Merge branch 'devel'

odriverobotics · Aug 5, 2018 · 596b6ab · 596b6ab
2 parents f772860 + b37df26
commit 596b6ab
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,6 +2,15 @@
 Please add a note of your changes below this heading if you make a Pull Request.
 
 # Releases
+## [0.4.2] - 2018-07-04
+### Added
+* Hall sensor feedback
+* Configurable RC PWM input
+* Ability to read axis FET temperature
+* Config settings for:
+  * `motor.config.requested_current_range`
+  * `motor.config.current_control_bandwidth` and `motor.set_current_control_bandwidth`. Latter required to invoke gain recalculation.
+  * `encoder.config.bandwidth`
 
 ## [0.4.1] - 2018-07-01
 ### Fixed
@@ -12,13 +21,13 @@ Please add a note of your changes below this heading if you make a Pull Request.
 
 ## [0.4.0] - 2018-06-10
 ### Added
- * Encoder can now go forever in velocity/torque mode due to using circular encoder space.
- * Protocol supports function return values
- * bake Git-derived firmware version into firmware binary. The firmware version is exposed through the `fw_version_[...]` properties.
- * `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 `hw_version_[...]` properties.
- * infrastructure to publish the python tools to PyPi. See `tools/setup.py` for details.
- * Automated test script `run_tests.py`
- * System stats (e.g. stack usage) are exposed under `<odrv>.system_stats`
+* Encoder can now go forever in velocity/torque mode due to using circular encoder space.
+* Protocol supports function return values
+* bake Git-derived firmware version into firmware binary. The firmware version is exposed through the `fw_version_[...]` properties.
+* `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 `hw_version_[...]` properties.
+* infrastructure to publish the python tools to PyPi. See `tools/setup.py` for details.
+* Automated test script `run_tests.py`
+* System stats (e.g. stack usage) are exposed under `<odrv>.system_stats`
 
 ### Changed
 * DFU script updates
@@ -45,7 +54,6 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * USB issue where the device would stop responding when the host script would quit abruptly or reset the device during operation
 
 ## [0.3.6] - 2018-03-26
-
 ### Added
 * **Storing of configuration parameters to Non Volatile Memory**
 * **USB Bootloader**
@@ -68,7 +76,6 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * 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
@@ -82,12 +89,10 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * Build system is now tup instead of make. Please check the [Readme](README.md#installing-prerequisites) 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
@@ -99,14 +104,12 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * 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

diff --git a/Firmware/Board/v3/Inc/gpio.h b/Firmware/Board/v3/Inc/gpio.h
@@ -80,6 +80,12 @@ void GPIO_set_to_analog(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin);
 uint16_t get_gpio_pin_by_pin(uint16_t GPIO_pin);
 GPIO_TypeDef* get_gpio_port_by_pin(uint16_t GPIO_pin);
 
+#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR <= 4
+#define GPIO_COUNT  5
+#else
+#define GPIO_COUNT  8
+#endif
+
 /* USER CODE END Prototypes */
 
 #ifdef __cplusplus

diff --git a/Firmware/Board/v3/Inc/stm32f4xx_it.h b/Firmware/Board/v3/Inc/stm32f4xx_it.h
@@ -62,6 +62,7 @@ void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void CAN1_SCE_IRQHandler(void);
 void TIM8_TRG_COM_TIM14_IRQHandler(void);
+void TIM5_IRQHandler(void);
 void UART4_IRQHandler(void);
 void OTG_FS_IRQHandler(void);
 

diff --git a/Firmware/Board/v3/Inc/tim.h b/Firmware/Board/v3/Inc/tim.h
@@ -65,6 +65,7 @@ extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim2;
 extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim4;
+extern TIM_HandleTypeDef htim5;
 extern TIM_HandleTypeDef htim8;
 
 /* USER CODE BEGIN Private defines */
@@ -77,6 +78,7 @@ void MX_TIM1_Init(void);
 void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
 void MX_TIM4_Init(void);
+void MX_TIM5_Init(void);
 void MX_TIM8_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

