor and set an error. The lower and upper threshold can be changed, but this is not recommended. +The temperature of the onboard FET thermistors can be read out by using the `odrivetool` under `.motor.fet_thermistor.temperature`. The odrive will automatically start current limiting the motor when the `.motor.fet_thermistor.config.temp_limit_lower` threshold is exceeded and once `.motor.fet_thermistor.config.temp_limit_upper` is exceeded the ODrive will stop controlling the motor and set an error. The lower and upper threshold can be changed, but this is not recommended. ## Connecting motor thermistors -To use your own thermistors with the ODrive a few things have to be clarified first. The use of your own thermistor requires one analog input pin. Under `.motor_thermistor.config` the configuration of your own thermistor is available with the following fields: +To use your own thermistors with the ODrive a few things have to be clarified first. The use of your own thermistor requires one analog input pin. Under `.motor.motor_thermistor.config` the configuration of your own thermistor is available with the following fields: * `gpio_pin`: The GPIO input in used for this thermistor. -* `poly_coefficient_0` to `poly_coefficient_3`: Coefficient that needs to be set for your specific setup more on that in [Thermistor coefficients](#Thermistor coefficients). +* `poly_coefficient_0` to `poly_coefficient_3`: Coefficient that needs to be set for your specific setup more on that in [Thermistor coefficients](#thermistor-coefficients). * `temp_limit_lower` and `temp_limit_upper`: Same principle as the FET temperature limits. * `enabled`: Whether this thermistor is enabled or not. @@ -25,7 +25,7 @@ The way this works is that the thermistor is connected in series with a known re To use a thermistor with the ODrive a voltage divider circuit has to be made that uses `VCCA` as the power source with `GNDA` as the ground. The voltage divider output can be connected to a GPIO pin that supports analog input. ## Thermistor coefficients -Every thermistor and voltage divider circuit is different and thus it's necessary to let the ODrive know how to relate a voltage it measures at the GPIO pin to a temperature. The `poly_coefficient_0` to `poly_coefficient_3` under `.motor_thermistor.config` are used for this. The `odrivetool` has a convenience function `set_motor_thermistor_coeffs(axis, Rload, R_25, Beta, Tmin, Tmax)` which can be used to calculate and set these coefficients. +Every thermistor and voltage divider circuit is different and thus it's necessary to let the ODrive know how to relate a voltage it measures at the GPIO pin to a temperature. The `poly_coefficient_0` to `poly_coefficient_3` under `.motor.motor_thermistor.config` are used for this. The `odrivetool` has a convenience function `set_motor_thermistor_coeffs(axis, Rload, R_25, Beta, Tmin, Tmax)` which can be used to calculate and set these coefficients. * `axis`: Which axis do set the motor thermistor coefficients for (`odrv0.axis0` or `odrv0.axis1`). * `Rload`: The Ohm value of the resistor used in the voltage divider circuit. diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 3d47157f..ecacbe56 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -20,6 +20,38 @@ With this information you can look up the API documentation for your error(s): * Controller error flags documented [here](api/odrive.controller.error). * Sensorless estimator error flags documented [here](odrive.sensorlessestimator.error). +### What if `dump_errors()` gives me python errors? +If you get output like this: +
Show code:
+ +```py +In [1]: dump_errors(odrv0) +axis0 +--------------------------------------------------------------------------- +AttributeError Traceback (most recent call last) +~/.local/lib/python3.6/site-packages/fibre/shell.py in +----> 1 dump_errors(odrv0) + +~/.local/lib/python3.6/site-packages/odrive/utils.py in dump_errors(odrv, clear) + 78 ('axis', axis, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("AXIS_ERROR_")}), + 79 ('motor', axis.motor, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("MOTOR_ERROR_")}), +---> 80 ('fet_thermistor', axis.fet_thermistor, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("THERMISTOR_CURRENT_LIMITER_ERROR")}), + 81 ('motor_thermistor', axis.motor_thermistor, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("THERMISTOR_CURRENT_LIMITER_ERROR")}), + 82 ('encoder', axis.encoder, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("ENCODER_ERROR_")}), + +~/.local/lib/python3.6/site-packages/fibre/remote_object.py in __getattribute__(self, name) + 243 return attr + 244 else: +--> 245 return object.__getattribute__(self, name) + 246 #raise AttributeError("Attribute {} not found".format(name)) + 247 + +AttributeError: 'RemoteObject' object has no attribute 'fet_thermistor' +``` + +
