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

Merging recent devel changes into branch

Firmware/Board/v3/Src/spi.c

@@ -115,8 +115,15 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
     hdma_spi3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
     hdma_spi3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_spi3_tx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_spi3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
-    hdma_spi3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+
+    if(spiHandle->Init.DataSize == SPI_DATASIZE_8BIT){
+      hdma_spi3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+      hdma_spi3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    } else {
+      hdma_spi3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+      hdma_spi3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;      
+    }
+    
     hdma_spi3_tx.Init.Mode = DMA_NORMAL;
     hdma_spi3_tx.Init.Priority = DMA_PRIORITY_MEDIUM;
     hdma_spi3_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
@@ -133,8 +140,13 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
     hdma_spi3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
     hdma_spi3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_spi3_rx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_spi3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
-    hdma_spi3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    if (spiHandle->Init.DataSize == SPI_DATASIZE_8BIT) {
+        hdma_spi3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+        hdma_spi3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    } else {
+        hdma_spi3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+        hdma_spi3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    }
     hdma_spi3_rx.Init.Mode = DMA_NORMAL;
     hdma_spi3_rx.Init.Priority = DMA_PRIORITY_MEDIUM;
     hdma_spi3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;

Firmware/MotorControl/axis.cpp

@@ -173,10 +173,9 @@ bool Axis::do_checks() {
     // controller_.do_checks();
 
     // Check for endstop presses
-    bool vel_dependent_stopping = (current_state_ == AXIS_STATE_HOMING) && (controller_.config_.control_mode >= Controller::CONTROL_MODE_VELOCITY_CONTROL);
-    if (min_endstop_.config_.enabled && min_endstop_.get_state() && (!vel_dependent_stopping || controller_.vel_setpoint_ < 0.0f)) {
+    if (min_endstop_.config_.enabled && min_endstop_.get_state() && !(current_state_ == AXIS_STATE_HOMING)) {
         error_ |= ERROR_MIN_ENDSTOP_PRESSED;
-    } else if (max_endstop_.config_.enabled && max_endstop_.get_state() && (!vel_dependent_stopping || controller_.vel_setpoint_ > 0.0f)) {
+    } else if (max_endstop_.config_.enabled && max_endstop_.get_state() && !(current_state_ == AXIS_STATE_HOMING)) {
         error_ |= ERROR_MAX_ENDSTOP_PRESSED;
     }
 

Firmware/MotorControl/axis.hpp

@@ -106,6 +106,7 @@ public:
         controller_.error_ = Controller::ERROR_NONE;
         sensorless_estimator_.error_ = SensorlessEstimator::ERROR_NONE;
         encoder_.error_ = Encoder::ERROR_NONE;
+        encoder_.spi_error_rate_ = 0.0f;
 
         error_ = ERROR_NONE;
     }

Firmware/fibre/cpp/include/fibre/protocol.hpp

@@ -513,7 +513,17 @@ static bool to_string(const T& value, char * buffer, size_t length, ...) {
 
 template<typename T, typename = typename format_traits_t<T>::type>
 static bool from_string(const char * buffer, size_t length, T* property, int) {
-    return sscanf(buffer, format_traits_t<T>::fmt, property) == 1;
+    // Note for T == uint8_t: Even though we supposedly use the correct format
+    // string sscanf treats our pointer as pointer-to-int instead of
+    // pointer-to-uint8_t. To avoid an unexpected memory access we first read
+    // into a union.
+    union { T t; int i; } val;
+    if (sscanf(buffer, format_traits_t<T>::fmt, &val.t) == 1) {
+        *property = val.t;
+        return true;
+    } else {
+        return false;
+    }
 }
 // Special case for float because printf promotes float to double, and we get warnings
 template<typename T = float>

docs/endstops.md

@@ -96,7 +96,7 @@ Name |  Type | Default
 --- | -- | -- 
 homing_speed | float | 2000.0f
 
-`homing_speed` is the axis travel speed during homing, in counts/second.
+`homing_speed` is the axis travel speed during homing, in counts/second.  If you are using SPI based encoders and the axis is homing in the wrong direction, you can enter a negative value for the homing speed and a negative value for the minimum endstop offset. 
 
 
 ### Performing the Homing Sequence

tools/odrive/tests/closed_loop_test.py

@@ -178,7 +178,7 @@ class TestRegenProtection(TestClosedLoopControlBase):
             max_current = 15.0
         
             # Accept a bit of noise on Ibus
-            axis_ctx.parent.handle.config.dc_max_negative_current = -0.2
+            axis_ctx.parent.handle.config.dc_max_negative_current = -0.5
 
             logger.debug(f'Brake control test from {nominal_rps} rounds/s...')
             
@@ -228,6 +228,7 @@ class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
 
             axis_ctx.handle.controller.config.vel_gain /= 10 # reduce the slope to make it easier to see what's going on
             vel_gain = axis_ctx.handle.controller.config.vel_gain
+            direction = axis_ctx.handle.motor.config.direction
             logger.debug(f'vel gain is {vel_gain}')
 
             axis_ctx.handle.controller.config.vel_limit = max_vel
@@ -238,7 +239,7 @@ class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
 
             # Returns the expected limited setpoint for a given velocity and current
             def get_expected_setpoint(input_setpoint, velocity):
-                return clamp(clamp(input_setpoint / torque_constant, (velocity + max_vel) * -vel_gain / torque_constant, (velocity - max_vel) * -vel_gain / torque_constant), -max_current, max_current)
+                return clamp(clamp(input_setpoint / torque_constant, (velocity + max_vel) * -vel_gain / torque_constant, (velocity - max_vel) * -vel_gain / torque_constant), -max_current, max_current) * direction
 
             def data_getter():
                 # sample velocity twice to avoid systematic bias