Ext id hash

README.md

@@ -3,7 +3,7 @@
 ![Docs Build](https://github.com/yconst/tinymovr/workflows/Tinymovr%20Docs%20Build/badge.svg)
 [![Discord](https://img.shields.io/discord/742400176664084535)](https://discord.gg/CzcCaXbU)
 
-[Tinymovr is an affordable motor controller](https://tinymovr.com) for precise control of 3-phase brushless motors. Tinymovr works with up to 38V input voltage, drives motors up to 40A continuous phase current, integrates an absolute angle encoder (MPS MA702) and features rich connectivity.
+[Tinymovr is an affordable motor controller](https://tinymovr.com) with integrated encoder and CAN bus for precise control of 3-phase brushless motors (PMSMs). 
 
 This repository holds the open source firmware, client library, hardware designs and documentation source.
 

docs/hardware/overview.rst

@@ -47,15 +47,15 @@ M5.x
 
 Tinymovr M5.x is is our specialized driver for gimbal motors and light robotic joints. It features a very compact footprint and 5A max drive.
 
-Board Dimensions (M5.1)
-#######################
+Board Dimensions (M5.1, M5.2)
+#############################
 
 .. image:: dimensions_m5.png
   :width: 800
   :alt: Tinymovr M5 dimensions
 
-Connectivity (M5.1)
-###################
+Connectivity (M5.1, M5.2)
+#########################
 
 .. image:: connectors_m5.png
   :width: 800

docs/studio/usage.rst

@@ -120,6 +120,8 @@ In order for multiple Tinymovr instances to coexist in the same CAN network, the
   :width: 400
   :alt: Change CAN bus node ID using the GUI
 
+The board will be discovered with the new ID. Studio GUI will rescan, discover the new node, and remove the old instance.
+
 2. |cli| Change the ID
 
 .. code-block:: python
@@ -128,21 +130,21 @@ In order for multiple Tinymovr instances to coexist in the same CAN network, the
 
 where x is the desired ID. You can assign IDs in the range 1-1024.
 
-3. Relaunch Studio. The board will be discovered with the new ID.
+The board will be discovered with the new ID. Relaunch Studio CLI to remove the old board instance. 
 
-4. |gui| Save configuration.
+3. |gui| Save configuration.
 
 .. image:: save_config.png
   :width: 400
   :alt: Save configuration using the GUI
 
-4. |cli| Save configuration.
+3. |cli| Save configuration.
 
 .. code-block:: python
 
     tm1.save_config()
 
-5. Power down or reset the board. Tinymovr is now ready to use with the new ID.
+4. Power down or reset the board. Tinymovr is now ready to use with the new ID.
 
 .. _command-line-options:
 

docs/upgrade/upgrade.rst

@@ -29,8 +29,8 @@ R5.0, R5.1
   :width: 800
   :alt: Tinymovr R5.0 and R5.1 connectors and pinouts
 
-M5.1
-====
+M5.1, M5.2
+==========
 
 .. image:: connectors_m5.png
   :width: 800

firmware/Makefile

@@ -104,7 +104,7 @@ all: release
 debug: CFLAGS += -DDEBUG -g2 -O1
 debug: CPPFLAGS += -DDEBUG -g2 -O1
 debug: LDFLAGS += -O1
-debug: OBJECTS += $(BUILDDIR)/bootloader_$(REV).o
+debug: OBJECTS += $(BUILDDIR)/bootloader-$(REV).o
 debug: binary
 
 # Upgrade target
@@ -114,11 +114,11 @@ upgrade: LDFLAGS += -O3
 upgrade: binary
 
 # Release target
-release: OBJECTS += $(BUILDDIR)/bootloader_$(REV).o
+release: OBJECTS += $(BUILDDIR)/bootloader-$(REV).o
 release: upgrade
 
 # Binary target
-binary: print_board_rev $(HEX) $(BIN) $(ELF)
+binary: print_board_info $(HEX) $(BIN) $(ELF)
 
 # Objcopy to HEX
 $(HEX): $(ELF)
@@ -131,7 +131,7 @@ $(BIN): $(ELF)
 
 # Link
 $(ELF): $(OBJECTS)
-	- $(OBJCOPY) -I binary -O elf32-littlearm -B arm --rename-section .data=.bl_section,alloc,load,readonly,data,contents $(PROJECTDIR)/bootloader/bootloader_$(REV).bin $(BUILDDIR)/bootloader_$(REV).o
+	- $(OBJCOPY) -I binary -O elf32-littlearm -B arm --rename-section .data=.bl_section,alloc,load,readonly,data,contents $(PROJECTDIR)/bootloader/bootloader-$(REV).bin $(BUILDDIR)/bootloader-$(REV).o
 	$(LD) $(LDFLAGS) $(OBJECTS) -o $(ELF)
 	$(SIZE_EX) --format=berkeley $(ELF)
 
