Changelog

[0.6.1] - 2022-06-17

Fixed

Improved error reporting
Encoder calibration no longer uses <axis>.config.motor.calibration_current as current but rather <axis>.config.calibration_lockin.current
Fixed unknown command on first ASCII protocol command after startup caused by a spurious byte in the RX buffer
Possibly fixed occasional UART TX hang that would occur during closed loop control
Fixed winusb.sys not automatically loading
Fixed various USB enumeration errors (string descriptors showing as ‘Љ’, ‘(error)’ or in wrong places and errors like “could not read langid”, “couldn’t open device” and “not available”)
Restored ability to disable CAN Simple messages by setting the interval to 0 (regression in 0.6.0)
Fixed wrong velocity used during second half of hall polarity calibration
Fixed homing getting stuck in ProcedureResult.BUSY
Fixed AxisState.FULL_CALIBRATION_SEQUENCE when using onboard encoder
Fixed FET temperature readings on ODrive Pro. The reported temperature was higher than the actual temperature:
- reported 100°C => actual 103°C
- reported 40°C => actual 29°C
- actual = old_reported * 0.92 - 7.79
Fixed CAN bug where the ODrive would stop handling incoming messages after a large number of incoming messages.
Fixed PWM input on ODrive Pro
Increased default velocity limit from 2 turns/s to 10 turns/s. This also increases the default absolute velocity margin, leading to less overspeed errors on first use.
Decreased cutoff frequency of incremental encoder input filters

Added

Landing page popup when ODrive is plugged in while Chrome browser is open
<axis>.config.index_search_at_target_vel_only option to make index search sensitive straight away or if it needs to get to target speed first.
SpiEncoder.delay to compensate for slow SPI encoders
Exposed more hall effect sensor state at HallEncoder.raw_hall_state, HallEncoder.Config.hall_polarity and HallEncoder.Config.hall_polarity_calibrated
Diagnostics variable <odrv>.can.n_restarts (a CAN restart isn’t necessarily an error - if the device is not on any bus the CAN interface will restart continuously)
Id,q feedforward terms <axis>.motor.input_id, <axis>.motor.input_iq
More tweak options in <axis>.config.motor: ff_pm_flux_linkage, torque_model_l_d, torque_model_l_q (see API reference for details)
Add timeout for calibration functions (e.g. when target current can’t be reached because it’s above the current limit)
CAN Simple protocol command MSG_GET_TEMPERATURE
CAN RX count (for debugging): <odrv>.can.n_rx

Changed

Increased maximum modulation depth from 80% to 100% (that means more max velocity for the same DC voltage).
Most variables in axis.config.motor require the axis to be in idle state to take effect.
Motor calibration is persistent by default on next save_configuration() (previously it required setting pre_calibrated)
At startup, the axis previously waited in UNDEFINED state for 2 seconds to wait for initialization to complete. Now it goes into IDLE state immediately. Use (axis.active_errors & ODriveError.INITIALIZING) == 0 to check for readiness.
Requesting an unknown state drops to IDLE without setting any error
<axis>.acim_estimator units changed
New LED behavior: NOT READY: Blue, READY: Cyan, RUNNING: Green, ERROR: Red

API Migration Guide

<odrv>.error removed. Use <axis>.active_errors and <axis>.disarm_reason instead.
<odrv>.n_issues removed. use <odrv>.issues.length instead.
<odrv>.config.error_gpio_pin moved to <axis>.config.error_gpio_pin
<axis>.motor.config moved to <axis>.config.motor
<axis>.motor.config.current_lim moved to <axis>.config.motor.current_soft_max and <odrv>.config.inverter0.current_soft_max.
<axis>.motor.config.current_lim_margin removed. Use <axis>.config.motor.current_hard_max and instead. A separate limit for the inverter was added under <odrv>.config.inverter0.current_hard_max and should usually not be modified.
<axis>.motor.config.pre_calibrated and <axis>.motor.is_calibrated replaced by <axis>.config.motor.phase_resistance_inductance_valid. This new variable goes to True automatically after successful motor calibration.
<axis>.motor.config.torque_lim replaced by <axis>.config.torque_soft_min and <axis>.config.torque_soft_max.
<axis>.motor.config.requested_current_range removed. It now gets internally set to 1.1 * min(<odrv>.config.inverter0.current_hard_max, <axis>.config.motor.current_hard_max).
<axis>.motor.current_control moved to <axis>.foc
<axis>.motor.is_armed moved to <axis>.is_armed
<axis>.motor.I_bus_hard_min and <axis>.motor.I_bus_hard_max moved to <axis>.I_bus_hard_min and <axis>.I_bus_hard_max
<axis>.motor.dc_calib_tau removed
<axis>.motor.last_error_time removed. Use <axis>.disarm_time instead.
<axis>.sensorless_estimator.config.observer_gain moved to <axis>.config.motor.sensorless_observer_gain
<axis>.sensorless_estimator.config.pll_bandwidth moved to <axis>.config.motor.sensorless_pll_bandwidth
<axis>.sensorless_estimator.config.pm_flux_linkage moved to <axis>.config.motor.sensorless_pm_flux_linkage and made optional by <axis>.config.motor.sensorless_pm_flux_linkage_valid (by default implied by <axis>.config.motor.pole_pairs and <axis>.config.motor.torque_constant)
Reorganized brake resistor API. On ODrive S1 all brake-resistor related variables got grouped together. On ODrive Pro (which supports no brake resistor) they got removed.
- <odrv>.brake_resistor_armed moved to <odrv>.brake_resistor0.is_armed or removed
- <odrv>.brake_resistor_saturated moved to <odrv>.brake_resistor0.is_saturated or removed
- <odrv>.config.enable_brake_resistor moved to <odrv>.config.brake_resistor0.enable or removed
- <odrv>.config.brake_resistance moved to <odrv>.config.brake_resistor0.resistance or removed
- <odrv>.config.enable_dc_bus_overvoltage_ramp moved to <odrv>.config.brake_resistor0.enable_dc_bus_overvoltage_ramp or removed
- <odrv>.config.dc_bus_overvoltage_ramp_start moved to <odrv>.config.brake_resistor0.dc_bus_overvoltage_ramp_start or removed
- <odrv>.config.dc_bus_overvoltage_ramp_end moved to <odrv>.config.brake_resistor0.dc_bus_overvoltage_ramp_end or removed
<axis>.controller.status, <axis>.motor.error and <axis>.error removed. Replaced by axis.active_errors and axis.disarm_reason.

