Merge pull request #313 from tinymovr/develop

Version 1.6.3

firmware/src/adc/adc.c

@@ -221,7 +221,7 @@ void ADC_DTSE_Init(void)
     PAC55XX_ADC->DTSETRIGENT0TO3.TRIG1CFGIDX = 12;                    // DTSE Trigger 1 Sequence Configuration Entry Index
     PAC55XX_ADC->DTSETRIGENT0TO3.TRIG1EDGE = ADCDTSE_TRIGEDGE_RISING; // PWMA0 rising edge
 
-    pac5xxx_timer_a_ccctr1_value_set((timer_freq_hz / 2 / PWM_FREQ_HZ) - 2);
+    pac5xxx_timer_a_ccctr1_value_set((TIMER_FREQ_HZ/(2*PWM_FREQ_HZ)) - 2);
 
     //===== Setup DTSE Sequence B (sense current) - Starts at Entry 12 =====
     pac5xxx_dtse_seq_config(12, ADC0, EMUX_AIO10, 0, 0);

firmware/src/can/can_endpoints.c

@@ -19,7 +19,7 @@
 
 
 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 = 4118115615;
+uint32_t avlos_proto_hash = 3526126264;
 
 uint32_t _avlos_get_proto_hash(void)
 {

firmware/src/common.h

@@ -129,16 +129,19 @@
 #define BOARD_REV_IDX 21
 #endif
 
+#define TIMER_FREQ_HZ (ACLK_FREQ_HZ >> TXCTL_PS_DIV)
+
 static const float one_by_sqrt3 = 0.57735026919f;
 static const float two_by_sqrt3 = 1.15470053838f;
 static const float threehalfpi = 4.7123889f;
 static const float pi = PI;
 static const float halfpi = PI * 0.5f;
 static const float quarterpi = PI * 0.25f;
-static const int32_t timer_freq_hz = ACLK_FREQ_HZ >> TXCTL_PS_DIV;
 static const float twopi_by_enc_ticks = TWOPI / ENCODER_TICKS;
 static const float twopi_by_hall_sectors = TWOPI / HALL_SECTORS;
 
+_Static_assert (TIMER_FREQ_HZ % (2*PWM_FREQ_HZ) == 0, "Timer frequency not an integer multiple of PWM frequency");
+
 typedef struct 
 {
 	float A;

firmware/src/gatedriver/gatedriver.h

@@ -30,17 +30,17 @@ void gate_driver_set_duty_cycle(const FloatTriplet *dc);
 //=============================================
 static inline void m1_u_set_duty(const float duty)
 {
-    uint16_t val = ((uint16_t)(duty * (timer_freq_hz/PWM_FREQ_HZ) )) >>1;
+    uint16_t val = ((uint16_t)(duty * (TIMER_FREQ_HZ/PWM_FREQ_HZ) )) >>1;
     PAC55XX_TIMERA->CCTR4.CTR = val;
 }
 static inline void m1_v_set_duty(const float duty)
 {
-    uint16_t val = ((uint16_t)(duty * (timer_freq_hz/PWM_FREQ_HZ) )) >>1;
+    uint16_t val = ((uint16_t)(duty * (TIMER_FREQ_HZ/PWM_FREQ_HZ) )) >>1;
     PAC55XX_TIMERA->CCTR5.CTR = val;
 }
 static inline void m1_w_set_duty(const float duty)
 {
-    uint16_t val = ((uint16_t)(duty * (timer_freq_hz/PWM_FREQ_HZ) )) >>1;
+    uint16_t val = ((uint16_t)(duty * (TIMER_FREQ_HZ/PWM_FREQ_HZ) )) >>1;
     PAC55XX_TIMERA->CCTR6.CTR = val;
 }
 

firmware/src/timer/timer.c

@@ -22,7 +22,7 @@ void Timer_Init(void)
 {
     // Configure Timer A Controls
     pac5xxx_timer_clock_config(TimerA, TXCTL_CS_ACLK, TXCTL_PS_DIV);                   // Configure timer clock input for ACLK, divider
-    pac5xxx_timer_base_config(TimerA, (timer_freq_hz/2/PWM_FREQ_HZ), AUTO_RELOAD,
+    pac5xxx_timer_base_config(TimerA, (TIMER_FREQ_HZ/(2*PWM_FREQ_HZ)), AUTO_RELOAD,
             TxCTL_MODE_UPDOWN, TIMER_SLAVE_SYNC_DISABLE);                               // Configure timer frequency and count mode
 
