fw-v0.5.2 Release Candidate 2

[0.5.2] - 2021-05-15

Fixed

• spinout error is no longer sticky and doesn't trigger on static torque loads due to I^2*R electrical power
• Step and direction mode resets position when entering closed loop just like input_pos does
• CAN baud rate setting works

Added

• Added phase balance check to motor calibration and MOTOR_ERROR_UNBALANCED_PHASES to error enums
• Added polarity and phase offset calibration for hall effect encoders
• Mechanical brake support
• Added periodic sending of encoder position on CAN
• Support for UART1 on GPIO3 and GPIO4. UART0 (on GPIO1/2) and UART1 can currently not be enabled at the same time.
• Thermistors now have a 2nd order lowpass filter applied to reduce noise
• 2-norm current clamping is used for AC induction motors
• Added spinout detection to detect incorrect encoder offset and CONTROLLER_ERROR_SPINOUT_DETECTED to error enums.
• Added AARCH64 support to libfibre
• Tuning input mode added to provide sinusoidal position, velocity, or torque stimulus. See INPUT_MODE_TUNING and the controller class for details.
• Added torque mirroring to INPUT_MODE_MIRROR
• mechanical_power_bandwidth, electrical_power_bandwidth, spinout_electrical_power_threshold, spinout_mechanical_power_threshold added to controller.config for spinout detection.
• mechanical_power and electrical_power added to controller.

Changed

• Step/dir performance improved! Dual axis step rates up to 250kHz have been tested
• Apply_config is called for encoders after a successful direction find
• Full calibration sequence now includes hall polarity calibration if a hall effect encoder is used
• Modified encoder offset calibration to work correctly when calib_scan_distance is not a multiple of 4pi
• Moved thermistors from being a top level object to belonging to Motor objects. Also changed errors: thermistor errors rolled into motor errors
• Use DMA for DRV8301 setup
• Make NVM configuration code more dynamic so that the layout doesn't have to be known at compile time.
• GPIO initialization logic was changed. GPIOs now need to be explicitly set to the mode corresponding to the feature that they are used by. See <odrv>.config.gpioX_mode.
• Previously, if two components used the same interrupt pin (e.g. step input for axis0 and axis1) then the one that was configured later would override the other one. Now this is no longer the case (the old component remains the owner of the pin).
• New control loop architecture:
  1. TIM8 update interrupt handler (CNT = 0) runs at a high priority and invokes the system level function sample_cb() to sample all timing critical inputs (currently only encoder state).
  2. TIM8 update interrupt handler (CNT = 0) raises an NVIC flag to kick off a lower priority interrupt.
  3. The control loop interrupt handler checks if all ADC measurements are ready and informs both motor objects about the current measurements.
  4. The control loop interrupt handler invokes the system level function control_loop_cb() which updates all components (encoders, estimators, torque controllers, etc). The data paths between the components are configured by the Axis threads based on the requested state. This replaces the previous architecture where the components were updated inside the Axis threads in Axis::run_control_loop().
  5. Meanwhile the TIM1 and TIM8 updates for CNT = 3500 will have fired. The control loop interrupt handler thus reads the new ADC measurements and informs both motor objects that a DC calibration event has happened.
  6. Finally, the control loop interrupt invokes pwm_update_cb on both motors to make them update their PWM timing registers.
• Components that need low level control over PWM timings are implemented by inheriting from the PhaseControlLaw interface. Three components currently inherit this interface: FieldOrientedController, ResistanceMeasurementControlLaw and InductanceMeasurementControlLaw.
• The FOC algorithm is now found in foc.cpp and and is presumably capable of running at a different frequency than the main control tasks (not relevant for ODrive v3).
• ACIM estimator was consolidated into a separate component <odrv>.acim_estimator.
• The Automatic Output Enable (AOE) flag of TIM1/TIM8 is used to achieve glitch-free motor arming.
• Sensorless mode was merged into closed loop control mode. Use <axis>.enable_sensorless_mode to disable the use of an encoder.
• More informative profiling instrumentation was added.
• A system-level error property was introduced.
• Added torque_mirror_ratio and use it to feed-forward controller_.torque_output in INPUT_MODE_MIRROR
• Accumulate integer steps in step/dir to avoid float precision errors
• Circular setpoint mode must be enabled when the step/dir interface is used.