[0.6.0] - 2022-02-21

Fixed

Fixed CAN command MSG_GET_IQ to return Iq setpoint and Iq measurement as documented
Fixed SPI hang during high CPU load
Make current limit active in lockin spin
Fixed violation of velocity ramp limit when increasing the velocity limit in InputMode.VEL_RAMP mode while input_vel is higher than the old velocity limit

Added

Added support for ODrive Pro
Added motor.resistance_calibration_I_beta for debugging of MOTOR_UNBALANCED_PHASES error
Added bursty sine stimulus (InputMode.TUNING)
issues count n_issues to indicated unexpected issues (probably bugs)
Added controller.config.use_commutation_vel
Added 8kHz logging (“oscilloscope”) of arbitrary memory locations (internal use only)
Added firmware commit hash hex(<odrv>.commit_hash)
Make DRV config parameters configurable (internal use only)
odrivetool: Added experimental machine-centric configuration system. See example_config, status(example_config), apply(example_config) and calibrate(example_config).

Changed

Changing the CAN node ID now requires a reboot to take effect.
Reboot on hard fault (n_issues will init to 1 after reboot)
Anticogging temporarily not available
Encoder object split into multiple objects (hardware-dependent components, estimator, interpolator, commutation mapper and load mapper). See API Migration Notes below.
Hall effect innovation residual size can be non-uniform
when an illegal hall state is encountered, rather than using the last hall state to derive a measurement residual, the measurement residual is returned as 0
Hall calibration runs in both directions
On transient SPI errors, the encoder estimator is left in prediction mode rather than correcting towards the last known measurement
SPI error rate low pass filter gain increased from 1 to 50 so the error clears faster (~100ms) when the encoder is connected
Snap-to-zero-velocity is no longer supported for SPI encoders because it was not sensible for most SPI encoders and it saves the user from specifying CPR for SPI encoders.
Interpolator is not limited to equisized steps
Encoder offset calibration only checks at the end if the index was found, so offset calibration and index search can happen in one.
Encoder offset calibration uses least squares line fit
When absolute setpoints are used (controller.config.absolute_setpoints), position control is not allowed before homing.
The CAN messages MSG_GET_ENCODER_ERROR (0x004), MSG_GET_ENCODER_COUNT (0x00a) and MSG_GET_SENSORLESS_ESTIMATES (0x015) got removed
Allow responses on CAN Simple if DLC == 0
odrivetool: Changed enum naming convention from AXIS_STATE_CLOSED_LOOP_CONTROL to AxisState.CLOSED_LOOP_CONTROL

API Migration Notes

<axis>.encoder was removed
- Instead of <axis>.encoder.config.mode use <axis>.config.load_encoder and <axis>.config.commutation_encoder. To set the SPI encoder type, use <odrv>.spi_encoderX.config.mode.
- Instead of <axis>.encoder.pos_estimate/<axis>.encoder.pos_circular use <axis>.load_mapper.pos_rel or <axis>.load_mapper.pos_abs and make sure <axis>.controller.config.circular_setpoints is set correctly.
- Instead of <axis>.encoder.vel_estimate use <axis>.load_mapper.vel.
- Instead of <axis>.encoder.set_linear_count() use <axis>.load_mapper.set_abs_pos().
- Instead of <axis>.encoder.config.bandwidth use <axis>.config.encoder_bandwidth.
- Encoder type specific variables and config can be accessed via <odrv>.inc_encoder0, <odrv>.inc_encoder1, <odrv>.spi_encoder0, <odrv>.spi_encoder1, <odrv>.hall_encoder0, <odrv>.hall_encoder1.
- <axis>.encoder.config.calib_range moved to <axis>.config.calib_range
- <axis>.encoder.config.calib_scan_distance moved to <axis>.config.calib_scan_distance
- <axis>.encoder.config.calib_scan_omega replaced by <axis>.config.calib_scan_vel (changed units)
- Instead of <axis>.encoder.error use <odrv>.spi_encoder0.status (or similar) for runtime (active) errors and <axis>.procedure_result after calibration for calibration errors.
<axis>.config.general_lockin.finish_on_enc_idx was removed without replacement.
Motor error codes that can only occur during motor calibration were removed. Inspect <axis>.procedure_result instead.
<axis>.controller.error was replaced by <axis>.controller.status which has a different type
<axis>.controller.anticogging_valid was removed without replacement.
<axis>.controller.load_encoder_axis was removed. Use <axis>.config.load_encoder instead.
<axis>.controller.last_error_time was removed. Use <axis>.disarm_time instead.
<axis>.sensorless_estimator.vel_estimate was removed. Use <axis>.sensorless_estimator.phase_vel instead (different unit).

[0.5.4] and older

See here for older releases.