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ODrive/Firmware/communication/ascii_protocol.cpp

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/*
* The ASCII protocol is a simpler, human readable alternative to the main native
* protocol.
* In the future this protocol might be extended to support selected GCode commands.
* For a list of supported commands see doc/ascii-protocol.md
*/
/* Includes ------------------------------------------------------------------*/
#include "odrive_main.h"
#include "communication.h"
#include "ascii_protocol.hpp"
#include <utils.hpp>
#include <fibre/cpp_utils.hpp>
#include "autogen/type_info.hpp"
#include "communication/interface_can.hpp"
using namespace fibre;
/* Private macros ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Global constant data ------------------------------------------------------*/
/* Global variables ----------------------------------------------------------*/
/* Private constant data -----------------------------------------------------*/
#define TO_STR_INNER(s) #s
#define TO_STR(s) TO_STR_INNER(s)
/* Private variables ---------------------------------------------------------*/
#if HW_VERSION_MAJOR == 3
static Introspectable root_obj = ODrive3TypeInfo<ODrive>::make_introspectable(odrv);
#elif HW_VERSION_MAJOR == 4
static Introspectable root_obj = ODrive4TypeInfo<ODrive>::make_introspectable(odrv);
#endif
/* Private function prototypes -----------------------------------------------*/
/* Function implementations --------------------------------------------------*/
// @brief Sends a line on the specified output.
template<typename ... TArgs>
void AsciiProtocol::respond(bool include_checksum, const char * fmt, TArgs&& ... args) {
char tx_buf[64];
size_t len = snprintf(tx_buf, sizeof(tx_buf), fmt, std::forward<TArgs>(args)...);
// Silently truncate the output if it's too long for the buffer.
len = std::min(len, sizeof(tx_buf));
if (include_checksum) {
uint8_t checksum = 0;
for (size_t i = 0; i < len; ++i)
checksum ^= tx_buf[i];
len += snprintf(tx_buf + len, sizeof(tx_buf) - len, "*%u\r\n", checksum);
} else {
len += snprintf(tx_buf + len, sizeof(tx_buf) - len, "\r\n");
}
// Silently truncate the output if it's too long for the buffer.
len = std::min(len, sizeof(tx_buf));
sink_.write({(const uint8_t*)tx_buf, len});
sink_.maybe_start_async_write();
}
// @brief Executes an ASCII protocol command
// @param buffer buffer of ASCII encoded characters
// @param len size of the buffer
void AsciiProtocol::process_line(cbufptr_t buffer) {
static_assert(sizeof(char) == sizeof(uint8_t));
// scan line to find beginning of checksum and prune comment
uint8_t checksum = 0;
size_t checksum_start = SIZE_MAX;
for (size_t i = 0; i < buffer.size(); ++i) {
if (buffer.begin()[i] == ';') { // ';' is the comment start char
buffer = buffer.take(i);
break;
}
if (checksum_start > i) {
if (buffer[i] == '*') {
checksum_start = i + 1;
} else {
checksum ^= buffer[i];
}
}
}
// copy everything into a local buffer so we can insert null-termination
char cmd[MAX_LINE_LENGTH + 1];
size_t len = std::min(buffer.size(), MAX_LINE_LENGTH);
memcpy(cmd, buffer.begin(), len);
cmd[len] = 0; // null-terminate
// optional checksum validation
bool use_checksum = (checksum_start < len);
if (use_checksum) {
unsigned int received_checksum;
int numscan = sscanf(&cmd[checksum_start], "%u", &received_checksum);
if ((numscan < 1) || (received_checksum != checksum))
return;
len = checksum_start - 1; // prune checksum and asterisk
cmd[len] = 0; // null-terminate
}
// check incoming packet type
switch(cmd[0]) {
case 'p': cmd_set_position(cmd, use_checksum); break; // position control
case 'q': cmd_set_position_wl(cmd, use_checksum); break; // position control with limits
case 'v': cmd_set_velocity(cmd, use_checksum); break; // velocity control
case 'c': cmd_set_torque(cmd, use_checksum); break; // current control
case 't': cmd_set_trapezoid_trajectory(cmd, use_checksum); break; // trapezoidal trajectory
case 'f': cmd_get_feedback(cmd, use_checksum); break; // feedback
case 'h': cmd_help(cmd, use_checksum); break; // Help
case 'i': cmd_info_dump(cmd, use_checksum); break; // Dump device info
case 's': cmd_system_ctrl(cmd, use_checksum); break; // System
case 'r': cmd_read_property(cmd, use_checksum); break; // read property
case 'w': cmd_write_property(cmd, use_checksum); break; // write property
case 'u': cmd_update_axis_wdg(cmd, use_checksum); break; // Update axis watchdog.
