RTOS for spinal and neuron #483

tongtybj · 2021-06-19T17:29:09Z

I have completed deployment of RTOS for spinal and neuron.
I have tested with HydrusXI quad type and Dragon. Very stable.

Features:

RTOS for spinal (STM32F7)

RTOS for neuron (STM32F4)

Improvement:

Refactor usage of DMA for rosserial UART RX. The throughput of rosserial is significantly improved combined with RTOS (/imu @500hz is available right now).
Refactor implementation of CAN in manner of RTOS. The throughput of CAN between spinal and neurons is significantly improved. (full sending mode in neuron (i.e., IMU data + 4 servo data) is available right now).

…nal encoder.

…_DRIVER library (STM32Cube FW_F7 V1.16.0) for spinal.

…_DRIVER library (STM32Cube FW_F4 V1.25.0) for neuron.

…AL_DRIVER library.

…orresponds to disable "NonAutoRetransmission(NART)" in old HAL version.

…1.25.1

…not tested on the robot yet)

…ect is generated from STM32CubeMX Important: set main.cpp as synbolic link of main.c

- no use of DMA interrupt for transfer completion, direct incremental write to ringbuffer in SRAM from UART port. - no 1ms sleep between tx packets from spinal_ros_bridge, thanks for the first improvement - no use of FIFO of DMA and burst mode, thus no 16bytes padding in spinal_ros_bridge

…unction

…mation, flight control) to RTOS

- use mail function in CMSIS RTOS to send data from RX CAN callback to RX task function. - remained problem of std:vector variables in RTOS task

…ion of intializer in RTOS task

- sue DMA for GPS UART3 RX - refactor the receive function

…l stuck

…to provide enough stack size for core task (512B -> 1024B); otherwise, rosPublishTask will corrupt.

…larget message into several small packets to imrpove the transmit throughput

… the project is generated from STM32CubeMX. Important feature: set main.cpp as synbolic link of main.c

- Enable IMU polling with 1Khz timer - Enable CAN RX/TX. Using queue to control RX and semaphore to control TX.

…or servo process

… for counter period.

…aget message from Neuron. Otherwise, the hard fault occurs because of the wrong memory access.

…rofmance. Previous polling method always corrupts because of the RTOS system

…e initalization in Neuron.

@50Hz

- Strictly guarantee the period for each instunrction (e.g., INST_SET_POS @50Hz, INST_SET_POS @50Hz, 10ms offset from INST_SET_POS.) - Increase the timeout for HAL_UART_Transmit to handle the intterupt by ohter tasks in RTOS - Send all insturciton in ring buffer in each iteration using while().

tongtybj · 2021-06-19T17:41:11Z

RTOS導入の開発は完了しました。ただ、このPRは#416, #417に依存しているため、順を追ってマージします。
また、#416でメッセージタイプの変更があるため、1.2.xとの互換性は失われます。
なので、この3つPRをマージしたのち、バージョンを1.3.0にあげる予定です。

@greenpepper123 @kanke-hayata @Takuzumi240

RTOS導入後の体内通信系のシステム構成の資料をここでまとめています。
ここら辺をちゃんと理解している人が少ないのがすこし心配なので、ぜひこの資料を読んでほしいです。
いずれ講習会を設けてちゃんと説明しようと考えています。

@chibi314
RTOSを導入してから、rosserialとCANの通信状況が大幅に改善されました。
特にCANに関しては、今まで不可能と思われてたneuronにおけるimu_send_data_flag: true + 4 servo send_data_flag: trueという最大の負荷状況にも耐えることができました。
もちろん今の実装は完璧なものではないので、問題があればぜひ指摘ほしいです。

…t. Please consider further development

… 1 at the beginning.

Enable DMA in rosserail UART TX (from MCU to host PC)

greenpepper123 · 2021-07-08T08:09:47Z

TODO

Neuron: servo TX using DMA
Spinal: modify figure, adding UART1 DMA TX

tongtybj and others added 30 commits June 14, 2021 16:04

Implement magnetic encoder i2c interface

49b55db

Add external encoder for joint in neuron, combining with the servo part

c4f2bf2

Automatically set resolution ratio to 1:1 when select the servo inter…

e598d93

…nal encoder.

Refactor the API, particulary about CAN, to migrate to the latest HAL…

7ad4aa7

…_DRIVER library (STM32Cube FW_F7 V1.16.0) for spinal.

Refactor the API, particulary about CAN, to migrate to the latest HAL…

f7ba8d7

…_DRIVER library (STM32Cube FW_F4 V1.25.0) for neuron.

Revert the pause/restart function for CAN in neuron with the latest H…

0e08128

…AL_DRIVER library.

Enable "AutoRetransmission" for CAN transmission arbitration, which c…

9f43057

…orresponds to disable "NonAutoRetransmission(NART)" in old HAL version.

