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Merge pull request #128 from madcowswe/sam_build_config

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Configurable Build
This commit is contained in:
Oskar Weigl
2018-03-12 21:25:41 -07:00
committed by GitHub
parent 0990117196 2430490025
commit 6f92412907
8 changed files with 97 additions and 62 deletions
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.travis.yml
+5 -5
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@@ -23,14 +23,14 @@ install:
- export GCC_URL=https://launchpad.net/gcc-arm-embedded/5.0/5-2015-q4-major/+download/gcc-arm-none-eabi-5_2-2015q4-20151219-linux.tar.bz2
- if [ ! -e $GCC_DIR/bin/arm-none-eabi-gcc ]; then wget $GCC_URL -O $GCC_ARCHIVE; tar xfj $GCC_ARCHIVE -C $HOME/dl; fi
- export PATH=$PATH:$GCC_DIR/bin
- export TUP_DIR=$HOME/dl/tup_0.7.2.12+ga582fee_amd64
- export TUP_ARCHIVE=$HOME/dl/tup_0.7.2.12+ga582fee_amd64.deb
- export TUP_URL=http://ppa.launchpad.net/anatol/tup/ubuntu/pool/main/t/tup/tup_0.7.2.12+ga582fee_amd64.deb
- export TUP_DIR=$HOME/dl/tup_0.7.5-0~16.04.york0_amd64
- export TUP_ARCHIVE=$HOME/dl/tup_0.7.5-0~16.04.york0_amd64.deb
- export TUP_URL=http://ppa.launchpad.net/jonathonf/tup/ubuntu/pool/main/t/tup/tup_0.7.5-0~16.04.york0_amd64.deb
- if [ ! -e $TUP_DIR/bin/tup ]; then wget $TUP_URL -O $TUP_ARCHIVE; dpkg-deb -R $TUP_ARCHIVE $TUP_DIR; fi
- export PATH=$PATH:$TUP_DIR/usr/bin
script:
- cd Firmware
- mkdir -p build
- mkdir -p Firmware/build
- echo "CONFIG_BOARD_VERSION=v3.4-24V" > tup.config # TODO: build more configuration combinations
- tup generate ./build.sh
- bash -xe ./build.sh
Firmware/Board/v3.3/Inc/main.h
-4
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@@ -52,10 +52,6 @@
/* USER CODE BEGIN Includes */
#define HW_VERSION_MAJOR 3
#define HW_VERSION_MINOR 4
// #define HW_VERSION_HIGH_VOLTAGE true
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 1 \
|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 2
#include "prev_board_ver/main_V3_2.h"
Firmware/CHANGELOG.md
+4
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@@ -1,8 +1,12 @@
# Unreleased Features
Please add a note of your changes below this heading if you make a Pull Request.
### Added
* **Storing of configuration parameters to Non Volatile Memory**
### Changed
* The build is now configured using the `tup.config` file instead of editing source files. Make sure you set your board version correctly. See [here](README.md#configuring-the-build) for details.
# Releases
## [0.3.5] - 2018-03-04
Firmware/MotorControl/commands.cpp
+7
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@@ -38,6 +38,13 @@ extern USBD_HandleTypeDef hUsbDeviceFS;
/* Private constant data -----------------------------------------------------*/
// TODO: make command to switch gpio_mode during run-time
typedef enum {
GPIO_MODE_NONE,
GPIO_MODE_UART,
GPIO_MODE_STEP_DIR,
} GpioMode_t;
#if defined(USE_GPIO_MODE_STEP_DIR)
static const GpioMode_t gpio_mode = GPIO_MODE_STEP_DIR; //GPIO 1,2 is M0 Step,Dir
#elif !defined(UART_PROTOCOL_NONE)
Firmware/MotorControl/commands.h
-21
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@@ -10,27 +10,6 @@
#include <limits>
#include "crc.hpp"
// Select which protocol to run on USB (see README for more details)
#define USB_PROTOCOL_NATIVE
// #define USB_PROTOCOL_NATIVE_STREAM_BASED
// #define USB_PROTOCOL_LEGACY
// #define USB_PROTOCOL_NONE
// Select which protocol to run on UART (see README for more details)
// #define UART_PROTOCOL_NATIVE
// #define UART_PROTOCOL_LEGACY
#define UART_PROTOCOL_NONE
// Use GPIO 1/2 for step/dir input instead of UART
// #define USE_GPIO_MODE_STEP_DIR
typedef enum {
GPIO_MODE_NONE,
GPIO_MODE_UART,
GPIO_MODE_STEP_DIR,
} GpioMode_t;
extern "C" {
#endif
Firmware/README.md
+13 -31
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@@ -27,41 +27,23 @@ The project is under active development, so make sure to check the [Changelog](C
To correctly operate the ODrive, you need to supply some parameters. Some are mandatory, and if supplied incorrectly will cause the drive to malfunction.
