Mirrors_Framework/ODrive
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improve debug instrumentation

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- add ERROR output on GPIO
 - add exported get_gpio_states() function
 - add task timer for DC calib ADC wait time
 - fix oscilloscope
This commit is contained in:
Samuel Sadok
2020-11-13 18:45:49 +01:00
parent a6587f8d8a
commit 69897ece9c
9 changed files with 67 additions and 22 deletions
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Firmware/Board/v3/Inc/board.h
+2
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@@ -41,6 +41,8 @@
#define DEFAULT_BRAKE_RESISTANCE (0.47f) // [ohm]
#endif
#define DEFAULT_ERROR_PIN 0
#define DEFAULT_GPIO_MODES \
ODriveIntf::GPIO_MODE_DIGITAL, \
ODriveIntf::GPIO_MODE_UART_A, \
Firmware/Board/v3/board.cpp
+3 -1
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@@ -513,7 +513,9 @@ void ControlLoop_IRQHandler(void) {
// By this time the ADCs for both M0 and M1 should have fired again. But
// let's wait for them just to be sure.
while (!(ADC2->SR & ADC_SR_EOC));
MEASURE_TIME(odrv.task_times_.dc_calib_wait) {
while (!(ADC2->SR & ADC_SR_EOC));
}
if (!fetch_and_reset_adcs(&current0, &current1)) {
motors[0].disarm_with_error(Motor::ERROR_BAD_TIMING);
Firmware/MotorControl/main.cpp
+27
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@@ -151,6 +151,17 @@ void ODrive::enter_dfu_mode() {
}
}
bool ODrive::any_error() {
return error_ != ODrive::ERROR_NONE
|| std::any_of(axes.begin(), axes.end(), [](Axis& axis){
return axis.error_ != Axis::ERROR_NONE
|| axis.motor_.error_ != Motor::ERROR_NONE
|| axis.sensorless_estimator_.error_ != SensorlessEstimator::ERROR_NONE
|| axis.encoder_.error_ != Encoder::ERROR_NONE
|| axis.controller_.error_ != Controller::ERROR_NONE;
});
}
void ODrive::clear_errors() {
for (auto& axis: axes) {
axis.motor_.error_ = Motor::ERROR_NONE;
@@ -366,6 +377,8 @@ void ODrive::control_loop_cb(uint32_t timestamp) {
MEASURE_TIME(axis.task_times_.current_controller_update)
axis.motor_.current_control_.update(timestamp); // uses the output of controller_ or open_loop_contoller_ and encoder_ or sensorless_estimator_ or async_estimator_
}
get_gpio(odrv.config_.error_gpio_pin).write(odrv.any_error());
}
@@ -407,6 +420,14 @@ uint32_t ODrive::get_dma_status(uint8_t stream_num) {
return (is_reset ? 0 : 0x80000000) | ((channel & 0x7) << 2) | (priority & 0x3);
}
uint32_t ODrive::get_gpio_states() {
// TODO: get values that were sampled synchronously with the control loop
uint32_t val = 0;
for (size_t i = 0; i < GPIO_COUNT; ++i) {
val |= ((gpios[i].read() ? 1UL : 0UL) << i);
}
return val;
}
/**
* @brief Main thread started from main().
@@ -580,6 +601,7 @@ extern "C" int main(void) {
mode == ODriveIntf::GPIO_MODE_DIGITAL_PULL_UP ||
mode == ODriveIntf::GPIO_MODE_DIGITAL_PULL_DOWN ||
mode == ODriveIntf::GPIO_MODE_MECH_BRAKE ||
mode == ODriveIntf::GPIO_MODE_STATUS ||
mode == ODriveIntf::GPIO_MODE_ANALOG_IN) {
GPIO_InitStruct.Alternate = 0;
} else {
@@ -681,6 +703,11 @@ extern "C" int main(void) {
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
} break;
case ODriveIntf::GPIO_MODE_STATUS: {
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
} break;
default: {
odrv.misconfigured_ = true;
continue;
Firmware/MotorControl/motor.cpp
+1 -1
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@@ -256,7 +256,7 @@ void Motor::apply_pwm_timings(uint16_t timings[3], bool tentative) {
* arm() is called.
*/
bool Motor::disarm(bool* p_was_armed) {
bool was_armed;
bool was_armed = false;
CRITICAL_SECTION() {
was_armed = is_armed_;
Firmware/MotorControl/odrive_main.h
+8 -2
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@@ -104,6 +104,7 @@ struct BoardConfig_t {
float dc_max_positive_current = INFINITY; // Max current [A] the power supply can source
float dc_max_negative_current = -0.000001f; // Max current [A] the power supply can sink. You most likely want a non-positive value here. Set to -INFINITY to disable.
