mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-18 01:18:52 +08:00
Improved docs, fixed odrivetool dfu behavior when the dfu switch is used.
This commit is contained in:
PAJohnson
@@ -65,11 +65,17 @@ interfaces:
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connections you can also try increasing your brake resistance by
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~ 0.01 Ohm at a time to a maximum of 0.05 greater than your brake
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resistor value.
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DC_BUS_OVER_REGEN_CURRENT: {doc: too much current pushed into the power supply}
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DC_BUS_OVER_CURRENT: {doc: too much current pulled out of the power supply}
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DC_BUS_OVER_REGEN_CURRENT:
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doc: |
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Current flowing back into the power supply exceeded `odrv.config.dc_max_negative_current`.
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This can happen if your brake resistor is unable to handle the braking current. Check that
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`(V_power_supply / Brake_resistance) > (total motor.config.current_lim + total motor.config.current_lim_margin)`.
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DC_BUS_OVER_CURRENT:
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doc: |
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Too much current was pulled from the power supply. `odrv.ibus` exceeded `odrv.config.dc_max_positive_current`.
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BRAKE_DEADTIME_VIOLATION:
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BRAKE_DUTY_CYCLE_NAN:
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INVALID_BRAKE_RESISTANCE: {doc: '`config.brake_resistance` is non-positive or NaN.'}
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INVALID_BRAKE_RESISTANCE: {doc: '`config.brake_resistance` is non-positive or NaN. Make sure that `config.brake_resistance` is a positive number.'}
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# BRAKE_RESISTOR_DISARMED:
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# doc: The brake resistor was unexpectedly disarmed.
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@@ -404,10 +410,18 @@ interfaces:
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tried to run encoder calibration or closed loop control before the
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motor was calibrated, or you tried to run closed loop control
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before the encoder was calibrated.
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WATCHDOG_TIMER_EXPIRED: {bit: 11}
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WATCHDOG_TIMER_EXPIRED:
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bit: 11
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brief: The axis watchdog timer expired.
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doc: |
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An amount of time greater than `axis.config.watchdog_timeout` passed
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without the watchdog being fed.
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MIN_ENDSTOP_PRESSED:
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brief: The min endstop was pressed
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MAX_ENDSTOP_PRESSED:
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brief: The max endstop was pressed
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ESTOP_REQUESTED:
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brief: The estop message was sent over CAN
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HOMING_WITHOUT_ENDSTOP:
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bit: 17
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doc: the min endstop was not enabled during homing
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@@ -644,8 +658,21 @@ interfaces:
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For gimbal motors, it is recommended to set the
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`config.calibration_current` and `config.current_lim`
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to half your bus voltage, or less.
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CURRENT_SENSE_SATURATION: {bit: 10}
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CURRENT_LIMIT_VIOLATION: {bit: 12}
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CURRENT_SENSE_SATURATION:
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bit: 10
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doc: |
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The current sense circuit saturated the current sense amplifier.
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This can be caused by setting `motor.config.current_lim` higher than
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`motor.config.requested_current_range`. If this happens, increase the
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requested current range, save the configuration, and reboot the controller.
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CURRENT_LIMIT_VIOLATION:
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bit: 12
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doc: |
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The motor current exceeded `motor.config.current_lim + motor.config.current_lim_margin`.
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The current controller is a PI controller, so it can experience overshoot. The PI gains
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are automatically calculated based on `motor.config.current_control_bandwidth` and the
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motor resistance and inductance (pole placement). Some overshoot is normal, so a sensible
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solution is to increase the current limit margin if your current limit is large.
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MODULATION_IS_NAN: {bit: 16}
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MOTOR_THERMISTOR_OVER_TEMP: {doc: The motor thermistor measured a temperature above motor.motor_thermistor.config.temp_limit_upper}
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FET_THERMISTOR_OVER_TEMP: {doc: The inverter thermistor measured a temperature above motor.fet_thermistor.config.temp_limit_upper}
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@@ -657,7 +684,12 @@ interfaces:
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The DC current sourced/sunk by this motor exceeded the configured
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hard limits. More specifically `i_bus` fell outside of the range
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`config.i_bus_hard_min` ... `config.i_bus_hard_max`.
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BRAKE_RESISTOR_DISARMED: {doc: An attempt was made to run the motor PWM while the brake resistor was enabled but disarmed.}
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BRAKE_RESISTOR_DISARMED:
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doc: |
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An attempt was made to run the motor PWM while the brake resistor was enabled but disarmed.
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The brake resistor can be disarmed for many reasons, but this usually happens if an error
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is thrown that disables the motor. Check for other errors, then run `odrvX.clear_errors()`
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to clear the errors and rearm the brake resistor.
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SYSTEM_LEVEL:
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doc: |
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The motor had to be disarmed because of a system level error.
