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Robot Stack Release 8.2.0 #812

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Robot Stack Release 8.2.0 #812

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2843bb1
feat(hepa-uv): add support for the safety relay in the new revision o…
vegano1 Jun 17, 2024
4169f60
Revert "fix(motor-control): Revert motor driver chip errors (#777)" (…
pmoegenburg Aug 21, 2024
32a9873
delay before ebrake gets disengaged, not after (#804)
ahiuchingau Sep 23, 2024
effc1fe
chore(merge): merge release at v52 into main
y3rsh Sep 30, 2024
612879b
fix(hepa-uv): fix issue when turning on UV after re-seating the hepa/…
y3rsh Sep 30, 2024
f7d5bbf
fix(hepa-uv): fix issue when turning on UV after re-seating the hepa/…
y3rsh Oct 7, 2024
03a648a
chore(release): merge v55 release to main
y3rsh Oct 7, 2024
d0285bd
add this delay back in so the ebrake can fully disengage before movin…
ahiuchingau Oct 10, 2024
79df497
fix(hepa-uv): assume safety relay pin is true for rev b boards withou…
vegano1 Oct 11, 2024
e5e1817
feat(sensors): add a new can message to batch read sensor data (#805)
ryanthecoder Oct 16, 2024
2ffc6ce
fix(motor-control): catch falling 96 channel (#810)
ryanthecoder Oct 24, 2024
744fb80
fix(motor-control): Reimplement motor driver chip errors as poller (#…
ryanthecoder Oct 25, 2024
09f9871
fix(motion-control): Don't clear stepper-ok in stop request (#813) (#…
sfoster1 Nov 7, 2024
9b4907f
fix how the batch message is seralized on the firmware (#815)
ryanthecoder Nov 7, 2024
7b650fc
fix(gripper): add stopped state (#816)
ryanthecoder Nov 15, 2024
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2 changes: 1 addition & 1 deletion .github/workflows/build-tests.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ jobs:
build-and-test:
name: Run all tests
runs-on: "ubuntu-20.04"
timeout-minutes: 10
timeout-minutes: 20
steps:
- name: Checkout ot3-firmware repo
uses: actions/checkout@v4
Expand Down
28 changes: 20 additions & 8 deletions gantry/firmware/interfaces_proto.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,10 +86,16 @@ struct motion_controller::HardwareConfig motor_pins_x {
.port = GPIOB,
.pin = GPIO_PIN_7,
.active_setting = GPIO_PIN_RESET},
.estop_in = {
.estop_in =
{
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOA,
.pin = GPIO_PIN_10,
.active_setting = GPIO_PIN_RESET},
.diag0 = {
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOA,
.pin = GPIO_PIN_10,
.port = GPIOC,
.pin = GPIO_PIN_5,
.active_setting = GPIO_PIN_RESET}
};

Expand Down Expand Up @@ -125,15 +131,21 @@ struct motion_controller::HardwareConfig motor_pins_y {
.port = GPIOB,
.pin = GPIO_PIN_5,
.active_setting = GPIO_PIN_RESET},
.estop_in = {
.estop_in =
{
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOA,
.pin = GPIO_PIN_10,
.active_setting = GPIO_PIN_RESET},
.diag0 = {
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOA,
.pin = GPIO_PIN_10,
.port = GPIOC,
.pin = GPIO_PIN_5,
.active_setting = GPIO_PIN_RESET}
};

static tmc2130::configs::TMC2130DriverConfig gantry_x_driver_configs{
.registers = {.gconfig = {.en_pwm_mode = 1},
.registers = {.gconfig = {.en_pwm_mode = 1, .diag0_error = 1},
.ihold_irun = {.hold_current = 0x2,
.run_current = 0x18,
.hold_current_delay = 0x7},
Expand All @@ -156,7 +168,7 @@ static tmc2130::configs::TMC2130DriverConfig gantry_x_driver_configs{
}};

static tmc2130::configs::TMC2130DriverConfig gantry_y_driver_configs{
.registers = {.gconfig = {.en_pwm_mode = 1},
.registers = {.gconfig = {.en_pwm_mode = 1, .diag0_error = 1},
.ihold_irun = {.hold_current = 0x2,
.run_current = 0x18,
.hold_current_delay = 0x7},
Expand Down
30 changes: 22 additions & 8 deletions gantry/firmware/interfaces_rev1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,10 +86,16 @@ struct motion_controller::HardwareConfig motor_pins_x {
.port = GPIOB,
.pin = GPIO_PIN_7,
.active_setting = GPIO_PIN_RESET},
.estop_in = {
.estop_in =
{
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOA,
.pin = GPIO_PIN_10,
.active_setting = GPIO_PIN_RESET},
.diag0 = {
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOA,
.pin = GPIO_PIN_10,
.port = GPIOC,
.pin = GPIO_PIN_5,
.active_setting = GPIO_PIN_RESET}
};

