mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-21 07:14:22 +08:00
Merge branch 'devel' into feature/CAN
This commit is contained in:
Unknown
@@ -6,6 +6,8 @@ Please add a note of your changes below this heading if you make a Pull Request.
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* Supress startup transients by sampling encoder estimate into position setpoint when entering closed loop control.
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* Make step dir gpio pins configurable.
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* Configuration variable `encoder.config.zero_count_on_find_idx`, true by default. Set to false to leave the initial encoder count to be where the axis was at boot.
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* Circular position setpoint mode: position setpoints wrapped [0, cpr). Useful for infinite incremental position control.
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* Velocity setpoint ramping. Use velocity control mode, and set `controller.vel_ramp_enable` to true. This will ramp `controller.vel_setpoint` towards `controller.vel_ramp_target` at a ramp rate of `controller.config.vel_ramp_rate`.
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### Changed
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* Increased switching frequency from around 8kHz to 24kHz. Control loops still run at 8kHz.
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@@ -14,6 +16,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
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## Fixed
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* Would get ERROR_CONTROL_DEADLINE_MISSED along with every ERROR_PHASE_RESISTANCE_OUT_OF_RANGE.
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* ODrive tool can now run interactive nested scripts with "%run -i script.py"
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# Releases
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## [0.4.6] - 2018-10-07
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@@ -54,8 +54,10 @@ void BusFault_Handler(void);
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void UsageFault_Handler(void);
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void DebugMon_Handler(void);
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void SysTick_Handler(void);
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void DMA1_Stream0_IRQHandler(void);
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void DMA1_Stream2_IRQHandler(void);
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void DMA1_Stream4_IRQHandler(void);
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void DMA1_Stream5_IRQHandler(void);
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void ADC_IRQHandler(void);
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void CAN1_TX_IRQHandler(void);
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void CAN1_RX0_IRQHandler(void);
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@@ -63,6 +65,7 @@ void CAN1_RX1_IRQHandler(void);
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void CAN1_SCE_IRQHandler(void);
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void TIM8_TRG_COM_TIM14_IRQHandler(void);
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void TIM5_IRQHandler(void);
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void SPI3_IRQHandler(void);
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void UART4_IRQHandler(void);
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void OTG_FS_IRQHandler(void);
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@@ -97,7 +97,29 @@ Dma.ADC1.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlign
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Dma.Request0=UART4_RX
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Dma.Request1=UART4_TX
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Dma.Request2=ADC1
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Dma.RequestsNb=3
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Dma.Request3=SPI3_TX
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Dma.Request4=SPI3_RX
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Dma.RequestsNb=5
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Dma.SPI3_RX.4.Direction=DMA_PERIPH_TO_MEMORY
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Dma.SPI3_RX.4.FIFOMode=DMA_FIFOMODE_DISABLE
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Dma.SPI3_RX.4.Instance=DMA1_Stream0
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Dma.SPI3_RX.4.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
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Dma.SPI3_RX.4.MemInc=DMA_MINC_ENABLE
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Dma.SPI3_RX.4.Mode=DMA_NORMAL
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Dma.SPI3_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
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Dma.SPI3_RX.4.PeriphInc=DMA_PINC_DISABLE
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Dma.SPI3_RX.4.Priority=DMA_PRIORITY_MEDIUM
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Dma.SPI3_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
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Dma.SPI3_TX.3.Direction=DMA_MEMORY_TO_PERIPH
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Dma.SPI3_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
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Dma.SPI3_TX.3.Instance=DMA1_Stream5
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Dma.SPI3_TX.3.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
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Dma.SPI3_TX.3.MemInc=DMA_MINC_ENABLE
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Dma.SPI3_TX.3.Mode=DMA_NORMAL
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Dma.SPI3_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
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Dma.SPI3_TX.3.PeriphInc=DMA_PINC_DISABLE
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Dma.SPI3_TX.3.Priority=DMA_PRIORITY_MEDIUM
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Dma.SPI3_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
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Dma.UART4_RX.0.Direction=DMA_PERIPH_TO_MEMORY
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Dma.UART4_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
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Dma.UART4_RX.0.Instance=DMA1_Stream2
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@@ -221,8 +243,10 @@ NVIC.CAN1_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true
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NVIC.CAN1_RX1_IRQn=true\:6\:0\:true\:false\:true\:true\:true
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NVIC.CAN1_SCE_IRQn=true\:6\:0\:true\:false\:true\:true\:true
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NVIC.CAN1_TX_IRQn=true\:6\:0\:true\:false\:true\:true\:true
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NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false
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NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:true
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NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false
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NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false
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NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:false\:true\:false
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NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:true
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NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true
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@@ -231,6 +255,7 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:true
