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

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This commit is contained in:
Samuel Sadok
2018-03-30 16:34:32 -07:00
parent 3387da8030 f6e52c0f14
commit af4fc8a686
9 changed files with 92 additions and 80 deletions
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.travis.yml
+3
View File
@@ -4,6 +4,7 @@ branches:
only:
- master
- devel
- /^fw-v/
language: c
sudo: false
@@ -47,6 +48,8 @@ deploy:
provider: releases
api_key:
secure: RM66joGTn11Z5PmG7Nlj8cRcVY0w7ga5qUl2ahinbDm6jMV8OxroaXKivEa478alx9fygMHVeKdJZUlrAkRJ5OYJ1trfpW+43S3OYEnfy1nyXEXRwhgeIlb9LqdrumXVAp7TZ0Vppfom8A2ZWbxKxW3lG/EAmA4G9fnxHf0S9rF0y95YVfGrxdapTKcxvbP7Yojo53474ZI6+VYrqx8lq0JAnn4FwNT9ZJ1QASrmIw4w08f60XXv25BzndCTscvLb2qUu0AaGLbQUosde0Bb7P+aQsBVY6uSkg9MWV8gWPQjtO3u5IRR1bTshxf2kPqtzwK+SpcYrddoGN6BkKAB3lVorJIW5VguUkRmtPZ1K9+NhIztNevB2qr0ASutumNLF3aqMt19KL3A+SRx6froj5VhRHf4i/Xjm3SDLTaTcc8ZIh2PEE6scUMUMs5Mzu8LQWjInRe25MSb+pQB1mNOHmoFBtVb0J3u7Nvs8jdImN5gQWvvowWXfXRNE0ncT1YsLmevwi3q+YdEjpAIPnrD/rouY8WaqQZ/vE15JM9uwdQRqKAbzGtMaKHDk7EZ7ANTyaP+UrQ/M5cVDa0bWsWSvqSqDJMy4IVHRlirYA/5u74lXNhmA8DGDB/gFVlVCmoEzas/pnYiAE1hh4RpsYxts78Ix+wbeo1hmt7t65X8cyo=
skip_cleanup: true
file_glob: true
file: Firmware/deploy/*
on:
repo: madcowswe/ODrive
Firmware/.vscode/c_cpp_properties.json
Vendored
+74 -71
View File
@@ -5,17 +5,17 @@
"includePath": [
"${workspaceRoot}",
"${workspaceRoot}/MotorControl",
"${workspaceRoot}/Board/v3.3/Inc",
"${workspaceRoot}/Board/v3.3/Drivers/CMSIS/Include",
"${workspaceRoot}/Board/v3.3/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Board/v3.3/Drivers/DRV8301",
"${workspaceRoot}/Board/v3.3/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Board/v3.3/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Board/v3.3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Board/v3.3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Board/v3.3/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Board/v3.3/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Board/v3.3/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"${workspaceRoot}/Drivers/DRV8301",
"${workspaceRoot}/Board/v3/Inc",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Include",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"c:/program files (x86)/gnu tools arm embedded/6 2017-q1-update/arm-none-eabi/include/c++/6.3.1",
"c:/program files (x86)/gnu tools arm embedded/6 2017-q1-update/arm-none-eabi/include/c++/6.3.1/arm-none-eabi",
"c:/program files (x86)/gnu tools arm embedded/6 2017-q1-update/arm-none-eabi/include/c++/6.3.1/backward",
@@ -39,79 +39,82 @@
"limitSymbolsToIncludedHeaders": true
}
},
{
"name": "Linux",
"includePath": [
"${workspaceRoot}",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Drivers/DRV8301",
"${workspaceRoot}/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Drivers/CMSIS/Include",
"${workspaceRoot}/Inc",
"${workspaceRoot}/MotorControl",
"/usr/lib/gcc/arm-none-eabi/4.9.3/include",
"/usr/lib/arm-none-eabi/include"
],
"defines": [
{
"name": "Linux",
