Merge branch 'devel'

odriverobotics · Jul 26, 2019 · 767a276 · 767a276
2 parents d2e975b + b0a16b8
commit 767a276
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Showing 19 changed files with 54,285 additions and 43 deletions.
diff --git a/Arduino/ODriveArduino/ODriveArduino.cpp b/Arduino/ODriveArduino/ODriveArduino.cpp
@@ -50,6 +50,11 @@ float ODriveArduino::readFloat() {
     return readString().toFloat();
 }
 
+float ODriveArduino::GetVelocity(int motor_number){
+	serial_<< "r axis" << motor_number << ".encoder.vel_estimate\n";
+	return ODriveArduino::readFloat();
+}
+
 int32_t ODriveArduino::readInt() {
     return readString().toInt();
 }

diff --git a/Arduino/ODriveArduino/ODriveArduino.h b/Arduino/ODriveArduino/ODriveArduino.h
@@ -28,6 +28,8 @@ class ODriveArduino {
     void SetVelocity(int motor_number, float velocity, float current_feedforward);
     void SetCurrent(int motor_number, float current);
     void TrapezoidalMove(int motor_number, float position);
+    // Getters
+    float GetVelocity(int motor_number);
     // General params
     float readFloat();
     int32_t readInt();

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,6 +1,15 @@
 # Unreleased Features
 Please add a note of your changes below this heading if you make a Pull Request.
 
+# Releases
+## [0.4.11] - 2019-07-25
+### Added
+* Separate lockin configs for sensorless, index search, and general.
+* Check current limit violation: added `ERROR_CURRENT_UNSTABLE`, `motor.config.current_lim_tolerance`.
+
+### Changed
+* Ascii command for reboot changed from `sb` to `sr`.
+
 # Releases
 ## [0.4.10] - 2019-04-24
 ### Fixed

diff --git a/Firmware/.clang-format b/Firmware/.clang-format
@@ -0,0 +1,7 @@
+---
+BasedOnStyle: Google
+AlignConsecutiveAssignments: 'true'
+AllowShortCaseLabelsOnASingleLine: 'true'
+IndentWidth: '4'
+
+...
diff --git a/Firmware/.vscode/launch.json b/Firmware/.vscode/launch.json
@@ -15,6 +15,7 @@
                 "interface/stlink-v2.cfg",
                 "target/stm32f4x_stlink.cfg",
             ],
+            "svdFile": "${workspaceRoot}/Board/v3/STM32F40x.svd",
             "cwd": "${workspaceRoot}"
         },
         {

diff --git a/Firmware/.vscode/settings.json b/Firmware/.vscode/settings.json
@@ -1,5 +1,4 @@
 {
-    "C_Cpp.clang_format_style": "{ BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 0 }",
     "C_Cpp.intelliSenseEngine": "Default",
     "C_Cpp.intelliSenseEngineFallback": "Disabled",
     "files.exclude": {

diff --git a/Firmware/Board/v3/Drivers/CMSIS/Include/cmsis_gcc.h b/Firmware/Board/v3/Drivers/CMSIS/Include/cmsis_gcc.h
@@ -161,7 +161,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PSP(void)
  */
 __attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
 {
-  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : "sp");
+  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : );
 }
 
 
@@ -187,7 +187,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_MSP(void)
  */
 __attribute__( ( always_inline ) ) __STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
 {
-  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) : "sp");
+  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) : );
 }