Master

.github/actions/release-firmware/action.yml

@@ -0,0 +1,57 @@
+name: 'Release Firmware'
+description: 'Compiles the firmware for the specified board version and uploads it to a GitHub release url'
+inputs:
+  board_version:
+    required: true
+  url:
+    required: true
+  token:
+    required: true
+runs:
+  using: "composite"
+  steps: 
+    - name: Compile for ODrive ${{ inputs.board_version }}
+      shell: bash
+      run: |
+        # for debugging
+        arm-none-eabi-gcc --version
+        python3 --version
+
+        cd ${{ github.workspace }}/Firmware
+
+        echo "CONFIG_STRICT=true" > tup.config
+        echo "CONFIG_BOARD_VERSION=${{ inputs.board_version }}" >> tup.config
+        tup init
+        tup generate ./tup_build.sh
+        bash -xe ./tup_build.sh
+
+    - name: Upload ELF file
+      shell: bash
+      run: |
+        urls=( ${{ inputs.url }} )
+        URL="${urls[0]}=ODriveFirmware_${{ inputs.board_version }}.elf"
+        echo "uploading to $URL"
+
+        curl --silent --show-error --fail \
+          -H "Content-Type: application/octet-stream" \
+          -H "Authorization: token ${{ inputs.token }}" \
+          --data-binary @"Firmware/build/ODriveFirmware.elf" \
+          "$URL"
+
+    - name: Upload HEX file
+      shell: bash
+      run: |
+        urls=( ${{ inputs.url }} )
+        URL="${urls[0]}=ODriveFirmware_${{ inputs.board_version }}.hex"
+        echo "uploading to $URL"
+
+        curl --silent --show-error --fail \
+          -H "Content-Type: application/octet-stream" \
+          -H "Authorization: token ${{ inputs.token }}" \
+          --data-binary @"Firmware/build/ODriveFirmware.hex" \
+          "$URL"
+
+    # This is required to make the action repeatable
+    - name: Clean up
+      shell: bash
+      run: git clean -dffx

.github/workflows/compile.yaml

@@ -58,7 +58,7 @@ jobs:
         if: startsWith(matrix.os, 'macOS-')
         run: |
           brew install armmbed/formulae/arm-none-eabi-gcc
-          brew cask install osxfuse && brew install tup
+          brew install --cask osxfuse && brew install tup
           pip3 install PyYAML Jinja2 jsonschema
 
 
@@ -76,7 +76,7 @@ jobs:
         run: |
           Invoke-WebRequest -Uri "http://gittup.org/tup/win32/tup-latest.zip" -OutFile ".\tup-latest.zip"
           Expand-Archive ".\tup-latest.zip" -DestinationPath ".\tup-latest" -Force
-          echo "::add-path::$(Resolve-Path .)\tup-latest"
+          echo "$(Resolve-Path .)\tup-latest" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
 
           choco install gcc-arm-embedded # downloads https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/gcc-arm-none-eabi-9-2019-q4-major-win32.zip
 

