Samuel Sadok
dee8efef22
initialize USB interrupt pump before initializing USB device
2018-04-20 21:15:59 -07:00
Samuel Sadok
27574234d5
improve resilience and safety of entering DFU mode
...
- Disable interrupts before setting the reboot cookie
- Delay after NVIC_SystemReset before jumping to bootloader
(see comment for an explanation)
- Make a variable for the reboot cookie
- Do reboot cookie checks before C++ static initializers
2018-04-16 23:20:20 -07:00
Samuel Sadok
aee1a7343d
add property read/write functionality to ASCII protocol
...
Command examples:
r vbus_voltage
w axis0.config.enable_step_dir 1
2018-04-14 23:03:03 -07:00
Samuel Sadok
bd292b4775
fix comment
2018-04-13 16:17:05 -07:00
Samuel Sadok
44fd8090e1
add overvoltage protection
...
The motor phases will go into floating state as soon as an overvoltage condition is detected.
2018-04-10 15:49:16 -07:00
Samuel Sadok
b4fa53c849
fix encoder offset calibration and error handling
2018-04-10 15:49:00 -07:00
Samuel Sadok
8972e4a8b1
reenable ASCII protocol (formerly "legacy" protocol)
2018-04-07 21:20:26 -07:00
Samuel Sadok
e264e1c326
rename legacy protocol to ASCII protocol
2018-04-07 13:25:19 -07:00
Samuel Sadok
61983a10da
store encoder_configs and controller_configs in NVM
2018-04-07 12:30:37 -07:00
Samuel Sadok
814454da00
set usb task pump priority to osPriorityAboveNormal
...
osPriorityNormal is the same priority as the communication task. If the USB pump task runs on the same priority, it sometimes fails to respond to the host in time, causing spurious halt conditions.
2018-04-06 22:19:03 -07:00
Samuel Sadok
98e24f3eb6
add Axis::ERROR_BRAKE_RESISTOR_DISARMED
2018-04-06 13:12:49 -07:00
Samuel Sadok
ae9a208f1f
turn error enums into flags
2018-04-06 13:12:39 -07:00
Samuel Sadok
b8b483c9d6
Firmware hardening
...
- check return code of enqueue_modulation_timings
- wrap all hardware access to safety critical hardware timer registers in safety_critical_ sections. These functions like the armed-ness of each PWM output to a corresponding armed state that can only be set at start or by the user
- ensure NaN in any variables doesn't cause unpredictable behavior on the safety critical PWM outputs
2018-03-30 22:32:07 -07:00
Samuel Sadok
0e37ff01e4
set current controller gains based on NVM configration
...
If the motor phase resistance and phase inductance was loaded from NVM (pre_calibrated = true) (as opposed to calibration) the current control P and I gains would not be loaded correctly. This commit fixes this.
2018-03-23 19:54:45 -07:00
Samuel Sadok
7695828d31
fix sensorless estimator to respect motor direction
2018-03-23 19:54:34 -07:00
Samuel Sadok
09b8201868
expose sensorless estimator on protocol
2018-03-23 17:10:02 -07:00
Samuel Sadok
69e1b5331a
make encoder index search and encoder offset calibration independent
...
These two activities are now separate states of the axis state machine.
Each of them can be invoked independently at any time (provided the motor is calibrated).
2018-03-23 17:09:52 -07:00
Samuel Sadok
2bf05b303a
rename Axis::ERROR_BAD_VOLTAGE
2018-03-13 14:35:52 -07:00
Samuel Sadok
e89569a6b4
add back enter_dfu_mode
2018-03-13 14:35:52 -07:00
Samuel Sadok
4be3f829d5
Merge branch 'sam_dfu' into sam_refactoring
2018-03-13 14:14:43 -07:00
Samuel Sadok
6d697b08fa
replace UUID_... property by serial_number
2018-03-12 23:45:17 -07:00
Samuel Sadok
ab3af19018
add support for uint64_t to protocol
2018-03-12 23:43:16 -07:00
Samuel Sadok
1489083f19
Merge branch 'devel' into sam_dfu
2018-03-12 22:44:59 -07:00
Oskar Weigl
2430490025
Merge branch 'devel' into sam_build_config
2018-03-12 21:10:38 -07:00
samuelsadok
764fb26b18
Merge branch 'devel' into sam_dfu
2018-03-11 21:39:56 -07:00
Samuel Sadok
c239427441
ensure sane config if config CRC16 mismatches
2018-03-11 20:04:53 -07:00
Samuel Sadok
4114846e0a
ensure sane config if config CRC16 mismatches
2018-03-11 17:10:58 -07:00
Samuel Sadok
791e08fb77
Merge branch 'devel' of github.com:madcowswe/ODrive into sam_build_config
2018-03-09 21:22:05 -08:00
Samuel Sadok
ed3832ca77
make axis error clearable
2018-03-09 20:33:35 -08:00
Samuel Sadok
1f732bb0fb
fix stack overflow
2018-03-09 20:23:03 -08:00
Samuel Sadok
6131519b25
increase axis thread stack size to 2k
2018-03-09 16:45:38 -08:00
Samuel Sadok
74d0d7e14d
minor doc updates
2018-03-09 16:45:21 -08:00
Samuel Sadok
93d6a787cd
Merge branch 'devel' of github.com:madcowswe/ODrive into sam_refactoring
2018-03-09 16:01:18 -08:00
Samuel Sadok
9d85854de3
add toplevel functions back to protocol
2018-03-09 15:03:55 -08:00
Samuel Sadok
9486f9ed15
make stuff working again, improve state machine design, add underscore to member names
2018-03-09 13:37:07 -08:00
Samuel Sadok
f5081352b3
refactor protocol
2018-03-08 12:56:24 -08:00
Oskar Weigl
3c983128f3
Merge branch 'master' into devel
2018-03-05 20:52:20 -08:00
Oskar Weigl
8d27dd443f
Update utils.c
2018-03-05 18:10:23 -08:00
Quincy Jones
6474f279d7
Fix microsecond timer delay code.
2018-03-05 19:50:33 -06:00
Oskar Weigl
01aedc2eea
Update commands.cpp
2018-03-05 17:34:12 -08:00
Samuel Sadok
7d7ab7f81b
Merge branch 'devel' of github.com:madcowswe/ODrive into sam_build_config
2018-03-04 17:05:34 -08:00
Samuel Sadok
97aedd46e9
Sanitize error handling and state machine, move common stuff to odrive_main.hpp
2018-03-04 15:49:48 -08:00
Oskar Weigl
dff77b4f1c
Merge branch 'devel' into sam_dfu
2018-03-04 02:58:40 -08:00
Oskar Weigl
898d9c64b4
fix saving of calibrated flag
2018-03-02 23:05:40 -08:00
Samuel Sadok
b32c87df5a
[TEMP] refactoring: compile works, motors initialize as usual
2018-03-02 22:03:24 -08:00
Oskar Weigl
8b0be90bca
Merge branch 'devel' into sam_nvm
2018-03-02 22:01:56 -08:00
Oskar Weigl
5d87b7602f
make timing log static
2018-03-01 19:09:52 -08:00
Oskar Weigl
037f715dc2
elec_rad_per_enc also evaluated in check CPR
2018-02-25 23:54:17 -08:00
Oskar Weigl
2ed8d17fb8
fix comma
2018-02-25 23:50:43 -08:00
Oskar Weigl
2c8c712eda
Merge branch 'devel' into sam_nvm
2018-02-25 23:42:14 -08:00
Samuel Sadok
Oskar Weigl
Quincy Jones