Ci v3.6 56 v

.github/actions/upload-release/action.yml

@@ -23,8 +23,8 @@ inputs:
   odrive_api_key:
     description: 'Key to our release index server'
     required: true
-  product:
-    description: 'ODrive product name (for firmware releases only).'
+  board:
+    description: 'ODrive board version triplet ("PRODUCT_LINE.VERSION.VARIANT") (for firmware releases only).'
     required: false
   app:
     description: 'Firmware app name (default, bootloader) (for firmware releases only).'
@@ -95,6 +95,7 @@ runs:
       shell: python
       run: |
         import asyncio
+        import re
         import sys
 
         import aiohttp
@@ -115,8 +116,8 @@ runs:
             release_api = PrivateReleaseApi(api_client)
 
             qualifiers = {}
-            if '${{ inputs.product }}':
-              qualifiers['product'] = '${{ inputs.product }}'
+            if '${{ inputs.board }}':
+              qualifiers['board'] = tuple(int(i) for i in re.match(r'^([0-9]+)\.([0-9]+).([0-9]+)$', '${{ inputs.board }}').groups())
             if '${{ inputs.app }}':
               qualifiers['app'] = '${{ inputs.app }}'
             if '${{ inputs.variant }}':

.github/workflows/documentation.yml

@@ -24,7 +24,7 @@ jobs:
         print("::set-output name=version::" + version)
 
     - name: Cache pip
-      uses: actions/cache@v2
+      uses: actions/cache@v4
       with:
         path: ~/.cache/pip
         key: ${{ runner.os }}-pip-sphinx-sphinx-tabs-sphinx-design-sphinx_copybutton-sphinx_panels-sphinx_rtd_theme

.github/workflows/firmware.yaml

@@ -4,15 +4,15 @@ on:
   pull_request:
     branches: [master, devel]
   push:
-    branches: [master, devel]
+    branches: [master, devel, ci-v3.6-56V]
     tags: ['fw-v*']
 
 jobs:
   compile:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, windows-latest, macOS-latest]
+        os: [ubuntu-latest, windows-latest]
         board_version: [v3.6-56V]
         debug: [true]
 
@@ -80,11 +80,12 @@ jobs:
           # See https://github.com/osxfuse/osxfuse/issues/801#issuecomment-833419942
           brew install --cask macfuse
           brew install gromgit/fuse/tup-mac
-          pip3 install PyYAML Jinja2 jsonschema
+          python3 -m pip install --user PyYAML Jinja2 jsonschema
+          echo 'export PATH="$HOME/.local/bin:$PATH"' >> $GITHUB_ENV
 
 
       - name: Cache chocolatey
-        uses: actions/cache@v2
+        uses: actions/cache@v4
         if: startsWith(matrix.os, 'windows-')
         with:
           path: C:\Users\runneradmin\AppData\Local\Temp\chocolatey\gcc-arm-embedded
@@ -134,7 +135,7 @@ jobs:
 
       - name: Upload binary as artifact
         if: ${{ matrix.os == 'ubuntu-latest' && matrix.debug == false }}
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: firmware-${{ matrix.board_version }}
           path: |
@@ -147,6 +148,14 @@ jobs:
           mkdir ${{ github.workspace }}/out
           cp ${{ github.workspace }}/Firmware/build/ODriveFirmware.elf ${{ github.workspace }}/out/firmware.elf
 
+      - name: Parse and format matrix.board_version
+        if: ${{ matrix.os == 'ubuntu-latest' }}
+        id: format-board-version
+        run: |
+          formatted_version=$(echo "${{ matrix.board_version }}" | sed 's/v\([0-9]\+\)\.\([0-9]\+\)-\([0-9]\+\)V/\1.\2.\3/')
+          echo "Formatted board version: $formatted_version"
+          echo "::set-output name=formatted_board_version::$formatted_version"
+
       - name: Upload firmware to ODrive release system
         if: ${{ steps.release-info.outputs.channel == 'master' && matrix.os == 'ubuntu-latest' && matrix.debug == false && (startsWith(matrix.board_version, 'v3.5-') || startsWith(matrix.board_version, 'v3.6-')) }}
         uses: ./.github/actions/upload-release
@@ -157,7 +166,7 @@ jobs:
           do_access_key: ${{ secrets.DIGITALOCEAN_ACCESS_KEY }}
           do_secret_key: ${{ secrets.DIGITALOCEAN_SECRET_KEY }}
           odrive_api_key: ${{ secrets.ODRIVE_API_KEY }}
-          product: ODrive ${{ matrix.board_version }}
+          board: ${{ steps.format-board-version.outputs.formatted_board_version }}
           app: default
           variant: public
 

