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Merge branch 'devel' of github.com:madcowswe/ODrive into sam_build_config

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This commit is contained in:
Samuel Sadok
2018-03-09 21:22:05 -08:00
parent 7e7ea04dc7 7dfb41eb5a
commit 791e08fb77
5 changed files with 39 additions and 27 deletions
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.travis.yml
+9 -4
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@@ -1,12 +1,17 @@
# adapted from https://github.com/andysworkshop/stm32plus/blob/master/.travis.yml
branches:
only:
- master
- devel
language: c
sudo: false
addons:
apt:
packages:
libc6-i386
addons:
apt:
packages:
libc6-i386
cache:
directories:
Firmware/Board/v3.3/Inc/main.h
+2
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@@ -65,6 +65,8 @@
#define TIM_APB1_CLOCK_HZ 84000000
#define TIM_APB1_PERIOD_CLOCKS 4096
#define TIM_APB1_DEADTIME_CLOCKS 40
#define TIM_TIME_BASE TIM14
#define M0_nCS_Pin GPIO_PIN_13
#define M0_nCS_GPIO_Port GPIOC
Firmware/CHANGELOG.md
+10 -5
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@@ -1,17 +1,22 @@
## UNRELEASED
Please add a note of your changes below this heading if you make a PR
# Unreleased Features
Please add a note of your changes below this heading if you make a Pull Request.
* **Storing of configuration parameters to Non Volatile Memory**
# Releases
## [0.3.5] - 2018-03-04
### Added
* **Storing of configuration parameters to Non Volatile Memory**
* Reporting error if your encoder CPR is incorrect
* Ability to start anticogging calibration over USB protocol
* Reporting of DRV status/control registers and fault codes
* DRV status read script
* Microsecond delay function
* Ability to start anticogging calibration over USB protocol
* Travis-CI
### Changed
* Build system is now tup instead of make
* Build system is now tup instead of make. Please check the [Readme](README.md#installing-prerequisites) for installation instructions.
## [0.3.4] - 2018-02-13
Firmware/MotorControl/commands.cpp
+13 -13
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@@ -305,6 +305,19 @@ const Endpoint endpoints[] = {
Endpoint::make_function("set_current_setpoint", &motors_1_set_current_setpoint_func),
Endpoint::make_property("current_setpoint", &motors[1].set_current_setpoint_args.current_setpoint),
Endpoint::close_tree(),
Endpoint::make_object("timing_log"),
Endpoint::make_property("TIMING_LOG_GENERAL", &motors[1].timing_log[TIMING_LOG_GENERAL]),
Endpoint::make_property("TIMING_LOG_ADC_CB_M0_I", &motors[1].timing_log[TIMING_LOG_ADC_CB_M0_I]),
Endpoint::make_property("TIMING_LOG_ADC_CB_M0_DC", &motors[1].timing_log[TIMING_LOG_ADC_CB_M0_DC]),
Endpoint::make_property("TIMING_LOG_ADC_CB_M1_I", &motors[1].timing_log[TIMING_LOG_ADC_CB_M1_I]),
Endpoint::make_property("TIMING_LOG_ADC_CB_M1_DC", &motors[1].timing_log[TIMING_LOG_ADC_CB_M1_DC]),
Endpoint::make_property("TIMING_LOG_MEAS_R", &motors[1].timing_log[TIMING_LOG_MEAS_R]),
Endpoint::make_property("TIMING_LOG_MEAS_L", &motors[1].timing_log[TIMING_LOG_MEAS_L]),
Endpoint::make_property("TIMING_LOG_ENC_CALIB", &motors[1].timing_log[TIMING_LOG_ENC_CALIB]),
Endpoint::make_property("TIMING_LOG_IDX_SEARCH", &motors[1].timing_log[TIMING_LOG_IDX_SEARCH]),
Endpoint::make_property("TIMING_LOG_FOC_VOLTAGE", &motors[1].timing_log[TIMING_LOG_FOC_VOLTAGE]),
Endpoint::make_property("TIMING_LOG_FOC_CURRENT", &motors[1].timing_log[TIMING_LOG_FOC_CURRENT]),
Endpoint::close_tree(),
Endpoint::close_tree(), // motor1
Endpoint::make_function("save_configuration", &save_configuration),
// no arguments
@@ -315,19 +328,6 @@ const Endpoint endpoints[] = {
Endpoint::make_function("reboot", &NVIC_SystemReset),
// no arguments
Endpoint::close_tree(),
Endpoint::make_object("timing_log"),
Endpoint::make_property("TIMING_LOG_GENERAL", &motors[1].timing_log[TIMING_LOG_GENERAL]),
Endpoint::make_property("TIMING_LOG_ADC_CB_M0_I", &motors[1].timing_log[TIMING_LOG_ADC_CB_M0_I]),
Endpoint::make_property("TIMING_LOG_ADC_CB_M0_DC", &motors[1].timing_log[TIMING_LOG_ADC_CB_M0_DC]),
Endpoint::make_property("TIMING_LOG_ADC_CB_M1_I", &motors[1].timing_log[TIMING_LOG_ADC_CB_M1_I]),
Endpoint::make_property("TIMING_LOG_ADC_CB_M1_DC", &motors[1].timing_log[TIMING_LOG_ADC_CB_M1_DC]),
Endpoint::make_property("TIMING_LOG_MEAS_R", &motors[1].timing_log[TIMING_LOG_MEAS_R]),
Endpoint::make_property("TIMING_LOG_MEAS_L", &motors[1].timing_log[TIMING_LOG_MEAS_L]),
Endpoint::make_property("TIMING_LOG_ENC_CALIB", &motors[1].timing_log[TIMING_LOG_ENC_CALIB]),
Endpoint::make_property("TIMING_LOG_IDX_SEARCH", &motors[1].timing_log[TIMING_LOG_IDX_SEARCH]),
Endpoint::make_property("TIMING_LOG_FOC_VOLTAGE", &motors[1].timing_log[TIMING_LOG_FOC_VOLTAGE]),
Endpoint::make_property("TIMING_LOG_FOC_CURRENT", &motors[1].timing_log[TIMING_LOG_FOC_CURRENT]),
Endpoint::close_tree(),
};
// clang-format on
Firmware/MotorControl/utils.c
+5 -5
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@@ -187,13 +187,13 @@ uint32_t timeout_to_deadline(uint32_t timeout_ms) {
// @brief: Returns number of microseconds since system startup
uint32_t micros(void) {
uint32_t usTicks = HAL_RCC_GetSysClockFreq() / 1000000;
register uint32_t ms, cycle_cnt;
do {
ms = HAL_GetTick();
cycle_cnt = SysTick->VAL;
} while (ms != HAL_GetTick());
return (ms * 1000) + (usTicks * 1000 - cycle_cnt) / usTicks;
cycle_cnt = TIM_TIME_BASE->CNT;
} while (ms != HAL_GetTick());
return (ms * 1000) + cycle_cnt;
}
// @brief: Busy wait delay for given amount of microseconds (us)
@@ -203,4 +203,4 @@ void delay_us(uint32_t us)
while (micros() - start < (uint32_t) us) {
__ASM("nop");
}
}
}