.github/workflows/release.yaml

@@ -0,0 +1,109 @@
+name: Create Release Draft
+
+on:
+  push:
+    tags: ['fw-v*']
+
+jobs:
+  release:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: true
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Parse Release Specs
+        id: release_specs
+        run: |
+          echo "github.ref = ${{ github.ref }}"
+
+          function get_version() { sed -E -n "s|.*([0-9]+\.[0-9]+\.[0-9]+).*|\1|p"; }
+
+          #LAST_VERSION="$(curl -s https://api.github.com/repos/madcowswe/ODrive/releases/latest | jq '.name' | get_version)"
+          #echo "previous version = $LAST_VERSION"
+
+          NEW_VERSION="$(echo "${{ github.ref }}" | get_version)"
+          echo "version = $NEW_VERSION"
+
+          ALL_TITLES="$(grep -E -n "^## .*[0-9]+\.[0-9]+\.[0-9]+" CHANGELOG.md)"
+
+          echo "I found the following version headers in the changelog:"
+          echo "$ALL_TITLES"
+
+          START_LINE="$(head -1 <<< "$ALL_TITLES" | cut -f 1 -d ':')"
+          END_LINE="$(head -2 <<< "$ALL_TITLES" | tail -1 | cut -f 1 -d ':')"
+
+          BODY="$(head -$(("$END_LINE" - 1)) CHANGELOG.md | tail +$(("$START_LINE" + 1)))"
+
+          IS_PRERELEASE="$(grep -F "$NEW_VERSION"-rc <<< "${{ github.ref }}" >/dev/null && echo true || echo false)"
+          echo "Is prerelease: $IS_PRERELEASE"
+
+          # The git tag is later read when packaging the python tools and
+          # compiling the firmware. We set it explicitly here in case the
+          # workflow was triggered by something other than a git tag.
+          git tag "${{ github.ref }}"
+
+          # Escape BODY string to set it as GitHub Actions output
+          BODY="${BODY//'%'/'%25'}"
+          BODY="${BODY//$'\n'/'%0A'}"
+          BODY="${BODY//$'\r'/'%0D'}"
+
+          echo "::set-output name=body::$BODY"
+          echo "::set-output name=version::$NEW_VERSION"
+          echo "::set-output name=is_prerelease::$IS_PRERELEASE"
+
+      - name: Create Release Draft
+        id: create_release
+        uses: actions/create-release@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: ${{ github.ref }}
+          release_name: Firmware version ${{ steps.release_specs.outputs.version }}
+          body: ${{ steps.release_specs.outputs.body }}
+          draft: true # Only do a draft so we have a change to manually review
+                      # the release before it goes live.
+          prerelease: ${{ steps.release_specs.outputs.is_prerelease }}
+
+      - name: Install Prerequisites
+        run: |
+          sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
+          sudo add-apt-repository ppa:jonathonf/tup
+          sudo apt-get update
+          sudo apt-get install gcc-arm-embedded
+          sudo apt-get install tup
+          sudo apt install python3 python3-yaml python3-jinja2 python3-jsonschema
+
+      - name: Build Python Tools
+        run: |
+          cd ${{ github.workspace }}/tools
+          python setup.py sdist
+
+          cd dist
+          PKG_NAME="$(ls)"
+          if [ "$(wc -l <<< "$PKG_NAME")" != 1 ]; then
+            echo "Expected exactly one output file but got:"
+            ls
+            exit 1
+          fi
+
+          urls=( ${{ steps.create_release.outputs.upload_url }} )
+          URL="${urls[0]}=python-${PKG_NAME}"
+          echo "uploading to $URL"
+
+          curl --silent --show-error --fail \
+            -H "Content-Type: application/octet-stream" \
+            -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
+            --data-binary @"${PKG_NAME}" \
+            "$URL"
+
+      # Run the action under .github/actions/release-firmware for every board version
+      #- {uses: ./.github/actions/release-firmware, with: {board-version: v3.2, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      #- {uses: ./.github/actions/release-firmware, with: {board-version: v3.3, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      #- {uses: ./.github/actions/release-firmware, with: {board-version: v3.4-24V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      #- {uses: ./.github/actions/release-firmware, with: {board-version: v3.4-48V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      - {uses: ./.github/actions/release-firmware, with: {board_version: v3.5-24V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      - {uses: ./.github/actions/release-firmware, with: {board_version: v3.5-48V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      - {uses: ./.github/actions/release-firmware, with: {board_version: v3.6-24V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      - {uses: ./.github/actions/release-firmware, with: {board_version: v3.6-56V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}

