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ODrive/Firmware/communication/ascii_protocol.cpp
T
pjohnson d78119e29f Modified docs and communication interfaces to reflect change from A to Nm for motor control input. 
Renamed vel_integrator_current_ to vel_integrator_torque_
Removed input_current_ from controller, added input_torque_
2020-06-16 17:10:36 -04:00

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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 "../autogen/version.h" // autogenerated based on Git state
#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"
/* Private macros ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Global constant data ------------------------------------------------------*/
/* Global variables ----------------------------------------------------------*/
/* Private constant data -----------------------------------------------------*/
#define MAX_LINE_LENGTH 256
#define TO_STR_INNER(s) #s
#define TO_STR(s) TO_STR_INNER(s)
/* Private variables ---------------------------------------------------------*/
static Introspectable root_obj = ODriveTypeInfo<ODrive>::make_introspectable(odrv);
/* Private function prototypes -----------------------------------------------*/
/* Function implementations --------------------------------------------------*/
// @brief Sends a line on the specified output.
template<typename ... TArgs>
void respond(StreamSink& output, bool include_checksum, const char * fmt, TArgs&& ... args) {
char response[64];
size_t len = snprintf(response, sizeof(response), fmt, std::forward<TArgs>(args)...);
output.process_bytes((uint8_t*)response, len, nullptr); // TODO: use process_all instead
if (include_checksum) {
uint8_t checksum = 0;
for (size_t i = 0; i < len; ++i)
checksum ^= response[i];
len = snprintf(response, sizeof(response), "*%u", checksum);
output.process_bytes((uint8_t*)response, len, nullptr);
}
output.process_bytes((const uint8_t*)"\r\n", 2, nullptr);
}
// @brief Executes an ASCII protocol command
// @param buffer buffer of ASCII encoded characters
// @param len size of the buffer
void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink& response_channel) {
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 < len; ++i) {
if (buffer[i] == ';') { // ';' is the comment start char
len = 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];
if (len > MAX_LINE_LENGTH) len = MAX_LINE_LENGTH;
memcpy(cmd, buffer, 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((const char *)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
if (cmd[0] == 'p') { // position control
unsigned motor_number;
float pos_setpoint, vel_feed_forward, torque_feed_forward;
int numscan = sscanf(cmd, "p %u %f %f %f", &motor_number, &pos_setpoint, &vel_feed_forward, &torque_feed_forward);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, 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();
}
} else if (cmd[0] == 'q') { // position control with limits
unsigned motor_number;
float pos_setpoint, vel_limit, torque_lim;
int numscan = sscanf(cmd, "q %u %f %f %f", &motor_number, &pos_setpoint, &vel_limit, &torque_lim);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, 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();
}
} else if (cmd[0] == 'v') { // velocity control
unsigned motor_number;
float vel_setpoint, torque_feed_forward;
int numscan = sscanf(cmd, "v %u %f %f", &motor_number, &vel_setpoint, &torque_feed_forward);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, 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();
}
} else if (cmd[0] == 'c') { // torque control
unsigned motor_number;
float torque_setpoint;
int numscan = sscanf(cmd, "c %u %f", &motor_number, &torque_setpoint);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, 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();
}
} else if (cmd[0] == 't') { // trapezoidal trajectory
unsigned motor_number;
float goal_point;
int numscan = sscanf(cmd, "t %u %f", &motor_number, &goal_point);
if (numscan < 2) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, 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_.move_to_pos(goal_point);
axis->watchdog_feed();
}
} else if (cmd[0] == 'f') { // feedback
