Merge pull request #59 from Wetmelon/devel

Add UUID access, echo cmd

Firmware/MotorControl/commands.c

@@ -5,6 +5,7 @@
 #include <gpio.h>
 #include <freertos_vars.h>
 #include <usbd_cdc.h>
+#include <utils.h>
 
 extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
 
@@ -168,10 +169,12 @@ void motor_parse_cmd(uint8_t* buffer, int len, SerialPrintf_t response_interface
         if (numscan == 2 && motor_number < num_motors) {
             set_current_setpoint(&motors[motor_number], current_feed_forward);
         }
-    } else if(buffer[0] == 'e'){
-        int val = printf("Test 1\n");
-        int val2 = printf("test 2\n");
-        val = 0;
+    } else if(buffer[0] == 'i'){ // Dump device info
+        // Retrieves the device signature, revision, flash size, and UUID
+        printf("Signature: %#x\n", STM_ID_GetSignature());
+        printf("Revision: %#x\n", STM_ID_GetRevision());
+        printf("Flash Size: %#x KiB\n", STM_ID_GetFlashSize());
+        printf("UUID: 0x%lx%lx%lx\n", STM_ID_GetUUID(2), STM_ID_GetUUID(1), STM_ID_GetUUID(0));
     } else if (buffer[0] == 'g') { // GET
         // g <0:float,1:int,2:bool,3:uint16> index
         int type = 0;
@@ -378,4 +381,4 @@ void usb_update_thread() {
         }
     }
     vTaskDelete(osThreadGetId());
-}
+}

Firmware/MotorControl/utils.h

@@ -2,6 +2,68 @@
 #ifndef __UTILS_H
 #define __UTILS_H
 
+/**
+ * @brief Unique ID register address location
+ */
+#define ID_UNIQUE_ADDRESS (0x1FFF7A10)
+
+/**
+ * @brief Flash size register address
+ */
+#define ID_FLASH_ADDRESS (0x1FFF7A22)
+
+/**
+ * @brief Device ID register address
+ */
+#define ID_DBGMCU_IDCODE (0xE0042000)
+
+/**
+ * "Returns" the device signature
+ *
+ * Possible returns:
+ *    - 0x0413: STM32F405xx/07xx and STM32F415xx/17xx)
+ *    - 0x0419: STM32F42xxx and STM32F43xxx
+ *    - 0x0423: STM32F401xB/C
+ *    - 0x0433: STM32F401xD/E
+ *    - 0x0431: STM32F411xC/E
+ *
+ * Returned data is in 16-bit mode, but only bits 11:0 are valid, bits 15:12 are always 0.
+ * Defined as macro
+ */
+#define STM_ID_GetSignature() ((*(uint16_t *)(ID_DBGMCU_IDCODE)) & 0x0FFF)
+
+/**
+ * "Returns" the device revision
+ *
+ * Revisions possible:
+ *    - 0x1000: Revision A
+ *    - 0x1001: Revision Z
+ *    - 0x1003: Revision Y
+ *    - 0x1007: Revision 1
+ *    - 0x2001: Revision 3
+ *
+ * Returned data is in 16-bit mode.
+ */
+#define STM_ID_GetRevision() (*(uint16_t *)(ID_DBGMCU_IDCODE + 2))
+
+/**
+* "Returns" the Flash size
+*
+* Returned data is in 16-bit mode, returned value is flash size in kB (kilo bytes).
+*/
+#define STM_ID_GetFlashSize() (*(uint16_t *)(ID_FLASH_ADDRESS))
+
+/**
+ * "Returns" the given 32-bit value of the UUID.
+ *
+ * Parameters:
+ *     - uint8_t x:
+ *         Value between 0 and 2, corresponding to 4-bytes you want to read from 96bits (12bytes)
+ *
+ * Returned data is 32-bit
+ */
+#define STM_ID_GetUUID(x) ((x >= 0 && x < 3) ? (*(uint32_t *)(ID_UNIQUE_ADDRESS + 4 * (x))) : 0)
+
 #ifndef M_PI
 #define M_PI 3.14159265358979323846f
 #endif
@@ -20,4 +82,4 @@ float wrap_pm_pi(float theta);
 float fast_atan2(float y, float x);
 int mod(int dividend, int divisor);
 
-#endif //__UTILS_H
+#endif  //__UTILS_H

tools/test_communication.py

@@ -39,7 +39,7 @@ def main(args):
   while running:
     time.sleep(0.1)
     try:
-      command = input("Enter ODrive command:\n")
+      command = input("\r\nEnter ODrive command:\n")
       if 'q' in command:
         running = False
         sys.exit()
@@ -52,7 +52,7 @@ def receive_thread(dev):
   global ready
 
   while running:
-    time.sleep(0.1)
+    time.sleep(0.001)
     try:
       message = dev.receive(dev.receive_max())
       message_ascii = bytes(message).decode('ascii')