Hello ODrive Community,
I have been struggling for a long time with a persistent “UART communication failure” on my oDrive v3.6 board running firmware version 0.5.6. The issue would occur intermittently, and the only temporary solution was to perform a hard reset of the board.
After extensive troubleshooting, I decided to modify the firmware. The UART communication failures have completely disappeared since I implemented the change below.
Here is the code I modified in :
interface_uart.cpp :
osThreadDef(uart_server_thread_def, uart_server_thread, osPriorityNormal, 0, stack_size_uart_thread / sizeof(StackType_t) /* the ascii protocol needs considerable stack space */);
Change to ->
osThreadDef(uart_server_thread_def, uart_server_thread, osPriorityRealtime, 0, stack_size_uart_thread / sizeof(StackType_t) /* the ascii protocol needs considerable stack space */);
............................................................
board.cpp :
std::array<Axis, AXIS_COUNT> axes{{
{
0, // axis_num
1, // step_gpio_pin
2, // dir_gpio_pin
(osPriority)(osPriorityHigh + (osPriority)1), // thread_priority
encoders[0], // encoder
sensorless_estimators[0], // sensorless_estimator
controllers[0], // controller
motors[0], // motor
trap[0], // trap
endstops[0], endstops[1], // min_endstop, max_endstop
mechanical_brakes[0], // mechanical brake
},
{
1, // axis_num
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 5
7, // step_gpio_pin
8, // dir_gpio_pin
#else
3, // step_gpio_pin
4, // dir_gpio_pin
#endif
osPriorityHigh, // thread_priority
encoders[1], // encoder
sensorless_estimators[1], // sensorless_estimator
controllers[1], // controller
motors[1], // motor
trap[1], // trap
endstops[2], endstops[3], // min_endstop, max_endstop
mechanical_brakes[1], // mechanical brake
},
}};
Change to ->
std::array<Axis, AXIS_COUNT> axes{{
{
0, // axis_num
1, // step_gpio_pin
2, // dir_gpio_pin
osPriorityHigh, // thread_priority
encoders[0], // encoder
sensorless_estimators[0], // sensorless_estimator
controllers[0], // controller
motors[0], // motor
trap[0], // trap
endstops[0], endstops[1], // min_endstop, max_endstop
mechanical_brakes[0], // mechanical brake
},
{
1, // axis_num
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 5
7, // step_gpio_pin
8, // dir_gpio_pin
#else
3, // step_gpio_pin
4, // dir_gpio_pin
#endif
osPriorityHigh, // thread_priority
encoders[1], // encoder
sensorless_estimators[1], // sensorless_estimator
controllers[1], // controller
motors[1], // motor
trap[1], // trap
endstops[2], endstops[3], // min_endstop, max_endstop
mechanical_brakes[1], // mechanical brake
},
}};
This change has proven to be a stable fix for the communication issue. However, I am not entirely certain about the potential side effects.
My question for the experts here is: **Could this modification negatively impact the motor’s performance or behavior in any way?