     // Configure Dead time generators

studio/Python/tests/test_base_function.py

@@ -22,15 +22,17 @@ def test_position_control(self):
         Test position control
         """
         self.check_state(0)
+        self.tm.motor.I_cal = 5
+        self.tm.controller.current.Iq_limit = 5
         self.try_calibrate()
         self.tm.controller.position_mode()
         self.check_state(2)
 
         for i in range(5):
-            self.tm.controller.position.setpoint = i * 10000 * ticks
+            self.tm.controller.position.setpoint = i * 3000 * ticks
             time.sleep(0.25)
             self.assertAlmostEqual(
-                i * 10000 * ticks, self.tm.encoder.position_estimate, delta=1000 * ticks
+                i * 3000 * ticks, self.tm.encoder.position_estimate, delta=1000 * ticks
             )
 
 

studio/Python/tests/test_board.py

@@ -367,19 +367,30 @@ def test_p_flux_braking(self):
         # Ensure we're idle
         self.check_state(0)
         self.try_calibrate()
-
-        self.tm.controller.current.max_Ibrake = 10
+        self.tm.controller.current.max_Ibrake = 0
         self.tm.controller.velocity_mode()
-        self.tm.controller.velocity.setpoint = 200000
-        time.sleep(0.4)
-        self.tm.controller.velocity.setpoint = 0
-        I_brake_vals = []
-        for _ in range(50):
-            I_brake_vals.append(self.tm.Ibus)
-            time.sleep(0.005)
-        time.sleep(0.5)
+        for v_set in [-250000, 250000]:
+            self.tm.controller.velocity.setpoint = v_set
+            time.sleep(0.4)
+            self.tm.controller.velocity.setpoint = 0
+            I_brake_vals = []
+            for _ in range(200):
+                I_brake_vals.append(self.tm.Ibus)
+                time.sleep(0.001)
+            time.sleep(0.2)
+            self.assertLess(min(I_brake_vals), -0.12 * A)
+        self.tm.controller.current.max_Ibrake = 10
+        for v_set in [-250000, 250000]:
+            self.tm.controller.velocity.setpoint = v_set
+            time.sleep(0.4)
+            self.tm.controller.velocity.setpoint = 0
+            I_brake_vals = []
+            for _ in range(200):
+                I_brake_vals.append(self.tm.Ibus)
+                time.sleep(0.001)
+            time.sleep(0.2)
+            self.assertGreater(min(I_brake_vals), -0.12 * A)
         self.tm.controller.current.max_Ibrake = 0
-        self.assertGreater(min(I_brake_vals), -1 * A)
         self.tm.controller.idle()
         time.sleep(0.4)
 

studio/Python/tests/test_dfu.py

@@ -22,8 +22,7 @@
 from tinymovr import init_tee, destroy_tee
 from tinymovr.config import (
     get_bus_config,
-    create_device,
-    definitions
+    create_device
 )
 
 import unittest

studio/Python/tinymovr/cli.py

@@ -1,16 +1,18 @@
 """Tinymovr Studio CLI
 
 Usage:
-    tinymovr_cli [--bus=<bus>] [--chan=<chan>] [--bitrate=<bitrate>]
+    tinymovr_cli [--bus=<bus>] [--chan=<chan>] [--spec=<spec>] [--bitrate=<bitrate>]
     tinymovr_cli -h | --help
     tinymovr_cli --version
 
 Options:
     --bus=<bus>  One or more interfaces to use, first available is used [default: canine,slcan_disco].
     --chan=<chan>  The bus device "channel".
+    --spec=<spec> A custom device spec to be added to the list of discoverable spec.
     --bitrate=<bitrate>  CAN bitrate [default: 1000000].
 """
 
+import yaml
 import can
 import pkg_resources
 import IPython
@@ -20,7 +22,7 @@
 from tinymovr import init_tee, destroy_tee
 from tinymovr.discovery import Discovery
 from tinymovr.constants import app_name
-from tinymovr.config import get_bus_config, configure_logging
+from tinymovr.config import get_bus_config, configure_logging, add_spec
 
