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49754af4cc672d8b53d52fee22d80c7bee2d8971
ODrive/Firmware/MotorControl/commands.cpp
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Oskar Weigl 49754af4cc add comments
2017-11-08 23:53:15 -08:00

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/* Includes ------------------------------------------------------------------*/
// TODO: remove this option
// and once the legacy protocol is phased out, remove the seq-no hack in protocol.py
#define ENABLE_LEGACY_PROTOCOL
#include "low_level.h"
#include "protocol.hpp"
#include "freertos_vars.h"
#include "commands.h"
#ifdef ENABLE_LEGACY_PROTOCOL
#include "legacy_commands.h"
#endif
#include <cmsis_os.h>
#include <memory>
#include <usbd_cdc_if.h>
#include <usb_device.h>
#include <usart.h>
#include <gpio.h>
#define UART_TX_BUFFER_SIZE 64
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
/* Private defines -----------------------------------------------------------*/
/* Private macros ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Global constant data ------------------------------------------------------*/
/* Global variables ----------------------------------------------------------*/
/* Private constant data -----------------------------------------------------*/
// TODO: make command to switch gpio_mode during run-time
static const GpioMode_t gpio_mode = GPIO_MODE_UART; //GPIO 1,2 is UART Tx,Rx
// static const GpioMode_t gpio_mode = GPIO_MODE_STEP_DIR; //GPIO 1,2 is M0 Step,Dir
/* Private variables ---------------------------------------------------------*/
/* Variables exposed to USB & UART via read/write commands */
// TODO: include range information in JSON description
// TODO: Autogenerate these functions
void motors_0_set_pos_setpoint_func(void) {
set_pos_setpoint(&motors[0],
motors[0].set_pos_setpoint_args.pos_setpoint,
motors[0].set_pos_setpoint_args.vel_feed_forward,
motors[0].set_pos_setpoint_args.current_feed_forward);
}
void motors_0_set_vel_setpoint_func(void) {
set_vel_setpoint(&motors[0],
motors[0].set_vel_setpoint_args.vel_setpoint,
motors[0].set_vel_setpoint_args.current_feed_forward);
}
void motors_0_set_current_setpoint_func(void) {
set_current_setpoint(&motors[0],
motors[0].set_current_setpoint_args.current_setpoint);
}
void motors_1_set_pos_setpoint_func(void) {
set_pos_setpoint(&motors[0],
motors[1].set_pos_setpoint_args.pos_setpoint,
motors[1].set_pos_setpoint_args.vel_feed_forward,
motors[1].set_pos_setpoint_args.current_feed_forward);
}
void motors_1_set_vel_setpoint_func(void) {
set_vel_setpoint(&motors[0],
motors[1].set_vel_setpoint_args.vel_setpoint,
motors[1].set_vel_setpoint_args.current_feed_forward);
}
void motors_1_set_current_setpoint_func(void) {
set_current_setpoint(&motors[0],
motors[1].set_current_setpoint_args.current_setpoint);
}
// This table specifies which fields and functions are exposed on the USB and UART ports.
// TODO: Autogenerate this table. It will come up again very soon in the Arduino library.