CHANGELOG.md

@@ -1,5 +1,5 @@
 
-## [0.5.6] - Unreleased
+## [0.5.6] - 2023-04-29
 
 ### Fixed
 

Firmware/Drivers/STM32/stm32_spi_arbiter.cpp

@@ -39,6 +39,10 @@ bool Stm32SpiArbiter::start() {
         __HAL_SPI_ENABLE(hspi_);
     }
     task.ncs_gpio.write(false);
+    // Give the slave a brief setup time before the first SPI clock edge.
+    for (volatile int i = 0; i < 64; ++i) {
+        __NOP();
+    }
 
     HAL_StatusTypeDef status = HAL_ERROR;
 

Firmware/MotorControl/encoder.cpp

@@ -44,9 +44,9 @@ void Encoder::setup() {
         .Direction = SPI_DIRECTION_2LINES,
         .DataSize = SPI_DATASIZE_16BIT,
         .CLKPolarity = (mode_ == MODE_SPI_ABS_AEAT || mode_ == MODE_SPI_ABS_MA732) ? SPI_POLARITY_HIGH : SPI_POLARITY_LOW,
-        .CLKPhase = SPI_PHASE_2EDGE,
+        .CLKPhase = (mode_ == MODE_SPI_ABS_AMS) ? SPI_PHASE_1EDGE : SPI_PHASE_2EDGE,
         .NSS = SPI_NSS_SOFT,
-        .BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16,
+        .BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128,
         .FirstBit = SPI_FIRSTBIT_MSB,
         .TIMode = SPI_TIMODE_DISABLE,
         .CRCCalculation = SPI_CRCCALCULATION_DISABLE,
@@ -535,6 +535,7 @@ bool Encoder::abs_spi_start_transaction() {
             spi_task_.on_complete = [](void* ctx, bool success) { ((Encoder*)ctx)->abs_spi_cb(success); };
             spi_task_.on_complete_ctx = this;
             spi_task_.next = nullptr;
+            abs_spi_transaction_pending_ = true;
 
             spi_arbiter_->transfer_async(&spi_task_);
         } else {
@@ -562,18 +563,36 @@ uint8_t cui_parity(uint16_t v) {
 void Encoder::abs_spi_cb(bool success) {
     uint16_t pos;
 
+    abs_spi_transaction_pending_ = false;
+
     if (!success) {
         goto done;
     }
 
     switch (mode_) {
         case MODE_SPI_ABS_AMS: {
             uint16_t rawVal = abs_spi_dma_rx_[0];
-            // check if parity is correct (even) and error flag clear
-            if (ams_parity(rawVal) || ((rawVal >> 14) & 1)) {
+            uint16_t rawValSwapped = ((rawVal & 0xFF) << 8) | ((rawVal >> 8) & 0xFF);
+
+            // Some AS5048A setups appear to miss the first returned bit.
+            // Rebuild candidate frames by shifting right and recomputing parity.
+            uint16_t rawValShifted = rawVal >> 1;
+            rawValShifted = (rawValShifted & 0x7fff) | (ams_parity(rawValShifted) << 15);
+
+            uint16_t rawValSwappedShifted = rawValSwapped >> 1;
+            rawValSwappedShifted = (rawValSwappedShifted & 0x7fff) | (ams_parity(rawValSwappedShifted) << 15);
+
+            if (!(ams_parity(rawValShifted) || ((rawValShifted >> 14) & 1))) {
+                pos = rawValShifted & 0x3fff;
+            } else if (!(ams_parity(rawValSwappedShifted) || ((rawValSwappedShifted >> 14) & 1))) {
+                pos = rawValSwappedShifted & 0x3fff;
+            } else if (!(ams_parity(rawVal) || ((rawVal >> 14) & 1))) {
+                pos = rawVal & 0x3fff;
+            } else if (!(ams_parity(rawValSwapped) || ((rawValSwapped >> 14) & 1))) {
+                pos = rawValSwapped & 0x3fff;
+            } else {
                 goto done;
             }
-            pos = rawVal & 0x3fff;
         } break;
 
         case MODE_SPI_ABS_CUI: {
@@ -734,11 +753,14 @@ bool Encoder::update() {
         case MODE_SPI_ABS_AEAT:
         case MODE_SPI_ABS_MA732: {
             if (abs_spi_pos_updated_ == false) {
-                // Low pass filter the error
-                spi_error_rate_ += current_meas_period * (1.0f - spi_error_rate_);
-                if (spi_error_rate_ > 0.05f) {
-                    set_error(ERROR_ABS_SPI_COM_FAIL);
-                    return false;
+                // Don't count a transfer as failed while its DMA transaction is still in flight.
+                if (!abs_spi_transaction_pending_) {
+                    // Low pass filter the error
+                    spi_error_rate_ += current_meas_period * (1.0f - spi_error_rate_);
+                    if (spi_error_rate_ > 0.05f) {
+                        set_error(ERROR_ABS_SPI_COM_FAIL);
+                        return false;
+                    }
                 }
             } else {
                 // Low pass filter the error

