End switches an interrupts

Zennix · September 27, 2018, 6:51pm

I did some additional testing.

GPIO 5 is my min_switch
GPIO 6 is my max_switch

Both GPIO states are shown correct.

pressed min_switch
In [28]: odrv0.axis0.min_endstop.endstop_state_
Out[28]: True
released min_switch
In [29]: odrv0.axis0.min_endstop.endstop_state_
Out[29]: False

pressed max_switch
In [30]: odrv0.axis0.max_endstop.endstop_state_
Out[30]: True
released max_switch
In [31]: odrv0.axis0.max_endstop.endstop_state_
Out[31]: False

Homing
GPIO5 is not recognised. Motor didn’t stop by pressing the min_switch
Emergency stop

Reconnected to ODrive 375F365A3137 as odrv0
In [52]: odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
In [53]: odrv0.axis0.controller.set_pos_setpoint = 1000

has no effect. Motor is not spinning.

With an ASCII command the motor is spinning. The max_switch stops the motor. The min_switch has no effect.

Greetings / Zennix

Wetmelon · September 28, 2018, 12:00am

odrv0.axis0.controller.set_pos_setpoint = 1000 does nothing

odrv0.axis0.controller.set_pos_setpoint(1000, 0, 0) or odrv0.axis0.controller.pos_setpoint = 1000 are the correct commands

I specifically tested GPIO5, so that’s weird. I will check the differences with ASCII commands but I don’t think that should have any difference from USB (just your incorrect command)

Zennix · September 28, 2018, 7:39am

Oh Sorry You are right, thats the wrong command. I’m testing mostly with the ASCII interface.

Homing and emergency stop is working with GPIO 6 - 8. -> Great work!!!
GPIO 5 and 4 are recognised in AXIS_STATE_IDLE only. In AXIS_STATE_HOMING they have no effect.

For debouncing I had to add two caps 47nF between the GPIOs and GND.

I checked also if I can use one GPIO for both max_switches. That works. That stops both axis.

Thanks / Greetings / Zennix

Riewert · October 18, 2018, 1:43pm

Just updated to firmware 4.6, was hoping this would be in it, but I can’t seem to find odrv0.axis0.max_endstop. Any news on when this branch will be merged into the main branch?

Zennix · October 19, 2018, 7:17am

Hi,

there is still a problem with GPIO less than 6. Could you verify that?
If you only need 3 switches your are fine. But some applications will need four switches and I can’t get these GPIOs to work.

Greetings / Zennix

Riewert · October 20, 2018, 9:14am

I’m not really sure how to install the end-stop branch to my odrive with the DFU tool, since I don’t have an ST-Link.

Zennix · October 20, 2018, 1:17pm

My suggestion is to have ST-Link. Sometimes my ODrive wasn’t accessible after a shutdown. The only way to get it working again was to flash it with the ST-Link.
On the other hand, if you want to send ASCII commands, there is already the serial timeout bug. To do the workaround like described here: Serial Timeout Issue
you have to modify the firmware. With a ST-Link it’s much easier.

Greetings Zennix

Riewert · December 17, 2018, 7:34pm

I would really like to use this feature, but it still hasn’t been included in the main release. Can I help out with testing without an ST-Link, or is it too risky? If so, how? I have the hardware setup necessary to test end switches.

Wetmelon · January 1, 2019, 7:21pm

Please do help out! You’ll just have to pull the Endstops branch. I’m not 100% sure how to flash the firmware without an ST-Link, you can probably do some sort of DFU once you build the firmware though.

Desterline · March 1, 2019, 6:08pm

An STlink clone is stupid cheap. Like cheaper than the screw terminals on the ODrive.
$2.02 (US) free shipping on AliExpress

Less than $10 on amazon
I consider it pretty much a requirement to work with the ODrive.

Stijn_Carelsbergh · April 7, 2019, 7:23pm

Hi @Wetmelon

where can I download the V3.6 compatible version?

what GPIO’s are supported?

Is there a list of the specific commands?

cheers

Carelsbergh Stijn

Stijn_Carelsbergh · April 18, 2019, 7:17pm

Hello?

I need to finish my project, can you guys please help me?

Thankssssss

Cheers

Carelsbergh Stijn

Zennix · April 19, 2019, 3:01pm

Hi Stijn,
all you need to get it running with the end stop branch is documented in this thread.

Greetings / Zennix

Stijn_Carelsbergh · April 19, 2019, 3:13pm

Hi

Is there a v3.6 file available?

Do the switches need to be connected to 5v or gnd?

Are the switches NO or NC?

Cheers

Carelsbergh Stijn

Zennix · April 19, 2019, 3:33pm

Hi Stijn,

you have to use https://github.com/Wetmelon/ODrive/tree/Endstops

Switch against 3.3V. You can define high or low active. I had to use some capacitors on the GPIOs for preventing debouncing.

Greetings / Zennix

Stijn_Carelsbergh · April 20, 2019, 9:55am

Hi,

What USB driver do you have to use?

Cheers

Carelsbergh Stijn

Stijn_Carelsbergh · April 20, 2019, 1:01pm

Hi,

My end switches are not recognized, what should I do?

Cheers

Carelsbergh Stijn

Stijn_Carelsbergh · April 22, 2019, 11:02am

Hello

When I press the button, button state is false, when I don’t press the button, button state is false too, what can I do?

Zennix · April 22, 2019, 3:33pm

Hi Stijn,

This my config for an endstop that switches GND to GPIO 8.

odrv0.axis0.min_endstop.config

Out[37]:
gpio_num = 8 (int)
enabled = True (bool)
offset = -500 (int)
is_active_high = False (bool)
debounce_ms = 100.0 (float)

Greetings Zennix

Stijn_Carelsbergh · April 22, 2019, 3:45pm

Hi

Thank you, I’m now on vacation, I will try it afterwords.

Cheers

Carelsbergh Stijn