-## Checking for error codes -`explore_odrive.py`can also be used to check error codes when your odrive is not working as expected. For example `my_odrive.motor0.error` will list the error code associated with motor 0. -
-The error nummber corresponds to the following: - -0. `ERROR_NO_ERROR` -1. `ERROR_PHASE_RESISTANCE_TIMING` -2. `ERROR_PHASE_RESISTANCE_MEASUREMENT_TIMEOUT` -3. `ERROR_PHASE_RESISTANCE_OUT_OF_RANGE` -4. `ERROR_PHASE_INDUCTANCE_TIMING` -5. `ERROR_PHASE_INDUCTANCE_MEASUREMENT_TIMEOUT` -6. `ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE` -7. `ERROR_ENCODER_RESPONSE` -8. `ERROR_ENCODER_MEASUREMENT_TIMEOUT` -9. `ERROR_ADC_FAILED` -10. `ERROR_CALIBRATION_TIMING` -11. `ERROR_FOC_TIMING` -12. `ERROR_FOC_MEASUREMENT_TIMEOUT` -13. `ERROR_SCAN_MOTOR_TIMING` -14. `ERROR_FOC_VOLTAGE_TIMING` -15. `ERROR_GATEDRIVER_INVALID_GAIN` -16. `ERROR_PWM_SRC_FAIL` -17. `ERROR_UNEXPECTED_STEP_SRC` -18. `ERROR_POS_CTRL_DURING_SENSORLESS` -19. `ERROR_SPIN_UP_TIMEOUT` -20. `ERROR_DRV_FAULT` -21. `ERROR_NOT_IMPLEMENTED_MOTOR_TYPE` -22. `ERROR_ENCODER_CPR_OUT_OF_RANGE` -23. `ERROR_DC_BUS_BROWNOUT` - -If you get an error code larger than this, it may be the case that someone added a code and forgot to update the documentation. In that case, please check [MotorControl/low_level.h](MotorControl/low_level.h) for the full enum. - -
-## Generating startup code -**Note:** You do not need to run this step to program the board. This is only required if you wish to update the auto generated code. - -This project uses the STM32CubeMX tool to generate startup code and to ease the configuration of the peripherals. -You will likely want the pinout for this process. It is available [here](https://docs.google.com/spreadsheets/d/1QXDCs1IRtUyG__M_9WruWOheywb-GhOwFtfPcHuN2Fg/edit#gid=404444347) - -### Installing prerequisites -* `stm32cubeMX`: Tool from STM to automatically generate setup routines and configure libraries, etc. - * Available [here](http://www2.st.com/content/st_com/en/products/development-tools/software-development-tools/stm32-software-development-tools/stm32-configurators-and-code-generators/stm32cubemx.html?icmp=stm32cubemx_pron_pr-stm32cubef2_apr2014&sc=stm32cube-pr2) - -### Generate code -* Run stm32cubeMX and load the `stm32cubemx/Odrive.ioc` project file. -* Press `Project -> Generate code` -* You may need to let it download some drivers and such. -* After generating/updating the code, some minor patches need to be applied. To do this, run: - `git apply Firmware/Board/v3/*.patch` -* Run `git config --local core.autocrlf input`. This will tell git that all files should be checked in with LF endings (CubeMX generates CRLF endings). -* `git status` will still claim that many files are modified but the actual diff (using `git diff`) is empty (apart from all the line ending warnings). - -### Generating patchfiles -If you made changes to CubeMX generated files outside of the `USER CODE BEGIN`...`USER CODE END` sections and contribute them back, please add a patch file so that the next person who runs CubeMX doesn't run into problems. - -CubeMX will reset everything outside these sections to the original state; we will capturing into a patch file the changes required to undo this resetting. -* Make sure your current desired state is committed. -* Make a new temporary branch: `git checkout -b cubemx_temp` -* Run the CubeMX code generation as described in the previous section, including applying previous patches. -* The diff will now _not_ be empty since CubeMX reset your changes. -* Stage this state and commit it with a message like "CubeMX reset my changes". -* Run `git revert HEAD` to undo the resetting action CubeMX's regeneration had. This is the commit which you will export, so write a meaningful commit message. -* Run `git format-patch HEAD~1` to export the commit as patch file. -* Check out your previous branch and then force-delete the temporary branch: `git branch -D cubemx_temp` -* Move the patch file to `Board/v3/` and add it in a new commit. - -