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@@ -672,7 +704,7 @@ interfaces:
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UNKNOWN_VOLTAGE_COMMAND: {doc: The current controller did not get a valid feedforward voltage setpoint.}
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UNKNOWN_GAINS: {doc: The current controller gains were not configured. Run motor calibration or set `config.phase_resistance` and `config.phase_inductance` manually.}
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CONTROLLER_INITIALIZING: {doc: Internal value used while the controller is not yet ready to generate PWM timings.}
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UNBALANCED_PHASES: {doc: The motor pahses are not balanced.}
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UNBALANCED_PHASES: {doc: The motor phases are not balanced.}
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is_armed: readonly bool
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is_calibrated: readonly bool
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current_meas_phA: {type: readonly float32, c_getter: 'current_meas_.value_or(Iph_ABC_t{0.0f, 0.0f, 0.0f}).phA'}
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@@ -814,18 +846,25 @@ interfaces:
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nullflag: NONE
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flags:
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OVERSPEED:
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brief: Motor speed exceeded `config.vel_limit * config.vel_limit_tolerance` and `config.enable_overspeed_error` was enabled.
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doc: |
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Try increasing `config.vel_limit`. The default of 2 turns per second
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gives a motor speed of only 120 RPM. Note: Even if
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you do not commanded your motor to exceed `config.vel_limit`
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you do not command your motor to exceed `config.vel_limit`,
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sudden changes in the load placed on a motor may cause this speed
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to be temporarily exceeded, resulting in this error.
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You can also try increasing `config.vel_limit_tolerance`. The
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default value of 1.2 means it will only allow a 20% violation of
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the speed limit. You can set the `config.vel_limit_tolerance` to 0
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to disable the check altogether.
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the speed limit. You can set `config.enable_overspeed_error` to False
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to disable this error.
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INVALID_INPUT_MODE:
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brief: `controller.config.input_mode` was set to an invalid value. See InputMode for available values
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doc: |
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Input modes and control modes are separate concepts. A control mode sets the type of control to be used,
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like position, velocity, or torque control. Input modes modify the input given (`input_pos`, etc) to
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give desired behavior. For example, in position *control mode*, the position filter *input mode* will
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smooth out `input_pos` commands to give smoother motion.
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UNSTABLE_GAIN:
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INVALID_MIRROR_AXIS:
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INVALID_LOAD_ENCODER:
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@@ -985,6 +1024,11 @@ interfaces:
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ODrive uses your supplied value for the motor pole pairs to
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measure the CPR. So you should also double check this value.
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If your encoder cpr and motor pole pair settings are correct,
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this error can be caused because motor cogging makes the motor
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move less or more than commanded. You can fix this by increasing
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`encoder.config.calib_scan_distance`.
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Note that the AMT encoders are configurable using the micro-
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switches on the encoder PCB and so you may need to check that
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these are in the right positions. If your encoder lists its pulse
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@@ -995,6 +1039,11 @@ interfaces:
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ODrive board.
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UNSUPPORTED_ENCODER_MODE:
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ILLEGAL_HALL_STATE:
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doc: |
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Hall effect encoder only have 6 valid states out of 8 (2^3) possible states.
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An invalid state can be caused by noise or a hardware fault. If you get this
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error and you are sure that your electrical connections are correct, add
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22nF capacitors between the encoder A,B,Z pins and ground to filter out noise.
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INDEX_NOT_FOUND_YET:
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doc: |
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Check that your encoder is a model that has an index pulse. If
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@@ -1155,45 +1204,6 @@ interfaces:
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axis0: {type: ODrive.Axis, c_name: get_axis(0)}
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axis1: {type: ODrive.Axis, c_name: get_axis(1)}
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ODrive4:
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c_is_class: True
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implements: ODrive
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attributes:
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config:
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c_is_class: False
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implements: ODrive.Config
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attributes:
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# TODO: add support for arrays
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gpio0_mode: {type: ODrive.GpioMode, doc: Mode of GPIO0 (changes take effect after reboot), c_name: 'gpio_modes[0]'}
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gpio1_mode: {type: ODrive.GpioMode, doc: Mode of GPIO1 (changes take effect after reboot), c_name: 'gpio_modes[1]'}