Expand Down Expand Up @@ -125,15 +131,21 @@ struct motion_controller::HardwareConfig motor_pins_y {
.port = GPIOB,
.pin = GPIO_PIN_7,
.active_setting = GPIO_PIN_RESET},
.estop_in = {
.estop_in =
{
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOA,
.pin = GPIO_PIN_10,
.active_setting = GPIO_PIN_RESET},
.diag0 = {
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOA,
.pin = GPIO_PIN_10,
.port = GPIOC,
.pin = GPIO_PIN_5,
.active_setting = GPIO_PIN_RESET}
};

static tmc2160::configs::TMC2160DriverConfig motor_driver_config_x{
.registers = {.gconfig = {.en_pwm_mode = 0},
.registers = {.gconfig = {.en_pwm_mode = 0, .diag0_error = 1},
.ihold_irun = {.hold_current = 16,
.run_current = 31,
.hold_current_delay = 0x7},
Expand All @@ -159,6 +171,7 @@ static tmc2160::configs::TMC2160DriverConfig motor_driver_config_x{
.freewheel = 0,
.pwm_reg = 0x7,
.pwm_lim = 0xC},
.drvconf = {.ot_select = 0},
.glob_scale = {.global_scaler = 0xA7}},
.current_config =
{
Expand All @@ -172,7 +185,7 @@ static tmc2160::configs::TMC2160DriverConfig motor_driver_config_x{
}};

static tmc2160::configs::TMC2160DriverConfig motor_driver_config_y{
.registers = {.gconfig = {.en_pwm_mode = 0},
.registers = {.gconfig = {.en_pwm_mode = 0, .diag0_error = 1},
.ihold_irun = {.hold_current = 16,
.run_current = 31,
.hold_current_delay = 0x7},
Expand All @@ -198,6 +211,7 @@ static tmc2160::configs::TMC2160DriverConfig motor_driver_config_y{
.freewheel = 0,
.pwm_reg = 0x7,
.pwm_lim = 0xC},
.drvconf = {.ot_select = 0},
.glob_scale = {.global_scaler = 0xA7}},
.current_config =
{
Expand Down
10 changes: 9 additions & 1 deletion gantry/firmware/motor_hardware.c
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Expand Up @@ -23,6 +23,8 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
PC8 ------> Motor Step Pin
Enable
PA9 ------> Motor Enable Pin
DIAG0
PC5 ------> Motor Diag0 Pin
*/
GPIO_InitStruct.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
Expand Down Expand Up @@ -54,6 +56,12 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(GPIOA, // NOLINT(cppcoreguidelines-pro-type-cstyle-cast)
&GPIO_InitStruct);

// Diag0
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
}
}
SPI_HandleTypeDef hspi2 = {
Expand Down Expand Up @@ -87,7 +95,7 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) {
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 |
GPIO_PIN_15 | GPIO_PIN_1);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9);
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_8);
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_8 | GPIO_PIN_5);
}
}

Expand Down
9 changes: 8 additions & 1 deletion gripper/firmware/interfaces_z_motor.cpp
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Expand Up @@ -103,7 +103,13 @@ struct motion_controller::HardwareConfig motor_pins {
.port = ESTOP_IN_PORT,
.pin = ESTOP_IN_PIN,
.active_setting = GPIO_PIN_RESET},
.ebrake = ebrake,
.diag0 =
{
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOB,
.pin = GPIO_PIN_2,
.active_setting = GPIO_PIN_RESET},
.ebrake = ebrake
};