.gitignore

@@ -4,7 +4,7 @@ __pycache__/
 *$py.class
 
 # C extensions
-*.so
+#*.so
 
 # Unit test / coverage reports
 htmlcov/
@@ -31,8 +31,8 @@ target/
 .ipynb_checkpoints
 
 # Tup
-.tup
-tup.config
+#.tup
+#tup.config
 
 # Sphinx documentation
 /docs/_build/
@@ -48,21 +48,25 @@ tup.config
 /docs/.jekyll-metadata
 
 
-*.exe
+#*.exe
 
-ODrive\.config
+#ODrive\.config
 
-ODrive\.creator
+#ODrive\.creator
 
-ODrive\.creator\.user
+#ODrive\.creator\.user
 
-ODrive\.files
+#ODrive\.files
 
-ODrive\.includes
+#ODrive\.includes
 
-Firmware/Tests/bin/
+#Firmware/Tests/bin/
 
 # GUI
 GUI/dist_electron
 GUI/node_modules
-GUI/build
+GUI/build
+
+#hex
+!*.hex
+!Firmware/build/

Firmware/MotorControl/encoder.cpp

@@ -334,14 +334,15 @@ bool Encoder::abs_spi_init(){
     spi->Init.CLKPolarity = SPI_POLARITY_LOW;
     spi->Init.CLKPhase = SPI_PHASE_2EDGE;
     spi->Init.NSS = SPI_NSS_SOFT;
-    spi->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
+    spi->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; //slowed down from 32
     spi->Init.FirstBit = SPI_FIRSTBIT_MSB;
     spi->Init.TIMode = SPI_TIMODE_DISABLE;
     spi->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
     spi->Init.CRCPolynomial = 10;
     if (mode_ == MODE_SPI_ABS_AEAT) {
         spi->Init.CLKPolarity = SPI_POLARITY_HIGH;
     }
+    reset_AMS = false;
     HAL_SPI_DeInit(spi);
     HAL_SPI_Init(spi);
     return true;
@@ -355,7 +356,11 @@ bool Encoder::abs_spi_start_transaction(){
             return false;
         }
         HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_RESET);
-        HAL_SPI_TransmitReceive_DMA(hw_config_.spi, (uint8_t*)abs_spi_dma_tx_, (uint8_t*)abs_spi_dma_rx_, 1);
+        if(reset_AMS){
+            HAL_SPI_TransmitReceive_DMA(hw_config_.spi, (uint8_t*)abs_spi_reset_enc, (uint8_t*)abs_spi_dma_rx_, 1);
+        }else{
+            HAL_SPI_TransmitReceive_DMA(hw_config_.spi, (uint8_t*)abs_spi_dma_tx_, (uint8_t*)abs_spi_dma_rx_, 1);
+        }
     }
     return true;
 }
@@ -386,7 +391,15 @@ void Encoder::abs_spi_cb(){
         case MODE_SPI_ABS_AMS: {
             uint16_t rawVal = abs_spi_dma_rx_[0];
             // check if parity is correct (even) and error flag clear
-            if (ams_parity(rawVal) || ((rawVal >> 14) & 1)) {
+            if (ams_parity(rawVal)) {
+                return;
+            }
+            if(((rawVal >> 14) & 1)){
+                reset_AMS = true;
+                return;
+            }
+            if(reset_AMS){
+                reset_AMS = false;
                 return;
             }
             pos = rawVal & 0x3fff;

Firmware/MotorControl/encoder.hpp

@@ -101,10 +101,13 @@ class Encoder : public ODriveIntf::EncoderIntf {
 
     bool abs_spi_init();
     bool abs_spi_start_transaction();
+    bool abs_spi_clear_AMS_error();
+    bool reset_AMS = false;
     void abs_spi_cb();
     void abs_spi_cs_pin_init();
     uint16_t abs_spi_dma_tx_[1] = {0xFFFF};
     uint16_t abs_spi_dma_rx_[1];
+    uint16_t abs_spi_reset_enc[1] = {0x0001 & (0x1 << 14)};
     bool abs_spi_pos_updated_ = false;
     Mode mode_ = MODE_INCREMENTAL;
     GPIO_TypeDef* abs_spi_cs_port_;