"includePath": [
"${workspaceRoot}",
"${workspaceRoot}/MotorControl",
"${workspaceRoot}/Drivers/DRV8301",
"${workspaceRoot}/Board/v3/Inc",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Include",
"/usr/lib/gcc/arm-none-eabi/4.9.3/include",
"/usr/lib/arm-none-eabi/include"
],
"defines": [
"STM32F405xx",
"USE_HAL_DRIVER",
"__weak=\"__attribute__((weak))\"",
"__packed=\"__attribute__((__packed__))\"",
"__GNUC__"
],
"intelliSenseMode": "clang-x64",
"browse": {
"path": [
],
"intelliSenseMode": "clang-x64",
"browse": {
"path": [
"${workspaceRoot}",
"/usr/lib/gcc/arm-none-eabi/4.9.3/include",
"/usr/lib/arm-none-eabi/include"
],
"limitSymbolsToIncludedHeaders": true,
"databaseFilename": ""
}
},
{
"name": "Mac",
"includePath": [
"${workspaceRoot}",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Drivers/DRV8301",
"${workspaceRoot}/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Drivers/CMSIS/Include",
"${workspaceRoot}/Inc",
"${workspaceRoot}/MotorControl",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include/c++/6.3.1",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include/c++/6.3.1/arm-none-eabi",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/lib/gcc/arm-none-eabi/6.3.1/include"
],
"defines": [
"/usr/lib/gcc/arm-none-eabi/4.9.3/include",
"/usr/lib/arm-none-eabi/include"
],
"limitSymbolsToIncludedHeaders": true,
"databaseFilename": ""
},
"compilerPath": "arm-none-eabi-gcc -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float",
"cStandard": "c11",
"cppStandard": "c++14"
},
{
"name": "Mac",
"includePath": [
"${workspaceRoot}",
"${workspaceRoot}/MotorControl",
"${workspaceRoot}/Drivers/DRV8301",
"${workspaceRoot}/Board/v3/Inc",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/include",
"${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
"${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc",
"${workspaceRoot}/Board/v3/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Board/v3/Drivers/CMSIS/Include",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include/c++/6.3.1",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/arm-none-eabi/include/c++/6.3.1/arm-none-eabi",
"/usr/local/Caskroom/gcc-arm-embedded/6-2017-q2-update/gcc-arm-none-eabi-6-2017-q2-update/lib/gcc/arm-none-eabi/6.3.1/include"
],
"defines": [
"STM32F405xx",
"USE_HAL_DRIVER",
"__weak=\"__attribute__((weak))\"",
"__packed=\"__attribute__((__packed__))\"",
"__GNUC__"
],
"intelliSenseMode": "clang-x64",
"browse": {
"path": [
],
"intelliSenseMode": "clang-x64",
"browse": {
"path": [
"${workspaceRoot}",
"/usr/local/Caskroom/gcc-arm-embedded/"
],
"limitSymbolsToIncludedHeaders": true,
"databaseFilename": ""
],
"limitSymbolsToIncludedHeaders": true,
"databaseFilename": ""
}
}
],
Firmware/Board/v3/0001-display-correct-ODrive-version-in-USB-descriptor.patch
+1 -1
View File
@@ -14,7 +14,7 @@ index 94dc49b..37b4302 100644
@@ -96,7 +96,9 @@
#define USBD_LANGID_STRING 1033
#define USBD_MANUFACTURER_STRING "ODrive Robotics"
#define USBD_PID_FS 0x0D33
#define USBD_PID_FS 0x0D32