unsigned motor_number;
int numscan = sscanf(cmd, "f %u", &motor_number);
if (numscan < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
respond(response_channel, use_checksum, "%f %f",
(double)axes[motor_number]->encoder_.pos_estimate_,
(double)axes[motor_number]->encoder_.vel_estimate_);
}
} else if (cmd[0] == 'h') { // Help
respond(response_channel, use_checksum, "Please see documentation for more details");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Available commands syntax reference:");
respond(response_channel, use_checksum, "Position: q axis pos vel-lim I-lim");
respond(response_channel, use_checksum, "Position: p axis pos vel-ff I-ff");
respond(response_channel, use_checksum, "Velocity: v axis vel I-ff");
respond(response_channel, use_checksum, "Torque: c axis T");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Properties start at odrive root, such as axis0.requested_state");
respond(response_channel, use_checksum, "Read: r property");
respond(response_channel, use_checksum, "Write: w property value");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Save config: ss");
respond(response_channel, use_checksum, "Erase config: se");
respond(response_channel, use_checksum, "Reboot: sr");
} else if (cmd[0] == 'i'){ // Dump device info
// respond(response_channel, use_checksum, "Signature: %#x", STM_ID_GetSignature());
// respond(response_channel, use_checksum, "Revision: %#x", STM_ID_GetRevision());
// respond(response_channel, use_checksum, "Flash Size: %#x KiB", STM_ID_GetFlashSize());
respond(response_channel, use_checksum, "Hardware version: %d.%d-%dV", odrv.hw_version_major_, odrv.hw_version_minor_, odrv.hw_version_variant_);
respond(response_channel, use_checksum, "Firmware version: %d.%d.%d", odrv.fw_version_major_, odrv.fw_version_minor_, odrv.fw_version_revision_);
respond(response_channel, use_checksum, "Serial number: %s", serial_number_str);
} else if (cmd[0] == 's'){ // System
if(cmd[1] == 's') { // Save config
odrv.save_configuration();
} else if (cmd[1] == 'e'){ // Erase config
odrv.erase_configuration();
} else if (cmd[1] == 'r'){ // Reboot
odrv.reboot();
}
} else if (cmd[0] == 'r') { // read property
char name[MAX_LINE_LENGTH];
int numscan = sscanf(cmd, "r %255s", name);
if (numscan < 1) {
respond(response_channel, 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(response_channel, use_checksum, "invalid property");
} else {
char response[10];
bool success = type_info->get_string(property, response, sizeof(response));
if (!success)
respond(response_channel, use_checksum, "not implemented");
else
respond(response_channel, use_checksum, response);
}
}
} else if (cmd[0] == 'w') { // write property
char name[MAX_LINE_LENGTH];
char value[MAX_LINE_LENGTH];
int numscan = sscanf(cmd, "w %255s %255s", name, value);
if (numscan < 1) {
respond(response_channel, 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(response_channel, use_checksum, "invalid property");
} else {
bool success = type_info->set_string(property, value, sizeof(value));
if (!success)
respond(response_channel, use_checksum, "not implemented");
}
}
} else if (cmd[0] == 'u') { // Update axis watchdog.
unsigned motor_number;
int numscan = sscanf(cmd, "u %u", &motor_number);
if(numscan < 1){
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
}else {
axes[motor_number]->watchdog_feed();
}
} else if (cmd[0] != 0) {
respond(response_channel, use_checksum, "unknown command");
}
}
void ASCII_protocol_parse_stream(const uint8_t* buffer, size_t len, StreamSink& response_channel) {
static uint8_t parse_buffer[MAX_LINE_LENGTH];
static bool read_active = true;
static uint32_t parse_buffer_idx = 0;
while (len--) {
// if the line becomes too long, reset buffer and wait for the next line
if (parse_buffer_idx >= MAX_LINE_LENGTH) {
read_active = false;
parse_buffer_idx = 0;
}
// Fetch the next char
uint8_t c = *(buffer++);
bool is_end_of_line = (c == '\r' || c == '\n' || c == '!');
if (is_end_of_line) {
if (read_active)
ASCII_protocol_process_line(parse_buffer, parse_buffer_idx, response_channel);
parse_buffer_idx = 0;
read_active = true;
} else {
if (read_active) {
parse_buffer[parse_buffer_idx++] = c;
}
}
}
}
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