Please add a note of your changes below this heading if you make a Pull Request.
- ASCII protocol commands with multiline responses (
i
,h
) now return the expected response (in v0.5.2 the response was corrupted) - odrivetool no longer shows the message
<Task pending coro=... running at ...>
when closing - Homing used to erroneously complete with
is_homed == True
even if it failed for some reason - When entering closed loop control in trapezoidal trajectory mode the axis no longer snaps to the 0 position
- Fix python DFU firmware version prerelease status resolution to use correct attribute
- Fixed firmware compiled-in version number
brake_resistor_current
added to interface for reading the commanded brake resistor current
- Removed
odrivetool generate-code
. This feature was broken in 0.5.2. Useinterface_generator.py
instead (see Tupfile.lua for examples). - Firmware boots on devices with unset OTP.
- Changed CAN heartbeat message to include "trajectory done" flag
- 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 is now correctly handled
odrivetool dfu
works properly when an ODrive is flashed with thedfu
switch set to "dfu".odrivetool dfu
now erases the entire flash memory before flashing firmware. This ensures that old configuration parameters are erased.- ASCII and the Native Protocol do not run at the same time on a UART interface. See
odrv0.config.uart0_protocol
and theSTREAM_PROTOCOL_TYPE
enums for details.
sc
command to ascii protocol to runodrv.clear_errors()
- 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 tocontroller.config
for spinout detection.mechanical_power
andelectrical_power
added tocontroller
.- Added autogenerated enums header file ODriveEnums.h for Arduino use. Created Jinja template and edited Makefile to autogenerate it. Reflected change in Dockerfile and added note in developer-guide markdown file for updating ODriveEnums.h alongside enums.py.
- Added GetPosition member function in ODriveArduino class to complement existing GetVelocity, SetVelocity, and SetPosition functions.
- 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:
- 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). - TIM8 update interrupt handler (CNT = 0) raises an NVIC flag to kick off a lower priority interrupt.
- The control loop interrupt handler checks if all ADC measurements are ready and informs both motor objects about the current measurements.
- 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 inAxis::run_control_loop()
. - 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.
- Finally, the control loop interrupt invokes
pwm_update_cb
on both motors to make them update their PWM timing registers.
- TIM8 update interrupt handler (CNT = 0) runs at a high priority and invokes the system level function
- 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
andInductanceMeasurementControlLaw
. - 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-forwardcontroller_.torque_output
inINPUT_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.
- Replaced inline enum in ODriveArduino class by including new autogenerated ODriveEnums.h header file.
- Changed the example ODriveArduinoTest.ino file to reflect the new GetPosition member function. Also removed the scope resolution operator to access the enums as it can now be accessed from the global namespace.
save_configuration()
reboots the board.
axis.config.turns_per_step
changed toaxis.controller.config.steps_per_circular_range
odrive.axis.fet_thermistor
,odrive.axis.motor_thermistor
moved toodrive.axis.motor
objectenable_uart
anduart_baudrate
were renamed toenable_uart0
anduart0_baudrate
.enable_i2c_instead_of_can
was replaced by the separate settingsenable_i2c0
andenable_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. UseAXIS_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
.
- Added motor
torque_constant
: units of torque are now [Nm] instead of just motor current. - Added
motor.config.torque_lim
: limit for motor torque in [Nm]. - Motor thermistors support
- Enable/disable of thermistor thermal limits according
setting axis.<thermistor>.enabled
. - Introduced
odrive-interface.yaml
as a root source for the ODrive's API.odrivetool
connects much faster as a side effect. - Added torque_constant and torque_lim to motor config
input_pos
,input_vel
,pos_estimate_linear
,pos_estimate_circular
, are now in units of [turns] or [turns/s] instead of [counts] or [counts/s]pos_gain
,vel_gain
,vel_integrator_gain
, are now in units of [(turns/s) / turns], [Nm/(turns/s)], [Nm/(turns/s * s)] instead of [(counts/s) / counts], [A/(counts/s)], [A/((counts/s) * s)].pos_gain
is not affected. Old values ofvel_gain
andvel_integrator_gain
should be multiplied bytorque_constant * encoder cpr
to convert from the old units to the new units.torque_constant
is approximately equal to 8.27 / (motor KV).axis.motor.thermal_current_lim
has been removed. Instead a new property is availableaxis.motor.effective_current_lim
which contains the effective current limit including any thermal limits.axis.motor.get_inverter_temp()
,axis.motor.inverter_temp_limit_lower
andaxis.motor.inverter_temp_limit_upper
have been moved to seperate fet thermistor object underaxis.fet_thermistor
.get_inverter_temp()
function has been renamed totemp
and is now a read-only property.axis.config.counts_per_step
is nowaxis.config.turns_per_step
- Outputs of
axis.sensorless_estimator
are now in turns/s instead of electrical rad/s - Fixed bug of high current during lockin-ramp caused by
motor::update()
expecting a torque command instead of current - Fixed bug where commanded velocity was extremely high just after sensorless ramp when using
input_mode
INPUT_MODE_VEL_RAMP caused byvel_setpoint
andaxis.config.sensorless_ramp.vel
being in different units
- Fixed bug of high current during lockin-ramp caused by
motor::update()
expecting a torque command instead of current - Fixed bug where commanded velocity was extremely high just after sensorless ramp when using
input_mode
INPUT_MODE_VEL_RAMP caused byvel_setpoint
andaxis.config.sensorless_ramp.vel
being in different units
- AC Induction Motor support.
