Firmware version v0.5.0 is coming soon! Help us test it!

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Firmware version 0.5.0 has hit the point of “release candidate” and is ready for wider testing. To help, check out the rc-v0.5.0 branch on github!

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What are the major updates to this version?

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Oh, good point! I forgot to put the changelog:

v0.5.0

Added

  • AC Induction Motor support.
    • Tracking of rotor flux through rotor time constant
    • Automatic d axis current for Maximum Torque Per Amp (MTPA)
  • ASCII “w” commands now execute write hooks.
  • Simplified control interface (“Input Filter” branch)
    • New input variables: input_pos, input_vel, and input_current
    • New setting input_mode to switch between different input behaviours
      • Passthrough
      • Velocity Ramp
      • 2nd Order Position Filter
      • Trapezoidal Trajectory Planner
    • Removed set_xxx_setpoint() functions and made xxx_setpoint variables read-only
  • Preliminary support for Absolute Encoders
  • Preliminary support for endstops and homing
  • CAN Communication with CANSimple stack
  • Gain scheduling for anti-hunt when close to 0 position error
  • Velocity Limiting in Current Control mode according to vel_limit and vel_gain
  • Regen current limiting according to max_regen_current, in Amps
  • DC Bus hard current limiting according to dc_max_negative_current and dc_max_positive_current
  • Brake resistor logic now attempts to clamp voltage according to odrv.config.dc_bus_overvoltage_ramp_start and odrv.config.dc_bus_overvoltage_ramp_end
  • Unit Testing with Doctest has been started for select algorithms, see Firmware/Tests/test_runner.cpp
  • Added support for Flylint VSCode Extension for static code analysis
  • Using an STM32F405 .svd file allows CortexDebug to view registers during debugging
  • Added scripts for building via docker.
  • Added ability to change uart baudrate via fibre

Changed

  • Changed ratiometric motor.config.current_lim_tolerance to absolute motor.config.current_lim_margin
  • Moved controller.vel_ramp_enable to INPUT_MODE_VEL_RAMP.
  • Anticogging map is temporarily forced to 0.1 deg precision, but saves with the config
  • Some Encoder settings have been made read-only
  • Cleaned up VSCode C/C++ Configuration settings on Windows with recursive includePath
  • Now compiling with C++17
  • Fixed a firmware hang that could occur from unlikely but possible user input
  • Added JSON caching to Fibre. This drastically reduces the time odrivetool needs to connect to an ODrive (except for the first time or after firmware updates).
  • Fix IPython RuntimeWarning that would occur every time odrivetool was started.
  • Reboot on erase_configuration(). This avoids unexpected behavior of a subsequent save_configuration() call, since the configuration is only erased from NVM, not from RAM.
  • Change motor.get_inverter_temp() to use a property which was already being sampled at motor.inverter_temp
  • Fixed a numerical issue in the trajectory planner that could cause sudden jumps of the position setpoint
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Thank you for your answer. Finally the can bus function is on. So far I have used the can bus function of your branch.

But the can communication protocol on the top is not properly linked. I guess it will be the same as what is in your branch.https://github.com/Wetmelon/ODrive/blob/devel/docs/can-protocol.md

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Thanks for everyones work on this project!
This is continuing to be improved and polished.

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Sweet! Couple questions:

  • ASCII “w” commands now execute write hooks.
    what does that mean/do?

  • Removed set_xxx_setpoint() functions and made xxx_setpoint variables read-only
    so input_pos will replace odrv0.axis0.controller.pos_setpoint

Cheers

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Write “hooks” are functions that get called when a variable gets written. There’s a few variables that have these functions, usually because other variables need to change proportionally to the one that’s changing.

As an input, yes. pos_setpoint can still be read, and represents the actual target of the PID

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That’s good info thanks. I guess the doc will be updated when the RC becomes the latest official release :smiley:

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Congrats, this release was overdue! So many features.

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