-#define USBD_PRODUCT_STRING_FS "ODrive v3.3"
+#define USBD_PRODUCT_XSTR(s) USBD_PRODUCT_STR(s)
+#define USBD_PRODUCT_STR(s) #s
Firmware/Board/v3/Odrive.ioc
+1 -1
View File
@@ -601,7 +601,7 @@ USB_DEVICE.APP_TX_DATA_SIZE-CDC_FS=64
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS,MANUFACTURER_STRING-CDC_FS,PRODUCT_STRING_CDC_FS,VID-CDC_FS,PID_CDC_FS,SERIALNUMBER_STRING_CDC_FS,APP_RX_DATA_SIZE-CDC_FS,APP_TX_DATA_SIZE-CDC_FS
USB_DEVICE.MANUFACTURER_STRING-CDC_FS=ODrive Robotics
USB_DEVICE.PID_CDC_FS=0x0D33
USB_DEVICE.PID_CDC_FS=0x0D32
USB_DEVICE.PRODUCT_STRING_CDC_FS=ODrive v3.3
USB_DEVICE.SERIALNUMBER_STRING_CDC_FS=000000000001
USB_DEVICE.VID-CDC_FS=0x1209
Firmware/Board/v3/Src/usbd_desc.c
+1 -1
View File
@@ -94,7 +94,7 @@
#define USBD_VID 0x1209
#define USBD_LANGID_STRING 1033
#define USBD_MANUFACTURER_STRING "ODrive Robotics"
#define USBD_PID_FS 0x0D33
#define USBD_PID_FS 0x0D32
#define USBD_PRODUCT_XSTR(s) USBD_PRODUCT_STR(s)
#define USBD_PRODUCT_STR(s) #s
#define USBD_PRODUCT_STRING_FS ODrive version HW_VERSION_MAJOR.HW_VERSION_MINOR
Firmware/CHANGELOG.md
+8 -2
View File
@@ -1,6 +1,14 @@
# Unreleased Features
Please add a note of your changes below this heading if you make a Pull Request.
### Added
### Changed
### Fixed
# Releases
## [0.3.6] - 2018-03-26
### Added
* **Storing of configuration parameters to Non Volatile Memory**
* **USB Bootloader**
@@ -20,8 +28,6 @@ Please add a note of your changes below this heading if you make a Pull Request.
### Fixed
* malloc now fails if we run out of memory (before it would always succeed even if we are out of ram...)
# Releases
## [0.3.5] - 2018-03-04
### Added
Firmware/README.md
+1 -1
View File
@@ -201,7 +201,7 @@ You must set for every motor:
* `my_odrive.motorN.config.motor_type`: This is the type of motor being used. Currently two types of motors are supported -- High-current motors (`MOTOR_TYPE_HIGH_CURRENT`) and Gimbal motors (`MOTOR_TYPE_GIMBAL`).
#### Motor Modes
The firwmare currently supports two different types of motors, high-current motors, and Gimbal motors. 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 `my_odrive.motorN.config.motor_type` to `MOTOR_TYPE_HIGH_CURRENT`. For high-torque gimbal motors like [this](https://hobbyking.com/en_us/turnigy-hd-5208-brushless-gimbal-motor-bldc.html) one, you should choose `MOTOR_TYPE_GIMBAL`.
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`.
Firmware/build.sh
+2 -2
View File
@@ -18,6 +18,6 @@ bash -xe ./tup_build.sh
# Deploy
if ! [ -z ${DEPLOY+x} ]; then
mkdir -p deploy
cp build/ODriveFirmware.elf deploy/ODriveFirmware-"$DEPLOY".elf
cp build/ODriveFirmware.hex deploy/ODriveFirmware-"$DEPLOY".hex
cp build/ODriveFirmware.elf deploy/ODriveFirmware_"$DEPLOY".elf
cp build/ODriveFirmware.hex deploy/ODriveFirmware_"$DEPLOY".hex
fi
Firmware/tup.config.default
+1 -1
View File
@@ -1,6 +1,6 @@
# Copy this file to tup.config and adapt it to your needs
# make sure this fits your board
#CONFIG_BOARD_VERSION=v3.3
#CONFIG_BOARD_VERSION=v3.4-24V
CONFIG_USB_PROTOCOL=native
CONFIG_UART_PROTOCOL=ascii
CONFIG_STEP_DIR=n