-## Notes for Contributors -In general the project uses the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html), except that the default indendtation is 4 spaces, and that the 80 character limit is not very strictly enforced, merely encouraged. - -### Code maintenance notes -The cortex M4F processor has hardware single precision float unit. However double precision operations are not accelerated, and hence should be avoided. The following regex is helpful for cleaning out double constants: -find: `([-+]?[0-9]+\.[0-9]+(?:[eE][-+]?[0-9]+)?)([^f0-9e])` -replace: `\1f\2` diff --git a/ODrive_Workspace.code-workspace b/ODrive_Workspace.code-workspace index 60d370af..3afda0a7 100644 --- a/ODrive_Workspace.code-workspace +++ b/ODrive_Workspace.code-workspace @@ -5,6 +5,9 @@ }, { "path": "tools" + }, + { + "path": "docs" } ], "settings": { @@ -41,4 +44,4 @@ "algorithm": "cpp" } } -} \ No newline at end of file +} diff --git a/README.md b/README.md index 192a3c6b..3b4ece0b 100644 --- a/README.md +++ b/README.md @@ -7,68 +7,18 @@ This project is all about accurately driving brushless motors, for cheap. The ai | master | [](https://travis-ci.org/madcowswe/ODrive) | | devel | [](https://travis-ci.org/madcowswe/ODrive) | -## Getting Started -It is perfectly fine, and even recommended, to start testing with just a single motor and encoder. -Make sure you have a good mechanical connection between the encoder and the motor, slip can cause disasterous oscillations. -All non-power I/O is 3.3V output and 5V tolerant on input, except: -* GPIO 3 and GPIO 4 are NOT 5V tolerant on ODrive v3.2 and earlier. -You need one or two [brushless motors](https://hackaday.io/project/11583-odrive-high-performance-motor-control/log/37666-hobby-motors-in-your-robots), [quadrature incremental encoder(s)](https://discourse.odriverobotics.com/t/which-encoders-to-choose/63/2), and a power resistor. +Please refer to the [Developer Guide](https://docs.odriverobotics.com/developer-guide.md) to get started with ODrive firmware development. -*The power resistor values you need depends on your motor setup, and peak/average decelleration power. A good starting point would be a [0.47 ohm, 50W resistor](https://www.digikey.com/product-detail/en/te-connectivity-passive-product/HSA50R47J/A102181-ND/2056131).* -Wire up the motor phases into the 3-phase screw terminals, and the power resistor to the AUX terminal. Wire up the power source (12-24V) to the DC terminal, make sure to pay attention to the polarity. Do not apply power just yet. +### Repository Structure + * **Firmware**: ODrive firmware + * **tools**: Python library & tools + * **docs**: Documentation -Wire up 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. +### Other Resources - - -The currently supported command modes are USB, UART and step/direction. -* If you are sending commands over USB, you can plug in a cable into the micro-USB port. -* If you are sending commands over UART, please see [Setting up UART](#setting-up-uart) -* If you are using step/direction, please see [setting up step/direction](#setting-up-stepdirection) - -You can now: -* [Download and build the firmware](Firmware/README.md) -* [Configure the firmware parameters](Firmware/README.md#configuring-parameters) -* [Flash the board](Firmware/README.md#flashing-the-firmware) - -### Startup procedure -The startup procedure is demonstrated [here](https://www.youtube.com/watch?v=VCX1bA2xnuY). - -Note: the rotor must be allowed to rotate without any biased load during startup. That means mass and weak friction loads are fine, but gravity or spring loads are not okay. Also note that in the video, the motors spin after initalisation, but in the current software the default behaviour is to do position control to position 0 (i.e. the position at startup) - -If you have an encoder with an index (Z) signal, you can calibrate once and restore the calibration on startup. Instructions on how to do that are [here](Firmware/README.md#encoder-calibration). - -### Sending commands -Sending USB and UART commands is documented [here](Firmware/README.md#communicating-over-usb-and-uart). You can also have a look at the [ODrive Arduino library](https://github.com/madcowswe/ODriveArduino) that makes it easy to use the UART interface on Arduino. You can also look at it as an implementation example of how to talk to the ODrive over UART. - -### Setting up UART -Baud rate: 115200 -Pinout: -* GPIO 1: Tx (connect to Rx of other device) -* GPIO 2: Rx (connect to Tx of other device) -* GND: you must connect the grounds of the devices together. Use any GND pin on J3 of the ODrive. - -To enable UART mode for the GPIO, please see [Setting the GPIO mode](Firmware/README.md#communication-configuration). - -### Setting