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NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:true
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NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:true
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NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
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NVIC.SPI3_IRQn=true\:5\:0\:false\:false\:true\:true\:true
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NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:true
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NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:true
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NVIC.TIM1_UP_TIM10_IRQn=true\:0\:0\:false\:false\:false\:false\:true
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@@ -71,12 +71,18 @@ void MX_DMA_Init(void)
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__HAL_RCC_DMA2_CLK_ENABLE();
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/* DMA interrupt init */
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/* DMA1_Stream0_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
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/* DMA1_Stream2_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
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/* DMA1_Stream4_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
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/* DMA1_Stream5_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
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/* DMA2_Stream0_IRQn interrupt configuration */
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// Dear STM, no we _don't_ want to fire an interrupt for this DMA
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// (it's not possible to deselect this in CubeMX)
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@@ -51,12 +51,15 @@
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#include "spi.h"
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#include "gpio.h"
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#include "dma.h"
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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SPI_HandleTypeDef hspi3;
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DMA_HandleTypeDef hdma_spi3_tx;
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DMA_HandleTypeDef hdma_spi3_rx;
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/* SPI3 init function */
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void MX_SPI3_Init(void)
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@@ -105,6 +108,46 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
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GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/* SPI3 DMA Init */
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/* SPI3_TX Init */
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hdma_spi3_tx.Instance = DMA1_Stream5;
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hdma_spi3_tx.Init.Channel = DMA_CHANNEL_0;
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hdma_spi3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma_spi3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_spi3_tx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_spi3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
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hdma_spi3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
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hdma_spi3_tx.Init.Mode = DMA_NORMAL;
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hdma_spi3_tx.Init.Priority = DMA_PRIORITY_MEDIUM;
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hdma_spi3_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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if (HAL_DMA_Init(&hdma_spi3_tx) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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__HAL_LINKDMA(spiHandle,hdmatx,hdma_spi3_tx);
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/* SPI3_RX Init */
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hdma_spi3_rx.Instance = DMA1_Stream0;
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hdma_spi3_rx.Init.Channel = DMA_CHANNEL_0;
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hdma_spi3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma_spi3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_spi3_rx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_spi3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
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hdma_spi3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
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hdma_spi3_rx.Init.Mode = DMA_NORMAL;
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hdma_spi3_rx.Init.Priority = DMA_PRIORITY_MEDIUM;
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hdma_spi3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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if (HAL_DMA_Init(&hdma_spi3_rx) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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__HAL_LINKDMA(spiHandle,hdmarx,hdma_spi3_rx);
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/* SPI3 interrupt Init */
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HAL_NVIC_SetPriority(SPI3_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(SPI3_IRQn);
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/* USER CODE BEGIN SPI3_MspInit 1 */
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/* USER CODE END SPI3_MspInit 1 */
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@@ -129,6 +172,12 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
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*/
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HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12);
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/* SPI3 DMA DeInit */
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HAL_DMA_DeInit(spiHandle->hdmatx);
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HAL_DMA_DeInit(spiHandle->hdmarx);
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/* SPI3 interrupt Deinit */
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HAL_NVIC_DisableIRQ(SPI3_IRQn);
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/* USER CODE BEGIN SPI3_MspDeInit 1 */
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/* USER CODE END SPI3_MspDeInit 1 */
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@@ -63,6 +63,9 @@ extern ADC_HandleTypeDef hadc1;
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extern ADC_HandleTypeDef hadc2;
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extern ADC_HandleTypeDef hadc3;
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extern CAN_HandleTypeDef hcan1;
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extern DMA_HandleTypeDef hdma_spi3_tx;
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extern DMA_HandleTypeDef hdma_spi3_rx;
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extern SPI_HandleTypeDef hspi3;
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extern TIM_HandleTypeDef htim5;
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extern TIM_HandleTypeDef htim8;
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extern DMA_HandleTypeDef hdma_uart4_rx;
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@@ -194,6 +197,20 @@ void SysTick_Handler(void)
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/* please refer to the startup file (startup_stm32f4xx.s). */
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/******************************************************************************/
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/**
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* @brief This function handles DMA1 stream0 global interrupt.
