1.14.4 Several fixes. Better E-Stop handling

CHANGELOG.md

@@ -1,11 +1,16 @@
 ### Changes this version:
-- Only activate brake resistor if vint and vext are >6.5V. Prevents board from activating resistor if only usb powered and a fault reset loop
-- Changed behaviour of direction enable and axis enable bits in set_effect report to always apply direction vector
-    - Fix for Forza Motorsport
+- TMC E-Stop handled even during calibration by pausing and disabling driver
+- E-Stop checked correctly after startup. You can now disable force and delay startup by setting E-Stop during startup.
+- Digital and Analog sources are disabled by default
+- Biss-C 1 rotation offset glitch at first packet fixed
+- Reverted CAN retransmission to enabled temporarily. Fixes 2 axis ODrive issues.
 
 ### Changes since v1.14.0
 - Save TMC space vector PWM mode in flash. Should be usually on for BLDC motors if the star point is isolated.
 - Allow using the motors flux component to dissipate energy with the TMC4671 instead of the brake resistor. May cause noticable braking in the motor but takes stress off the resistor.
 - Axis speed limiter usable and saved in flash.
 - Removed unused hall direction flash setting.
-- Added local button pulse mode
+- Added local button pulse mode
+- Only activate brake resistor if vint and vext are >6.5V. Prevents board from activating resistor if only usb powered and a fault reset loop
+- Changed behaviour of direction enable and axis enable bits in set_effect report to always apply direction vector
+    - Fix for Forza Motorsport

Firmware/FFBoard/Inc/ClassChooser.h

@@ -99,7 +99,7 @@ class ClassChooser {
 	 */
 	T* Create(uint16_t id){
 		T* cls = nullptr;
-		for(class_entry<T> e : *class_registry){
+		for(const class_entry<T>& e : *class_registry){
 
 			if(e.selectionId == id && e.isCreatable()){
 				cls = e.create();
@@ -114,7 +114,7 @@ class ClassChooser {
 	 * Checks the isCreatable() function
 	 */
 	bool isCreatable(uint16_t id){
-		for(class_entry<T> e : *class_registry){
+		for(const class_entry<T>& e : *class_registry){
 			if(e.selectionId == id && e.isCreatable()){
 				return true;
 			}
@@ -127,18 +127,18 @@ class ClassChooser {
 	 * Generates replies for the command system listing selectable classes
 	 */
 	void replyAvailableClasses(std::vector<CommandReply>& replies,int16_t ignoredCreatableId = 255){
-		for(class_entry<T> cls : *class_registry){
+		for(const class_entry<T>& cls : *class_registry){
 			if(cls.info.visibility == ClassVisibility::hidden || (cls.info.visibility == ClassVisibility::debug && !SystemCommands::debugMode)){
 				if(ignoredCreatableId != cls.selectionId)
 					continue;
 			}
-			std::string ret;
+//			std::string ret;
 			CommandReply replyObj;
-			ret+= std::to_string(cls.selectionId);
-			ret+= ":";
-			ret+= (cls.isCreatable() || ignoredCreatableId == cls.selectionId) ? "1" : "0";
-			ret+= ":";
-			ret+= cls.info.name;
+			replyObj.reply+= std::to_string(cls.selectionId);
+			replyObj.reply+= ":";
+			replyObj.reply+= (cls.isCreatable() || ignoredCreatableId == cls.selectionId) ? "1" : "0";
+			replyObj.reply+= ":";
+			replyObj.reply+= cls.info.name;
 
 			if(cls.isCreatable()){
 				replyObj.type = CommandReplyType::STRING_OR_DOUBLEINT;
@@ -147,7 +147,7 @@ class ClassChooser {
 			}else{
 				replyObj.type = CommandReplyType::STRING;
 			}
-			replyObj.reply = ret;
+//			replyObj.reply = ret;
 			replies.push_back(replyObj);
 		}
 	}
@@ -157,7 +157,7 @@ class ClassChooser {
 	 * Returns if this id is actually in the list of possible classes
 	 */
 	bool isValidClassId(uint16_t id){
-		for(class_entry<T> cls : *class_registry){
+		for(const class_entry<T>& cls : *class_registry){
 			if(cls.selectionId == id){
 				return true;
 			}

