Revert "Revert "Upgrades default ODriveFirmware to 0.5.4""

This reverts commit eb13576.

firmware/ODrive/README.md

@@ -1,8 +1,6 @@
 ## ODrive Usage On Hangprinter
 
-Use stock ODrive Firmware version 0.5.1.
-I have not been able to make anti-cogging calibration work in later versions.
-I have tested 0.5.2 and 0.5.4.
+Use stock ODrive Firmware version 0.5.4 or later.
 
 Use a <a href="https://odriverobotics.com/shop/usb-isolator">USB isolator</a> between your laptop and your ODrive.
 
@@ -23,30 +21,20 @@ $ odrivetool restore-config odrive-config-AB.json  # With AB ODrive connected
 $ odrivetool restore-config odrive-config-CD.json  # With CD ODrive connected
 ```
 
-I haven't tried this myself, but at least one user has reported saving time by doing ODrive config this way.
-Be aware that some lower level config will be slightly off/wrong in your ODrive after you "restore" from my backup.
-I know at least these config values will be slightly off:
-
-```
-odrv0.axis0.encoder.config.offset_float
-odrv0.axis0.encoder.config.offset
-odrv0.axis1.encoder.config.offset_float
-odrv0.axis1.encoder.config.offset
-odrv0.axis0.motor.config.phase_inductance
-odrv0.axis0.motor.config.phase_resistance
-odrv0.axis1.motor.config.phase_inductance
-odrv0.axis1.motor.config.phase_resistance
+After those commands, you need to confirm that your break resistance matches the configured one.
+You also need to do a calibration sequence and set a couple of variables:
+odrivetool:
 ```
-
-My guess is that they can get fixed up by a few commands in the odrivetool:
-```
-odrv0.axis0.requested_state = AXIS_STATE_ENCODER_INDEX_SEARCH
-# wait...
-odrv0.axis1.requested_state = AXIS_STATE_ENCODER_INDEX_SEARCH
+odrv0.config.brake_resistance = your_measured_value
+odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
 # wait...
-odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
+odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
 # wait...
-odrv0.axis1.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
+odrv0.axis0.encoder.config.pre_calibrated = True
+odrv0.axis1.encoder.config.pre_calibrated = True
+odrv0.axis0.requested_state = AXIS_STATE_IDLE
+odrv0.axis1.requested_state = AXIS_STATE_IDLE
+odrv0.save_configuration()
 # wait...
 ```
 

firmware/ODrive/configure_odrive.py

@@ -1,14 +1,13 @@
 # Hangprinter version 4 configures its ODrives like is described in this file
 
-# WARNING: Use ODriveFirmware version 0.5.1.
-# I have not been able to make later versions work
-# I have tested 0.5.2 and 0.5.4
+# These instructions work for ODriveFirmware version 0.5.4.
+# Some comments in here might help you if you use earlier versions as well.
 
 #odrv0.config.brake_resistance = 0.4699999988079071 # Or 2.0. You need to check this with a multimeter
 
 # Later ODrive Firmware versions (0.5.2 onwards) might disable break resistor by default
 # So you need to set a boolean to true to enable it again:
-#odrv0.config.enable_brake_resistor = True;
+odrv0.config.enable_brake_resistor = True;
 
 #odrv0.axis0.motor.config.pole_pairs = 7            # Default
 #odrv0.axis0.controller.torque_setpoint = 0        # Default. Torque mode with zero torque
@@ -47,9 +46,6 @@
 odrv0.axis0.encoder.config.use_index = True
 odrv0.axis1.encoder.config.use_index = True
 
-odrv0.save_configuration()
-odrv0.reboot() # Reboot is automatic upon save_configuration() for newer fw versions