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*/
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void DMA1_Stream0_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream0_IRQn 0 */
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/* USER CODE END DMA1_Stream0_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_spi3_rx);
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/* USER CODE BEGIN DMA1_Stream0_IRQn 1 */
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/* USER CODE END DMA1_Stream0_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream2 global interrupt.
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*/
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@@ -222,6 +239,20 @@ void DMA1_Stream4_IRQHandler(void)
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/* USER CODE END DMA1_Stream4_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream5 global interrupt.
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*/
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void DMA1_Stream5_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
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/* USER CODE END DMA1_Stream5_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_spi3_tx);
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/* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
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/* USER CODE END DMA1_Stream5_IRQn 1 */
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}
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/**
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* @brief This function handles ADC1, ADC2 and ADC3 global interrupts.
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*/
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@@ -336,6 +367,20 @@ void TIM5_IRQHandler(void)
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/* USER CODE END TIM5_IRQn 1 */
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}
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/**
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* @brief This function handles SPI3 global interrupt.
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*/
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void SPI3_IRQHandler(void)
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{
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/* USER CODE BEGIN SPI3_IRQn 0 */
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/* USER CODE END SPI3_IRQn 0 */
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HAL_SPI_IRQHandler(&hspi3);
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/* USER CODE BEGIN SPI3_IRQn 1 */
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/* USER CODE END SPI3_IRQn 1 */
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}
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/**
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* @brief This function handles UART4 global interrupt.
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*/
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@@ -177,7 +177,7 @@ public:
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// variables exposed on protocol
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Error_t error_ = ERROR_NONE;
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bool step_dir_active_ = false; // auto enabled after calibration, based on config.enable_step_dir
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// updated from config in constructor, and on protocol hook
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GPIO_TypeDef* step_port_;
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uint16_t step_pin_;
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@@ -118,11 +118,36 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
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anticogging_pos = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
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}
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// Ramp rate limited velocity setpoint
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if (config_.control_mode == CTRL_MODE_VELOCITY_CONTROL && vel_ramp_enable_) {
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float max_step_size = current_meas_period * config_.vel_ramp_rate;
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float full_step = vel_ramp_target_ - vel_setpoint_;
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float step;
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if (fabsf(full_step) > max_step_size) {
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step = std::copysignf(max_step_size, full_step);
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} else {
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step = full_step;
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}
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vel_setpoint_ += step;
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}
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// Position control
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// TODO Decide if we want to use encoder or pll position here
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float vel_des = vel_setpoint_;
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if (config_.control_mode >= CTRL_MODE_POSITION_CONTROL) {
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float pos_err = pos_setpoint_ - pos_estimate;
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float pos_err;
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if (config_.setpoints_in_cpr) {
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// TODO this breaks the semantics that estimates come in on the arguments.
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// It's probably better to call a get_estimate that will arbitrate (enc vs sensorless) instead.