// clang-format off
const Endpoint endpoints[] = {
Endpoint::make_property("vbus_voltage", const_cast<const float*>(&vbus_voltage)),
Endpoint::make_property("elec_rad_per_enc", const_cast<const float*>(&elec_rad_per_enc)),
Endpoint::make_object("motor0"),
Endpoint::make_property("control_mode", reinterpret_cast<int32_t*>(&motors[0].control_mode)),
Endpoint::make_property("error", reinterpret_cast<int32_t*>(&motors[0].error)),
Endpoint::make_property("pos_setpoint", &motors[0].pos_setpoint),
Endpoint::make_property("pos_gain", &motors[0].pos_gain),
Endpoint::make_property("vel_setpoint", &motors[0].vel_setpoint),
Endpoint::make_property("vel_gain", &motors[0].vel_gain),
Endpoint::make_property("vel_integrator_gain", &motors[0].vel_integrator_gain),
Endpoint::make_property("vel_integrator_current", &motors[0].vel_integrator_current),
Endpoint::make_property("vel_limit", &motors[0].vel_limit),
Endpoint::make_property("current_setpoint", &motors[0].current_setpoint),
Endpoint::make_property("calibration_current", &motors[0].calibration_current),
Endpoint::make_property("phase_inductance", const_cast<const float*>(&motors[0].phase_inductance)),
Endpoint::make_property("phase_resistance", const_cast<const float*>(&motors[0].phase_resistance)),
Endpoint::make_property("current_meas.phB", const_cast<const float*>(&motors[0].current_meas.phB)),
Endpoint::make_property("current_meas.phC", const_cast<const float*>(&motors[0].current_meas.phC)),
Endpoint::make_property("DC_calib.phB", &motors[0].DC_calib.phB),
Endpoint::make_property("DC_calib.phC", &motors[0].DC_calib.phC),
Endpoint::make_property("shunt_conductance", &motors[0].shunt_conductance),
Endpoint::make_property("phase_current_rev_gain", &motors[0].phase_current_rev_gain),
Endpoint::make_property("thread_ready", reinterpret_cast<uint8_t*>(&motors[0].thread_ready)),
Endpoint::make_property("control_deadline", &motors[0].control_deadline),
Endpoint::make_property("last_cpu_time", &motors[0].last_cpu_time),
Endpoint::make_object("current_control"),
Endpoint::make_property("current_lim", &motors[0].current_control.current_lim),
Endpoint::make_property("p_gain", &motors[0].current_control.p_gain),
Endpoint::make_property("i_gain", &motors[0].current_control.i_gain),
Endpoint::make_property("v_current_control_integral_d", &motors[0].current_control.v_current_control_integral_d),
Endpoint::make_property("v_current_control_integral_q", &motors[0].current_control.v_current_control_integral_q),
Endpoint::make_property("Ibus", const_cast<const float*>(&motors[0].current_control.Ibus)),
Endpoint::close_tree(),
Endpoint::make_object("encoder"),
Endpoint::make_property("phase", const_cast<const float*>(&motors[0].encoder.phase)),
Endpoint::make_property("pll_pos", &motors[0].encoder.pll_pos),
Endpoint::make_property("pll_vel", &motors[0].encoder.pll_vel),
Endpoint::make_property("pll_kp", &motors[0].encoder.pll_kp),
Endpoint::make_property("pll_ki", &motors[0].encoder.pll_ki),
Endpoint::make_property("encoder_offset", reinterpret_cast<int32_t*>(&motors[0].encoder.encoder_offset)),
Endpoint::make_property("encoder_state", reinterpret_cast<int32_t*>(&motors[0].encoder.encoder_state)),
Endpoint::close_tree(),
Endpoint::make_function("set_pos_setpoint", &motors_0_set_pos_setpoint_func),
Endpoint::make_property("pos_setpoint", &motors[0].set_pos_setpoint_args.pos_setpoint),
Endpoint::make_property("vel_feed_forward", &motors[0].set_pos_setpoint_args.vel_feed_forward),
Endpoint::make_property("current_feed_forward", &motors[0].set_pos_setpoint_args.current_feed_forward),
Endpoint::close_tree(),
Endpoint::make_function("set_vel_setpoint", &motors_0_set_vel_setpoint_func),
Endpoint::make_property("vel_setpoint", &motors[0].set_vel_setpoint_args.vel_setpoint),
Endpoint::make_property("current_feed_forward", &motors[0].set_vel_setpoint_args.current_feed_forward),
Endpoint::close_tree(),
Endpoint::make_function("set_current_setpoint", &motors_0_set_current_setpoint_func),
Endpoint::make_property("current_setpoint", &motors[0].set_current_setpoint_args.current_setpoint),
Endpoint::close_tree(),
Endpoint::close_tree(), // motor0