-
 odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
 odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
 
@@ -79,30 +75,35 @@
 odrv0.axis1.config.startup_closed_loop_control = True
 
 # Interface
-odrv0.config.enable_uart = False # enable_uart_a = False in fw 0.5.4
+#odrv0.config.enable_uart = False # before fw 0.5.2
+odrv0.config.enable_uart_a = False # in fw 0.5.2 onwards
 
 #odrv0.can.set_baud_rate(250000) # Default
-odrv0.can.config.protocol = 0 # This changes to 0x1 somewhere between 0.5.1 and 0.5.4. So if you have a late firmware, it should be 1.
-# odrv0.axis0.config.can_node_id = 40 # A. config.can.node_id in later fw versions
-# odrv0.axis1.config.can_node_id = 41 # B
+odrv0.can.config.protocol = 1 # This changes to 0x1 somewhere between 0.5.1 and 0.5.4. So if you have an older firmware, it should be 0.
+# odrv0.axis0.config.can.node_id = 40 # A. config.can_node_id in fw versions older than 0.5.2
+# odrv0.axis1.config.can.node_id = 41 # B
 # For the other board
-odrv0.axis0.config.can_node_id = 42 # C
-odrv0.axis1.config.can_node_id = 43 # D
+odrv0.axis0.config.can.node_id = 42 # C
+odrv0.axis1.config.can.node_id = 43 # D
 
 odrv0.axis0.config.step_gpio_pin = 1
 odrv0.axis0.config.dir_gpio_pin = 2
-#odrv0.axis0.controller.config.steps_per_circular_range = 400 # 25*16 (on newer fw versions)
-odrv0.axis0.config.turns_per_step = 0.0025 # 1/(25*16) = 0.0025
+odrv0.axis0.controller.config.steps_per_circular_range = 400 # 25*16 (on newer fw versions)
+#odrv0.axis0.config.turns_per_step = 0.0025 # 1/(25*16) = 0.0025 # on older fw versions
 odrv0.axis0.config.enable_step_dir = True
 
 #odrv0.axis1.config.step_gpio_pin = 7 # Default
 #odrv0.axis1.config.dir_gpio_pin = 8  # Default
-#odrv0.axis1.controller.config.steps_per_circular_range = 400 # 25*16
-odrv0.axis1.config.turns_per_step = 0.0025 # 1/(25*16) = 0.0025
+odrv0.axis1.controller.config.steps_per_circular_range = 400 # 25*16
+#odrv0.axis1.config.turns_per_step = 0.0025 # 1/(25*16) = 0.0025
 odrv0.axis1.config.enable_step_dir = True
 
 odrv0.save_configuration()
-odrv0.reboot() # Reboot is automatic upon save_configuration() for newer fw versions
+# If the ODrive says "False",
+# you have to tell your motors to be idle before you're allowed to save:
+# odrv0.axis0.requested_state = AXIS_STATE_IDLE
+# odrv0.axis1.requested_state = AXIS_STATE_IDLE
+#odrv0.reboot() # Reboot is automatic upon save_configuration() for newer fw versions
 
 # WARNING: Anticogging calibration can be finicky
 # Save configuration and reboot (if you're on newer fw reboot is automatic) before you start calibrating anticogging
@@ -111,6 +112,7 @@
 # Calibrate anticogging like this
 #
 # odrv0.axis0.controller.config.anticogging.anticogging_enabled = False
+# odrv0.axis0.config.enable_step_dir = False # Needed on fw 0.5.2 and later
 # odrv0.axis0.controller.start_anticogging_calibration()
 
 # Check progress with:
@@ -122,7 +124,8 @@
 # When anticogging calibration is done:
 # odrv0.axis0.controller.config.anticogging.pre_calibrated = True
 # odrv0.axis0.controller.config.anticogging.anticogging_enabled = True
+# odrv0.axis0.config.enable_step_dir = True
 # Then save and reboot
 
 odrv0.save_configuration()
-odrv0.reboot() # Reboot is automatic upon save_configuration() for newer fw versions
+#odrv0.reboot() # Reboot is automatic upon save_configuration() for newer fw versions