up Step/Direction -Pinout: -* GPIO 1: M0 step -* GPIO 2: M0 dir -* GPIO 3: M1 step -* GPIO 4: M1 dir -* GND: you must connect the grounds of the devices together. Use any GND pin on J3 of the ODrive. - -Please note that GPIO_3 and GPIO_4 are NOT 5v tolerant on ODrive v3.2 and earlier, so 3.3V signals only! -ODrive v3.3 and onward have 5V tolerant GPIO pins. - -To enable step/dir mode for the GPIO, please see [Setting the GPIO mode](Firmware/README.md#communication-configuration). - -There is also a new config variable called `counts_per_step`, which specifies how many encoder counts a "step" corresponds to. It can be any floating point value. -The maximum step rate is pending tests, but it should handle at least 16kHz. If you want's 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. By default the ODrive starts in position control mode, so you don't need to send any commands over USB to get going. You can still send USB commands if you want to. - -### Getting help -If you have any issues or any questions please get in touch. The [ODrive Community](https://discourse.odriverobotics.com/) warmly welcomes you. + * [Main Website](https://www.odriverobotics.com/) + * [User Guide](https://docs.odriverobotics.com/quick-start.md) + * [Forum](https://discourse.odriverobotics.com/) + * [Chat](https://discourse.odriverobotics.com/t/come-chat-with-us/281) diff --git a/docs/.gitignore b/docs/.gitignore new file mode 100644 index 00000000..66ad8894 --- /dev/null +++ b/docs/.gitignore @@ -0,0 +1,3 @@ +/ruby-bundle +/_site +/.bundle \ No newline at end of file diff --git a/Firmware/CHANGELOG.md b/docs/CHANGELOG.md similarity index 100% rename from Firmware/CHANGELOG.md rename to docs/CHANGELOG.md diff --git a/docs/Gemfile b/docs/Gemfile new file mode 100644 index 00000000..37f5eaa4 --- /dev/null +++ b/docs/Gemfile @@ -0,0 +1,2 @@ +source 'https://rubygems.org' +gem 'github-pages', group: :jekyll_plugins diff --git a/docs/Gemfile.lock b/docs/Gemfile.lock new file mode 100644 index 00000000..a8c1c4a1 --- /dev/null +++ b/docs/Gemfile.lock @@ -0,0 +1,250 @@ +GEM + remote: https://rubygems.org/ + specs: + activesupport (4.2.9) + i18n (~> 0.7) + minitest (~> 5.1) + thread_safe (~> 0.3, >= 0.3.4) + tzinfo (~> 1.1) + addressable (2.5.2) + public_suffix (>= 2.0.2, < 4.0) + coffee-script (2.4.1) + coffee-script-source + execjs + coffee-script-source (1.11.1) + colorator (1.1.0) + commonmarker (0.17.9) + ruby-enum (~> 0.5) + concurrent-ruby (1.0.5) + em-websocket (0.5.1) + eventmachine (>= 0.12.9) + http_parser.rb (~> 0.6.0) + ethon (0.11.0) + ffi (>= 1.3.0) + eventmachine (1.2.5) + execjs (2.7.0) + faraday (0.14.0) + multipart-post (>= 1.2, < 3) + ffi (1.9.23) + forwardable-extended (2.6.0) + gemoji (3.0.0) + github-pages (181) + activesupport (= 4.2.9) + github-pages-health-check (= 1.4.0) + jekyll (= 3.7.3) + jekyll-avatar (= 0.5.0) + jekyll-coffeescript (= 1.1.1) + jekyll-commonmark-ghpages (= 0.1.5) + jekyll-default-layout (= 0.1.4) + jekyll-feed (= 0.9.3) + jekyll-gist (= 1.5.0) + jekyll-github-metadata (= 2.9.4) + jekyll-mentions (= 1.3.0) + jekyll-optional-front-matter (= 0.3.0) + jekyll-paginate (= 1.1.0) + jekyll-readme-index (= 0.2.0) + jekyll-redirect-from (= 0.13.0) + jekyll-relative-links (= 0.5.3) + jekyll-remote-theme (= 0.2.3) + jekyll-sass-converter (= 1.5.2) + jekyll-seo-tag (= 2.4.0) + jekyll-sitemap (= 1.2.0) + jekyll-swiss (= 0.4.0) + jekyll-theme-architect (= 0.1.1) + jekyll-theme-cayman (= 0.1.1) + jekyll-theme-dinky (= 0.1.1) + jekyll-theme-hacker (= 0.1.1) + jekyll-theme-leap-day (= 0.1.1) + jekyll-theme-merlot (= 0.1.1) + jekyll-theme-midnight (= 0.1.1) + jekyll-theme-minimal (= 0.1.1) + jekyll-theme-modernist (= 0.1.1) + jekyll-theme-primer (= 0.5.3) + jekyll-theme-slate (= 0.1.1) + jekyll-theme-tactile (= 0.1.1) + jekyll-theme-time-machine (= 0.1.1) + jekyll-titles-from-headings (= 0.5.1) + jemoji (= 0.9.0) + kramdown (= 1.16.2) + liquid (= 4.0.0) + listen (= 3.1.5) + mercenary (~> 0.3) + minima (= 2.4.0) + nokogiri (>= 1.8.1, < 2.0) + rouge (= 2.2.1) + terminal-table (~> 1.4) + github-pages-health-check (1.4.0) + addressable (~> 2.3) + net-dns (~> 0.8) + octokit (~> 4.0) + public_suffix (~> 2.0) + typhoeus (~> 1.3) + html-pipeline (2.7.1) + activesupport (>= 2) + nokogiri (>= 1.4) + http_parser.rb (0.6.0) + i18n (0.9.5) + concurrent-ruby (~> 1.0) + jekyll (3.7.3) + addressable (~> 2.4) + colorator (~> 1.0) + em-websocket (~> 0.5) + i18n (~> 0.7) + jekyll-sass-converter (~> 1.0) + jekyll-watch (~> 2.0) + kramdown (~> 1.14) + liquid (~> 4.0) + mercenary (~> 0.3.3) + pathutil (~> 0.9) + rouge (>= 1.7, < 4) + safe_yaml (~> 1.0) + jekyll-avatar (0.5.0) + jekyll (~> 3.0) + jekyll-coffeescript (1.1.1) + coffee-script (~> 2.2) + coffee-script-source (~> 1.11.1) + jekyll-commonmark (1.2.0) + commonmarker (~> 0.14) + jekyll (>= 3.0, < 4.0) + jekyll-commonmark-ghpages (0.1.5) + commonmarker (~> 0.17.6) + jekyll-commonmark (~> 1) + rouge (~> 2) + jekyll-default-layout (0.1.4) + jekyll (~> 3.0) + jekyll-feed (0.9.3) + jekyll (~> 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+PLATFORMS + ruby + +DEPENDENCIES + github-pages + +BUNDLED WITH + 1.16.1 diff --git a/docs/_config.yaml b/docs/_config.yaml new file mode 100644 index 00000000..0333b947 --- /dev/null +++ b/docs/_config.yaml @@ -0,0 +1,2 @@ +theme: jekyll-theme-minimal +exclude: [ruby-bundle] diff --git a/docs/_data/index.yaml b/docs/_data/index.yaml new file mode 100644 index 00000000..978dc054 --- /dev/null +++ b/docs/_data/index.yaml @@ -0,0 +1,27 @@ + +# This data could theoretically be retrieved directly from the md files: +# https://jekyllrb.com/tutorials/navigation/#scenario-8-retrieving-items-based-on-front-matter-properties + +sections: + - title: For Users + docs: + - title: Quick Start Guide + url: quick-start + - title: ODrive Tool + url: odrivetool + - title: Parameters & Commands + url: commands + - title: Interfaces + url: commands + - title: Motors & Encoders + url: encoders + - title: Troubleshooting + url: troubleshooting + - title: For ODrive Developers + docs: + - title: Firmware Developer Guide + url: developer-guide + - title: Configuring Visual Studio Code + url: configuring-vscode + - title: Configuring Eclipse + url: configuring-eclipse diff --git a/docs/_layouts/default.html b/docs/_layouts/default.html new file mode 100644 index 00000000..7db4f016 --- /dev/null +++ b/docs/_layouts/default.html @@ -0,0 +1,80 @@ + + + + + + + + +{% seo %} + + + + +
+
+ 
+ {% endif %}
+
+
+
+
+ {{ content }}
+
+
+
+
+
+ {% if site.google_analytics %}
+
+ {% endif %}
+
+
+
diff --git a/Firmware/ascii-protocol.md b/docs/ascii-protocol.md
similarity index 100%
rename from Firmware/ascii-protocol.md
rename to docs/ascii-protocol.md
diff --git a/docs/assets/css/style.scss b/docs/assets/css/style.scss
new file mode 100644
index 00000000..acc4f228
--- /dev/null
+++ b/docs/assets/css/style.scss
@@ -0,0 +1,257 @@
+---
+---
+
+$section-headings-color: #0086b3;
+
+@import "{{ site.theme }}";
+
+/*** Unset all header navbar styling done by the theme ***/
+// This corresponds to:
+// https://github.com/pages-themes/minimal/blob/master/_sass/jekyll-theme-minimal.scss#L114-L172
+
+header ul {
+ list-style:unset;
+ height:unset;
+ padding:unset;
+ background:unset;
+ border-radius:unset;
+ border:unset;
+ width:unset;
+}
+header li {
+ width:unset;
+ float:unset;
+ border-right:unset;
+ height:unset;
+}
+header li:first-child a {
+ border-radius:unset;
+}
+header li:last-child a {
+ border-radius:unset;
+}
+header ul a {
+ line-height:unset;
+ font-size:unset;
+ color:unset;
+ display:unset;
+ text-align:unset;
+ padding-top:unset;
+ height:unset;
+}
+header ul a:hover, header ul a:focus {
+ color:unset;
+ font-weight:unset;
+}
+header ul a:active {
+ background-color:unset;
+}
+strong {
+ color:unset;
+ font-weight:unset;
+}
+header ul li + li + li {
+ border-right:unset;
+ width:unset;
+}
+header ul a strong {
+ font-size:unset;
+ display:unset;
+ color:unset;
+}
+
+
+
+
+/*** Overall layout ***/
+
+.wrapper {
+ width: auto;
+}
+
+section {
+ /* align-content: center; */
+ padding-left: 270px;
+ width: 700px;
+ float: none;
+}
+
+@media print, screen and (max-width: 960px) {
+ section {
+ padding: 20px 0;
+ }
+}
+
+div {
+ text-align: justify;
+}
+
+
+
+/*** Links ***/
+a {
+ color: #e70000;
+}
+
+a:hover, a:focus {
+ color: #8b0000;
+ font-weight: unset;
+}
+
+header > ul {
+ list-style:none;
+ padding-right: 20px;
+ //padding:0;
+ //width:240px;
+ //height:240px;
+}
+
+header > ul ul {
+ margin:0;
+ margin-bottom:12px;
+}
+
+// Note that the theme defines a "header ul li + li + li"
+// selector which has higher specifity than this one so we
+// we need the "important" keywords for some properties.
