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Merge pull request #316 from Nomadluap/watchdog-timeout

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Initial implementation of comms watchdog
This commit is contained in:
Oskar Weigl
2019-03-18 21:11:25 -07:00
committed by GitHub
parent e19a7b921a e94230275e
commit aa0890150f
6 changed files with 113 additions and 6 deletions
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Firmware/MotorControl/axis.cpp
+36
View File
@@ -28,6 +28,7 @@ Axis::Axis(const AxisHardwareConfig_t& hw_config,
trap_.axis_ = this;
decode_step_dir_pins();
update_watchdog_settings();
}
static void step_cb_wrapper(void* ctx) {
@@ -88,6 +89,21 @@ void Axis::decode_step_dir_pins() {
dir_pin_ = get_gpio_pin_by_pin(config_.dir_gpio_pin);
}
// @brief: Setup the watchdog reset value from the configuration watchdog timeout interval.
void Axis::update_watchdog_settings() {
if(config_.watchdog_timeout <= 0.0f) { // watchdog disabled
watchdog_reset_value_ = 0;
} else if(config_.watchdog_timeout >= UINT32_MAX / (current_meas_hz+1)) { //overflow!
watchdog_reset_value_ = UINT32_MAX;
} else {
watchdog_reset_value_ = static_cast<uint32_t>(config_.watchdog_timeout * current_meas_hz);
}
// Do a feed to avoid instant timeout
watchdog_feed();
}
// @brief (de)activates step/dir input
void Axis::set_step_dir_active(bool active) {
if (active) {
@@ -141,6 +157,26 @@ bool Axis::do_updates() {
return check_for_errors();
}
// @brief Feed the watchdog to prevent watchdog timeouts.
void Axis::watchdog_feed() {
watchdog_current_value_ = watchdog_reset_value_;
}
// @brief Check the watchdog timer for expiration. Also sets the watchdog error bit if expired.
bool Axis::watchdog_check() {
// reset value = 0 means watchdog disabled.
if(watchdog_reset_value_ == 0) return true;
// explicit check here to ensure that we don't underflow back to UINT32_MAX
if(watchdog_current_value_ > 0) {
watchdog_current_value_--;
return true;
} else {
error_ |= ERROR_WATCHDOG_TIMER_EXPIRED;
return false;
}
}
bool Axis::run_lockin_spin() {
// Spiral up current for softer rotor lock-in
lockin_state_ = LOCKIN_STATE_RAMP;
Firmware/MotorControl/axis.hpp
+21 -2
View File
@@ -20,6 +20,7 @@ public:
ERROR_ENCODER_FAILED = 0x100, // Go to encoder.hpp for information, check odrvX.axisX.encoder.error for error value
ERROR_CONTROLLER_FAILED = 0x200,
ERROR_POS_CTRL_DURING_SENSORLESS = 0x400,
ERROR_WATCHDOG_TIMER_EXPIRED = 0x800,
};
enum State_t {
@@ -59,6 +60,8 @@ public:
// For M0 this has no effect if enable_uart is true
float counts_per_step = 2.0f;
float watchdog_timeout = 0.0f; // [s] (0 disables watchdog)
// Defaults loaded from hw_config in load_configuration in main.cpp
uint16_t step_gpio_pin = 0;
uint16_t dir_gpio_pin = 0;
@@ -93,6 +96,8 @@ public:
void step_cb();
void set_step_dir_active(bool enable);
void decode_step_dir_pins();
void update_watchdog_settings();
static void load_default_step_dir_pin_config(
const AxisHardwareConfig_t& hw_config, Config_t* config);
@@ -101,6 +106,10 @@ public:
bool do_checks();
bool do_updates();
void watchdog_feed();
bool watchdog_check();
// True if there are no errors
bool inline check_for_errors() {
return error_ == ERROR_NONE;
@@ -134,8 +143,11 @@ public:
// Update all estimators
// Note: updates run even if checks fail
bool updates_ok = do_updates();
// make sure the watchdog is being fed.
