Merge pull request #323 from tinymovr/develop

Version 1.6.5

.readthedocs.yaml

@@ -17,6 +17,6 @@ sphinx:
 
 # We recommend specifying your dependencies to enable reproducible builds:
 # https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
-# python:
-#   install:
-#   - requirements: docs/requirements.txt
+python:
+  install:
+  - requirements: docs/requirements.txt

README.md

@@ -3,7 +3,7 @@
 ![Docs Build](https://github.com/yconst/tinymovr/workflows/Tinymovr%20Docs%20Build/badge.svg)
 [![Discord](https://img.shields.io/discord/742400176664084535)](https://discord.gg/CzcCaXbU)
 
-[Tinymovr is an affordable motor controller](https://tinymovr.com) for precise control of 3-phase brushless motors. Tinymovr works with up to 38V input voltage, drives motors up to 40A continuous phase current, integrates an absolute angle encoder (MPS MA702) and features rich connectivity.
+[Tinymovr is an affordable motor controller](https://tinymovr.com) with integrated encoder and CAN bus for precise control of 3-phase brushless motors (PMSMs). 
 
 This repository holds the open source firmware, client library, hardware designs and documentation source.
 

docs/conf.py

@@ -45,7 +45,7 @@
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = 'alabaster'
+html_theme = 'furo'
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,

docs/requirements.txt

@@ -1 +1,5 @@
-sphinx>=3.2.1
+sphinx>=5.2.3
+sphinxcontrib-programoutput
+sphinx-inline-tabs
+sphinx-copybutton
+furo

firmware/Makefile

@@ -104,7 +104,7 @@ all: release
 debug: CFLAGS += -DDEBUG -g2 -O1
 debug: CPPFLAGS += -DDEBUG -g2 -O1
 debug: LDFLAGS += -O1
-debug: OBJECTS += $(BUILDDIR)/bootloader_$(REV).o
+debug: OBJECTS += $(BUILDDIR)/bootloader-$(REV).o
 debug: binary
 
 # Upgrade target
@@ -114,11 +114,11 @@ upgrade: LDFLAGS += -O3
 upgrade: binary
 
 # Release target
-release: OBJECTS += $(BUILDDIR)/bootloader_$(REV).o
+release: OBJECTS += $(BUILDDIR)/bootloader-$(REV).o
 release: upgrade
 
 # Binary target
-binary: print_board_rev $(HEX) $(BIN) $(ELF)
+binary: print_board_info $(HEX) $(BIN) $(ELF)
 
 # Objcopy to HEX
 $(HEX): $(ELF)
@@ -131,7 +131,7 @@ $(BIN): $(ELF)
 
 # Link
 $(ELF): $(OBJECTS)
-	- $(OBJCOPY) -I binary -O elf32-littlearm -B arm --rename-section .data=.bl_section,alloc,load,readonly,data,contents $(PROJECTDIR)/bootloader/bootloader_$(REV).bin $(BUILDDIR)/bootloader_$(REV).o
+	- $(OBJCOPY) -I binary -O elf32-littlearm -B arm --rename-section .data=.bl_section,alloc,load,readonly,data,contents $(PROJECTDIR)/bootloader/bootloader-$(REV).bin $(BUILDDIR)/bootloader-$(REV).o
 	$(LD) $(LDFLAGS) $(OBJECTS) -o $(ELF)
 	$(SIZE_EX) --format=berkeley $(ELF)
 
@@ -151,8 +151,9 @@ clean :
 	- $(rmdir_cmd) "$(BUILDDIR)"
 
 # Print board revision
-.PHONY: print_board_rev
-print_board_rev:
-	@echo "===Building Tinymovr==="
+.PHONY: print_board_info
+print_board_info:
+	@echo "===Building Tinymovr Bootloader==="
 	@echo "Board revision is $(REV)"
-	@echo "======================="
+	@echo "Fw version is $(GIT_VERSION)"
+	@echo "=================================="

firmware/src/can/can.c

@@ -39,6 +39,9 @@ static CANState state ={0};
 
 extern volatile uint32_t msTicks;
 
+const uint8_t avlos_proto_hash_8 = (uint8_t)(avlos_proto_hash & 0xFF);
+const size_t endpoint_count = sizeof(avlos_endpoints) / sizeof(avlos_endpoints[0]);
+
 void CAN_init(void)
 {
 #if defined(BOARD_REV_R52)
@@ -135,7 +138,8 @@ void CAN_process_interrupt(void)
 {
     can_process_extended();
 