Update to STMCubeMX 6.0.1 and update the HAL Driver for STM32F4xx to …

0f5a8e6

…1.25.1

Modify the CAN sampling point from 55% to 83% which maybe better

410dedc

Convert neuron project from TrueSTUDIO to CubeIDE

0c53c83

convert spinal into CubeIDE, files under Debug may be unnecessary

d56be88

add cubeide launch script

05c68a8

change gcc/g++ opt into -O0 and now it works (at least on the table, …

7ff29f7

…not tested on the robot yet)

update neuron cube_ide.sh

4f6befd

Complete conversion from TrueStudio to STM32CubeIDE of which the proj…

438856e

…ect is generated from STM32CubeMX Important: set main.cpp as synbolic link of main.c

[Spinal RTOS]: test default task without timer

afb318a

[Spinal RTOS]: sample to use RTOS timer

7b6bde4

[Spinal RTOS]: add "__weak" modifier for callback function for RTOS f…

309a836

…unction

[Spinal RTOS]: enable rosserial function in RTOS mode

83024e7

[Spinal RTOS]: enable core process (IMU sensor polling, attitude esti…

fc4e05c

…mation, flight control) to RTOS

[Spinal RTOS]: enable CAN in RTOS

5fcad36

- use mail function in CMSIS RTOS to send data from RX CAN callback to RX task function. - remained problem of std:vector variables in RTOS task

[Sipnal RTOS] revert the timeout value for rosserial uart transmit tx

2aa6ff9

[Spinal RTOS] solve the hard default problem caused by callback funct…

bc580dd

…ion of intializer in RTOS task

[Spinal RTOS] refactor the RTOS part for CAN RX in spinal

1693580

[Spinal RTOS] increase the queue size for CAN RX

82c2b6f

[Spinal RTOS] enable battery voltage ADC measurement in Spinal.

2edeef4

[Spinal RTOS] enable GPS in RTOS

940a271

- sue DMA for GPS UART3 RX - refactor the receive function

[Spinal rosserail] refine the recovery action when rosserial in Spian…

72109e5

…l stuck

[Spinal RTOS] mutex for rosserail publisher. Important note: we need …

d16995b

…to provide enough stack size for core task (512B -> 1024B); otherwise, rosPublishTask will corrupt.

tongtybj added 12 commits June 14, 2021 16:05

[Spinal rosserial] refactor the uart process for rosserial. Seperate …

bd2db28

…larget message into several small packets to imrpove the transmit throughput

[Spinal RTOS] add mutex for flight control

5bcf888

[Neuron] Complete conversion from TrueStudio to STM32CubeIDE of which…

0d1f801

… the project is generated from STM32CubeMX. Important feature: set main.cpp as synbolic link of main.c

[Neuron RTOS] implement RTOS for neuron.

d3c5d14

- Enable IMU polling with 1Khz timer - Enable CAN RX/TX. Using queue to control RX and semaphore to control TX.

[Neuron RTOS] enable servo process in RTOS. Use an independent task f…

b1b2113

…or servo process

[Neuron] correct the configuration about Timer for motor PWM. Need -1…

80a6212

… for counter period.

[Neuron RTOS] fix bug about servo in RTOS

d19ea43

[Spianl RTOS] increase the stack size for CAN RX task to handle the l…

1412aa2

…aget message from Neuron. Otherwise, the hard fault occurs because of the wrong memory access.

[Neuron RTOS] use DMA for Dynamixel UART RX to improve the receive pe…

877cd72

…rofmance. Previous polling method always corrupts because of the RTOS system

[RTOS] improve the process about flash memory read, especially for th…

993b3d8

…e initalization in Neuron.

[Neuron] fix bug about the wrong bit mask for servo error status

6be4620

tongtybj requested review from chibi314 and greenpepper123 June 19, 2021 17:29

tongtybj added 2 commits June 25, 2021 21:00

[rosserial] Implement rosserail UART TX via DMA, whcih is unstable ye…

d050055

…t. Please consider further development

[rosserial] fix the bug about semaphore in UART DMA TX. Semaphore has…

fbd997f

… 1 at the beginning.

tongtybj mentioned this pull request Jun 26, 2021

Convert neuron (and spinal) project from TrueSTUDIO to CubeIDE #461

Closed

Merge pull request #2 from tongtybj/PR/feature/RTOS_UART_TXDMA

b699703

Enable DMA in rosserail UART TX (from MCU to host PC)

tongtybj mentioned this pull request Jul 12, 2021

Spinal上のrosメッセージ・サービスの名前およびタイプ名に長さについて #481

Closed

tongtybj merged commit eb934ec into jsk-ros-pkg:master Aug 6, 2021

tongtybj mentioned this pull request Aug 6, 2021

TODO list in Spinal&Neuron #493

Open

tongtybj deleted the PR/feature/RTOS branch November 17, 2023 16:58

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RTOS for spinal and neuron #483

RTOS for spinal and neuron #483

tongtybj commented Jun 19, 2021 •

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tongtybj commented Jun 19, 2021

greenpepper123 commented Jul 8, 2021 •

edited by tongtybj

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RTOS for spinal and neuron #483

RTOS for spinal and neuron #483

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tongtybj commented Jun 19, 2021 • edited Loading

Features:

Improvement:

tongtybj commented Jun 19, 2021

greenpepper123 commented Jul 8, 2021 • edited by tongtybj Loading

TODO

tongtybj commented Jun 19, 2021 •

edited

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greenpepper123 commented Jul 8, 2021 •

edited by tongtybj

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