ODrive/Firmware/CHANGELOG.md

Unreleased Features

Please add a note of your changes below this heading if you make a Pull Request.

Added

• make write_otp command to burn the board version onto the ODrive's one-time programmable memory. If you have an ODrive v3.4 or older, you should run this once for a better firmware update user experience in the future. Run the command without any options for more details. Once set, the board version is exposed through the board_version_[...] properties.
• bake Git-derived firmware version into firmware binary. The firmware version is exposed through the fw_version_[...] properties.
• infrastructure to publish the python tools to PyPi. See tools/setup.py for details.

Changed

• The DFU script now verifies the flash after writing

• Refactor python tools

  • The scripts explore_odrive.py, liveplotter.py, drv_status.py and rate_test.py have been merged into one single odrivetool script. Running this script without any arguments provides the shell that explore_odrive.py used to provide.
  • The command line options of odrivetool have changed compared to the original explore_odrive.py. See odrivetool --help for more details.
  • odrivetool (previously explore_odrive.py) now supports controlling multiple ODrives concurrently (odrv0, odrv1, ...)
  • No need to restart the odrivetool shell when devices get disconnected and reconnected
  • ODrive accesses from within python tools are now thread-safe. That means you can read from the same remote property from multiple threads concurrently.
  • The liveplotter (odrivetool liveplotter, formerly liveplotter.py) does no longer steal focus and closes as expected
  • (experimental: start liveplotter from odrivetool shell by typing start_liveplotter(lambda: odrv0.motor0.encoder.encoder_state))

• Set thread priority of USB pump thread above protocol thread

Fixed

• Enums now transported with correct underlying type on native protocol

Releases

[0.3.6] - 2018-03-26

Added

• Storing of configuration parameters to Non Volatile Memory
• USB Bootloader
• make erase_config to erase the configuration with an STLink (the configuration can also be erased from within explore_odrive.py, using odrv0.erase_configuration())
• Travis-CI builds firmware for all board versions and deploys the binaries when a tag is pushed to master

Changed

• Most of the code from lowlevel.c moved to axis.cpp, encoder.cpp, controller.cpp, sensorless_estimator.cpp, motor.cpp and the corresponding header files
• Refactoring of the developer-facing communication protocol interface. See e.g. axis.hpp or controller.hpp for examples on how to add your own fields and functions
• Change of the user-facing field paths. E.g. my_odrive.motor0.pos_setpoint is now at my_odrive.axis0.controller.pos_setpoint. Names are mostly unchanged.
• The build is now configured using the tup.config file instead of editing source files. Make sure you set your board version correctly. See here for details.
• The toplevel directory for tup is now Firmware. If you used tup before, go to Firmware and run rm -rd ../.tup; rm -rd build/*; make.
• Update CubeMX generated STM platform code to version 1.19.0
• Remove UUID_0, UUID_1 and UUID_2 from USB protocol. Use serial_number instead.
• Freertos memory pool (task stacks, etc) now uses Core Coupled Memory.

Fixed

• malloc now fails if we run out of memory (before it would always succeed even if we are out of ram...)

[0.3.5] - 2018-03-04

Added

• Reporting error if your encoder CPR is incorrect
• Ability to start anticogging calibration over USB protocol
• Reporting of DRV status/control registers and fault codes
• DRV status read script
• Microsecond delay function
• Travis-CI
• Firmware update over USB

Changed

• Build system is now tup instead of make. Please check the Readme for installation instructions.

[0.3.4] - 2018-02-13

Fixed

• Broken way to check for python 2. Python 2 not supported yet.

[0.3.3] - 2018-02-12

Added

• Liveplotter script
• Automatic recovery of USB halt/stall condition

Changed

• Modified python code to be Python 2 compatible

Fixed

• USB CSC (USB serial) now reports a sensible baud rate

[0.3.2] - 2018-02-02

Added

• Gimbal motor mode
• Encoder index pulse support
• resistance_calib_max_voltage parameter

[0.3.1] - 2018-01-18

Added

• UUID Endpoint
• Reporting of correct ODrive version on USB descriptor
• Getting started instructions for VSCode

Changed

• USB Product ID to 0x0D32, as it is the only Pid we were allocated on pid.codes
• Recommended method to debug firmware from VSCode now uses Cortex-Debug extension instead of native-debug.
• Refactor IDE instructions into separate files

Fixed

• Bug where the remote function calls from Python to the ODrive were not working properly.

[0.3] - 2017-12-18

Added

• New binary communication protocol
  • This is a much richer and more efficient binary protocol than the old human-readable protocol.
  • The old protocol is still available (but will be depricated eventually). You must manually chose to fall back on this protocol if you wish to still use it.
• Support for C++
• Demo scripts for getting started with commanding ODrive from python
• Protection from user setting current_lim higher than is measurable
• Current sense shunt values for HW v3.4
• Check DRV chip fault line

Changed

• Shunt resistance values for v3.3 and earlier to include extra resistance of PCB
• Default HW revision to v3.4
• Refactoring of control code:
  • Lifted top layer of low_level.c into Axis.cpp

[0.2.2] - 2017-11-17

Fixed

• Incorrect TIM14 interrupt mapping on board v3.2 caused hard-fault

Changed

• GPIO communication mode now defaults to NONE

[0.2.1] - 2017-11-14

Fixed

• USB communication deadlock
• EXTI handler redefiniton in V3.2

Changed

• Resistance/inductance measurement now saved dispite errors, to allow debugging

[0.2.0] - 2017-11-12

Added

• UART communication
• Setting to select UART or Step/dir on GIPIO 1,2
• Basic Anti-cogging

[0.1.0] - 2017-08-26

Added

• Step/Dir interface
• this Changelog
• motor control interrupt timing diagram
• uint16 exposed variable type
• null termination to USB string parsing

Changed

• Fixed Resistance measurement bug
• Simplified motor control adc triggers
• Increased AUX bridge deadtime