+header li {
+ width:100% !important;
+ //float:left;
+ //border-bottom:1px solid #e0e0e0;
+ border:none !important;
+ //height:unset;
+ //height:20px;
+}
+
+header ul ul li a {
+ background: #f4f4f4;
+ border:1px solid #e0e0e0;
+ line-height:1;
+ font-size:12px;
+ color:#676767;
+ display:block;
+ text-align:left;
+ padding:12px 0px 5px 5px;
+ //margin:12px;
+ height:20px;
+}
+
+/*** Navbar Hover ***/
+header ul a:hover, header ul a:focus {
+ color:rgb(0, 0, 0);
+ background-color: rgba(0, 0, 0, 0.24);
+}
+header ul a:active {
+ background-color:#f0f0f0;
+}
+
+header ul p {
+ margin:0;
+ padding-left:5px;
+ display: block;
+ color: black;
+ background-color: #00000034;
+}
+
+/*
+header li:first-child a {
+ border-radius:5px 5px 0 0;
+}
+
+header li:last-child a {
+ border-radius:0 0 5px 5px;
+}
+
+header ul a {
+ background: #f4f4f4;
+ border:1px solid #e0e0e0;
+ line-height:1;
+ font-size:12px;
+ color:#676767;
+ display:block;
+ text-align:left;
+ padding:12px 0px 5px 5px;
+ //margin:12px;
+ height:20px;
+}
+
+// header ul li + li + li {
+// border-right:unset;
+// border:1px solid #e0e0e0;
+// width:100%;
+// }
+
+ */
+
+
+
+/*** Keyboard symbols ***/
+
+kbd {
+ display: inline-block;
+ padding: 3px 5px;
+ font-size: 11px;
+ line-height: 10px;
+ color: #444d56;
+ vertical-align: middle;
+ background-color: #fafbfc;
+ border: solid 1px #c6cbd1;
+ border-bottom-color: #959da5;
+ border-radius: 3px;
+ box-shadow: inset 0 -1px 0 #959da5;
+}
+
+p + details {
+ margin-top: -14px;
+}
+
+/*** Expandable details box ***/
+
+details {
+ //margin-top: -14px;
+ margin-bottom: 5px;
+ //background-color: #ffc54727;
+ background-color: #f2f8fd;
+ //border: solid 1px #c6cbd1;
+ border-radius: 3px;
+}
+
+// title of a "details" box
+details summary {
+ padding-left: 8px;
+ background-color: #b3d4f080;
+ //background-color: #ffc54727;
+ //border-bottom: solid 1px #c6cbd1;
+ //border-radius: 3px;
+}
+
+// content of a "details" box
+details div {
+ padding-top: 5px;
+ padding-left: 8px;
+ padding-right: 8px;
+ padding-bottom: 8px;
+ border-top: solid 1px #c6cbd1;
+}
+details div > p:last-child {
+ margin-bottom: 0px;
+}
+
+/*** Alert box ***/
+
+.alert {
+ padding: 10px;
+ color: black;
+ background-color: #ffc40096;
+ margin-bottom: 15px;
+ //border: solid 1px #000000;
+}
+
+.alert * {
+ color: black;
+}
+
+/*** inline code ***/
+:not(pre) > code {
+ background-color: #ededed;
+}
diff --git a/docs/commands.md b/docs/commands.md
new file mode 100644
index 00000000..f57d0765
--- /dev/null
+++ b/docs/commands.md
@@ -0,0 +1,71 @@
+# Parameters & Commands
+
+Each axis can be controlled independently.
+Most parameters can be set per axis. They are referred to as ``
+
+### State Machine
+
+Each axis has an independent state machine. The default state after startup is `AXIS_STATE_IDLE`. The current state is indicated by `.current_state`. The user can request a new state by assigning a new value to `.requested_state`.
+
+ 1. `AXIS_STATE_IDLE` Disable motor PWM and do nothing.
+ 1. `AXIS_STATE_STARTUP_SEQUENCE` Run the [startup procedure](#startup-procedure).
+ 1. `AXIS_STATE_FULL_CALIBRATION_SEQUENCE` Run motor calibration and then encoder offset calibration (or encoder index search if `.encoder.use_index` is `True`).
+ 1. `AXIS_STATE_MOTOR_CALIBRATION` Measure phase resistance and phase inductance.
+ * To store the results set `.motor.config.pre_calibrated` to `True` and [save the configuration](#saving-the-configuration). After that you don't have to run the motor calibration on the next start up.
+ * This modifies the variables `.motor.config.phase_resistance` and `.motor.config.phase_inductance`.
+ 1. `AXIS_STATE_SENSORLESS_CONTROL` Run sensorless control.
+ * The motor must be calibrated (`.motor.is_calibrated`)
+ * [`.controller.control_mode`](#control-mode) must be `True`.
+ 1. `AXIS_STATE_ENCODER_INDEX_SEARCH` Turn the motor in one direction until the encoder index is traversed. This state can only be entered if `.encoder.config.use_index` is `True`.
+ 1. `AXIS_STATE_ENCODER_OFFSET_CALIBRATION` Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase.
+ * Can only be entered if the motor is calibrated (`.motor.is_calibrated`).
+ * A successful encoder calibration will make the `.encoder.is_ready` go to true.
+ 1. `AXIS_STATE_CLOSED_LOOP_CONTROL` Run closed loop control.
+ * The action depends on the [control mode](#control-mode).
+ * Can only be entered if the motor is calibrated (`.motor.is_calibrated`) and the encoder is ready (`.encoder.is_ready`).
+
+### Startup Procedure
+
+By default the ODrive takes no action at startup and goes to idle immediately.
+This behavior can be changed by modifying the following parameters:
+
+* `.config.startup_motor_calibration`
+* `.config.startup_encoder_index_search`
+* `.config.startup_encoder_offset_calibration`
+* `.config.startup_closed_loop_control`
+* `.config.startup_sensorless_control`
+
+See [state machine](#state-machine) for a description of each state.
+
+### Control Mode
+By default both motors are enabled, and the default control mode is position control.
+If you want a different mode, you can change `odrv0.motorN.config.control_mode`.
+Possible values are:
+* `CTRL_MODE_POSITION_CONTROL`
+* `CTRL_MODE_VELOCITY_CONTROL`
+* `CTRL_MODE_CURRENT_CONTROL`
+* `CTRL_MODE_VOLTAGE_CONTROL` - this one is not normally used.
+
+To disable a motor at startup, set `odrv0.axisN.config.enable_control` and `odrv0.axisN.config.do_calibration` to `False`.