 """
 Tinymovr CLI Module
@@ -49,6 +51,12 @@ def spawn():
 
     logger = configure_logging()
 
+    spec_file = arguments["--spec"]
+    if spec_file:
+        with open(spec_file, 'r') as file:
+            spec_data = yaml.safe_load(file)
+            add_spec(spec_data, logger)
+
     buses = arguments["--bus"].rsplit(sep=",")
     channel = arguments["--chan"]
     bitrate = int(arguments["--bitrate"])

studio/Python/tinymovr/config/__init__.py

@@ -1,8 +1,7 @@
 from tinymovr.config.config import (
     get_bus_config,
     configure_logging,
-    definitions,
     create_device,
     create_device_with_hash_msg,
-    ProtocolVersionError,
+    add_spec,
 )

studio/Python/tinymovr/config/config.py

@@ -25,29 +25,30 @@
 from tinymovr.codec import DataType
 from tinymovr.channel import CANChannel
 
-definitions = {"hash_uint32": {}, "name": {}}
-
-for yaml_file in Path(files("tinymovr").joinpath("specs/")).glob("*.yaml"):
-    with open(str(yaml_file)) as def_raw:
-        definition = yaml.safe_load(def_raw)
-        tmp_node = deserialize(definition)
-        definitions["hash_uint32"][tmp_node.hash_uint32] = definition
-        definitions["name"][definition["name"]] = definition
-
-
-class ProtocolVersionError(Exception):
-    def __init__(self, dev_id, version_str, *args, **kwargs):
-        self.dev_id = dev_id
-        self.version_str = cleanup_incomplete_version(version_str)
-        msg = (
-            "Incompatible protocol versions (hash mismatch) for device {}. "
-            "Firmware is compatible with Studio version {}.\n\n"
-            "Either upgrade studio and firmware, or install a compatible Studio version like so:\n\n"
-            "pip3 uninstall tinymovr\npip3 install tinymovr=={}".format(
-                self.dev_id, self.version_str, self.version_str
-            )
-        )
-        super().__init__(msg, *args, **kwargs)
+specs = {"hash_uint32": {}}
+
+
+def init_specs_dict():
+    global specs
+    for yaml_file in Path(files("tinymovr").joinpath("specs/")).glob("*.yaml"):
+        with open(str(yaml_file)) as def_raw:
+            spec = yaml.safe_load(def_raw)
+            add_spec(spec)
+
+
+def add_spec(spec, logger=None):
+    if logger is None:
+        logger = logging.getLogger("tinymovr")
+
+    tmp_node = deserialize(spec)
+    hash_value = tmp_node.hash_uint32
+    if hash_value in specs["hash_uint32"]:
+        logger.warning("Provided spec with hash {} already exists in hash/name dictionary".format(hash_value))
+    else:
+        specs["hash_uint32"][hash_value] = spec
+
+
+init_specs_dict()
 
 
 def get_bus_config(suggested_types=None):
@@ -70,24 +71,22 @@ def create_device(node_id):
     """
     chan = CANChannel(node_id)
 
-    # Temporarily using a default definition to get the protocol_hash
-    # This assumes that `protocol_hash` is standard across different definitions
-    # Get the first definition as a temp
-    tmp_definition = list(definitions["hash_uint32"].values())[0]
-    node = deserialize(tmp_definition)
+    # Temporarily using a default spec to get the protocol_hash
+    # This assumes that `protocol_hash` is standard across different specs
+    # Get the first spec as a temp
+    tmp_spec = list(specs["hash_uint32"].values())[0]
+    node = deserialize(tmp_spec)
     node._channel = chan
 
-    # Check for the correct definition using the remote hash
+    # Check for the correct spec using the remote hash
     protocol_hash = node.protocol_hash
-    device_definition = definitions["hash_uint32"].get(protocol_hash)
+    device_spec = specs["hash_uint32"].get(protocol_hash)
 
-    if not device_definition:
-        raise ValueError(f"No device definition found for hash {protocol_hash}.")
+    if not device_spec:
+        raise ValueError(f"No device spec found for hash {protocol_hash}.")
 
