AEAT-8800-q24 BAD_CONFIG

Support ODrive S1 Support
1

Hi! I’m trying to use an ODrive S1 with an AEAT-8800-Q24 (in a REV throughbore encoder). I’m configuring through the GUI, and I’m not getting anything out of the encoder. When I look at the ODrive in the inspector, spi_encoder0’s status is BAD_CONFIG.

The following is the python commands from the GUI:

odrv = odrv0
odrv.config.dc_bus_overvoltage_trip_level = 13
odrv.config.dc_max_positive_current = 10
odrv.config.dc_max_negative_current = -2
odrv.config.brake_resistor0.enable = True
odrv.config.brake_resistor0.resistance = 2
odrv.axis0.config.motor.motor_type = MotorType.HIGH_CURRENT
odrv.axis0.config.motor.torque_constant = 0.009018538713195202
odrv.axis0.config.motor.pole_pairs = 7
odrv.axis0.config.motor.current_soft_max = 10
odrv.axis0.config.motor.current_hard_max = 23
odrv.axis0.config.motor.calibration_current = 10
odrv.axis0.config.motor.resistance_calib_max_voltage = 2
odrv.axis0.config.calibration_lockin.current = 10
odrv.axis0.controller.config.input_mode = InputMode.PASSTHROUGH
odrv.axis0.controller.config.control_mode = ControlMode.VELOCITY_CONTROL
odrv.axis0.controller.config.vel_limit = 100
odrv.axis0.controller.config.vel_limit_tolerance = 1
odrv.axis0.config.torque_soft_min = -0.05
odrv.axis0.config.torque_soft_max = 0.05
odrv.can.config.protocol = Protocol.NONE
odrv.config.enable_uart_a = False
odrv.spi_encoder0.config.mode = SpiEncoderMode.AEAT
odrv.spi_encoder0.config.ncs_gpio = 12
odrv.axis0.config.load_encoder = EncoderId.SPI_ENCODER0
odrv.axis0.config.encoder_bandwidth = 100
odrv.hall_encoder0.config.enabled = True
odrv.axis0.config.commutation_encoder = EncoderId.HALL_ENCODER0

To configure the ODrive I pressed the buttons from top to bottom in order on the GUI. i.e. “Erase & Reboot”, “Apply”, “Save & Reboot”, “Run Calibration Sequence”, “Save & Reboot”

I’m using a NEO 550 motor and using the built in hall effect encoder also, the REV through bore is being use as a load encoder after a reduction.

I’m not sure what causes BAD_CONFIG, and the documentation doesn’t say.

2

Hi there,

Glitch in our code - uploaded a possible fix here: https://0x0.st/HkOl.elf.zip. Can do more digging in the future.

Please try flashing the firmware file odrivetool dfu ODriveFirmware_S1_v0_6_9_AEAT_Fix.elf and then reconfigure. Note that the MOSI pin on the encoder must be hardwired to +3V3.

1 Like
3

Hi! Thanks for the help! That solved the BAD_CONFIG. Now the encoder says NOMINAL. I’m still having difficulty getting anything out of the encoder however.

In the GUI it shows that the position is 0 always. I have MOSI hardwired to 3v3. I’m fairly confident I have everything wired up correctly, but here it is just in case.

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I also tried probing with a scope, and given my limited knowledge of SSI, it looked to be about what I’d expect.

I’m not sure what else to try.

4

Hi there,

I’ve purchased one of these encoders and will be debugging the ODrive communication once I receive it. It’ll be a few days, if that’s alright.

1 Like
5

Thank you! I really appreciate your time on this!

6

Hi @solomondg no pressure, but have you had a chance to look into this?

7

Hi! Thanks for the follow up. Yes, I’ve looked into this a bit - the encoder protocol is frankly terribly designed and I’m working out some weird bugs. I don’t have time today to investigate further unfortunately, but I’ll try to get it scoped up this week.

1 Like
8

Hi @solomondg just following up on this. Let me know if there is something I can do to help. I really am just looking for this through bore style of encoder with a wide enough bore to accomodate a 1/2" shaft.

9

Hi Prem! Sorry, things have been extremely busy. Remind me wednesday or thursday and I’ll take a look!

1 Like
10

Hi @solomondg! All good. Let me know if you have time today for this!

11

Hi @solomondg! Just checking in on this.