Firmware/FFBoard/Inc/I2C.h

@@ -47,6 +47,8 @@ class I2CPort : public I2CHandler, public CommandHandler, public PersistentStora
 	bool readMemIT(I2CDevice* device,const uint16_t devAddr,const uint16_t memAddr,const uint16_t memAddSize,uint8_t* pData,const uint16_t size,bool shiftAddr = true);
 	bool writeMemIT(I2CDevice* device,const uint16_t devAddr,const uint16_t memAddr,const uint16_t memAddSize,uint8_t* pData,const uint16_t size,bool shiftAddr = true);
 
+	bool isDeviceReady(I2CDevice* device,const uint16_t devAddr,const uint32_t trials,uint32_t timeout,bool shiftAddr = true);
+
 	void takeSemaphore();
 	void giveSemaphore();
 	bool isTaken();

Firmware/FFBoard/Inc/constants.h

@@ -8,7 +8,7 @@
  * For more settings see target_constants.h in a target specific folder
  */
 
-static const uint8_t SW_VERSION_INT[3] = {1,14,3}; // Version as array. 8 bit each!
+static const uint8_t SW_VERSION_INT[3] = {1,14,4}; // Version as array. 8 bit each!
 #define MAX_AXIS 2 // ONLY USE 2 for now else screws HID Reports
 #define FLASH_VERSION 0 // Counter to increase whenever a full flash erase is required.
 

Firmware/FFBoard/Src/I2C.cpp

@@ -235,6 +235,14 @@ bool I2CPort::writeMemIT(I2CDevice* device,const uint16_t devAddr,const uint16_t
 	return flag;
 }
 
+bool I2CPort::isDeviceReady(I2CDevice* device,const uint16_t devAddr,const uint32_t trials,uint32_t timeout,bool shiftAddr){
+	currentDevice = device;
+	device->startI2CTransfer(this);
+	bool flag = HAL_I2C_IsDeviceReady(&this->hi2c, shiftAddr ? devAddr << 1 : devAddr, trials,timeout) == HAL_OK;
+	device->endI2CTransfer(this);
+	return flag;
+}
+
 void I2CPort::I2cTxCplt(I2C_HandleTypeDef *hi2c){
 	if (currentDevice == nullptr) {
 		return;

Firmware/FFBoard/UserExtensions/Inc/EncoderLocal.h

@@ -16,6 +16,7 @@
 #include "CommandHandler.h"
 #include "PersistentStorage.h"
 
+#ifdef LOCALENCODER
 extern TIM_HandleTypeDef TIM_ENC;
 
 
@@ -64,5 +65,5 @@ class EncoderLocal: public Encoder,public ExtiHandler,TimerHandler,public Comman
 	bool indexHit = false;
 	bool useIndex = false;
 };
-
+#endif
 #endif /* ENCODERLOCAL_H_ */

Firmware/FFBoard/UserExtensions/Inc/FFBHIDMain.h

@@ -117,8 +117,8 @@ class FFBHIDMain: public FFBoardMain, public cpp_freertos::Thread, PersistentSto
 	uint8_t reportSendCounter = 0;
 
 	const uint8_t analogAxisCount = 8;
-	uint16_t btnsources = 1; // Default ID0 = local buttons
-	uint16_t ainsources = 1;
+	uint16_t btnsources = 0; // Disabled by default
+	uint16_t ainsources = 0;
 
 
 	ClassChooser<ButtonSource> btn_chooser;

Firmware/FFBoard/UserExtensions/Src/EncoderBissC.cpp

@@ -41,6 +41,7 @@ EncoderBissC::EncoderBissC() :
 }
 
 void EncoderBissC::Run(){
+	bool first = true;
 	while(true){
 		requestNewDataSem.Take(); // Wait until a position is requested
 		waitData = true;
@@ -49,6 +50,10 @@ void EncoderBissC::Run(){
 
 		if(updateFrame()){
 			pos = newPos;
+			if(first){ // Prevent immediate multiturn update
+				lastPos = pos;
+				first = false;
+			}
 			//handle multiturn
 			if(pos-lastPos > 1<<(lenghtDataBit-1)){
 				mtpos--;