In this section we will set the compile-time parameters, later we will also set the [run time parameters](#configuring-parameters).
The first thing to set is your board hardware version, located at the top of [Inc/main.h](Inc/main.h). If, for example, you are using the hardware: ODrive v3.2, then you should set it like this:
```C
#define HW_VERSION_MAJOR 3
#define HW_VERSION_MINOR 2
```
If you are using the 48V version of ODrive, you should also uncomment this line
```C
#define HW_VERSION_HIGH_VOLTAGE true
```
To customize the compile time parameters, copy or rename the file `tup.config.default` to `tup.config` and edit the parameters in that file:
### Communication configuration
If want to use the example python scripts and connect the ODrive via USB, the defaults are fine for you and you can skip this step.
__CONFIG_BOARD_VERSION__: The board version you're using. Can be `v3.1`, `v3.2`, `v3.3`, `v3.4-24V` or `v3.4-48V`. Check for a label on the upper side of the ODrive to find out which version you have.
You can select what interface you want to run on USB and GPIO pins. See [Communicating over USB or UART](#communicating-over-usb-or-uart) for more information.
The following options are available in [MotorControl/commands.h](MotorControl/commands.h):
__CONFIG_USB_PROTOCOL__: Defines which protocol the ODrive should use on the USB interface.
* `native`: The native ODrive protocol. Use this if you want to use the python tools in this repo.
* `native-stream`: Like the native ODrive protocol, but the ODrive will treat the USB connection exactly as if it was a UART connection. __Use this if you're on macOS__. This is necessary because macOS doesn't grant our python tools sufficient low-level access to treat the device as the USB device that it is.
* `ascii`: The ASCII protocol. This allows sending simple commands like position setpoints directly from the terminal to the ODrive without the use of intermediate utilities.
* `none`: Disable USB. The device will still show up when plugged in but it will ignore any commands.
__USB__:
- `USB_PROTOCOL_NATIVE`: Use the native protocol (recommended for new applications).
The python library only understands the native protocol, so this is the way to go
if you use that.
- `USB_PROTOCOL_NATIVE_STREAM_BASED`: Use the native stream based protocol.
On most platforms the device shows up as a serial port when connected over USB.
So instead of using the python tool's direct USB access, you can use this option and then pretend you connected the device over serial.
__On some platforms (specifically macOS), this is required__ because the kernel doesn't allow direct USB access.
- `USB_PROTOCOL_LEGACY`: Use the human-readable legacy protocol
Select this option if you already have an existing application. This option will be removed in the future.
- `USB_PROTOCOL_NONE`: Ignore USB communication
__CONFIG_UART_PROTOCOL__: Defines which protocol the ODrive should use on the UART interface (GPIO1 and GPIO2). Note that UART is only supported on ODrive v3.3 and higher.
* `native`: The native ODrive protocol. Use this if you're connecting the ODrive to a PC using UART and want to use the python tools to control and setup the ODrive.
* `ascii`: The ASCII protocol. Use this option if you control the ODrive with an Arduino. The ODrive Arduino library is not yet updated to the native protocol.
* `none`: Disable UART.
__CONFIG_STEP_DIR__: Set to `y` to use the GPIO1 and GPIO2 for step/direction input. Set to `n` otherwise. To use this, `CONFIG_UART_PROTOCOL` must be `none` because UART uses the same pins.
__GPIO 1,2 pins__:
Note that UART is only supported on ODrive v3.3 and higher.
- `UART_PROTOCOL_NATIVE`: Use the native protocol (see notes above).