+
+### Tuning parameters
+The motion control gains are currently manually tuned:
+* `odrv0.motorN.config.pos_gain = 20.0f` [(counts/s) / counts]
+* `odrv0.motorN.config.vel_gain = 15.0f / 10000.0f` [A/(counts/s)]
+* `odrv0.motorN.config.vel_integrator_gain = 10.0f / 10000.0f` [A/((counts/s) * s)]
+
+An upcoming feature will enable automatic tuning. Until then, here is a rough tuning procedure:
+* Set the integrator gain to 0
+* Make sure you have a stable system. If it is not, decrease all gains until you have one.
+* Increase `vel_gain` by around 30% per iteration until the motor exhibits some vibration.
+* Back down `vel_gain` to 50% of the vibrating value.
+* Increase `pos_gain` by around 30% per iteration until you see some overshoot.
+* Back down `pos_gain` until you do not have overshoot anymore.
+* The integrator is not easily tuned, nor is it strictly required. Tune at your own discression.
+
+### Saving the configuration
+
+All variables that are part of a `[...].config` object can be saved to non-volatile memory on the ODrive so they persist after you remove power. The relevant commands are:
+
+ * `odrv.save_configuration()`: Stores the configuration to persistent memory on the ODrive.
+ * `odrv.erase_configuration()`: Resets the configuration variables to their factory defaults. This only has an effect after a reboot. A side effect of this command is that motor control stops (in case it was running) and the USB communication breaks out temporarily. This is because erasing flash pages hangs the microcontroller for several seconds.
diff --git a/Firmware/configuring-eclipse.md b/docs/configuring-eclipse.md
similarity index 100%
rename from Firmware/configuring-eclipse.md
rename to docs/configuring-eclipse.md
diff --git a/Firmware/configuring-vscode.md b/docs/configuring-vscode.md
similarity index 92%
rename from Firmware/configuring-vscode.md
rename to docs/configuring-vscode.md
index add9ff45..3956174f 100644
--- a/Firmware/configuring-vscode.md
+++ b/docs/configuring-vscode.md
@@ -1,4 +1,4 @@
-# Configuring VSCode
+# Configuring Visual Studio Code
VSCode is the recommended IDE for working with the ODrive codebase. It is a light-weight text editor with Git integration and GDB debugging functionality.
@@ -33,7 +33,7 @@ A terminal window will open with your native shell. VSCode is configured to run
A terminal window will open with your native shell. VSCode is configured to run the command `make flash` in this terminal.
-If the flashing worked, you can start sending commands. If you want to do that now, you can go to [Communicating over USB or UART](README.md#communicating-over-usb-or-uart).
+If the flashing worked, you can connect to the board using the [odrivetool](../docs/quick-start#start-odrivetool).
## Debugging
An extension called Cortex-Debug has recently been released which is designed specifically for debugging ARM Cortex projects. You can read more on Cortex-Debug here: https://github.com/Marus/cortex-debug
diff --git a/docs/developer-guide.md b/docs/developer-guide.md
new file mode 100644
index 00000000..af7fe90a
--- /dev/null
+++ b/docs/developer-guide.md
@@ -0,0 +1,228 @@
+# ODrive Firmware Developer Guide
+
+This guide is intended for developers who wish to modify the firmware of the ODrive.
+As such it assumes that you know things like how to use Git, what a compiler is, etc. If that sounds scary, turn around now.
+
+The official releases are maintained on the `master` branch. However since you are a developer, you are encouraged to use the `devel` branch, as it contains the latest features.
+
+The project is under active development, so make sure to check the [Changelog](CHANGELOG.md) to keep track of updates.
+
+### Table of contents
+
+
+
+- [Prerequisites](#prerequisites)
+- [Configuring the build](#configuring-the-build)
+- [Building and flashing the Firmware](#building-and-flashing-the-firmware)
+- [Debugging](#debugging)
+- [Setting up an IDE](#setting-up-an-ide)
+- [STM32CubeMX](#stm32cubemx)
+- [Troubleshooting](#troubleshooting)
+- [Notes for Contributors](#notes-for-contributors)
+
+
+
+{{ site.title | default: site.github.repository_name }} Documentation
+ + {% if site.logo %} +{{ site.description | default: site.github.project_tagline }}
+ +-
+ {% for section in site.data.index.sections %}
+
-
+
{{ section.title }}
+-
+ {% for item in section.docs %}
+
- {{ item.title }} + {% endfor %} +
+ {% endfor %}
+
+## Prerequisites + +The recommended tools for ODrive development are: + + * **make**: Used to invoke tup + * **Tup**: The build system used to invoke the compile commands + * **ARM GNU Compiler**: For cross-comiling code + * **ARM GDB**: For debugging the code and stepping through on the device + * **OpenOCD**: For flashing the ODrive with the STLink/v2 programmer + * **Python**: For running the Python tools + +See below for specific installation instructions for your OS. + +Depending on what you're gonna do, you may not need all of the components. + +Once you have everything, you can verify the correct installation by running: +```bash +$ arm-none-eabi-gcc --version +$ arm-none-eabi-gdb --version +$ openocd --version # should be 0.10.0 or later +$ tup --version # should be 0.7.5 or later +$ python --version # should be 3.7 or later +``` + +#### Linux (Ubuntu) +```bash +sudo apt-get install gcc-arm-none-eabi +sudo apt-get install gdb-arm-none-eabi +sudo apt-get install openocd +sudo add-apt-repository ppa:jonathonf/tup && sudo apt-get update && sudo apt-get install tup +``` + +#### Arch Linux +``` +sudo pacman -S arm-none-eabi-gcc arm-none-eabi-binutils +sudo pacman -S arm-none-eabi-gdb +sudo pacman -S tup +``` +* [OpenOCD AUR package](https://aur.archlinux.org/packages/openocd/) + +#### Mac +```bash +brew cask install gcc-arm-embedded +brew cask install osxfuse && brew install tup +brew install openocd +``` + +#### Windows +__Note__: make sure these programs are not only installed but also added to your `PATH`. + +Some instructions in this document may assume that you're using a bash command prompt, such as the Windows 10 built-in bash or [Git](https://git-scm.com/download/win) bash. + +* [ARM compiler](https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads) +* [Tup](http://gittup.org/tup/index.html) +* [Make for Windows](http://gnuwin32.sourceforge.net/packages/make.htm) +* [OpenOCD](http://gnuarmeclipse.github.io/openocd/install/). Also follow the instructions on the ST-LINK/V2 drivers. + +