@@ -151,8 +151,9 @@ clean :
 	- $(rmdir_cmd) "$(BUILDDIR)"
 
 # Print board revision
-.PHONY: print_board_rev
-print_board_rev:
-	@echo "===Building Tinymovr==="
+.PHONY: print_board_info
+print_board_info:
+	@echo "===Building Tinymovr Bootloader==="
 	@echo "Board revision is $(REV)"
-	@echo "======================="
+	@echo "Fw version is $(GIT_VERSION)"
+	@echo "=================================="

firmware/src/can/can.c

@@ -39,6 +39,9 @@ static CANState state ={0};
 
 extern volatile uint32_t msTicks;
 
+const uint8_t avlos_proto_hash_8 = (uint8_t)(avlos_proto_hash & 0xFF);
+const size_t endpoint_count = sizeof(avlos_endpoints) / sizeof(avlos_endpoints[0]);
+
 void CAN_init(void)
 {
 #if defined(BOARD_REV_R52)
@@ -135,7 +138,8 @@ void CAN_process_interrupt(void)
 {
     can_process_extended();
 
-    if (sizeof(avlos_endpoints) / sizeof(avlos_endpoints[0]) > can_ep_id)
+    if ((endpoint_count > can_ep_id) && 
+       ((can_frame_hash == avlos_proto_hash_8) || (can_frame_hash == 0)))
     {
         uint8_t (*callback)(uint8_t buffer[], uint8_t * buffer_length, Avlos_Command cmd) = avlos_endpoints[can_ep_id];
         uint8_t can_msg_buffer[8];

firmware/src/can/can_endpoints.c

@@ -19,7 +19,6 @@
 
 
 uint8_t (*avlos_endpoints[79])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd) = {&avlos_protocol_hash, &avlos_uid, &avlos_fw_version, &avlos_hw_revision, &avlos_Vbus, &avlos_Ibus, &avlos_power, &avlos_temp, &avlos_calibrated, &avlos_errors, &avlos_save_config, &avlos_erase_config, &avlos_reset, &avlos_enter_dfu, &avlos_scheduler_errors, &avlos_controller_state, &avlos_controller_mode, &avlos_controller_warnings, &avlos_controller_errors, &avlos_controller_position_setpoint, &avlos_controller_position_p_gain, &avlos_controller_velocity_setpoint, &avlos_controller_velocity_limit, &avlos_controller_velocity_p_gain, &avlos_controller_velocity_i_gain, &avlos_controller_velocity_deadband, &avlos_controller_velocity_increment, &avlos_controller_current_Iq_setpoint, &avlos_controller_current_Id_setpoint, &avlos_controller_current_Iq_limit, &avlos_controller_current_Iq_estimate, &avlos_controller_current_bandwidth, &avlos_controller_current_Iq_p_gain, &avlos_controller_current_max_Ibus_regen, &avlos_controller_current_max_Ibrake, &avlos_controller_voltage_Vq_setpoint, &avlos_controller_calibrate, &avlos_controller_idle, &avlos_controller_position_mode, &avlos_controller_velocity_mode, &avlos_controller_current_mode, &avlos_controller_set_pos_vel_setpoints, &avlos_comms_can_rate, &avlos_comms_can_id, &avlos_motor_R, &avlos_motor_L, &avlos_motor_pole_pairs, &avlos_motor_type, &avlos_motor_offset, &avlos_motor_direction, &avlos_motor_calibrated, &avlos_motor_I_cal, &avlos_motor_errors, &avlos_encoder_position_estimate, &avlos_encoder_velocity_estimate, &avlos_encoder_type, &avlos_encoder_bandwidth, &avlos_encoder_calibrated, &avlos_encoder_errors, &avlos_traj_planner_max_accel, &avlos_traj_planner_max_decel, &avlos_traj_planner_max_vel, &avlos_traj_planner_t_accel, &avlos_traj_planner_t_decel, &avlos_traj_planner_t_total, &avlos_traj_planner_move_to, &avlos_traj_planner_move_to_tlimit, &avlos_traj_planner_errors, &avlos_homing_velocity, &avlos_homing_max_homing_t, &avlos_homing_retract_dist, &avlos_homing_warnings, &avlos_homing_stall_detect_velocity, &avlos_homing_stall_detect_delta_pos, &avlos_homing_stall_detect_t, &avlos_homing_home, &avlos_watchdog_enabled, &avlos_watchdog_triggered, &avlos_watchdog_timeout };
-uint32_t avlos_proto_hash = 3526126264;
 
 uint32_t _avlos_get_proto_hash(void)
 {

firmware/src/can/can_endpoints.h

@@ -95,7 +95,7 @@ typedef enum
     ENCODER_TYPE_HALL = 1
 } encoder_type_options;
 
-extern uint32_t avlos_proto_hash;
+static const uint32_t avlos_proto_hash = 3526126264;
 extern uint8_t (*avlos_endpoints[79])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
 extern uint32_t _avlos_get_proto_hash(void);