-    node = deserialize(device_definition)
+    node = deserialize(device_spec)
     node._channel = chan
-    if node.hash_uint32 != protocol_hash:
-        raise ProtocolVersionError(node_id, "")
 
     return node
 
@@ -101,17 +100,12 @@ def create_device_with_hash_msg(heartbeat_msg):
     chan = CANChannel(node_id)
 
     hash, *_ = chan.serializer.deserialize(heartbeat_msg.data[:4], DataType.UINT32)
-    device_definition = definitions["hash_uint32"].get(hash)
+    device_spec = specs["hash_uint32"].get(hash)
 
-    if not device_definition:
-        raise ValueError(f"No device definition found for hash {hash}.")
+    if not device_spec:
+        raise ValueError(f"No device spec found for hash {hash}.")
 
-    node = deserialize(device_definition)
-    if node.hash_uint32 != hash:
-        version_str = "".join([chr(n) for n in heartbeat_msg.data[4:]])
-        if not version_str.strip():
-            version_str = "1.3.1"
-        raise ProtocolVersionError(node_id, version_str)
+    node = deserialize(device_spec)
 
     node._channel = chan
     return node

studio/Python/tinymovr/discovery.py

@@ -21,7 +21,7 @@
 from tinymovr.channel import ResponseError
 from tinymovr.tee import get_tee
 from tinymovr.constants import HEARTBEAT_BASE
-from tinymovr.config import create_device_with_hash_msg, ProtocolVersionError
+from tinymovr.config import create_device_with_hash_msg
 
 
 class Discovery:
@@ -72,7 +72,7 @@ def _recv_cb(self, frame):
                 self._append_to_queue((node, node_id))
             except ResponseError as e:
                 self.logger.error(e)
-            except ProtocolVersionError as e:
+            except ValueError as e:
                 self.logger.error(e)
                 self.incompatible_nodes.add(node_id)
             self.pending_nodes.remove(node_id)

studio/Python/tinymovr/gui/__init__.py

@@ -7,14 +7,17 @@
     display_file_open_dialog,
     display_file_save_dialog,
     magnitude_of,
-    hold_sema,
     TimedGetter,
     check_selected_items,
     get_dynamic_attrs,
     is_dark_mode
 )
 from tinymovr.gui.widgets import (
-    OurQTreeWidget,
+    NodeTreeWidgetItem,
+    AttrTreeWidgetItem,
+    FuncTreeWidgetItem,
+    OptionsTreeWidgetItem,
+    PlaceholderQTreeWidget,
     IconComboBoxWidget,
     ArgumentInputDialog
 )

studio/Python/tinymovr/gui/gui.py

@@ -1,23 +1,26 @@
 """Tinymovr Studio GUI
 
 Usage:
-    tinymovr [--bus=<bus>] [--chan=<chan>] [--bitrate=<bitrate>] [--max-timeouts=<count>]
+    tinymovr [--bus=<bus>] [--chan=<chan>] [--spec=<spec>] [--bitrate=<bitrate>] [--max-timeouts=<count>]
     tinymovr -h | --help
     tinymovr --version
 
 Options:
     --bus=<bus>  One or more interfaces to use, first available is used [default: canine,slcan_disco].
     --chan=<chan>  The bus device "channel".
+    --spec=<spec> A custom device spec to be added to the list of discoverable specs.
     --bitrate=<bitrate>  CAN bitrate [default: 1000000].
     --max-timeouts=<count>  Max timeouts before nodes are rescanned [default: 5].
 """
 
 import sys
+import yaml
 import pkg_resources
 from docopt import docopt
 from PySide6.QtWidgets import QApplication
 from tinymovr.gui import MainWindow, app_stylesheet, app_stylesheet_dark, is_dark_mode
 from tinymovr.constants import app_name
+from tinymovr.config import configure_logging, add_spec
 
 
 """
@@ -41,11 +44,20 @@
 def spawn():
     version = pkg_resources.require("tinymovr")[0].version
     arguments = docopt(__doc__, version=app_name + " " + str(version))
+
+    logger = configure_logging()
+
+    spec_file = arguments["--spec"]
+    if spec_file:
+        with open(spec_file, 'r') as file:
+            spec_data = yaml.safe_load(file)
+            add_spec(spec_data, logger)
+
     app = QApplication(sys.argv)
     if is_dark_mode():
         app.setStyleSheet(app_stylesheet_dark)
     else:
         app.setStyleSheet(app_stylesheet)
-    w = MainWindow(app, arguments)
+    w = MainWindow(app, arguments, logger)
     w.show()
     sys.exit(app.exec_())