-    if (sizeof(avlos_endpoints) / sizeof(avlos_endpoints[0]) > can_ep_id)
+    if ((endpoint_count > can_ep_id) && 
+       ((can_frame_hash == avlos_proto_hash_8) || (can_frame_hash == 0)))
     {
         uint8_t (*callback)(uint8_t buffer[], uint8_t * buffer_length, Avlos_Command cmd) = avlos_endpoints[can_ep_id];
         uint8_t can_msg_buffer[8];

firmware/src/can/can_endpoints.c

@@ -19,7 +19,6 @@
 
 
 uint8_t (*avlos_endpoints[79])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd) = {&avlos_protocol_hash, &avlos_uid, &avlos_fw_version, &avlos_hw_revision, &avlos_Vbus, &avlos_Ibus, &avlos_power, &avlos_temp, &avlos_calibrated, &avlos_errors, &avlos_save_config, &avlos_erase_config, &avlos_reset, &avlos_enter_dfu, &avlos_scheduler_errors, &avlos_controller_state, &avlos_controller_mode, &avlos_controller_warnings, &avlos_controller_errors, &avlos_controller_position_setpoint, &avlos_controller_position_p_gain, &avlos_controller_velocity_setpoint, &avlos_controller_velocity_limit, &avlos_controller_velocity_p_gain, &avlos_controller_velocity_i_gain, &avlos_controller_velocity_deadband, &avlos_controller_velocity_increment, &avlos_controller_current_Iq_setpoint, &avlos_controller_current_Id_setpoint, &avlos_controller_current_Iq_limit, &avlos_controller_current_Iq_estimate, &avlos_controller_current_bandwidth, &avlos_controller_current_Iq_p_gain, &avlos_controller_current_max_Ibus_regen, &avlos_controller_current_max_Ibrake, &avlos_controller_voltage_Vq_setpoint, &avlos_controller_calibrate, &avlos_controller_idle, &avlos_controller_position_mode, &avlos_controller_velocity_mode, &avlos_controller_current_mode, &avlos_controller_set_pos_vel_setpoints, &avlos_comms_can_rate, &avlos_comms_can_id, &avlos_motor_R, &avlos_motor_L, &avlos_motor_pole_pairs, &avlos_motor_type, &avlos_motor_offset, &avlos_motor_direction, &avlos_motor_calibrated, &avlos_motor_I_cal, &avlos_motor_errors, &avlos_encoder_position_estimate, &avlos_encoder_velocity_estimate, &avlos_encoder_type, &avlos_encoder_bandwidth, &avlos_encoder_calibrated, &avlos_encoder_errors, &avlos_traj_planner_max_accel, &avlos_traj_planner_max_decel, &avlos_traj_planner_max_vel, &avlos_traj_planner_t_accel, &avlos_traj_planner_t_decel, &avlos_traj_planner_t_total, &avlos_traj_planner_move_to, &avlos_traj_planner_move_to_tlimit, &avlos_traj_planner_errors, &avlos_homing_velocity, &avlos_homing_max_homing_t, &avlos_homing_retract_dist, &avlos_homing_warnings, &avlos_homing_stall_detect_velocity, &avlos_homing_stall_detect_delta_pos, &avlos_homing_stall_detect_t, &avlos_homing_home, &avlos_watchdog_enabled, &avlos_watchdog_triggered, &avlos_watchdog_timeout };
-uint32_t avlos_proto_hash = 3526126264;
 
 uint32_t _avlos_get_proto_hash(void)
 {

firmware/src/can/can_endpoints.h

@@ -95,7 +95,7 @@ typedef enum
     ENCODER_TYPE_HALL = 1
 } encoder_type_options;
 
-extern uint32_t avlos_proto_hash;
+static const uint32_t avlos_proto_hash = 3526126264;
 extern uint8_t (*avlos_endpoints[79])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
 extern uint32_t _avlos_get_proto_hash(void);
 

firmware/src/can/can_func.c

@@ -22,7 +22,7 @@ uint8_t data_length;
 uint32_t rx_id;
 bool rtr;
 uint32_t can_ep_id;
-uint32_t can_seq_id;
+uint32_t can_frame_hash;
 
 //  * The function "can_io_config" is part of the Tinymovr-Firmware distribution
 //  * (https://github.com/yconst/tinymovr-firmware).
@@ -169,256 +169,5 @@ void can_baud(CAN_BAUD_TYPE baud)
     }
 }
 