+when you call `dump_errors()`, you have a version mismatch between odrivetool and the firmware on your ODrive. To get the newest version of odrivetool, you can run `pip install odrive --upgrade`. To get the newest ODrive firmware, run `odrivetool dfu`. See the [odrivetool](odrivetool.md#device-firmware-update) page for more details. + ## USB Connectivity Issues * Try turning it off and on again (the ODrive, the script, the PC) diff --git a/docs/uart.md b/docs/uart.md new file mode 100644 index 00000000..b72069ca --- /dev/null +++ b/docs/uart.md @@ -0,0 +1,13 @@ +# UART Interface + +The ODrive's UART0 interface is enabled by default with a baudrate of 115200 on the pins as shown in [Pinout](pinout). + +To use UART connect it like this: + +* Tx of the ODrive <=> Rx of other device +* Rx of the ODrive <=> Tx of other device +* GND of the ODrive (use any GND pin on J3 of the ODrive) <=> GND of the other device + +The logic level of the ODrive is 3.3V. The GPIOs are 5V tolerant. + +You can use `odrv0.config.uart0_baudrate` to change the baudrate and `odrv0.config.enable_uart0` to disable/reenable UART0. Currently the UART port runs both the [Native Protocol](native-protocol) and the [ASCII Protocol](ascii-protocol) at the same time. diff --git a/docs/usb.md b/docs/usb.md new file mode 100644 index 00000000..10dc0fa6 --- /dev/null +++ b/docs/usb.md @@ -0,0 +1,28 @@ +# USB + +This page documents the low level USB configuration. If you're looking for a higher level protocol documentation see [Native Protocol](native-protocol) and [ASCII Protocol](ascii-protocol). + +This page assumes that you are familiar with the general USB architecture, in particular with terms like "configuration", "interface" and "endpoint". + +On USB the ODrive provides a single configuration which is a composite device consisting of a CDC device (virtual COM port) and a vendor specific device. + +
What is a composite device?
+A composite device is a device where interfaces are grouped by interface association descriptors. For such devices, the host OS loads an intermediate driver, so that each of the interface groups can be treated like a separate device and have its own host-side driver attached. +
+ +The following interface groups are present: + + * Interface Association: Communication Device Class (CDC) + * Interface 0: + * Endpoint `0x82`: CDC commands + * Interface 1: + * Endpoint `0x01`: CDC data OUT + * Endpoint `0x81`: CDC data IN + * Interface Association: Vendor Specific Device Class + * Interface 2: + * Endpoint `0x03`: data OUT + * Endpoint `0x83`: data IN + +The CDC interface (endpoint pair `0x01, 0x81`) runs the [ASCII Protocol](ascii-protocol) by default (see `odrv0.config.enable_ascii_protocol_on_usb`). The vendor specific interface (endpoint pair `0x03, 0x83`) runs the [Native Protocol](native-protocol) (the packet based variant). + +The two interfaces can not (yet) be used simultaneously. diff --git a/tools/fibre-tools/interface_generator.py b/tools/fibre-tools/interface_generator.py index 659d97f6..2dcf9c83 100644 --- a/tools/fibre-tools/interface_generator.py +++ b/tools/fibre-tools/interface_generator.py @@ -328,7 +328,7 @@ def regularize_valuetype(path, name, elem): elem['flags'][k]['value'] = 0 if current_bit is None else (1 << current_bit) bit = bit if current_bit is None else current_bit + 1 if 'nullflag' in elem: - elem['flags'] = OrderedDict([(elem['nullflag'], {'value': 0, 'bit': None}), *elem['flags'].items()]) + elem['flags'] = OrderedDict([(elem['nullflag'], OrderedDict({'name': elem['nullflag'], 'value': 0, 'bit': None})), *elem['flags'].items()]) elem['values'] = elem['flags'] elem['is_flags'] = True elem['is_enum'] = True @@ -653,6 +653,7 @@ env.filters['skip_first'] = lambda x: list(x)[1:] env.filters['to_c_string'] = lambda x: '\n'.join(('"' + line.replace('"', '\\"') + '"') for line in json.dumps(x, separators=(',', ':')).replace('{"name"', '\n{"name"').split('\n')) env.filters['tokenize'] = tokenize env.filters['diagonalize'] = lambda lst: [lst[:i + 1] for i in range(len(lst))] +env.filters['debug'] = lambda x: print(x) template = env.from_string(template_file.read()) diff --git a/tools/odrive/dfu.py b/tools/odrive/dfu.py index 19d0cddc..952bbe0b 100755 --- a/tools/odrive/dfu.py +++ b/tools/odrive/dfu.py @@ -223,9 +223,12 @@ def put_into_dfu_mode(device, cancellation_token): Puts the specified device into DFU mode """ if not hasattr(device, "enter_dfu_mode"): - print("The firmware on device {} does not support DFU. You need to \n" - "flash the firmware once using STLink (`make flash`), after that \n" - "DFU with this script should work fine." + print("The firmware on device {} cannot soft enter DFU mode.\n" + "Please remove power, put the DFU switch into DFU mode,\n" + "then apply power again. Then try again.\n" + "If it still doesn't work, you can try to use the DeFuse app or \n" + "dfu-util, see the odrive documentation.\n" + "You can also flash the firmware using STLink (`make flash`)" .format(device.__channel__.usb_device.serial_number)) return diff --git a/tools/odrive/dfuse/DfuDevice.py b/tools/odrive/dfuse/DfuDevice.py index be7d404e..57035715 100644 --- a/tools/odrive/dfuse/DfuDevice.py +++ b/tools/odrive/dfuse/DfuDevice.py @@ -2,6 +2,7 @@ import usb.util import time import fractions import array +import time from odrive.dfuse.DfuState import DfuState DFU_REQUEST_SEND = 0x21 @@ -64,7 +65,20 @@ class DfuDevice: self.control_msg(DFU_REQUEST_SEND, DFU_CLRSTATUS, 0, None) def get_state(self): - return self.control_msg(DFU_REQUEST_RECEIVE, DFU_GETSTATE, 0, 1)[0] + msg = self.control_msg(DFU_REQUEST_RECEIVE, DFU_GETSTATE, 0, 1) + + # Second chance after giving the device some time to breathe. + if len(msg) == 0: + time.sleep(0.5) + msg = self.control_msg(DFU_REQUEST_RECEIVE, DFU_GETSTATE, 0, 1) + + if len(msg) == 0: + raise Exception("Could not get device state. Firmware upgrade will abort. " + "Please try again. If odrivetool can't find the device " + "anymore after this, follow the instructions in " + "https://docs.odriverobotics.com/odrivetool#device-firmware-update " + "(\"How to force DFU mode\").") + return msg[0] def abort(self): self.control_msg(DFU_REQUEST_RECEIVE, DFU_ABORT, 0, 0) diff --git a/tools/odrive/enums.py b/tools/odrive/enums.py index ea11aa8e..0957576a 100644 --- a/tools/odrive/enums.py +++ b/tools/odrive/enums.py @@ -37,10 +37,6 @@ AXIS_STATE_LOCKIN_SPIN = 9 AXIS_STATE_ENCODER_DIR_FIND = 10 AXIS_STATE_HOMING = 11 -# ODrive.ThermistorCurrentLimiter.Error -THERMISTOR_CURRENT_LIMITER_ERROR_NONE = 0x00000000 -THERMISTOR_CURRENT_LIMITER_ERROR_OVER_TEMP = 0x00000001 - # ODrive.Encoder.Mode ENCODER_MODE_INCREMENTAL = 0 ENCODER_MODE_HALL = 1 @@ -119,6 +115,8 @@ MOTOR_ERROR_BRAKE_DUTY_CYCLE_NAN = 0x00002000 MOTOR_ERROR_DC_BUS_OVER_REGEN_CURRENT = 0x00004000 MOTOR_ERROR_DC_BUS_OVER_CURRENT = 0x00008000 MOTOR_ERROR_MODULATION_IS_NAN = 0x00010000 +MOTOR_ERROR_MOTOR_THERMISTOR_OVER_TEMP = 0x00020000 +MOTOR_ERROR_FET_THERMISTOR_OVER_TEMP = 0x00040000 # ODrive.Motor.ArmedState ARMED_STATE_DISARMED = 0 diff --git a/tools/odrive/tests/can_test.py b/tools/odrive/tests/can_test.py index 75a4671f..05bb9132 100644 --- a/tools/odrive/tests/can_test.py +++ b/tools/odrive/tests/can_test.py @@ -117,24 +117,26 @@ class TestSimpleCAN(): axis = odrive.handle.axis0 axis.config.enable_watchdog = False axis.clear_errors() - axis.config.can_node_id = node_id - axis.config.can_node_id_extended = extended_id + axis.config.can.node_id = node_id + axis.config.can.is_extended = extended_id time.sleep(0.1) def my_cmd(cmd_name, **kwargs): command(canbus.handle, node_id, extended_id, cmd_name, **kwargs) def my_req(cmd_name, **kwargs): return asyncio.run(request(canbus.handle, node_id, extended_id, cmd_name, **kwargs)) def fence(): my_req('get_vbus_voltage') # fence to ensure the CAN command was sent + def flush_rx(): + while not canbus.handle.recv(timeout = 0) is None: pass test_assert_eq(my_req('get_vbus_voltage')['vbus_voltage'], odrive.handle.vbus_voltage, accuracy=0.01) my_cmd('set_node_id', node_id=node_id+20) asyncio.run(request(canbus.handle, node_id+20, extended_id, 