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float cpr = (float)(axis_->encoder_.config_.cpr);
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// Keep pos setpoint from drifting
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pos_setpoint_ = fmodf_pos(pos_setpoint_, cpr);
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// Circular delta
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pos_err = pos_setpoint_ - axis_->encoder_.pos_cpr_;
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pos_err = wrap_pm(pos_err, 0.5f * cpr);
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} else {
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pos_err = pos_setpoint_ - pos_estimate;
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}
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vel_des += config_.pos_gain * pos_err;
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}
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@@ -30,6 +30,8 @@ public:
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float vel_integrator_gain = 10.0f / 10000.0f; // [A/(counts/s * s)]
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float vel_limit = 20000.0f; // [counts/s]
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float vel_limit_tolerance = 1.2f; // ratio to vel_lim. 0.0f to disable
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float vel_ramp_rate = 10000.0f; // [(counts/s) / s]
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bool setpoints_in_cpr = false;
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};
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Controller(Config_t& config);
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@@ -82,6 +84,8 @@ public:
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// float vel_setpoint = 800.0f; <sensorless example>
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float vel_integrator_current_ = 0.0f; // [A]
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float current_setpoint_ = 0.0f; // [A]
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float vel_ramp_target_ = 0.0f;
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bool vel_ramp_enable_ = false;
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uint32_t traj_start_loop_count_ = 0;
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@@ -93,13 +97,17 @@ public:
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make_protocol_property("vel_setpoint", &vel_setpoint_),
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make_protocol_property("vel_integrator_current", &vel_integrator_current_),
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make_protocol_property("current_setpoint", ¤t_setpoint_),
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make_protocol_property("vel_ramp_target", &vel_ramp_target_),
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make_protocol_property("vel_ramp_enable", &vel_ramp_enable_),
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make_protocol_object("config",
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make_protocol_property("control_mode", &config_.control_mode),
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make_protocol_property("pos_gain", &config_.pos_gain),
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make_protocol_property("vel_gain", &config_.vel_gain),
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make_protocol_property("vel_integrator_gain", &config_.vel_integrator_gain),
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make_protocol_property("vel_limit", &config_.vel_limit),
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make_protocol_property("vel_limit_tolerance", &config_.vel_limit_tolerance)
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make_protocol_property("vel_limit_tolerance", &config_.vel_limit_tolerance),
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make_protocol_property("vel_ramp_rate", &config_.vel_ramp_rate),
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make_protocol_property("setpoints_in_cpr", &config_.setpoints_in_cpr)
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),
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make_protocol_function("set_pos_setpoint", *this, &Controller::set_pos_setpoint,
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"pos_setpoint", "vel_feed_forward", "current_feed_forward"),
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@@ -667,6 +667,7 @@ void pwm_in_init() {
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}
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}
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//TODO: These expressions have integer division by 1MHz, so it will be incorrect for clock speeds of not-integer MHz
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#define TIM_2_5_CLOCK_HZ TIM_APB1_CLOCK_HZ
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#define PWM_MIN_HIGH_TIME ((TIM_2_5_CLOCK_HZ / 1000000UL) * 1000UL) // 1ms high is considered full reverse
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#define PWM_MAX_HIGH_TIME ((TIM_2_5_CLOCK_HZ / 1000000UL) * 2000UL) // 2ms high is considered full forward
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@@ -81,6 +81,7 @@ def launch_shell(args,
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# If IPython is installed, embed IPython shell, otherwise embed regular shell
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if use_ipython:
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help = lambda: print_help(args, len(discovered_devices) > 0) # Override help function # pylint: disable=W0612
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locals()['__name__'] = globals()['__name__'] # to fix broken "%run -i script.py"
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console = IPython.terminal.embed.InteractiveShellEmbed(banner1='')
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console.runcode = console.run_code # hack to make IPython look like the regular console
|
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interact = console
|
||||
|
||||
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Block a user