Firmware/FFBoard/UserExtensions/Src/EncoderLocal.cpp

@@ -7,7 +7,7 @@
 
 #include "EncoderLocal.h"
 #include "flash_helpers.h"
-
+#ifdef LOCALENCODER
 bool EncoderLocal::inUse = false;
 ClassIdentifier EncoderLocal::info = {
 		 .name = "Local ABN" ,
@@ -144,3 +144,4 @@ CommandStatus EncoderLocal::command(const ParsedCommand& cmd,std::vector<Command
 
 	return CommandStatus::OK;
 }
+#endif

Firmware/FFBoard/UserExtensions/Src/FFBHIDMain.cpp

@@ -75,15 +75,6 @@ FFBHIDMain::FFBHIDMain(uint8_t axisCount) :
 	restoreFlash(); // Load parameters
 	registerCommands();
 
-
-#ifdef E_STOP_Pin
-	bool estopState = HAL_GPIO_ReadPin(E_STOP_GPIO_Port, E_STOP_Pin) == GPIO_PIN_RESET;
-	if(estopState){ // Estop pressed at startup
-		emergencyStop(!estopState);
-		lastEstop = HAL_GetTick();
-	}
-#endif
-
 }
 
 /**
@@ -138,6 +129,14 @@ void FFBHIDMain::saveFlash(){
 
 
 void FFBHIDMain::Run(){
+#ifdef E_STOP_Pin
+	bool estopState = HAL_GPIO_ReadPin(E_STOP_GPIO_Port, E_STOP_Pin) == GPIO_PIN_RESET;
+	if(estopState){ // Estop pressed at startup
+		emergencyStop(!estopState);
+//		control.emergency = true; // Immediately enter emergency state but without notifying other classes yet
+		lastEstop = HAL_GetTick();
+	}
+#endif
 	while(true){
 		Delay(1);
 		updateControl();

Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp

@@ -438,7 +438,7 @@ void TMC4671::Run(){
 		case TMC_ControlState::uninitialized:
 			allowStateChange = false;
 			// check communication and write constants
-			if(!pingDriver()){ // driver not available
+			if(!pingDriver() || emergency){ // driver not available or emergency was set before startup
 				initialized = false; // Assume driver is not initialized if we can not detect it
 				Delay(250);
 				break;
@@ -456,7 +456,7 @@ void TMC4671::Run(){
 			pulseClipLed(); // blink led
 			static uint8_t powerCheckCounter = 0;
 			// if powered check ADCs and go to encoder calibration
-			if(!hasPower()){
+			if(!hasPower() || emergency){
 				powerCheckCounter = 0;
 				Delay(250);
 				break;
@@ -634,6 +634,10 @@ void TMC4671::Run(){
 			flagCheckInProgress = false;
 		}
 		Delay(10);
+
+		if(emergency && !motorReady()){
+			this->Suspend(); // we can not safely run. wait until resumed by estop
+		}
 	} // End while
 }
 
@@ -1650,7 +1654,7 @@ void TMC4671::setUdUq(int16_t ud,int16_t uq){
 void TMC4671::stopMotor(){
 	// Stop driver if running
 
-	//enablePin.reset();
+	enablePin.reset();
 	motorEnabledRequested = false;
 	if(state == TMC_ControlState::Running || state == TMC_ControlState::EncoderFinished){
 		setMotionMode(MotionMode::stop,true);
@@ -1660,43 +1664,46 @@ void TMC4671::stopMotor(){
 }
 void TMC4671::startMotor(){
 	motorEnabledRequested = true;
-	if(!initialized || emergency){
-		//initialize();
-		emergency = false;
-//		if(state != TMC_ControlState::Init_wait)
-//			changeState(TMC_ControlState::Init_wait);
-	}
 
 	if(state == TMC_ControlState::Shutdown && initialized && encoderAligned){
 		changeState(TMC_ControlState::Running);
 	}
-	// Start driver if powered
-	if(hasPower()){
+	// Start driver if powered and emergency flag reset
+	if(hasPower() && !emergency){
 		setPwm(TMC_PwmMode::PWM_FOC); // enable foc
+		enablePin.set();
 		setMotionMode(nextMotionMode,true);
 