Firmware/MotorControl/encoder.hpp

@@ -137,6 +137,7 @@ class Encoder : public ODriveIntf::EncoderIntf {
     void abs_spi_cb(bool success);
     void abs_spi_cs_pin_init();
     bool abs_spi_pos_updated_ = false;
+    bool abs_spi_transaction_pending_ = false;
     Mode mode_ = MODE_INCREMENTAL;
     Stm32Gpio abs_spi_cs_gpio_;
     uint32_t abs_spi_cr1;

Firmware/ThirdParty/FreeRTOS/Source/stream_buffer.c

@@ -214,146 +214,11 @@ static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
 
 /*-----------------------------------------------------------*/
 
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+// REMOVED IMPLEMENTATIONS OF xStreamBufferGenericCreate and xStreamBufferGenericCreateStatic.
+// We're not using them but the implementation we were using contained a
+// vulnerability (CVE-2021-31572) and got flagged by analysis tools.
+// https://github.com/odriverobotics/ODrive/issues/751
 
-	StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer )
-	{
-	uint8_t *pucAllocatedMemory;
-	uint8_t ucFlags;
-
-		/* In case the stream buffer is going to be used as a message buffer
-		(that is, it will hold discrete messages with a little meta data that
-		says how big the next message is) check the buffer will be large enough
-		to hold at least one message. */
-		if( xIsMessageBuffer == pdTRUE )
-		{
-			/* Is a message buffer but not statically allocated. */
-			ucFlags = sbFLAGS_IS_MESSAGE_BUFFER;
-			configASSERT( xBufferSizeBytes > sbBYTES_TO_STORE_MESSAGE_LENGTH );
-		}
-		else
-		{
-			/* Not a message buffer and not statically allocated. */
-			ucFlags = 0;
-			configASSERT( xBufferSizeBytes > 0 );
-		}
-		configASSERT( xTriggerLevelBytes <= xBufferSizeBytes );
-
-		/* A trigger level of 0 would cause a waiting task to unblock even when
-		the buffer was empty. */
-		if( xTriggerLevelBytes == ( size_t ) 0 )
-		{
-			xTriggerLevelBytes = ( size_t ) 1;
-		}
-
-		/* A stream buffer requires a StreamBuffer_t structure and a buffer.
-		Both are allocated in a single call to pvPortMalloc().  The
-		StreamBuffer_t structure is placed at the start of the allocated memory
-		and the buffer follows immediately after.  The requested size is
-		incremented so the free space is returned as the user would expect -
-		this is a quirk of the implementation that means otherwise the free
-		space would be reported as one byte smaller than would be logically
-		expected. */
-		xBufferSizeBytes++;
-		pucAllocatedMemory = ( uint8_t * ) pvPortMalloc( xBufferSizeBytes + sizeof( StreamBuffer_t ) ); /*lint !e9079 malloc() only returns void*. */
-
-		if( pucAllocatedMemory != NULL )
-		{
-			prvInitialiseNewStreamBuffer( ( StreamBuffer_t * ) pucAllocatedMemory, /* Structure at the start of the allocated memory. */ /*lint !e9087 Safe cast as allocated memory is aligned. */ /*lint !e826 Area is not too small and alignment is guaranteed provided malloc() behaves as expected and returns aligned buffer. */
-										   pucAllocatedMemory + sizeof( StreamBuffer_t ),  /* Storage area follows. */ /*lint !e9016 Indexing past structure valid for uint8_t pointer, also storage area has no alignment requirement. */
-										   xBufferSizeBytes,
-										   xTriggerLevelBytes,
-										   ucFlags );
-
-			traceSTREAM_BUFFER_CREATE( ( ( StreamBuffer_t * ) pucAllocatedMemory ), xIsMessageBuffer );
-		}
-		else
-		{
-			traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer );
-		}
-
-		return ( StreamBufferHandle_t ) pucAllocatedMemory; /*lint !e9087 !e826 Safe cast as allocated memory is aligned. */
-	}
-
-#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
-	StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
-														   size_t xTriggerLevelBytes,
-														   BaseType_t xIsMessageBuffer,
-														   uint8_t * const pucStreamBufferStorageArea,
-														   StaticStreamBuffer_t * const pxStaticStreamBuffer )
-	{
-	StreamBuffer_t * const pxStreamBuffer = ( StreamBuffer_t * ) pxStaticStreamBuffer; /*lint !e740 !e9087 Safe cast as StaticStreamBuffer_t is opaque Streambuffer_t. */
-	StreamBufferHandle_t xReturn;
-	uint8_t ucFlags;
-
-		configASSERT( pucStreamBufferStorageArea );
-		configASSERT( pxStaticStreamBuffer );
-		configASSERT( xTriggerLevelBytes <= xBufferSizeBytes );
-
-		/* A trigger level of 0 would cause a waiting task to unblock even when
-		the buffer was empty. */
-		if( xTriggerLevelBytes == ( size_t ) 0 )
-		{
-			xTriggerLevelBytes = ( size_t ) 1;
-		}
-
-		if( xIsMessageBuffer != pdFALSE )
-		{
-			/* Statically allocated message buffer. */
-			ucFlags = sbFLAGS_IS_MESSAGE_BUFFER | sbFLAGS_IS_STATICALLY_ALLOCATED;
-		}
-		else
-		{
-			/* Statically allocated stream buffer. */
-			ucFlags = sbFLAGS_IS_STATICALLY_ALLOCATED;
-		}
-
-		/* In case the stream buffer is going to be used as a message buffer
-		(that is, it will hold discrete messages with a little meta data that
-		says how big the next message is) check the buffer will be large enough
-		to hold at least one message. */
-		configASSERT( xBufferSizeBytes > sbBYTES_TO_STORE_MESSAGE_LENGTH );
-
-		#if( configASSERT_DEFINED == 1 )
-		{
-			/* Sanity check that the size of the structure used to declare a
-			variable of type StaticStreamBuffer_t equals the size of the real
-			message buffer structure. */
-			volatile size_t xSize = sizeof( StaticStreamBuffer_t );
-			configASSERT( xSize == sizeof( StreamBuffer_t ) );
-		} /*lint !e529 xSize is referenced is configASSERT() is defined. */
-		#endif /* configASSERT_DEFINED */
-
-		if( ( pucStreamBufferStorageArea != NULL ) && ( pxStaticStreamBuffer != NULL ) )
-		{
-			prvInitialiseNewStreamBuffer( pxStreamBuffer,
-										  pucStreamBufferStorageArea,
-										  xBufferSizeBytes,
-										  xTriggerLevelBytes,
-										  ucFlags );
-
-			/* Remember this was statically allocated in case it is ever deleted
-			again. */
-			pxStreamBuffer->ucFlags |= sbFLAGS_IS_STATICALLY_ALLOCATED;
-
-			traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer );
-
-			xReturn = ( StreamBufferHandle_t ) pxStaticStreamBuffer; /*lint !e9087 Data hiding requires cast to opaque type. */
-		}
-		else
-		{
-			xReturn = NULL;
-			traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer );
-		}
-
-		return xReturn;
-	}
-
-#endif /* ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
 /*-----------------------------------------------------------*/
 