- Tracking of rotor flux through rotor time constant
- Automatic d axis current for Maximum Torque Per Amp (MTPA)
- ASCII "w" commands now execute write hooks.
- Simplified control interface ("Input Filter" branch)
- New input variables:
input_pos
,input_vel
, andinput_current
- New setting
input_mode
to switch between different input behaviours- Passthrough
- Velocity Ramp
- 2nd Order Position Filter
- Trapezoidal Trajectory Planner
- Removed
set_xxx_setpoint()
functions and madexxx_setpoint
variables read-only
- New input variables:
- Preliminary support for Absolute Encoders
- Preliminary support for endstops and homing
- CAN Communication with CANSimple stack
- Gain scheduling for anti-hunt when close to 0 position error
- Velocity Limiting in Current Control mode according to
vel_limit
andvel_gain
- Regen current limiting according to
max_regen_current
, in Amps - DC Bus hard current limiting according to
dc_max_negative_current
anddc_max_positive_current
- Brake resistor logic now attempts to clamp voltage according to
odrv.config.dc_bus_overvoltage_ramp_start
andodrv.config.dc_bus_overvoltage_ramp_end
- Unit Testing with Doctest has been started for select algorithms, see Firmware/Tests/test_runner.cpp
- Added support for Flylint VSCode Extension for static code analysis
- Using an STM32F405 .svd file allows CortexDebug to view registers during debugging
- Added scripts for building via docker.
- Added ability to change uart baudrate via fibre
- Changed ratiometric
motor.config.current_lim_tolerance
to absolutemotor.config.current_lim_margin
- Moved
controller.vel_ramp_enable
to INPUT_MODE_VEL_RAMP. - Anticogging map is temporarily forced to 0.1 deg precision, but saves with the config
- Some Encoder settings have been made read-only
- Cleaned up VSCode C/C++ Configuration settings on Windows with recursive includePath
- Now compiling with C++17
- Fixed a firmware hang that could occur from unlikely but possible user input
- Added JSON caching to Fibre. This drastically reduces the time odrivetool needs to connect to an ODrive (except for the first time or after firmware updates).
- Fix IPython
RuntimeWarning
that would occur every timeodrivetool
was started. - Reboot on
erase_configuration()
. This avoids unexpected behavior of a subsequentsave_configuration()
call, since the configuration is only erased from NVM, not from RAM. - Change
motor.get_inverter_temp()
to use a property which was already being sampled atmotor.inverter_temp
- Fixed a numerical issue in the trajectory planner that could cause sudden jumps of the position setpoint
- Fixed a numerical issue in the trajectory planner that could cause sudden jumps of the position setpoint
- Separate lockin configs for sensorless, index search, and general.
- Check current limit violation: added
ERROR_CURRENT_UNSTABLE
,motor.config.current_lim_tolerance
.
- Ascii command for reboot changed from
sb
tosr
.
- Index search would trigger in the wrong place.
- A release target for ODrive v3.6
- Communication watchdog feature.
encoder.set_linear_count(count)
function.- Configurable encoder offset calibration distance and speed:
calib_scan_distance
andcalib_scan_omega
- Encoder offset calibration debug variable
calib_scan_response
- Lock-in drive feature
- Script to enable using a hall signal as index edge.
- Moved
traptraj.A_per_css
tocontroller.inertia
- Refactored velocity ramp mode into the new general input filtering structure
- Encoder index search now based on the new lock-in drive feature
- Encoder index interrupts now disabled when not searching
dump_errors()
utility function in odrivetool to dump, decode and optionally clear errors.f
command to ascii protocol to get encoder position and velocity feedback.q
command to ascii protocol. It is like the oldp
command, but velocity and current mean limits, not feed-forward.ss
,se
,sr
commands to ascii protocol, for save config, erase config and reboot.move_incremental
function for relative trajectory moves.encoder.config.ignore_illegal_hall_state
option.encoder.config.enable_phase_interpolation
option. Setting to false may reduce jerky pulsations at low speed when using hall sensor feedback.- Analog input. Used the same way as the PWM input mappings.