/**
Expand All @@ -119,6 +125,7 @@ static motor_hardware::MotorHardware motor_hardware_iface(motor_pins, &htim7,
*/
static tmc2130::configs::TMC2130DriverConfig MotorDriverConfigurations{
.registers = {.gconfig = {.en_pwm_mode = 0x0,
.diag0_error = 1,
.stop_enable = use_stop_enable},
.ihold_irun = {.hold_current = 0x2, // 0.177A
.run_current = 0xA, // 0.648A
Expand Down
7 changes: 7 additions & 0 deletions gripper/firmware/utility_gpio.c
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Expand Up @@ -108,6 +108,8 @@ static void z_motor_gpio_init(void) {
PB1 ------> Motor Step Pin
Enable
PA9 ------> Motor Enable Pin
Diag0
PB2 ------> Motor Diag0 Pin
*/
GPIO_InitStruct.Pin = Z_MOT_DIR_PIN | Z_MOT_STEP_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
Expand All @@ -119,6 +121,11 @@ static void z_motor_gpio_init(void) {
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(Z_MOT_ENABLE_PORT, // NOLINT(cppcoreguidelines-pro-type-cstyle-cast)
&GPIO_InitStruct);

GPIO_InitStruct.Pin = Z_MOT_DIAG0_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(Z_MOT_STEPDIR_PORT, &GPIO_InitStruct);
}

#if PCBA_PRIMARY_REVISION != 'b' && PCBA_PRIMARY_REVISION != 'a'
Expand Down
3 changes: 2 additions & 1 deletion head/core/can_task.cpp
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Expand Up @@ -28,7 +28,8 @@ using MotorDispatchTarget = can::dispatch::DispatchParseTarget<
can::message_handlers::motor::MotorHandler<head_tasks::MotorQueueClient>,
can::messages::ReadMotorDriverRegister,
can::messages::WriteMotorDriverRegister,
can::messages::WriteMotorCurrentRequest>;
can::messages::WriteMotorCurrentRequest,
can::messages::ReadMotorDriverErrorStatusRequest>;
using MoveGroupDispatchTarget = can::dispatch::DispatchParseTarget<
can::message_handlers::move_group::MoveGroupHandler<
head_tasks::MotorQueueClient>,
Expand Down
28 changes: 20 additions & 8 deletions head/firmware/main_proto.cpp
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Expand Up @@ -142,10 +142,16 @@ struct motor_hardware::HardwareConfig pin_configurations_left {
.port = GPIOA,
.pin = GPIO_PIN_8,
.active_setting = GPIO_PIN_RESET},
.estop_in = {
.estop_in =
{
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOB,
.pin = GPIO_PIN_4,
.active_setting = GPIO_PIN_RESET},
.diag0 = {
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOB,
.pin = GPIO_PIN_4,
.port = GPIOC,
.pin = GPIO_PIN_13,
.active_setting = GPIO_PIN_RESET}
};

Expand Down Expand Up @@ -186,18 +192,24 @@ struct motor_hardware::HardwareConfig pin_configurations_right {
.port = GPIOA,
.pin = GPIO_PIN_8,
.active_setting = GPIO_PIN_RESET},
.estop_in = {
.estop_in =
{
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOB,
.pin = GPIO_PIN_4,
.active_setting = GPIO_PIN_RESET},
.diag0 = {
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOB,
.pin = GPIO_PIN_4,
.port = GPIOC,
.pin = GPIO_PIN_15,
.active_setting = GPIO_PIN_RESET}
};

// TODO clean up the head main file by using interfaces.
static tmc2130::configs::TMC2130DriverConfig motor_driver_configs_right{
.registers =
{
.gconfig = {.en_pwm_mode = 1},
.gconfig = {.en_pwm_mode = 1, .diag0_error = 1},
.ihold_irun = {.hold_current = 0xB,
.run_current = 0x19,
.hold_current_delay = 0x7},
Expand All @@ -224,7 +236,7 @@ static tmc2130::configs::TMC2130DriverConfig motor_driver_configs_right{
static tmc2130::configs::TMC2130DriverConfig motor_driver_configs_left{
.registers =
{
.gconfig = {.en_pwm_mode = 1},
.gconfig = {.en_pwm_mode = 1, .diag0_error = 1},
.ihold_irun = {.hold_current = 0xB,
.run_current = 0x19,
.hold_current_delay = 0x7},
Expand Down
16 changes: 14 additions & 2 deletions head/firmware/main_rev1.cpp
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Expand Up @@ -154,6 +154,12 @@ struct motor_hardware::HardwareConfig pin_configurations_left {
.port = GPIOB,
.pin = GPIO_PIN_4,
.active_setting = GPIO_PIN_RESET},
.diag0 =
{
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOC,
.pin = GPIO_PIN_13,
.active_setting = GPIO_PIN_RESET},
.ebrake = gpio::PinConfig {
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOB, .pin = GPIO_PIN_5, .active_setting = GPIO_PIN_RESET
Expand Down Expand Up @@ -198,6 +204,12 @@ struct motor_hardware::HardwareConfig pin_configurations_right {
.port = GPIOB,
.pin = GPIO_PIN_4,
.active_setting = GPIO_PIN_RESET},
.diag0 =
{
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOC,
.pin = GPIO_PIN_15,
.active_setting = GPIO_PIN_RESET},
.ebrake = gpio::PinConfig {
// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
.port = GPIOB, .pin = GPIO_PIN_0, .active_setting = GPIO_PIN_RESET
Expand All @@ -206,7 +218,7 @@ struct motor_hardware::HardwareConfig pin_configurations_right {