Endpoint::make_object("motor1"),
Endpoint::make_property("control_mode", reinterpret_cast<int32_t*>(&motors[1].control_mode)),
Endpoint::make_property("error", reinterpret_cast<int32_t*>(&motors[1].error)),
Endpoint::make_property("pos_setpoint", &motors[1].pos_setpoint),
Endpoint::make_property("pos_gain", &motors[1].pos_gain),
Endpoint::make_property("vel_setpoint", &motors[1].vel_setpoint),
Endpoint::make_property("vel_gain", &motors[1].vel_gain),
Endpoint::make_property("vel_integrator_gain", &motors[1].vel_integrator_gain),
Endpoint::make_property("vel_integrator_current", &motors[1].vel_integrator_current),
Endpoint::make_property("vel_limit", &motors[1].vel_limit),
Endpoint::make_property("current_setpoint", &motors[1].current_setpoint),
Endpoint::make_property("calibration_current", &motors[1].calibration_current),
Endpoint::make_property("phase_inductance", const_cast<const float*>(&motors[1].phase_inductance)),
Endpoint::make_property("phase_resistance", const_cast<const float*>(&motors[1].phase_resistance)),
Endpoint::make_property("current_meas.phB", const_cast<const float*>(&motors[1].current_meas.phB)),
Endpoint::make_property("current_meas.phC", const_cast<const float*>(&motors[1].current_meas.phC)),
Endpoint::make_property("DC_calib.phB", &motors[1].DC_calib.phB),
Endpoint::make_property("DC_calib.phC", &motors[1].DC_calib.phC),
Endpoint::make_property("shunt_conductance", &motors[1].shunt_conductance),
Endpoint::make_property("phase_current_rev_gain", &motors[1].phase_current_rev_gain),
Endpoint::make_property("thread_ready", reinterpret_cast<uint8_t*>(&motors[1].thread_ready)),
Endpoint::make_property("control_deadline", &motors[1].control_deadline),
Endpoint::make_property("last_cpu_time", &motors[1].last_cpu_time),
Endpoint::make_object("current_control"),
Endpoint::make_property("current_lim", &motors[1].current_control.current_lim),
Endpoint::make_property("p_gain", &motors[1].current_control.p_gain),
Endpoint::make_property("i_gain", &motors[1].current_control.i_gain),
Endpoint::make_property("v_current_control_integral_d", &motors[1].current_control.v_current_control_integral_d),
Endpoint::make_property("v_current_control_integral_q", &motors[1].current_control.v_current_control_integral_q),
Endpoint::make_property("Ibus", const_cast<const float*>(&motors[1].current_control.Ibus)),
Endpoint::close_tree(),
Endpoint::make_object("encoder"),
Endpoint::make_property("phase", const_cast<const float*>(&motors[1].encoder.phase)),
Endpoint::make_property("pll_pos", &motors[1].encoder.pll_pos),
Endpoint::make_property("pll_vel", &motors[1].encoder.pll_vel),
Endpoint::make_property("pll_kp", &motors[1].encoder.pll_kp),
Endpoint::make_property("pll_ki", &motors[1].encoder.pll_ki),
Endpoint::make_property("encoder_offset", reinterpret_cast<int32_t*>(&motors[1].encoder.encoder_offset)),
Endpoint::make_property("encoder_state", reinterpret_cast<int32_t*>(&motors[1].encoder.encoder_state)),
Endpoint::close_tree(),
Endpoint::make_function("set_pos_setpoint", &motors_1_set_pos_setpoint_func),
Endpoint::make_property("pos_setpoint", &motors[1].set_pos_setpoint_args.pos_setpoint),
Endpoint::make_property("vel_feed_forward", &motors[1].set_pos_setpoint_args.vel_feed_forward),
Endpoint::make_property("current_feed_forward", &motors[1].set_pos_setpoint_args.current_feed_forward),
Endpoint::close_tree(),
Endpoint::make_function("set_vel_setpoint", &motors_1_set_vel_setpoint_func),
Endpoint::make_property("vel_setpoint", &motors[1].set_vel_setpoint_args.vel_setpoint),
Endpoint::make_property("current_feed_forward", &motors[1].set_vel_setpoint_args.current_feed_forward),
Endpoint::close_tree(),
Endpoint::make_function("set_current_setpoint", &motors_1_set_current_setpoint_func),
Endpoint::make_property("current_setpoint", &motors[1].set_current_setpoint_args.current_setpoint),
Endpoint::close_tree(),
Endpoint::close_tree() // motor1
};
// clang-format on
constexpr size_t NUM_ENDPOINTS = sizeof(endpoints) / sizeof(endpoints[0]);
// The USB channel is natively packet based but on some platforms (specifically
// macOS) it's not possible to directly access the device as a USB device.