- Voltage limit soft clamping instead of ERROR_MODULATION_MAGNITUDE in gimbal motor closed loop.
- Thermal current limit with linear derating.
- Unified lockin drive modes. Current for index searching and encoder offset calibration now moved to axis.lockin.current.
- Added required 1.5 cycle phase shift between ADC and PWM, lack thereof caused unstable current controller at high eRPM.
- Overspeed fault
- Current sense saturation fault.
- Suppress startup transients by sampling encoder estimate into position setpoint when entering closed loop control.
- Make step dir gpio pins configurable.
- Configuration variable
encoder.config.zero_count_on_find_idx
, true by default. Set to false to leave the initial encoder count to be where the axis was at boot. - Circular position setpoint mode: position setpoints wrapped [0, cpr). Useful for infinite incremental position control.
- Velocity setpoint ramping. Use velocity control mode, and set
controller.vel_ramp_enable
to true. This will rampcontroller.vel_setpoint
towardscontroller.vel_ramp_target
at a ramp rate ofcontroller.config.vel_ramp_rate
.
- Increased switching frequency from around 8kHz to 24kHz. Control loops still run at 8kHz.
- Renamed
axis.enable_step_dir
toaxis.step_dir_active
- New process for working with STM32CubeMX.
- Would get ERROR_CONTROL_DEADLINE_MISSED along with every ERROR_PHASE_RESISTANCE_OUT_OF_RANGE.
- ODrive tool can now run interactive nested scripts with "%run -i script.py"
- Broken printing of floats on ascii protocol
- Trapezoidal Trajectory Planner
- Hook to execute protocol property written callback
- -Wdouble-promotion warning to compilation
- Make python tools compatible with python 2.7 (so it can be used with ROS)
- Threading API constructor can't take the daemon parameter, so all thread creation had to be expanded out.
TimeoutError
isn't defined, but it makes for more readable code, so I defined it as an OSError subclass.ModuleNotFoundError
is replaced by the older ImportError.- Print function imported from future
- Using new hooks to calculate:
motor.config.current_control_bandwidth
- This deprecates
motor.set_current_control_bandwidth()
- This deprecates
encoder.config.bandwidth
- Default value for
motor.resistance_calib_max_voltage
changed to 2.0
- An issue where the axis state machine would jump in and out of idle when there is an error
- There is a bug in the arm fast math library, which gives spikes in the output of arm_cos_f32 for input values close to -pi/2. We fixed the bug locally, and hence are using "our_arm_cos_f32".
- Serious reliability issue with USB communication where packets on Native and the CDC interface would collide with each other.
min_endstop
andmax_endstop
objects can be configured on GPIO- Axes can be homed if
min_endstop
is enabled - Encoder position count "homed" to zero when index is found.
- We now enforce encoder offset calibration must happen after index is found (if using index)
- Renaming of the velocity estimate
pll_vel
->vel_estimate
. - Hardcoded maximum inductance now 2500 uH.
- Incorrect shifting of offset during index callback
- Once you got an axis error
ERROR_INVALID_STATE
you could never clear it - Char to int conversion to read motornum on arduino example
- GPIO above #5 would not be used correctly in some cases
- 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
andmotor.set_current_control_bandwidth
. Latter required to invoke gain recalculation.encoder.config.bandwidth
sensorless_estimator.config.pm_flux_linkage
- Encoder errors would show up as Axis error
ERROR_MOTOR_FAILED
instead ofERROR_ENCODER_FAILED
. - Various pip install dependencies
- Ability for python tools threads to quit properly
- dfuse error prints now python3 compatible
- 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 thehw_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
- DFU script updates
- Verify the flash after writing
- Automatically download firmware from GitHub releases if no file is provided
- Retain configuration during firmware updates
- Refactor python tools
- The scripts
explore_odrive.py
,liveplotter.py
,drv_status.py
andrate_test.py
have been merged into one singleodrivetool
script. Running this script without any arguments provides the shell thatexplore_odrive.py
used to provide. - The command line options of
odrivetool
have changed compared to the originalexplore_odrive.py
. Seeodrivetool --help
for more details. odrivetool
(previouslyexplore_odrive.py
) now supports controlling multiple ODrives concurrently (odrv0
,odrv1
, ...)- No need to restart the
odrivetool
shell when devices get disconnected and reconnected - ODrive accesses from within python tools are now thread-safe. That means you can read from the same remote property from multiple threads concurrently.