case 'e': cmd_encoder(cmd, use_checksum); break; // Encoder commands
default : cmd_unknown(nullptr, use_checksum); break;
}
}
// @brief Executes the set position command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_set_position(char * pStr, bool use_checksum) {
unsigned motor_number;
float pos_setpoint, vel_feed_forward, torque_feed_forward;
int numscan = sscanf(pStr, "p %u %f %f %f", &motor_number, &pos_setpoint, &vel_feed_forward, &torque_feed_forward);
if (numscan < 2) {
respond(use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(use_checksum, "invalid motor %u", motor_number);
} else {
Axis& axis = axes[motor_number];
axis.controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
axis.controller_.input_pos_ = pos_setpoint;
if (numscan >= 3)
axis.controller_.input_vel_ = vel_feed_forward;
if (numscan >= 4)
axis.controller_.input_torque_ = torque_feed_forward;
axis.controller_.input_pos_updated();
axis.watchdog_feed();
}
}
// @brief Executes the set position with current and velocity limit command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_set_position_wl(char * pStr, bool use_checksum) {
unsigned motor_number;
float pos_setpoint, vel_limit, torque_lim;
int numscan = sscanf(pStr, "q %u %f %f %f", &motor_number, &pos_setpoint, &vel_limit, &torque_lim);
if (numscan < 2) {
respond(use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(use_checksum, "invalid motor %u", motor_number);
} else {
Axis& axis = axes[motor_number];
axis.controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
axis.controller_.input_pos_ = pos_setpoint;
if (numscan >= 3)
axis.controller_.config_.vel_limit = vel_limit;
if (numscan >= 4)
axis.motor_.config_.torque_lim = torque_lim;
axis.controller_.input_pos_updated();
axis.watchdog_feed();
}
}
// @brief Executes the set velocity command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_set_velocity(char * pStr, bool use_checksum) {
unsigned motor_number;
float vel_setpoint, torque_feed_forward;
int numscan = sscanf(pStr, "v %u %f %f", &motor_number, &vel_setpoint, &torque_feed_forward);
if (numscan < 2) {
respond(use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(use_checksum, "invalid motor %u", motor_number);
} else {
Axis& axis = axes[motor_number];
axis.controller_.config_.control_mode = Controller::CONTROL_MODE_VELOCITY_CONTROL;
axis.controller_.input_vel_ = vel_setpoint;
if (numscan >= 3)
axis.controller_.input_torque_ = torque_feed_forward;
axis.watchdog_feed();
}
}
// @brief Executes the set torque control command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_set_torque(char * pStr, bool use_checksum) {
unsigned motor_number;
float torque_setpoint;
if (sscanf(pStr, "c %u %f", &motor_number, &torque_setpoint) < 2) {
respond(use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(use_checksum, "invalid motor %u", motor_number);
} else {
Axis& axis = axes[motor_number];
axis.controller_.config_.control_mode = Controller::CONTROL_MODE_TORQUE_CONTROL;
axis.controller_.input_torque_ = torque_setpoint;
axis.watchdog_feed();
}
}
// @brief Sets the encoder linear count
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_encoder(char * pStr, bool use_checksum) {
if (pStr[1] == 's') {
pStr += 2; // Substring two characters to the right (ok because we have guaranteed null termination after all chars)
unsigned motor_number;
int encoder_count;
if (sscanf(pStr, "l %u %i", &motor_number, &encoder_count) < 2) {
respond(use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(use_checksum, "invalid motor %u", motor_number);
} else {
Axis& axis = axes[motor_number];
axis.encoder_.set_linear_count(encoder_count);
axis.watchdog_feed();
respond(use_checksum, "encoder set to %u", encoder_count);
}
} else {
respond(use_checksum, "invalid command format");
}
}
// @brief Executes the set trapezoid trajectory command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_set_trapezoid_trajectory(char* pStr, bool use_checksum) {
unsigned motor_number;
float goal_point;
if (sscanf(pStr, "t %u %f", &motor_number, &goal_point) < 2) {
respond(use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(use_checksum, "invalid motor %u", motor_number);
} else {
Axis& axis = axes[motor_number];
axis.controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
axis.controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
axis.controller_.input_pos_ = goal_point;
axis.controller_.input_pos_updated();
axis.watchdog_feed();
}
}
// @brief Executes the get position and velocity feedback command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_get_feedback(char * pStr, bool use_checksum) {
unsigned motor_number;
if (sscanf(pStr, "f %u", &motor_number) < 1) {
respond(use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(use_checksum, "invalid motor %u", motor_number);
} else {
Axis& axis = axes[motor_number];
respond(use_checksum, "%f %f",
(double)axis.encoder_.pos_estimate_.any().value_or(0.0f),
(double)axis.encoder_.vel_estimate_.any().value_or(0.0f));
}
}
// @brief Shows help text
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_help(char * pStr, bool use_checksum) {