'get_vbus_voltage')) - test_assert_eq(axis.config.can_node_id, node_id+20) + test_assert_eq(axis.config.can.node_id, node_id+20) # Reset node ID to default value command(canbus.handle, node_id+20, extended_id, 'set_node_id', node_id=node_id) fence() - test_assert_eq(axis.config.can_node_id, node_id) + test_assert_eq(axis.config.can.node_id, node_id) # Check that extended node IDs are not carelessly projected to 6-bit IDs extended_id = not extended_id @@ -144,6 +146,7 @@ class TestSimpleCAN(): test_assert_eq(axis.error, AXIS_ERROR_NONE) axis.encoder.set_linear_count(123) + flush_rx() # drop previous encoder estimates that were sent by the ODrive at a constant rate test_assert_eq(my_req('get_encoder_estimates')['encoder_pos_estimate'], 123.0 / axis.encoder.config.cpr, accuracy=0.01) test_assert_eq(my_req('get_encoder_count')['encoder_shadow_count'], 123.0, accuracy=0.01) @@ -216,12 +219,10 @@ class TestSimpleCAN(): test_watchdog(axis, lambda: my_cmd('set_input_torque', input_torque=0.0), logger) logger.debug('testing heartbeat...') - # note that this will include the heartbeats that were received during the - # watchdog test (which takes 4.8s). - heartbeats = asyncio.run(get_all(record_messages(canbus.handle, node_id, extended_id, 'heartbeat', timeout = 1.0))) - test_assert_eq(len(heartbeats), 5.8 / 0.1, accuracy=0.05) - test_assert_eq([msg['error'] for msg in heartbeats[0:35]], [0] * 35) # before watchdog expiry - test_assert_eq([msg['error'] for msg in heartbeats[-10:]], [AXIS_ERROR_WATCHDOG_TIMER_EXPIRED] * 10) # after watchdog expiry + flush_rx() # Flush RX buffer to get a clean state for the heartbeat test + heartbeats = asyncio.run(get_all(record_messages(canbus.handle, node_id, extended_id, 'heartbeat', timeout = 2.0))) + test_assert_eq(len(heartbeats), 2.0 / 0.1, accuracy=0.05) + test_assert_eq([msg['error'] for msg in heartbeats], [AXIS_ERROR_WATCHDOG_TIMER_EXPIRED] * len(heartbeats)) test_assert_eq([msg['current_state'] for msg in heartbeats], [1] * len(heartbeats)) logger.debug('testing reboot...') diff --git a/tools/odrive/utils.py b/tools/odrive/utils.py index d8c72002..9406338c 100755 --- a/tools/odrive/utils.py +++ b/tools/odrive/utils.py @@ -71,10 +71,10 @@ class OperationAbortedException(Exception): def set_motor_thermistor_coeffs(axis, Rload, R_25, Beta, Tmin, TMax): coeffs = calculate_thermistor_coeffs(3, Rload, R_25, Beta, Tmin, TMax) - axis.motor_thermistor.config.poly_coefficient_0 = float(coeffs[3]) - axis.motor_thermistor.config.poly_coefficient_1 = float(coeffs[2]) - axis.motor_thermistor.config.poly_coefficient_2 = float(coeffs[1]) - axis.motor_thermistor.config.poly_coefficient_3 = float(coeffs[0]) + axis.motor.motor_thermistor.config.poly_coefficient_0 = float(coeffs[3]) + axis.motor.motor_thermistor.config.poly_coefficient_1 = float(coeffs[2]) + axis.motor.motor_thermistor.config.poly_coefficient_2 = float(coeffs[1]) + axis.motor.motor_thermistor.config.poly_coefficient_3 = float(coeffs[0]) def dump_errors(odrv, clear=False): axes = [(name, getattr(odrv, name)) for name in dir(odrv) if name.startswith('axis')] @@ -87,8 +87,6 @@ def dump_errors(odrv, clear=False): module_decode_map = [ (name, odrv, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("AXIS_ERROR_")}), ('motor', axis, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("MOTOR_ERROR_")}), - ('fet_thermistor', axis, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("THERMISTOR_CURRENT_LIMITER_ERROR")}), - ('motor_thermistor', axis, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("THERMISTOR_CURRENT_LIMITER_ERROR")}), ('encoder', axis, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("ENCODER_ERROR_")}), ('controller', axis, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("CONTROLLER_ERROR_")}), ] diff --git a/tools/odrive/version.py b/tools/odrive/version.py index 23b38b93..261e5fe0 100644 --- a/tools/odrive/version.py +++ b/tools/odrive/version.py @@ -28,7 +28,7 @@ def get_version_from_git(): script_dir = os.path.dirname(os.path.realpath(__file__)) try: # Determine the current git commit version - git_tag = subprocess.check_output(["git", "describe", "--always", "--tags", "--dirty=*"], + git_tag = subprocess.check_output(["git", "describe", "--always", "--tags", "--match=*fw*", "--dirty=*"], cwd=script_dir) git_tag = git_tag.decode(sys.stdout.encoding).rstrip('\n')