- The liveplotter (
odrivetool liveplotter
, formerlyliveplotter.py
) does no longer steal focus and closes as expected - Add commands
odrivetool backup-config
andodrivetool restore-config
- (experimental: start liveplotter from
odrivetool
shell by typingstart_liveplotter(lambda: odrv0.motor0.encoder.encoder_state)
)
- The scripts
- Set thread priority of USB pump thread above protocol thread
- GPIO3 not sensitive to edges by default
- The device now appears as a composite device on USB. One subdevice is still a CDC device (virtual COM port), the other subdevice is a vendor specific class. This should resolve several issues that were caused by conflicting kernel drivers or OS services.
- Add WinUSB descriptors. This will tell Windows >= 8 to automatically load winusb.sys for the ODrive (only for the vendor specific subdevice). This makes it possible to use the ODrive from userspace via WinUSB with zero configuration. The Python tool currently still uses libusb so Zadig is still required.
- Add a configuration to enable the ASCII protocol on USB at runtime. This will only enable the ASCII protocol on the USB CDC subdevice, not the vendor specific subdevice so the python tools will still be able to talk to the ODrive.
- Enums now transported with correct underlying type on native protocol
- USB issue where the device would stop responding when the host script would quit abruptly or reset the device during operation
- Storing of configuration parameters to Non Volatile Memory
- USB Bootloader
make erase_config
to erase the configuration with an STLink (the configuration can also be erased from within explore_odrive.py, usingodrv0.erase_configuration()
)- Travis-CI builds firmware for all board versions and deploys the binaries when a tag is pushed to master
- General purpose ADC API. See function get_adc_voltage() in low_level.cpp for more detais.
- Most of the code from
lowlevel.c
moved toaxis.cpp
,encoder.cpp
,controller.cpp
,sensorless_estimator.cpp
,motor.cpp
and the corresponding header files - Refactoring of the developer-facing communication protocol interface. See e.g.
axis.hpp
orcontroller.hpp
for examples on how to add your own fields and functions - Change of the user-facing field paths. E.g.
my_odrive.motor0.pos_setpoint
is now atmy_odrive.axis0.controller.pos_setpoint
. Names are mostly unchanged. - Rewrite of the top-level per-axis state-machine
- The build is now configured using the
tup.config
file instead of editing source files. Make sure you set your board version correctly. See here for details. - The toplevel directory for tup is now
Firmware
. If you used tup before, go toFirmware
and runrm -rd ../.tup; rm -rd build/*; make
. - Update CubeMX generated STM platform code to version 1.19.0
- Remove
UUID_0
,UUID_1
andUUID_2
from USB protocol. Useserial_number
instead. - Freertos memory pool (task stacks, etc) now uses Core Coupled Memory.
- malloc now fails if we run out of memory (before it would always succeed even if we are out of ram...)
- Reporting error if your encoder CPR is incorrect
- Ability to start anticogging calibration over USB protocol
- Reporting of DRV status/control registers and fault codes
- DRV status read script
- Microsecond delay function
- Travis-CI
- Firmware update over USB
- Build system is now tup instead of make. Please check the Readme for installation instructions.
- Broken way to check for python 2. Python 2 not supported yet.
- Liveplotter script
- Automatic recovery of USB halt/stall condition
- Modified python code to be Python 2 compatible
- USB CSC (USB serial) now reports a sensible baud rate
- Gimbal motor mode
- Encoder index pulse support
resistance_calib_max_voltage
parameter
- UUID Endpoint
- Reporting of correct ODrive version on USB descriptor
- Getting started instructions for VSCode
- USB Product ID to 0x0D32, as it is the only Pid we were allocated on pid.codes
- Recommended method to debug firmware from VSCode now uses Cortex-Debug extension instead of native-debug.
- Refactor IDE instructions into separate files
- Bug where the remote function calls from Python to the ODrive were not working properly.
- New binary communication protocol
- This is a much richer and more efficient binary protocol than the old human-readable protocol.
- The old protocol is still available (but will be depricated eventually). You must manually chose to fall back on this protocol if you wish to still use it.
- Support for C++
- Demo scripts for getting started with commanding ODrive from python
- Protection from user setting current_lim higher than is measurable
- Current sense shunt values for HW v3.4
- Check DRV chip fault line
- Shunt resistance values for v3.3 and earlier to include extra resistance of PCB
- Default HW revision to v3.4
- Refactoring of control code:
- Lifted top layer of low_level.c into Axis.cpp
- Incorrect TIM14 interrupt mapping on board v3.2 caused hard-fault
- GPIO communication mode now defaults to NONE
- USB communication deadlock
- EXTI handler redefiniton in V3.2
- Resistance/inductance measurement now saved dispite errors, to allow debugging
- UART communication
- Setting to select UART or Step/dir on GIPIO 1,2
- Basic Anti-cogging
- Step/Dir interface
- this Changelog
- motor control interrupt timing diagram
- uint16 exposed variable type
- null termination to USB string parsing
- Fixed Resistance measurement bug
- Simplified motor control adc triggers
- Increased AUX bridge deadtime