uint32_t error_gpio_pin = DEFAULT_ERROR_PIN;
PWMMapping_t pwm_mappings[4];
PWMMapping_t analog_mappings[GPIO_COUNT];
};
@@ -112,6 +113,7 @@ struct TaskTimes {
TaskTimer sampling;
TaskTimer control_loop_misc;
TaskTimer control_loop_checks;
TaskTimer dc_calib_wait;
};
@@ -169,6 +171,7 @@ public:
void erase_configuration() override;
void reboot() override { NVIC_SystemReset(); }
void enter_dfu_mode() override;
bool any_error();
void clear_errors() override;
float get_adc_voltage(uint32_t gpio) override {
@@ -189,6 +192,7 @@ public:
uint32_t get_interrupt_status(int32_t irqn);
uint32_t get_dma_status(uint8_t stream_num);
uint32_t get_gpio_states();
void disarm_with_error(Error error);
Error error_ = ERROR_NONE;
@@ -230,10 +234,12 @@ public:
bool& brake_resistor_saturated_ = ::brake_resistor_saturated; // TODO: make this the actual variable
SystemStats_t system_stats_;
// Edit these to suit your capture needs
Oscilloscope oscilloscope_{
&axes[0].motor_.current_control_.v_current_control_integral_d_, // trigger_src
nullptr, // trigger_src
0.5f, // trigger_threshold
nullptr // &axes[0].motor_.current_control_.Ialpha_measured_ // data_src TODO: change data type
nullptr // data_src TODO: change data type
};
BoardConfig_t config_;
Firmware/MotorControl/oscilloscope.cpp
+10 -12
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@@ -5,25 +5,23 @@
#define OSCILLOSCOPE_SIZE 4096
void Oscilloscope::update() {
// Edit these to suit your capture needs
float trigger_data = trigger_src_ ? *trigger_src_ : 0.0f;
float trigger_threshold = trigger_threshold_;
float sample_data = data_src_ ? *data_src_ : 0.0f;
float sample_data = data_src_ ? **data_src_ : 0.0f;
static bool ready = false;
static bool capturing = false;
if (trigger_data < trigger_threshold) {
ready = true;
ready_ = true;
}
if (ready && trigger_data >= trigger_threshold) {
capturing = true;
ready = false;
if (ready_ && trigger_data >= trigger_threshold) {
capturing_ = true;
ready_ = false;
}
if (capturing) {
data_[pos_] = sample_data;
if (++pos_ >= OSCILLOSCOPE_SIZE) {
if (capturing_) {
if (pos_ < OSCILLOSCOPE_SIZE) {
data_[pos_++] = sample_data;
} else {
pos_ = 0;
capturing = false;
capturing_ = false;
}
}
}
Firmware/MotorControl/oscilloscope.hpp
+4 -2
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@@ -8,7 +8,7 @@
class Oscilloscope : public ODriveIntf::OscilloscopeIntf {
public:
Oscilloscope(float* trigger_src, float trigger_threshold, float* data_src)
Oscilloscope(float* trigger_src, float trigger_threshold, float** data_src)
: trigger_src_(trigger_src), trigger_threshold_(trigger_threshold), data_src_(data_src) {}
float get_val(uint32_t index) override {
@@ -20,10 +20,12 @@ public:
const uint32_t size_ = OSCILLOSCOPE_SIZE;
const float* trigger_src_;
const float trigger_threshold_;
const float* data_src_;
float* const * data_src_;
float data_[OSCILLOSCOPE_SIZE] = {0};
size_t pos_ = 0;
bool ready_ = false;
bool capturing_ = false;
};
#endif // __OSCILLOSCOPE_HPP
Firmware/odrive-interface.yaml
+11 -4
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@@ -122,6 +122,7 @@ interfaces:
sampling: TaskTimer
control_loop_misc: TaskTimer
control_loop_checks: TaskTimer
dc_calib_wait: TaskTimer
system_stats:
c_is_class: False
attributes:
@@ -311,10 +312,12 @@ interfaces:
brief: Max current the power supply can sink.
doc: You most likely want a non-positive value here. Set to -INFINITY to disable.
gpio1_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[0]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
gpio2_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[1]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
gpio3_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[2]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
gpio4_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[3]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
error_gpio_pin: {type: uint32}
gpio1_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[0]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM0`.}
gpio2_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[1]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM0`.}
gpio3_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[2]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM0`.}
gpio4_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[3]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM0`.}
gpio3_analog_mapping: {type: Endpoint, c_name: 'analog_mappings[3]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_ANALOG_IN`.}
gpio4_analog_mapping: {type: Endpoint, c_name: 'analog_mappings[4]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_ANALOG_IN`.}
user_config_loaded: readonly uint32
@@ -374,6 +377,9 @@ interfaces:
bits 1:0: priority (3 is highest priority)
0xffffffff if the specified number is not a valid DMA stream number.
doc: Returns information about the specified DMA stream.
get_gpio_states:
out: {status: {type: uint32}}
doc: Returns the logic states of all GPIOs. Bit i represents the state of GPIOi.
clear_errors:
doc: Clear all the errors of this device including all contained submodules.
@@ -1122,6 +1128,7 @@ valuetypes:
Enc1: {doc: The pin is used by quadrature encoder 1.}
Enc2: {doc: This mode is not supported on ODrive v3.x.}
MechBrake: {doc: This is to support external mechanical brakes.}
Status: {doc: The pin is used for status output (see `config.error_gpio_pin`)}
ODrive.Can.Protocol:
values: {Simple: }
tools/odrive/enums.py
+1
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@@ -19,6 +19,7 @@ GPIO_MODE_ENC0 = 11
GPIO_MODE_ENC1 = 12
GPIO_MODE_ENC2 = 13
GPIO_MODE_MECH_BRAKE = 14
GPIO_MODE_STATUS = 15
# ODrive.Can.Protocol
PROTOCOL_SIMPLE = 0