diff --git a/Firmware/Board/v3/Odrive.ioc b/Firmware/Board/v3/Odrive.ioc
@@ -133,10 +133,11 @@ Mcu.IP10=TIM1
 Mcu.IP11=TIM2
 Mcu.IP12=TIM3
 Mcu.IP13=TIM4
-Mcu.IP14=TIM8
-Mcu.IP15=UART4
-Mcu.IP16=USB_DEVICE
-Mcu.IP17=USB_OTG_FS
+Mcu.IP14=TIM5
+Mcu.IP15=TIM8
+Mcu.IP16=UART4
+Mcu.IP17=USB_DEVICE
+Mcu.IP18=USB_OTG_FS
 Mcu.IP2=ADC3
 Mcu.IP3=CAN1
 Mcu.IP4=DMA
@@ -145,7 +146,7 @@ Mcu.IP6=NVIC
 Mcu.IP7=RCC
 Mcu.IP8=SPI3
 Mcu.IP9=SYS
-Mcu.IPNb=18
+Mcu.IPNb=19
 Mcu.Name=STM32F405RGTx
 Mcu.Package=LQFP64
 Mcu.Pin0=PC13-ANTI_TAMP
@@ -229,6 +230,7 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:true
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:true
 NVIC.TIM1_UP_TIM10_IRQn=true\:0\:0\:false\:false\:false\:false\:true
+NVIC.TIM5_IRQn=true\:5\:0\:false\:false\:true\:true\:true
 NVIC.TIM8_TRG_COM_TIM14_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.TIM8_UP_TIM13_IRQn=true\:0\:0\:false\:false\:false\:false\:true
 NVIC.TimeBase=TIM8_TRG_COM_TIM14_IRQn
@@ -266,12 +268,11 @@ PA15.Signal=GPIO_Input
 PA2.GPIOParameters=GPIO_Label
 PA2.GPIO_Label=GPIO_3
 PA2.Locked=true
-PA2.Signal=GPIO_Input
-PA3.GPIOParameters=GPIO_PuPd,GPIO_Label
+PA2.Signal=S_TIM5_CH3
+PA3.GPIOParameters=GPIO_Label
 PA3.GPIO_Label=GPIO_4
-PA3.GPIO_PuPd=GPIO_NOPULL
 PA3.Locked=true
-PA3.Signal=GPIO_Input
+PA3.Signal=S_TIM5_CH4
 PA4.GPIOParameters=GPIO_Label
 PA4.GPIO_Label=M1_TEMP
 PA4.Locked=true
@@ -457,7 +458,7 @@ ProjectManager.StackSize=0x800
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_ADC2_Init-ADC2-false-HAL-true,5-MX_TIM1_Init-TIM1-false-HAL-true,6-MX_TIM8_Init-TIM8-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_SPI3_Init-SPI3-false-HAL-true,10-MX_ADC3_Init-ADC3-false-HAL-true,11-SystemClock_Config-RCC-false-HAL-true,12-MX_TIM2_Init-TIM2-false-HAL-true,13-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-true,14-MX_UART4_Init-UART4-false-HAL-true,15-MX_CAN1_Init-CAN1-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_ADC2_Init-ADC2-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM8_Init-TIM8-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_TIM4_Init-TIM4-false-HAL-true,10-MX_SPI3_Init-SPI3-false-HAL-true,11-MX_ADC3_Init-ADC3-false-HAL-true,12-SystemClock_Config-RCC-false-HAL-true,13-MX_TIM2_Init-TIM2-false-HAL-true,14-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-true,15-MX_UART4_Init-UART4-false-HAL-true,16-MX_TIM5_Init-TIM5-false-HAL-true
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -538,6 +539,10 @@ SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
 SH.S_TIM4_CH1.ConfNb=1
 SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
 SH.S_TIM4_CH2.ConfNb=1
+SH.S_TIM5_CH3.0=TIM5_CH3,Input_Capture3_from_TI3
+SH.S_TIM5_CH3.ConfNb=1
+SH.S_TIM5_CH4.0=TIM5_CH4,Input_Capture4_from_TI4
+SH.S_TIM5_CH4.ConfNb=1
 SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1 CH1N
 SH.S_TIM8_CH1.ConfNb=1
 SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2 CH2N
@@ -605,6 +610,14 @@ TIM4.IC2Filter=4
 TIM4.IC2Polarity=TIM_ICPOLARITY_RISING
 TIM4.IPParameters=EncoderMode,IC1Polarity,IC2Polarity,IC1Filter,IC2Filter,Period
 TIM4.Period=0xffff
+TIM5.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
+TIM5.Channel-Input_Capture4_from_TI4=TIM_CHANNEL_4
+TIM5.ICFilter_CH3=15
+TIM5.ICFilter_CH4=15
+TIM5.ICPolarity_CH3=TIM_INPUTCHANNELPOLARITY_BOTHEDGE
+TIM5.ICPolarity_CH4=TIM_INPUTCHANNELPOLARITY_BOTHEDGE
+TIM5.IPParameters=Channel-Input_Capture3_from_TI3,Channel-Input_Capture4_from_TI4,ICFilter_CH3,ICFilter_CH4,ICPolarity_CH3,ICPolarity_CH4,Period
+TIM5.Period=0xFFFFFFFF
 TIM8.Channel-Output\ Compare4\ No\ Output=TIM_CHANNEL_4
 TIM8.Channel-PWM\ Generation1\ CH1\ CH1N=TIM_CHANNEL_1
 TIM8.Channel-PWM\ Generation2\ CH2\ CH2N=TIM_CHANNEL_2