+ +## Configuring the build + +To customize the compile time parameters, copy or rename the file `Firmware/tup.config.default` to `Firmware/tup.config` and edit the parameters in that file: + +__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. + +__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. + +__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. + +You can also modify the compile-time defaults for all `.config` parameters. You will find them if you search for `AxisConfig`, `MotorConfig`, etc. + +
+## Building and flashing the Firmware + +1. Run `make` in the `Firmware` directory. +2. Connect the ODrive via USB and power it up. +3. Flash the firmware using [`odrivetool dfu`](odrivetool#device-firmware-update). + +### Flashing using an STLink/v2 programmer + +* Connect `GND`, `SWD`, and `SWC` on connector J2 to the programmer. Note: Always plug in `GND` first! +* You need to power the board by only **ONE** of the following: VCC(3.3v), 5V, or the main power connection (the DC bus). The USB port (J1) does not power the board. +* Run `make flash` in the `Firmware` directory. + +If the flashing worked, you can connect to the board using the [odrivetool](quick-start#start-odrivetool). + +
+## Debugging +* Run `make gdb`. This will reset and halt at program start. Now you can set breakpoints and run the program. If you know how to use gdb, you are good to go. + +
+## Setting up an IDE +For working with the ODrive code you don't need an IDE, but the open-source IDE VSCode is recommended. It is also possible to use Eclipse. If you'd like to go that route, please see the respective configuration document: + +* [Configuring VSCode](configuring-vscode.md) +* [Configuring Eclipse](configuring-eclipse.md) + +
+## STM32CubeMX + +This project uses the STM32CubeMX tool to generate startup code and to ease the configuration of the peripherals. You can download it from [here](http://www2.st.com/content/st_com/en/products/development-tools/software-development-tools/stm32-software-development-tools/stm32-configurators-and-code-generators/stm32cubemx.html?icmp=stm32cubemx_pron_pr-stm32cubef2_apr2014&sc=stm32cube-pr2). All CubeMX related files are in `Firmware/Board/v3`. + +You will likely want the pinout for this process. It is available [here](https://docs.google.com/spreadsheets/d/1QXDCs1IRtUyG__M_9WruWOheywb-GhOwFtfPcHuN2Fg/edit#gid=404444347). + +### Generate code +* Run stm32cubeMX and load the `Firmware/Board/v3/Odrive.ioc` project file. +* Press `Project -> Generate code` +* You may need to let it download some drivers and such. +* After generating/updating the code, some minor patches need to be applied. To do this, run: + `git apply Firmware/Board/v3/*.patch` +* Run `git config --local core.autocrlf input`. This will tell git that all files should be checked in with LF endings (CubeMX generates CRLF endings). +* `git status` will still claim that many files are modified but the actual diff (using `git diff`) is empty (apart from all the line ending warnings). + +### Generating patchfiles +If you made changes to CubeMX generated files outside of the `USER CODE BEGIN`...`USER CODE END` sections and contribute them back, please add a patch file so that the next person who runs CubeMX doesn't run into problems. + +CubeMX will reset everything outside these sections to the original state; we will capturing into a patch file the changes required to undo this resetting. +* Make sure your current desired state is committed. +* Make a new temporary branch: `git checkout -b cubemx_temp` +* Run the CubeMX code generation as described in the previous section, including applying previous patches. +* The diff will now _not_ be empty since CubeMX reset your changes. +* Stage this state and commit it with a message like "CubeMX reset my changes". +* Run `git revert HEAD` to undo the resetting action CubeMX's regeneration had. This is the commit which you will export, so write a meaningful commit message. +* Run `git format-patch HEAD~1` to export the commit as patch file. +* Check out your previous branch and then force-delete the temporary branch: `git branch -D cubemx_temp` +* Move the patch file to `Firmware/Board/v3/` and add it in a new commit. + +
+## Troubleshooting + +### `LIBUSB_ERROR_IO` when flashing with the STLink/v2 + +**Problem:** when I try to flash the ODrive with the STLink using `make flash` I get this error: +``` +Open On-Chip Debugger 0.10.0 +Licensed under GNU GPL v2 +For bug reports, read + http://openocd.org/doc/doxygen/bugs.html +Info : auto-selecting first available session transport "hla_swd". To override use 'transport select
+## Notes for Contributors +In general the project uses the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html), except that the default indendtation is 4 spaces, and that the 80 character limit is not very strictly enforced, merely encouraged. \ No newline at end of file diff --git a/docs/encoders.md b/docs/encoders.md new file mode 100644 index 00000000..5e88b9e5 --- /dev/null +++ b/docs/encoders.md @@ -0,0 +1,26 @@ +# Motors & Encoders + +[TODO: UPDATE] + +## Encoder Calibration +By default the encoder-to-motor calibration will run on every startup. During encoder calibration the rotor must be allowed to rotate without any biased load during startup. That means mass and weak friction loads are fine, but gravity or spring loads are not okay. + +### Encoder with Index signal +If you have an encoder with an index (Z) signal, you may avoid having to do the calibration on every startup, and instead use the index signal to re-sync the encoder to a stored calibration. Below are the steps to do the one-time calibration and configuration. Note that you can follow these steps with one motor at a time, or all motors together, as you wish. + +* Since you will only do this once, it is recommended that you mechanically disengage the motor from anything other than the encoder, so it can spin freely. +* All the parameters we will be modifying are in the motor structs at the top of [MotorControl/low_level.c](MotorControl/low_level.c). +* Set `.encoder.use_index = true` and `.encoder.calibrated = false`. +* Flash this configuration, and let the motor scan for the index pulse and then complete the encoder calibration. +* Enter the following to print out the calibration parameters (substitute the motor number you are calibrating for `
+Make sure you have a good mechanical connection between the encoder and the motor, slip can cause disasterous oscillations.