// Instead, such platforms expose the device as a serial port, however that
// breaks our packet boundaries. For now we just neglect this. If you happen to
// be limited by such a platform, you should reconsider your life choices
// or as a workaround enable this:
//Oskar: Put switches like this at top of file
//#define STREAM_ON_USB
#ifdef STREAM_ON_USB
class USBSender : public StreamSink {
public:
int process_bytes(const uint8_t* buffer, size_t length) {
// Loop to ensure all bytes get sent
// TODO: add timeout
while (length) {
size_t chunk = length < USB_TX_DATA_SIZE ? length : USB_TX_DATA_SIZE;
while (CDC_Transmit_FS(
const_cast<uint8_t*>(buffer) /* casting this const away is safe because...
well... it's not actually. Stupid STM. */, chunk) != USBD_OK)
//Oskar: we made a semaphore sem_usb_tx that guards the USB tx resource,
// that you can wait for to see if busy. Check _write in syscalls.c on devel for example use
osDelay(1);
buffer += chunk;
length -= chunk;
}
return 0;
}
size_t get_free_space() { return SIZE_MAX; }
} usb_sender;
PacketToStreamConverter usb_packet_sender(usb_sender);
BidirectionalPacketBasedChannel usb_connection(endpoints, NUM_ENDPOINTS, usb_packet_sender);
StreamToPacketConverter usb_stream_sink(usb_connection);
#else
class USBSender : public PacketSink {
public:
int process_packet(const uint8_t* buffer, size_t length) {
// cannot send partial packets
if (length > USB_TX_DATA_SIZE)
return -1;
while (CDC_Transmit_FS(
const_cast<uint8_t*>(buffer) /* casting this const away is safe because...
well... it's not actually. Stupid STM. */, length) != USBD_OK)
//Oskar: we made a semaphore sem_usb_tx that guards the USB tx resource,
// that you can wait for to see if busy. Check _write in syscalls.c on devel for example use
osDelay(1);
return 0;
}
} usb_sender;
BidirectionalPacketBasedChannel usb_connection(endpoints, NUM_ENDPOINTS, usb_sender);
#endif
class UART4Sender : public StreamSink {
public:
int process_bytes(const uint8_t* buffer, size_t length) {
//Check length
if (length > UART_TX_BUFFER_SIZE)
return -1;
// Loop until the UART is ready
// TODO: implement ring buffer to get a more continuous stream of data
while (huart4.gState != HAL_UART_STATE_READY)
//Oskar: we made a semaphore sem_uart_dma that guards the UART tx resource,
// that you can wait for to see if busy. Check _write in syscalls.c on devel for example use
osDelay(1);
// memcpy data into uart_tx_buf
memcpy(tx_buf_, buffer, length);
// Start DMA background trasnfer
HAL_UART_Transmit_DMA(&huart4, tx_buf_, length);
return 0;
}
size_t get_free_space() { return SIZE_MAX; }
private:
uint8_t tx_buf_[UART_TX_BUFFER_SIZE];
} uart4_sender;
PacketToStreamConverter uart4_packet_sender(uart4_sender);
BidirectionalPacketBasedChannel uart4_connection(endpoints, NUM_ENDPOINTS, uart4_packet_sender);
StreamToPacketConverter UART4_stream_sink(uart4_connection);
/* Private function prototypes -----------------------------------------------*/
/* Function implementations --------------------------------------------------*/
void init_communication(void) {
switch (gpio_mode) {
case GPIO_MODE_UART: {
SetGPIO12toUART();
} break;
case GPIO_MODE_STEP_DIR: {
SetGPIO12toStepDir();
}
}
}
// Thread to handle deffered processing of USB interrupt, and
// read commands out of the UART DMA circular buffer
void communication_task(void const * argument) {
(void) argument;
//DMA open loop continous circular buffer
//1ms delay periodic, chase DMA ptr around
#define UART_RX_BUFFER_SIZE 64
static uint8_t dma_circ_buffer[UART_RX_BUFFER_SIZE];
// DMA is set up to recieve in a circular buffer forever.