diff --git a/Firmware/Board/v3/Src/gpio.c b/Firmware/Board/v3/Src/gpio.c
@@ -106,12 +106,6 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PAPin PAPin PAPin */
-  GPIO_InitStruct.Pin = GPIO_3_Pin|GPIO_4_Pin|GPIO_7_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
   /*Configure GPIO pins : PBPin PBPin */
   GPIO_InitStruct.Pin = GPIO_6_Pin|GPIO_8_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
@@ -125,6 +119,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
 
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = GPIO_7_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIO_7_GPIO_Port, &GPIO_InitStruct);
+
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = nFAULT_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;

diff --git a/Firmware/Board/v3/Src/main.c b/Firmware/Board/v3/Src/main.c
@@ -188,6 +188,7 @@ int main(void)
   MX_ADC3_Init();
   MX_TIM2_Init();
   MX_UART4_Init();
+  MX_TIM5_Init();
   /* USER CODE BEGIN 2 */
 
   //Required to use OC4 for ADC triggering.
@@ -235,8 +236,9 @@ void SystemClock_Config(void)
 
     /**Initializes the CPU, AHB and APB busses clocks 
     */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
   RCC_OscInitStruct.PLL.PLLM = 4;

diff --git a/Firmware/Board/v3/Src/stm32f4xx_it.c b/Firmware/Board/v3/Src/stm32f4xx_it.c
@@ -43,10 +43,14 @@
 typedef void (*ADC_handler_t)(ADC_HandleTypeDef* hadc, bool injected);
 void ADC_IRQ_Dispatch(ADC_HandleTypeDef* hadc, ADC_handler_t callback);
 
+typedef void (*TIM_capture_callback_t)(int channel, uint32_t timestamp);
+void decode_tim_capture(TIM_HandleTypeDef *htim, TIM_capture_callback_t callback);
+
 // TODO: move somewhere else
 void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
 void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
 void tim_update_cb(TIM_HandleTypeDef* htim);
+void pwm_in_cb(int channel, uint32_t timestamp);
 
 extern TIM_HandleTypeDef htim1;
 extern I2C_HandleTypeDef hi2c1;
@@ -59,6 +63,7 @@ extern ADC_HandleTypeDef hadc1;
 extern ADC_HandleTypeDef hadc2;
 extern ADC_HandleTypeDef hadc3;
 extern CAN_HandleTypeDef hcan1;
+extern TIM_HandleTypeDef htim5;
 extern TIM_HandleTypeDef htim8;
 extern DMA_HandleTypeDef hdma_uart4_rx;
 extern DMA_HandleTypeDef hdma_uart4_tx;
@@ -314,6 +319,23 @@ void TIM8_TRG_COM_TIM14_IRQHandler(void)
   /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
 }
 
+/**
+* @brief This function handles TIM5 global interrupt.
+*/
+void TIM5_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM5_IRQn 0 */
+
+  // We know we only use capture mode here, so bypass HAL
+  decode_tim_capture(&htim5, &pwm_in_cb);
+
+  /* USER CODE END TIM5_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim5);
+  /* USER CODE BEGIN TIM5_IRQn 1 */
+
+  /* USER CODE END TIM5_IRQn 1 */
+}
+
 /**
 * @brief This function handles UART4 global interrupt.
 */
@@ -369,6 +391,25 @@ void ADC_IRQ_Dispatch(ADC_HandleTypeDef* hadc, ADC_handler_t callback) {
   }
 }
 
+void decode_tim_capture(TIM_HandleTypeDef *htim, TIM_capture_callback_t callback) {
+  if(__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC1)) {
+    __HAL_TIM_CLEAR_IT(htim, TIM_IT_CC1);
+    callback(1, htim->Instance->CCR1);
+  }
+  if(__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC2)) {
+    __HAL_TIM_CLEAR_IT(htim, TIM_IT_CC2);
+    callback(2, htim->Instance->CCR2);
+  }
+  if(__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC3)) {
+    __HAL_TIM_CLEAR_IT(htim, TIM_IT_CC3);
+    callback(3, htim->Instance->CCR3);
+  }
+  if(__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC4)) {
+    __HAL_TIM_CLEAR_IT(htim, TIM_IT_CC4);
+    callback(4, htim->Instance->CCR4);
+  }
+}
+
 /**
 * @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
 */