 	}
-//	else{
-//		changeState(TMC_ControlState::waitPower);
-//	}
+	else{
+		changeState(TMC_ControlState::waitPower);
+	}
 
 }
 
 void TMC4671::emergencyStop(bool reset){
 	if(!reset){
-		setPwm(TMC_PwmMode::HSlow_LShigh); // Short low side for instant stop
+//		setPwm(TMC_PwmMode::HSlow_LShigh); // Short low side for instant stop
 		emergency = true;
 		enablePin.reset(); // Release enable pin to disable the whole driver
 		motorEnabledRequested = false;
 		this->stopMotor();
+
 	}else{
-		enablePin.set();
-		setPwm(TMC_PwmMode::PWM_FOC);
+//		enablePin.set();
+//		writeReg(0x64, 0); // Set flux and torque 0 directly. Make sure motor does not jump
+//		setPwm(TMC_PwmMode::PWM_FOC);
 		emergency = false;
 		motorEnabledRequested = true;
 		//this->changeState(TMC_ControlState::waitPower, true); // Reinit
 		this->startMotor();
-
+		if(!motorReady()){
+			if(inIsr()){
+				ResumeFromISR();
+			}else{
+				Resume();
+			}
+		}
 	}
 }
 
@@ -2043,7 +2050,7 @@ int16_t TMC4671::getFlux(){
 	return readReg(0x64) && 0xffff;
 }
 void TMC4671::setFluxTorque(int16_t flux, int16_t torque){
-	if(curMotionMode != MotionMode::torque){
+	if(curMotionMode != MotionMode::torque && !emergency){
 		setMotionMode(MotionMode::torque,true);
 	}
 	writeReg(0x64, (flux & 0xffff) | (torque << 16));

Firmware/Targets/F407VG/Core/Src/main.c

@@ -486,7 +486,7 @@ static void MX_CAN1_Init(void)
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)

Firmware/Targets/F407VG/OpenFFBoard_F407VG.ioc

@@ -66,7 +66,7 @@ CAN1.CalculateTimeBit=2000
 CAN1.CalculateTimeQuantum=142.85714285714286
 CAN1.IPParameters=Prescaler,BS1,SJW,TTCM,ABOM,AWUM,NART,RFLM,TXFP,Mode,CalculateTimeQuantum,BS2,CalculateTimeBit,CalculateBaudRate
 CAN1.Mode=CAN_MODE_NORMAL
-CAN1.NART=DISABLE
+CAN1.NART=ENABLE
 CAN1.Prescaler=6
 CAN1.RFLM=DISABLE
 CAN1.SJW=CAN_SJW_1TQ

Firmware/Targets/F407VG_DISCO/Core/Src/main.c

@@ -447,7 +447,7 @@ static void MX_CAN1_Init(void)
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)

Firmware/Targets/F407VG_DISCO/OpenFFBoard_F407VG_DISCO.ioc

@@ -53,7 +53,7 @@ CAN1.CalculateTimeBit=2000
 CAN1.CalculateTimeQuantum=142.85714285714286
 CAN1.IPParameters=Prescaler,BS1,SJW,TTCM,ABOM,AWUM,NART,RFLM,TXFP,Mode,CalculateTimeQuantum,BS2,CalculateTimeBit,CalculateBaudRate
 CAN1.Mode=CAN_MODE_NORMAL
-CAN1.NART=DISABLE
+CAN1.NART=ENABLE
 CAN1.Prescaler=6
 CAN1.RFLM=DISABLE
 CAN1.SJW=CAN_SJW_1TQ