// TODO clean up the head main file by using interfaces.
static tmc2160::configs::TMC2160DriverConfig motor_driver_configs_right{
.registers = {.gconfig = {.en_pwm_mode = 0},
.registers = {.gconfig = {.en_pwm_mode = 0, .diag0_error = 1},
.ihold_irun = {.hold_current = 16,
.run_current = 31,
.hold_current_delay = 0x7},
Expand All @@ -232,7 +244,7 @@ static tmc2160::configs::TMC2160DriverConfig motor_driver_configs_right{
}};

static tmc2160::configs::TMC2160DriverConfig motor_driver_configs_left{
.registers = {.gconfig = {.en_pwm_mode = 0},
.registers = {.gconfig = {.en_pwm_mode = 0, .diag0_error = 1},
.ihold_irun = {.hold_current = 16,
.run_current = 31,
.hold_current_delay = 0x7},
Expand Down
14 changes: 14 additions & 0 deletions head/firmware/motor_hardware_common.c
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Expand Up @@ -55,6 +55,13 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(GPIOC, // NOLINT(cppcoreguidelines-pro-type-cstyle-cast)
&GPIO_InitStruct);

// A motor diag0
GPIO_InitStruct.Pin = GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, // NOLINT(cppcoreguidelines-pro-type-cstyle-cast)
&GPIO_InitStruct);
}

else if (hspi->Instance == SPI3) {
Expand Down Expand Up @@ -91,6 +98,13 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, // NOLINT(cppcoreguidelines-pro-type-cstyle-cast)
&GPIO_InitStruct);

// Z motor diag0
GPIO_InitStruct.Pin = GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, // NOLINT(cppcoreguidelines-pro-type-cstyle-cast)
&GPIO_InitStruct);
}
}

Expand Down
5 changes: 5 additions & 0 deletions include/can/core/ids.hpp
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Expand Up @@ -64,6 +64,8 @@ enum class MessageId {
write_motor_current_request = 0x33,
read_motor_current_request = 0x34,
read_motor_current_response = 0x35,
read_motor_driver_error_status_request = 0x36,
read_motor_driver_error_status_response = 0x37,
set_brushed_motor_vref_request = 0x40,
set_brushed_motor_pwm_request = 0x41,
gripper_grip_request = 0x42,
Expand Down Expand Up @@ -105,6 +107,7 @@ enum class MessageId {
gear_read_motor_driver_request = 0x507,
max_sensor_value_request = 0x70,
max_sensor_value_response = 0x71,
batch_read_sensor_response = 0x81,
read_sensor_request = 0x82,
write_sensor_request = 0x83,
baseline_sensor_request = 0x84,
Expand Down Expand Up @@ -169,11 +172,13 @@ enum class ErrorCode {
over_pressure = 0xd,
door_open = 0xe,
reed_open = 0xf,
motor_driver_error_detected = 0x10,
safety_relay_inactive = 0x11,
};

/** Error Severity levels. */
enum class ErrorSeverity {
none = 0x0,
warning = 0x1,
recoverable = 0x2,
unrecoverable = 0x3,
Expand Down
5 changes: 3 additions & 2 deletions include/can/core/message_writer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,8 @@ class MessageWriter {
* @param message The message to send
*/
template <message_core::CanResponseMessage ResponseMessage>
void send_can_message(can::ids::NodeId node, ResponseMessage&& message) {
auto send_can_message(can::ids::NodeId node, ResponseMessage&& message)
-> bool {
auto arbitration_id = can::arbitration_id::ArbitrationId{};
auto task_message = can::message_writer_task::TaskMessage{};

Expand All @@ -41,7 +42,7 @@ class MessageWriter {
arbitration_id.originating_node_id(node_id);
task_message.arbitration_id = arbitration_id;
task_message.message = message;
queue->try_write(task_message);
return queue->try_write(task_message);
}

void set_queue(QueueType* q) { queue = q; }
Expand Down
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