(void)pStr;
respond(use_checksum, "Please see documentation for more details");
respond(use_checksum, "");
respond(use_checksum, "Available commands syntax reference:");
respond(use_checksum, "Position: q axis pos vel-lim I-lim");
respond(use_checksum, "Position: p axis pos vel-ff I-ff");
respond(use_checksum, "Velocity: v axis vel I-ff");
respond(use_checksum, "Torque: c axis T");
respond(use_checksum, "");
respond(use_checksum, "Properties start at odrive root, such as axis0.requested_state");
respond(use_checksum, "Read: r property");
respond(use_checksum, "Write: w property value");
respond(use_checksum, "");
respond(use_checksum, "Save config: ss");
respond(use_checksum, "Erase config: se");
respond(use_checksum, "Reboot: sr");
}
// @brief Gets the hardware, firmware and serial details
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_info_dump(char * pStr, bool use_checksum) {
// respond(use_checksum, "Signature: %#x", STM_ID_GetSignature());
// respond(use_checksum, "Revision: %#x", STM_ID_GetRevision());
// respond(use_checksum, "Flash Size: %#x KiB", STM_ID_GetFlashSize());
respond(use_checksum, "Hardware version: %d.%d-%dV", odrv.hw_version_major_, odrv.hw_version_minor_, odrv.hw_version_variant_);
respond(use_checksum, "Firmware version: %d.%d.%d", odrv.fw_version_major_, odrv.fw_version_minor_, odrv.fw_version_revision_);
respond(use_checksum, "Serial number: %s", serial_number_str);
}
// @brief Executes the system control command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_system_ctrl(char * pStr, bool use_checksum) {
switch (pStr[1])
{
case 's': odrv.save_configuration(); break; // Save config
case 'e': odrv.erase_configuration(); break; // Erase config
case 'r': odrv.reboot(); break; // Reboot
case 'c': odrv.clear_errors(); break; // clear all errors and rearm brake resistor if necessary
default: /* default */ break;
}
}
// @brief Executes the read parameter command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_read_property(char * pStr, bool use_checksum) {
char name[MAX_LINE_LENGTH];
if (sscanf(pStr, "r %255s", name) < 1) {
respond(use_checksum, "invalid command format");
} else {
Introspectable property = root_obj.get_child(name, sizeof(name));
const StringConvertibleTypeInfo* type_info = dynamic_cast<const StringConvertibleTypeInfo*>(property.get_type_info());
if (!type_info) {
respond(use_checksum, "invalid property");
} else {
char response[10];
bool success = type_info->get_string(property, response, sizeof(response));
respond(use_checksum, success ? response : "not implemented");
}
}
}
// @brief Executes the set write position command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_write_property(char * pStr, bool use_checksum) {
char name[MAX_LINE_LENGTH];
char value[MAX_LINE_LENGTH];
if (sscanf(pStr, "w %255s %255s", name, value) < 1) {
respond(use_checksum, "invalid command format");
} else {
Introspectable property = root_obj.get_child(name, sizeof(name));
const StringConvertibleTypeInfo* type_info = dynamic_cast<const StringConvertibleTypeInfo*>(property.get_type_info());
if (!type_info) {
respond(use_checksum, "invalid property");
} else {
bool success = type_info->set_string(property, value, sizeof(value));
if (!success) {
respond(use_checksum, "not implemented");
}
}
}
}
// @brief Executes the motor watchdog update command
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_update_axis_wdg(char * pStr, bool use_checksum) {
unsigned motor_number;
if (sscanf(pStr, "u %u", &motor_number) < 1) {
respond(use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(use_checksum, "invalid motor %u", motor_number);
} else {
axes[motor_number].watchdog_feed();
}
}
// @brief Sends the unknown command response
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void AsciiProtocol::cmd_unknown(char * pStr, bool use_checksum) {
(void)pStr;
respond(use_checksum, "unknown command");
}
void AsciiProtocol::on_read_finished(ReadResult result) {
if (result.status != kStreamOk) {
return;
}
for (;;) {
uint8_t* end_of_line = std::find_if(rx_buf_, result.end, [](uint8_t c) {
return c == '\r' || c == '\n' || c == '!';
});
if (end_of_line >= result.end) {
break;
}
if (read_active_) {
process_line({rx_buf_, end_of_line});
} else {
// Ignoring this line cause it didn't start at a new-line character
read_active_ = true;
}
// Discard the processed bytes and shift the remainder to the beginning of the buffer
size_t n_remaining = result.end - end_of_line - 1;
memmove(rx_buf_, end_of_line + 1, n_remaining);
result.end = rx_buf_ + n_remaining;
}
// No more new-line characters in buffer
if (result.end >= rx_buf_ + sizeof(rx_buf_)) {
// If the line becomes too long, reset buffer and wait for the next line
result.end = rx_buf_;
read_active_ = false;
}
TransferHandle dummy;
rx_channel_->start_read({result.end, rx_buf_ + sizeof(rx_buf_)}, &dummy, MEMBER_CB(this, on_read_finished));
}
void AsciiProtocol::start() {
TransferHandle dummy;
rx_channel_->start_read(rx_buf_, &dummy, MEMBER_CB(this, on_read_finished));
}
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