-TM_RAMFUNC void can_process_standard(void)
-{
-    uint32_t buffer = PAC55XX_CAN->RXBUF; //  read RX buffer, RX buffer bit order same as TX buffer
-
-    data_length = buffer & 0x0F;
-    rx_id = ((buffer & 0xE00000) >> 21) | ((buffer & 0xFF00) >> 5);
-
-    can_ep_id = rx_id & 0x3F;
-    rtr = ((buffer >> 6) & 0x1) == 0x1;
-    rx_data[0] = buffer >> 24; // data0
-    if (data_length > 1u)
-    {
-        buffer = PAC55XX_CAN->RXBUF; // buffer contains data1..data4
-        rx_data[1] = buffer;
-        rx_data[2] = buffer >> 8;
-        rx_data[3] = buffer >> 16;
-        rx_data[4] = buffer >> 24;
-        if (data_length > 5u)
-        {
-            buffer = PAC55XX_CAN->RXBUF; //  buffer contains data7..data5
-            rx_data[5] = buffer;
-            rx_data[6] = buffer >> 8;
-            rx_data[7] = buffer >> 16;
-        }
-    }
-}
-
-//  * The function "can_process_extended" is part of the Tinymovr-Firmware distribution
-//  * (https://github.com/yconst/tinymovr-firmware).
-//  * Copyright (c) 2022 Ioannis Chatzikonstantinou.
-//  *
-//  * This program is free software: you can redistribute it and/or modify
-//  * it under the terms of the GNU General Public License as published by
-//  * the Free Software Foundation, version 3.
-//  *
-//  * This program is distributed in the hope that it will be useful, but
-//  * WITHOUT ANY WARRANTY; without even the implied warranty of
-//  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-//  * General Public License for more details.
-//  *
-//  * You should have received a copy of the GNU General Public License
-//  * along with this program. If not, see <http://www.gnu.org/licenses/>.
-
-TM_RAMFUNC void can_process_extended(void)
-{
-    uint32_t buffer = PAC55XX_CAN->RXBUF; //  read RX buffer, RX buffer bit order same as TX buffer
-
-    data_length = buffer & 0x0F;
-    rtr = ((buffer >> 6) & 0x1) == 0x1;
-    rx_id = ((buffer & 0xFF000000) >> 19) | ((buffer & 0x00FF0000) >> 3) | ((buffer & 0x0000FF00) << 13);
-
-    buffer = PAC55XX_CAN->RXBUF;
-
-    rx_id |= (buffer & 0xFF) >> 3;
-
-    ids_from_arbitration(rx_id, &can_ep_id, &can_seq_id);
-
-    rx_data[0] = (buffer >> 8) & 0xFF; // data0
-    rx_data[1] = (buffer >> 16) & 0xFF; // data1
-    rx_data[2] = (buffer >> 24) & 0xFF; // data2
-    if (data_length > 3u)
-    {
-        buffer = PAC55XX_CAN->RXBUF; // buffer contains data3..data6
-        rx_data[3] = buffer & 0xFF;
-        rx_data[4] = (buffer >> 8) & 0xFF;
-        rx_data[5] = (buffer >> 16) & 0xFF;
-        rx_data[6] = (buffer >> 24) & 0xFF;
-        if (data_length > 7u)
-        {
-            buffer = PAC55XX_CAN->RXBUF; //  buffer contains data7
-            rx_data[7] = buffer & 0xFF;
-        }
-    }
-}
-
-TM_RAMFUNC void can_transmit_standard(uint8_t dataLen, uint16_t id, const uint8_t * data)
-{
-    while (PAC55XX_CAN->SR.TBS == 0) {};           // wait for TX buffer free
-    PAC55XX_CAN->TXBUF = (dataLen << 0)         |  // DLC - Data Length Code
-                         (0u << 6)              |  // RTR = 0 Data Frame
-                         (0u << 7)              |  // FF - Format Frame; 0=Std Frame
-                         ((id>>3 & 0xFF) << 8)  |  // ID 10:3
-                         ((id&0x07u) << 21)     |  // ID 2:0
-                         (data[0] << 24);          // Data 0
-
-    if (dataLen > 1u)
-    {
-        PAC55XX_CAN->TXBUF = (data[1] << 0)  |      // Data 1
-                             (data[2] << 8)  |		// Data 2
-                             (data[3] << 16) |      // Data 3
-                             (data[4] << 24);       // Data 4
-    }
-    if (dataLen > 5u)
-    {
-    PAC55XX_CAN->TXBUF = (data[5] << 0)   |    // Data 5
-                         (data[6] << 8)   |    // Data 6
-                         (data[7] << 16);      // Data 7
-
-    }
-
-    PAC55XX_CAN->CMR.TR = 1;	// Request transmit
-}
-
-//  * The function "can_transmit_extended" is part of the Tinymovr-Firmware distribution
-//  * (https://github.com/yconst/tinymovr-firmware).
-//  * Copyright (c) 2022 Ioannis Chatzikonstantinou.
-//  *
-//  * This program is free software: you can redistribute it and/or modify
-//  * it under the terms of the GNU General Public License as published by
-//  * the Free Software Foundation, version 3.
-//  *
-//  * This program is distributed in the hope that it will be useful, but
-//  * WITHOUT ANY WARRANTY; without even the implied warranty of
-//  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-//  * General Public License for more details.
-//  *
-//  * You should have received a copy of the GNU General Public License
-//  * along with this program. If not, see <http://www.gnu.org/licenses/>.
-
-TM_RAMFUNC void can_transmit_extended(uint8_t dataLen, uint32_t id, const uint8_t * data)
-{
-    while (PAC55XX_CAN->SR.TBS == 0) {};                 // wait for TX buffer free
-    PAC55XX_CAN->TXBUF = (dataLen << 0)                | // DLC - Data Length Code
-                         (0u << 6)                     | // RTR = 0 Data Frame
-                         (1u << 7)                     | // FF - Format Frame; 1=Ext Frame
-                         ((id&0x1FE00000u) >> (21-8))  |
-                         ((id&0x001FE000u) << (16-13)) |
-                         ((id&0x00001FE0u) << (24-5));
-
-    PAC55XX_CAN->TXBUF = ((id & 0x1F) << 3)            |
-                         ((data[0] & 0xFF) << 8)       |
-                         ((data[1] & 0xFF) << 16)      |
-                         ((data[2] & 0xFF) << 24);
-
-    if (dataLen > 3u)
-    {
-        PAC55XX_CAN->TXBUF = ((data[3] & 0xFF) << 0)   |      // Data 3
-                             ((data[4] & 0xFF) << 8)   |		// Data 4
-                             ((data[5] & 0xFF) << 16)  |      // Data 5
-                             ((data[6] & 0xFF) << 24);       // Data 6
-    }
-    if (dataLen > 7u)
-    {
-        PAC55XX_CAN->TXBUF = ((data[7] & 0xFF) << 0);        // Data 7
-    }
 