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gpio2_mode: {type: ODrive.GpioMode, doc: Mode of GPIO2 (changes take effect after reboot), c_name: 'gpio_modes[2]'}
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gpio3_mode: {type: ODrive.GpioMode, doc: Mode of GPIO3 (changes take effect after reboot), c_name: 'gpio_modes[3]'}
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gpio4_mode: {type: ODrive.GpioMode, doc: Mode of GPIO4 (changes take effect after reboot), c_name: 'gpio_modes[4]'}
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gpio5_mode: {type: ODrive.GpioMode, doc: Mode of GPIO5 (changes take effect after reboot), c_name: 'gpio_modes[5]'}
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gpio6_mode: {type: ODrive.GpioMode, doc: Mode of GPIO6 (changes take effect after reboot), c_name: 'gpio_modes[6]'}
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gpio7_mode: {type: ODrive.GpioMode, doc: Mode of GPIO7 (changes take effect after reboot), c_name: 'gpio_modes[7]'}
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gpio8_mode: {type: ODrive.GpioMode, doc: Mode of GPIO8 (changes take effect after reboot), c_name: 'gpio_modes[8]'}
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gpio9_mode: {type: ODrive.GpioMode, doc: Mode of GPIO9 (changes take effect after reboot), c_name: 'gpio_modes[9]'}
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gpio10_mode: {type: ODrive.GpioMode, doc: Mode of GPIO10 (changes take effect after reboot), c_name: 'gpio_modes[10]'}
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gpio11_mode: {type: ODrive.GpioMode, doc: Mode of GPIO11 (changes take effect after reboot), c_name: 'gpio_modes[11]'}
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gpio12_mode: {type: ODrive.GpioMode, doc: Mode of GPIO12 (changes take effect after reboot), c_name: 'gpio_modes[12]'}
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gpio13_mode: {type: ODrive.GpioMode, doc: Mode of GPIO13 (changes take effect after reboot), c_name: 'gpio_modes[13]'}
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gpio14_mode: {type: ODrive.GpioMode, doc: Mode of GPIO14 (changes take effect after reboot), c_name: 'gpio_modes[14]'}
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gpio15_mode: {type: ODrive.GpioMode, doc: Mode of GPIO15 (changes take effect after reboot), c_name: 'gpio_modes[15]'}
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gpio16_mode: {type: ODrive.GpioMode, doc: Mode of GPIO16 (changes take effect after reboot), c_name: 'gpio_modes[16]'}
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gpio17_mode: {type: ODrive.GpioMode, doc: Mode of GPIO17 (changes take effect after reboot), c_name: 'gpio_modes[17]'}
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gpio18_mode: {type: ODrive.GpioMode, doc: Mode of GPIO18 (changes take effect after reboot), c_name: 'gpio_modes[18]'}
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gpio19_mode: {type: ODrive.GpioMode, doc: Mode of GPIO19 (changes take effect after reboot), c_name: 'gpio_modes[19]'}
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gpio20_mode: {type: ODrive.GpioMode, doc: Mode of GPIO20 (changes take effect after reboot), c_name: 'gpio_modes[20]'}
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gpio21_mode: {type: ODrive.GpioMode, doc: Mode of GPIO21 (changes take effect after reboot), c_name: 'gpio_modes[21]'}
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gpio22_mode: {type: ODrive.GpioMode, doc: Mode of GPIO22 (changes take effect after reboot), c_name: 'gpio_modes[22]'}
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gpio14_pwm_mapping: {type: ODrive.Endpoint, c_name: 'pwm_mappings[3]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
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gpio19_pwm_mapping: {type: ODrive.Endpoint, c_name: 'pwm_mappings[2]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
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gpio20_pwm_mapping: {type: ODrive.Endpoint, c_name: 'pwm_mappings[0]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
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gpio21_pwm_mapping: {type: ODrive.Endpoint, c_name: 'pwm_mappings[1]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
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axis0: {type: ODrive.Axis, c_name: get_axis(0)}
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valuetypes:
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ODrive.GpioMode:
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values:
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+10
-6
@@ -265,6 +265,7 @@ def update_device(device, firmware, logger, cancellation_token):
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"""
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if isinstance(device, usb.core.Device):
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found_in_dfu = True
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serial_number = device.serial_number
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dfudev = DfuDevice(device)
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if (logger._verbose):
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@@ -281,6 +282,7 @@ def update_device(device, firmware, logger, cancellation_token):
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else:
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hw_version = (0, 0, 0)
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else:
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found_in_dfu = False
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serial_number = "{:08X}".format(device.serial_number)
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dfudev = None
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@@ -421,13 +423,15 @@ def update_device(device, firmware, logger, cancellation_token):
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# Jump to application
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dfudev.jump_to_application(0x08000000)
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logger.info("Waiting for the device to reappear...")
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device = odrive.find_any(odrive.default_usb_search_path, serial_number,
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cancellation_token, cancellation_token, timeout=30)
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if not found_in_dfu:
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logger.info("Waiting for the device to reappear...")
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device = odrive.find_any(odrive.default_usb_search_path, serial_number,
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cancellation_token, cancellation_token, timeout=30)
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if do_backup_config:
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odrive.configuration.restore_config(device, None, logger)
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os.remove(odrive.configuration.get_temp_config_filename(device))
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if do_backup_config:
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temp_config_filename = odrive.configuration.get_temp_config_filename(device)
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odrive.configuration.restore_config(device, None, logger)
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os.remove(temp_config_filename)
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logger.success("Device firmware update successful.")
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