 void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer )

Firmware/fibre-cpp/include/fibre/cpp_utils.hpp

@@ -976,10 +976,12 @@ TRet* dynamic_get(size_t i, const std::tuple<Ts...>& t) {
 
 
 template<typename TDereferenceable, typename TResult>
-class simple_iterator : std::iterator<std::random_access_iterator_tag, TResult> {
+class simple_iterator {
     TDereferenceable *container_;
     size_t i_;
 public:
+    using iterator_category = std::random_access_iterator_tag;
+    using value_type = TResult;
     using reference = TResult;
     explicit simple_iterator(TDereferenceable& container, size_t pos) : container_(&container), i_(pos) {}
     simple_iterator& operator++() { ++i_; return *this; }

README.md

@@ -1,3 +1,11 @@
+## Important Note
+
+The firmware in this repository is compatible with the ODrive v3.x (NRND) and is no longer under active development.
+
+Firmware for the new generation of ODrives ([ODrive Pro](https://odriverobotics.com/shop/odrive-pro), [S1](https://odriverobotics.com/shop/odrive-s1), [Micro](https://odriverobotics.com/shop/odrive-micro), etc.) is currently being actively maintained and developed, however its source code is currently not publicly available. Access may be available under NDA, please [reach out to us](mailto:info@odriverobotics.com) for inquiries.
+
+## Overview
+
 ![ODrive Logo](https://static1.squarespace.com/static/58aff26de4fcb53b5efd2f02/t/59bf2a7959cc6872bd68be7e/1505700483663/Odrive+logo+plus+text+black.png?format=1000w)
 
 This project is all about accurately driving brushless motors, for cheap. The aim is to make it possible to use inexpensive brushless motors in high performance robotics projects, like [this](https://www.youtube.com/watch?v=WT4E5nb3KtY).

docs/Makefile

@@ -18,3 +18,4 @@ help:
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
 	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+