bool watchdog_ok = watchdog_check();
if (!checks_ok || !updates_ok) {
if (!checks_ok || !updates_ok || !watchdog_ok) {
// It's not useful to quit idle since that is the safe action
// Also leaving idle would rearm the motors
if (current_state_ != AXIS_STATE_IDLE)
@@ -199,6 +211,10 @@ public:
uint32_t loop_counter_ = 0;
LockinState_t lockin_state_ = LOCKIN_STATE_INACTIVE;
// watchdog
uint32_t watchdog_reset_value_ = 0; //computed from config_.watchdog_timeout in update_watchdog_settings()
uint32_t watchdog_current_value_= 0;
// Communication protocol definitions
auto make_protocol_definitions() {
return make_protocol_member_list(
@@ -216,6 +232,8 @@ public:
make_protocol_property("startup_sensorless_control", &config_.startup_sensorless_control),
make_protocol_property("enable_step_dir", &config_.enable_step_dir),
make_protocol_property("counts_per_step", &config_.counts_per_step),
make_protocol_property("watchdog_timeout", &config_.watchdog_timeout,
[](void* ctx) { static_cast<Axis*>(ctx)->update_watchdog_settings(); }, this),
make_protocol_property("step_gpio_pin", &config_.step_gpio_pin,
[](void* ctx) { static_cast<Axis*>(ctx)->decode_step_dir_pins(); }, this),
make_protocol_property("dir_gpio_pin", &config_.dir_gpio_pin,
@@ -236,7 +254,8 @@ public:
make_protocol_object("controller", controller_.make_protocol_definitions()),
make_protocol_object("encoder", encoder_.make_protocol_definitions()),
make_protocol_object("sensorless_estimator", sensorless_estimator_.make_protocol_definitions()),
make_protocol_object("trap_traj", trap_.make_protocol_definitions())
make_protocol_object("trap_traj", trap_.make_protocol_definitions()),
make_protocol_function("watchdog_feed", *this, &Axis::watchdog_feed)
);
}
};
Firmware/communication/ascii_protocol.cpp
+25 -4
View File
@@ -99,7 +99,9 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
vel_feed_forward = 0.0f;
if (numscan < 4)
current_feed_forward = 0.0f;
axes[motor_number]->controller_.set_pos_setpoint(pos_setpoint, vel_feed_forward, current_feed_forward);
Axis* axis = axes[motor_number];
axis->controller_.set_pos_setpoint(pos_setpoint, vel_feed_forward, current_feed_forward);
axis->watchdog_feed();
}
} else if (cmd[0] == 'q') { // position control with limits
@@ -117,6 +119,8 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
axis->controller_.config_.vel_limit = vel_limit;
if (numscan >= 4)
axis->motor_.config_.current_lim = current_lim;
axis->watchdog_feed();
}
} else if (cmd[0] == 'v') { // velocity control
@@ -130,7 +134,9 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
} else {
if (numscan < 3)
current_feed_forward = 0.0f;
axes[motor_number]->controller_.set_vel_setpoint(vel_setpoint, current_feed_forward);
Axis* axis = axes[motor_number];
axis->controller_.set_vel_setpoint(vel_setpoint, current_feed_forward);
axis->watchdog_feed();
}
} else if (cmd[0] == 'c') { // current control
@@ -142,7 +148,9 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
axes[motor_number]->controller_.set_current_setpoint(current_setpoint);
Axis* axis = axes[motor_number];
axis->controller_.set_current_setpoint(current_setpoint);
axis->watchdog_feed();
}
} else if (cmd[0] == 't') { // trapezoidal trajectory
@@ -154,7 +162,9 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
axes[motor_number]->controller_.move_to_pos(goal_point);
Axis* axis = axes[motor_number];
axis->controller_.move_to_pos(goal_point);
axis->watchdog_feed();
}
} else if (cmd[0] == 'f') { // feedback
@@ -240,6 +250,17 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
}
}
}else if (cmd[0] == 'u') { // Update axis watchdog.
unsigned motor_number;
int numscan = sscanf(cmd, "u %u", &motor_number);
if(numscan < 1){
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
}else {
axes[motor_number]->watchdog_feed();
}
} else if (cmd[0] != 0) {
respond(response_channel, use_checksum, "unknown command");
}
docs/ascii-protocol.md
+18
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@@ -36,6 +36,8 @@ Example: `t 0 -20000`
For general moving around of the axis, this is the recommended command.
This command updates the watchdog timer for the motor.
#### Motor Position command
For basic use where you send one setpoint at at a time, use the `q` command.
If you have a realtime controller that is streaming setpoints and tracking a trajectory, use the `p` command.
@@ -64,6 +66,7 @@ Example: `p 0 -20000 0 0`
Note that if you don't know what feed-forward is or what it's used for, simply omit it.
This command updates the watchdog timer for the motor.
#### Motor Velocity command
```
@@ -78,6 +81,8 @@ Example: `v 0 1000 0`
Note that if you don't know what feed-forward is or what it's used for, simply omit it.
This command updates the watchdog timer for the motor.
#### Motor Current command
```
c motor current
@@ -86,6 +91,19 @@ c motor current
* `motor` is the motor number, `0` or `1`.
* `current` is the desired current in A.
This command updates the watchdog timer for the motor.
#### Update motor watchdog
```
u motor
```
* `u` for /u/pdate.
* `motor` is the motor number, `0` or `1`.
This command updates the watchdog timer for the motor, without changing any
setpoints.
#### Parameter reading/writing
Not all parameters can be accessed via the ASCII protocol but at least all parameters with float and integer type are supported.
docs/getting-started.md
+12
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@@ -331,6 +331,18 @@ You can now control the current with `axis.controller.current_setpoint = 3` [A].
*Note: There is no velocity limiting in current control mode. Make sure that you don't overrev the motor, or exceed the max speed for your encoder.*
## Watchdog Timer
Each axis has a configurable watchdog timer that can stop the motors if the
control connection to the ODrive is interrupted.
Each axis has a configurable watchdog timeout: `axis.config.watchdog_timeout`,
measured in seconds. A value of `0` disables the watchdog functionality. Any value
`> 0` will stop the motors if the watchdog has not been fed in the configured
time interval.
The watchdog is fed using the `axis.watchdog_feed()` method of each axis.
## What's next?
You can now:
* See what other [commands and parameters](commands.md) are available, including setting tuning parameters for better performance.
tools/odrive/enums.py
+1
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@@ -27,6 +27,7 @@ class errors:
ERROR_ENCODER_FAILED = 0x100 # Go to encoder.hpp for information, check odrvX.axisX.encoder.error for error value
ERROR_CONTROLLER_FAILED = 0x200
ERROR_POS_CTRL_DURING_SENSORLESS = 0x400
ERROR_WATCHDOG_TIMER_EXPIRED = 0x800
class motor:
ERROR_NONE = 0