-    PAC55XX_CAN->CMR.TR = 1;	// Request transmit
-}
-
-uint16_t CAN_BaudTypeToInt(CAN_BAUD_TYPE type)
-{
-    uint16_t ret = 0u;
-    switch(type)
-    {
-        case CAN_BAUD_50KHz:
-        ret = 50u;
-        break;
-
-        case CAN_BAUD_100KHz:
-        ret = 100u;
-        break;
-
-        case CAN_BAUD_125KHz:
-        ret = 125u;
-        break;
-
-        case CAN_BAUD_200KHz:
-        ret = 200u;
-        break;
-
-        case CAN_BAUD_250KHz:
-        ret = 250u;
-        break;
-
-        case CAN_BAUD_400KHz:
-        ret = 400u;
-        break;
-
-        case CAN_BAUD_500KHz:
-        ret = 500u;
-        break;
-
-        case CAN_BAUD_800KHz:
-        ret = 800u;
-        break;
-
-        case CAN_BAUD_1000KHz:
-        ret = 1000u;
-        break;
-
-        default:
-        // ret already set
-        break;
-    }
-    return ret;
-}
 
-CAN_BAUD_TYPE CAN_IntToBaudType(uint16_t baud)
-{
-    CAN_BAUD_TYPE ret = CAN_BAUD_250KHz;
-    switch(baud)
-    {
-        case 50u:
-        ret = CAN_BAUD_50KHz;
-        break;
-
-        case 100u:
-        ret = CAN_BAUD_100KHz;
-        break;
-
-        case 125u:
-        ret = CAN_BAUD_125KHz;
-        break;
-
-        case 200u:
-        ret = CAN_BAUD_200KHz;
-        break;
-
-        // 250 handled in default
-
-        case 400u:
-        ret = CAN_BAUD_400KHz;
-        break;
-
-        case 500u:
-        ret = CAN_BAUD_500KHz;
-        break;
-
-        case 800u:
-        ret = CAN_BAUD_800KHz;
-        break;
-
-        case 1000u:
-        ret = CAN_BAUD_1000KHz;
-        break;
-
-        default:
-        // ret already set
-        break;
-    }
-    return ret;
-}
-
-inline void ids_from_arbitration(uint32_t arb_id, uint32_t* ep_id, uint32_t* seq_id)
-{
-    *ep_id = arb_id & CAN_EP_MASK;
-    *seq_id = (arb_id & CAN_SEQ_MASK) >> CAN_EP_SIZE;
-}
-
-inline void arbitration_from_ids(uint32_t* arb_id, uint32_t ep_id, uint32_t seq_id, uint32_t node_id)
-{
-    *arb_id = (ep_id & CAN_EP_MASK) | ((seq_id << CAN_EP_SIZE) & CAN_SEQ_MASK) | ((node_id << (CAN_EP_SIZE + CAN_SEQ_SIZE)) & CAN_DEV_MASK);
-}