+
+
+All non-power I/O is 3.3V output and 5V tolerant on input, except:
+ __ODrive v3.2__: GPIO 3 and GPIO 4 are __not__ 5V tolerant.
+
+You will need:
+
+* One or two [brushless motors](https://hackaday.io/project/11583-odrive-high-performance-motor-control/log/37666-hobby-motors-in-your-robots). It is fine, even recommended, to start testing with just a single motor and encoder.
+* One or two [quadrature incremental encoder(s)](https://discourse.odriverobotics.com/t/which-encoders-to-choose/63/2)
+* A power resistor. A good starting point would be a [0.47 ohm, 50W resistor](https://www.digikey.com/product-detail/en/te-connectivity-passive-product/HSA50R47J/A102181-ND/2056131)
+
+ Do I really need a power resistor? What values to choose?
+
+ If you don't have a brake resistor, the ODrive will pump excess power back into the power supply during deceleration to achieve the desired deceleration torque. If your power supply doesn't eat that power (which it won't if it's not a battery), the bus voltage will inevitebly rise. If you're unlucky this will break the power supply.
+ At some point, the ODrive's overvoltage protection will trip, after which both motors will be allowed to spin freely. Depending on your machine, this may or may not be a problem.
+
+ The power resistor values you need depends on your motor setup, and peak/average deceleration power.
+
+ To be on the safe side, think about what speed and current limits you want to set for the motor.
+
+ When braking at max speed and with maximum motor current, the power that is dissipated in the power resistor can be calulated as: `P_brake = V_emf * I_motor` where `V_emf = motor_kv * V_bus`.
+
+
Read this section carefully, else you risk breaking something.
+
+1. Set the limits:
+
+ Wait, how do I set these?
+
+ In the previous step we started `odrivetool`. In there, you can assign variables directly by name.
+
+ For instance, to set the current limit of M0 to 10A you would type: `odrv0.axis0.motor.config.current_lim = 10` Enter
+
+
Which `motor_type` to choose?
+
+ If you're using a regular hobby brushless motor like [this](https://hobbyking.com/en_us/turnigy-aerodrive-sk3-5065-236kv-brushless-outrunner-motor.html) one, you should set `motor_mode` to `MOTOR_TYPE_HIGH_CURRENT`. For low-current gimbal motors like [this](https://hobbyking.com/en_us/turnigy-hd-5208-brushless-gimbal-motor-bldc.html) one, you should choose `MOTOR_TYPE_GIMBAL`. Do not use `MOTOR_TYPE_GIMBAL` on a motor that is not a gimbal motor, as it may overheat the motor or the ODrive.
+
+ **Further detail:**
+ If 100's of mA of current noise is "small" for you, you can choose `MOTOR_TYPE_HIGH_CURRENT`.
+ If 100's of mA of current noise is "large" for you, and you do not intend to spin the motor very fast (omega * L << R), and the motor is fairly large resistance (1 ohm or larger), you can chose `MOTOR_TYPE_GIMBAL`.
+ If 100's of mA current noise is "large" for you, _and_ you intend to spin the motor fast, then you need to replace the shunt resistors on the ODrive.
+
+
What's the point of this?
+ This procedure first measures your motor's electrical properties (namely phase resistance and phase inductance) and then the offset between the motor's electrical phase and the encoder position.
+
+
My motor doesn't beep or doesn't turn
+
+ Make sure the motor wires are connected firmly. Check the value of `odrv0.axis0.error` and then refer to the [error code documentation](troubleshooting.md#error-codes) for details.
+
+ Once you have understood the error and fixed its cause, you may clear the error state (`odrv0.axis0.error = 0` Enter) and retry. You may also need to clear the error state of other subcomponents (e.g. `odrv0.axis0.motor.error`).
+
+
Example
+
+Say you typed `hex(odrv0.axis0.error)` and got `0x6` as a result. Written in binary this number corresponds to `110`, so bits 1 and 2 are set.
+
+Looking at the reference below, this means that both `ERROR_DC_BUS_UNDER_VOLTAGE` and `ERROR_DC_BUS_OVER_VOLTAGE` occurred.
+
+