- `UART_PROTOCOL_LEGACY`: Use the human-readable legacy protocol
Use this option if you control the ODrive with an Arduino. The ODrive Arduino library is not yet updated to the native protocol.
- `UART_PROTOCOL_NONE`: Ignore UART communication
- `USE_GPIO_MODE_STEP_DIR`: Step/direction control mode (use in conjunction with `UART_PROTOCOL_NONE`)
<br><br>
## Compiling and downloading firmware
Firmware/Tupfile.lua
+62 -1
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@@ -1,7 +1,67 @@
tup.include('build.lua')
boarddir = 'Board/v3.3'
-- Switch between board versions
boardversion = tup.getconfig("BOARD_VERSION")
if boardversion == "v3.1" then
boarddir = 'Board/v3.3' -- currently all platform code is in the same v3.3 directory
FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=1"
FLAGS += "-DHW_VERSION_HIGH_VOLTAGE=false"
elseif boardversion == "v3.2" then
boarddir = 'Board/v3.3'
FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=2"
FLAGS += "-DHW_VERSION_HIGH_VOLTAGE=false"
elseif boardversion == "v3.3" then
boarddir = 'Board/v3.3'
FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=3"
FLAGS += "-DHW_VERSION_HIGH_VOLTAGE=false"
elseif boardversion == "v3.4-24V" then
boarddir = 'Board/v3.3'
FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=4"
FLAGS += "-DHW_VERSION_HIGH_VOLTAGE=false"
elseif boardversion == "v3.4-48V" then
boarddir = 'Board/v3.3'
FLAGS += "-DHW_VERSION_MAJOR=3 -DHW_VERSION_MINOR=4"
FLAGS += "-DHW_VERSION_HIGH_VOLTAGE=true"
elseif boardversion == "" then
error("board version not specified - take a look at tup.config.default")
else
error("unknown board version "..boardversion)
end
buildsuffix = boardversion
-- USB I/O settings
if tup.getconfig("USB_PROTOCOL") == "native" or tup.getconfig("USB_PROTOCOL") == "" then
FLAGS += "-DUSB_PROTOCOL_NATIVE"
elseif tup.getconfig("USB_PROTOCOL") == "native-stream" then
FLAGS += "-DUSB_PROTOCOL_NATIVE_STREAM_BASED"
elseif tup.getconfig("USB_PROTOCOL") == "ascii" then
FLAGS += "-DUSB_PROTOCOL_LEGACY"
elseif tup.getconfig("USB_PROTOCOL") == "none" then
FLAGS += "-DUSB_PROTOCOL_NONE"
else
error("unknown USB protocol")
end
-- UART I/O settings
if tup.getconfig("UART_PROTOCOL") == "native" then
FLAGS += "-DUART_PROTOCOL_NATIVE"
elseif tup.getconfig("UART_PROTOCOL") == "ascii" or tup.getconfig("UART_PROTOCOL") == "" then
FLAGS += "-DUART_PROTOCOL_LEGACY"
elseif tup.getconfig("UART_PROTOCOL") == "none" then
FLAGS += "-DUART_PROTOCOL_NONE"
else
error("unknown UART protocol "..tup.getconfig("UART_PROTOCOL"))
end
-- GPIO settings
if tup.getconfig("STEP_DIR") == "y" then
if tup.getconfig("UART_PROTOCOL") == "none" then
FLAGS += "-DUSE_GPIO_MODE_STEP_DIR"
else
error("Step/dir mode conflicts with UART. Set CONFIG_UART_PROTOCOL to none.")
end
end
-- C-specific flags
@@ -16,6 +76,7 @@ FLAGS += '-mfpu=fpv4-sp-d16'
FLAGS += '-mfloat-abi=hard'
FLAGS += { '-Wall', '-fdata-sections', '-ffunction-sections'}
-- debug build
FLAGS += '-g -gdwarf-2'
tup.config.default
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@@ -0,0 +1,6 @@
# Copy this file to tup.config and adapt it to your needs
CONFIG_DEBUG=y
#CONFIG_BOARD_VERSION=v3.3 # make sure this fits your board
CONFIG_USB_PROTOCOL=native
CONFIG_UART_PROTOCOL=ascii
CONFIG_STEP_DIR=n