API Migration Notes

• axis.config.turns_per_step changed to axis.controller.config.steps_per_circular_range
• odrive.axis.fet_thermistor, odrive.axis.motor_thermistor moved to odrive.axis.motor object
• enable_uart and uart_baudrate were renamed to enable_uart0 and uart0_baudrate.
• enable_i2c_instead_of_can was replaced by the separate settings enable_i2c0 and enable_can0.
• <axis>.motor.gate_driver was moved to <axis>.gate_driver.
• <axis>.min_endstop.pullup and <axis>.max_endstop.pullup were removed. Use <odrv>.config.gpioX_mode = GPIO_MODE_DIGITAL / GPIO_MODE_DIGITAL_PULL_UP / GPIO_MODE_DIGITAL_PULL_DOWN instead.
• <axis>.config.can_node_id was moved to <axis>.config.can.node_id
• <axis>.config.can_node_id_extended was moved to <axis>.config.can.is_extended
• <axis>.config.can_heartbeat_rate_ms was moved to <axis>.config.can.heartbeat_rate_ms
• <odrv>.get_oscilloscope_val() was moved to <odrv>.oscilloscope.get_val().
• Several error flags from <odrv>.<axis>.error were removed. Some were moved to <odrv>.error and some are no longer relevant because implementation details changed.
• Several error flags from <odrv>.<axis>.motor.error were removed. Some were moved to <odrv>.error and some are no longer relevant because implementation details changed.
• <axis>.lockin_state was removed as the lockin implementation was replaced by a more general open loop control block (currently not exposed on the API).
• AXIS_STATE_SENSORLESS_CONTROL was removed. Use AXIS_STATE_CLOSED_LOOP_CONTROL instead with <odrv>.enable_sensorless_mode = True.
• <axis>.config.startup_sensorless_control was removed. Use <axis>.config.startup_closed_loop_control instead with <odrv>.enable_sensorless_mode = True.
• <axis>.clear_errors() was replaced by the system-wide function <odrv>.clear_errors().
• <axis>.armed_state was replaced by <axis>.is_armed.
• Several properties in <axis>.motor.current_control were changed to read-only.
• <axis>.motor.current_control.Ibus was moved to <axis>.motor.I_bus.
• <axis>.motor.current_control.max_allowed_current was moved to <axis>.motor.max_allowed_current.
• <axis>.motor.current_control.overcurrent_trip_level was removed.
• <axis>.motor.current_control.acim_rotor_flux was moved to <axis>.acim_estimator.rotor_flux.
• <axis>.motor.current_control.async_phase_vel was moved to <axis>.acim_estimator.stator_phase_vel.
• <axis>.motor.current_control.async_phase_offset was moved to <axis>.acim_estimator.phase.
• <axis>.motor.timing_log was removed in favor of <odrv>.task_times and <odrv>.<axis>.task_times.
• <axis>.motor.config.direction was moved to <axis>.encoder.config.direction.
• <axis>.motor.config.acim_slip_velocity was moved to <axis>.acim_estimator.config.slip_velocity.
• Several properties were changed to readonly.
• <axis>.encoder.config.offset was renamed to ``.encoder.config.phase_offset`
• <axis>.encoder.config.offset_float was renamed to ``.encoder.config.phase_offset_float`
• <odrv>.config.brake_resistance == 0.0 is no longer a valid way to disable the brake resistor. Use <odrv>.config.enable_brake_resistor instead. A reboot is necessary for this to take effect.
• <odrv>.can.set_baud_rate() was removed. The baudrate is now automatically updated when writing to <odrv>.can.config.baud_rate.