// We dont use interrupts to fetch the data, instead we periodically read
// data out of the circular buffer into a parse buffer, controlled by a state machine
HAL_UART_Receive_DMA(&huart4, dma_circ_buffer, sizeof(dma_circ_buffer));
uint32_t last_rcv_idx = UART_RX_BUFFER_SIZE - huart4.hdmarx->Instance->NDTR;
// Re-run state-machine forever
for (;;) {
// Check for UART errors and restart recieve DMA transfer if required
if (huart4.ErrorCode != HAL_UART_ERROR_NONE) {
HAL_UART_AbortReceive(&huart4);
HAL_UART_Receive_DMA(&huart4, dma_circ_buffer, sizeof(dma_circ_buffer));
}
// Fetch the circular buffer "write pointer", where it would write next
uint32_t rcv_idx = UART_RX_BUFFER_SIZE - huart4.hdmarx->Instance->NDTR;
// During sleeping, we may have fallen several characters behind, so we keep
// going until we are caught up, before we sleep again
while (rcv_idx != last_rcv_idx) {
// Fetch the next char, rotate read ptr
uint8_t c = dma_circ_buffer[last_rcv_idx];
if (++last_rcv_idx == UART_RX_BUFFER_SIZE)
last_rcv_idx = 0;
//Oskar: we don't have to process 1 byte at a time,
// we can process up to MIN(last_rcv_idx, UART_RX_BUFFER_SIZE-1)
UART4_stream_sink.process_bytes(&c, 1);
}
// When we reach here, we are out of immediate characters to fetch out of UART buffer
// Now we check if there is any USB processing to do: we wait for up to 1 ms,
// before going back to checking UART again.
//Oskar: Beware of changes in devel here when merging.
int USB_check_timeout = 1;
int32_t status = osSemaphoreWait(sem_usb_irq, USB_check_timeout);
if (status == osOK) {
// We have a new incoming USB transmission: handle it
HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
// Let the irq (OTG_FS_IRQHandler) fire again.
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
}
}
// If we get here, then this task is done
vTaskDelete(osThreadGetId());
}
//Oskar: can you also do a ENABLE_LEGACY_PROTOCOL case for UART?
// If this has to be exclusive of the new protocol, that's fine: it
// lets us move on and upgrade the arduino library later.
// Please test that it still works on an arduino.
void USB_receive_packet(const uint8_t *buffer, size_t length) {
//printf("[USB] got %d bytes, first is %c\r\n", length, buffer[0]); osDelay(5);
#ifdef ENABLE_LEGACY_PROTOCOL
const uint8_t* legacy_commands = (const uint8_t*)"pvcgsmo";
while (*legacy_commands && length) {
if (buffer[0] == *(legacy_commands++)) {
//printf("[USB] process legacy command %c\r\n", buffer[0]); osDelay(5);
legacy_parse_cmd(buffer, length);
length = 0;
}
}
#endif
#ifdef STREAM_ON_USB
usb_stream_sink.process_bytes(buffer, length);
#else
usb_connection.process_packet(buffer, length);
#endif
}
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