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make all other interfaces children of ODrive

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This commit is contained in:
Samuel Sadok
2020-05-29 10:25:06 +02:00
parent 6902fd6b34
commit fb7cabef5b
7 changed files with 32 additions and 32 deletions
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Firmware/MotorControl/axis.hpp
+1 -1
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@@ -5,7 +5,7 @@
#error "This file should not be included directly. Include odrive_main.h instead."
#endif
class Axis : public AxisIntf {
class Axis : public ODriveIntf::AxisIntf {
public:
struct LockinConfig_t {
float current = 10.0f; // [A]
Firmware/MotorControl/controller.hpp
+1 -1
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@@ -5,7 +5,7 @@
#error "This file should not be included directly. Include odrive_main.h instead."
#endif
class Controller : public ControllerIntf {
class Controller : public ODriveIntf::ControllerIntf {
public:
typedef struct {
uint32_t index = 0;
Firmware/MotorControl/encoder.hpp
+1 -1
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@@ -5,7 +5,7 @@
#error "This file should not be included directly. Include odrive_main.h instead."
#endif
class Encoder : public EncoderIntf {
class Encoder : public ODriveIntf::EncoderIntf {
public:
const uint32_t MODE_FLAG_ABS = 0x100;
Firmware/MotorControl/motor.hpp
+1 -1
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@@ -7,7 +7,7 @@
#include "drv8301.h"
class Motor : public MotorIntf {
class Motor : public ODriveIntf::MotorIntf {
public:
struct Iph_BC_t {
float phB;
Firmware/MotorControl/sensorless_estimator.hpp
+1 -1
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@@ -1,7 +1,7 @@
#ifndef __SENSORLESS_ESTIMATOR_HPP
#define __SENSORLESS_ESTIMATOR_HPP
class SensorlessEstimator : public SensorlessEstimatorIntf {
class SensorlessEstimator : public ODriveIntf::SensorlessEstimatorIntf {
public:
struct Config_t {
float observer_gain = 1000.0f; // [rad/s]
Firmware/odrive-interface.yaml
+14 -14
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@@ -178,14 +178,14 @@ interfaces:
functions:
set_baud_rate: {in: {baudRate: uint32}}
Endpoint:
ODrive.Endpoint:
c_is_class: False
attributes:
endpoint: endpoint_ref
min: float32
max: float32
Axis:
ODrive.Axis:
c_is_class: True
attributes:
error:
@@ -294,7 +294,7 @@ interfaces:
clear_errors:
doc: Check the watchdog timer for expiration. Also sets the watchdog error bit if expired.
Axis.LockinConfig:
ODrive.Axis.LockinConfig:
c_is_class: False
attributes:
current:
@@ -320,7 +320,7 @@ interfaces:
finish_on_enc_idx: bool
Motor:
ODrive.Motor:
c_is_class: True
attributes:
error:
@@ -443,7 +443,7 @@ interfaces:
acim_autoflux_decay_gain: float32
Controller:
ODrive.Controller:
c_is_class: True
attributes:
error:
@@ -527,7 +527,7 @@ interfaces:
start_anticogging_calibration:
Encoder:
ODrive.Encoder:
c_is_class: True
attributes:
error:
@@ -580,7 +580,7 @@ interfaces:
set_linear_count: {in: {count: int32}}
SensorlessEstimator:
ODrive.SensorlessEstimator:
c_is_class: True
attributes:
error:
@@ -600,7 +600,7 @@ interfaces:
pm_flux_linkage: float32
TrapezoidalTrajectory:
ODrive.TrapezoidalTrajectory:
c_is_class: True
attributes:
config:
@@ -611,7 +611,7 @@ interfaces:
decel_limit: float32
Endstop:
ODrive.Endstop:
c_is_class: True
attributes:
endstop_state: readonly bool
@@ -630,7 +630,7 @@ valuetypes:
ODrive.Can.Protocol:
values: {Simple: }
Axis.AxisState: # TODO: remove redundant "Axis" in name
ODrive.Axis.AxisState: # TODO: remove redundant "Axis" in name
values:
Undefined:
doc: will fall through to idle
@@ -656,7 +656,7 @@ valuetypes:
Homing:
doc: run axis homing function
Encoder.Mode:
ODrive.Encoder.Mode:
values:
Incremental:
Hall:
@@ -671,7 +671,7 @@ valuetypes:
value: 0x102
doc: not yet implemented
Controller.ControlMode:
ODrive.Controller.ControlMode:
values:
# Note: these should be sorted from lowest level of control to
# highest level of control, to allow "<" style comparisons.
@@ -680,7 +680,7 @@ valuetypes:
VelocityControl:
PositionControl:
Controller.InputMode:
ODrive.Controller.InputMode:
values:
Inactive:
Passthrough:
@@ -692,7 +692,7 @@ valuetypes:
Mirror:
Motor.MotorType:
ODrive.Motor.MotorType:
values:
HighCurrent:
#LowCurrent: # not implemented
tools/odrive/enums.py
+13 -13
View File
@@ -4,7 +4,7 @@
# ODrive.Can.Protocol
PROTOCOL_SIMPLE = 0
# Axis.AxisState
# ODrive.Axis.AxisState
AXIS_STATE_UNDEFINED = 0
AXIS_STATE_IDLE = 1
AXIS_STATE_STARTUP_SEQUENCE = 2
@@ -18,7 +18,7 @@ AXIS_STATE_LOCKIN_SPIN = 9
AXIS_STATE_ENCODER_DIR_FIND = 10
AXIS_STATE_HOMING = 11
# Encoder.Mode
# ODrive.Encoder.Mode
ENCODER_MODE_INCREMENTAL = 0
ENCODER_MODE_HALL = 1
ENCODER_MODE_SINCOS = 2
@@ -26,13 +26,13 @@ ENCODER_MODE_SPI_ABS_CUI = 256
ENCODER_MODE_SPI_ABS_AMS = 257
ENCODER_MODE_SPI_ABS_AEAT = 258
# Controller.ControlMode
# ODrive.Controller.ControlMode
CONTROL_MODE_VOLTAGE_CONTROL = 0
CONTROL_MODE_CURRENT_CONTROL = 1
CONTROL_MODE_VELOCITY_CONTROL = 2
CONTROL_MODE_POSITION_CONTROL = 3
# Controller.InputMode
# ODrive.Controller.InputMode
INPUT_MODE_INACTIVE = 0
INPUT_MODE_PASSTHROUGH = 1
INPUT_MODE_VEL_RAMP = 2
@@ -42,7 +42,7 @@ INPUT_MODE_TRAP_TRAJ = 5
INPUT_MODE_CURRENT_RAMP = 6
INPUT_MODE_MIRROR = 7
# Motor.MotorType
# ODrive.Motor.MotorType
MOTOR_TYPE_HIGH_CURRENT = 0
MOTOR_TYPE_GIMBAL = 2
MOTOR_TYPE_ACIM = 3
@@ -51,7 +51,7 @@ MOTOR_TYPE_ACIM = 3
CAN_ERROR_NONE = 0x00000000
CAN_ERROR_DUPLICATE_CAN_IDS = 0x00000001
# Axis.Error
# ODrive.Axis.Error
AXIS_ERROR_NONE = 0x00000000
AXIS_ERROR_INVALID_STATE = 0x00000001
AXIS_ERROR_DC_BUS_UNDER_VOLTAGE = 0x00000002
@@ -70,13 +70,13 @@ AXIS_ERROR_MAX_ENDSTOP_PRESSED = 0x00002000
AXIS_ERROR_ESTOP_REQUESTED = 0x00004000
AXIS_ERROR_HOMING_WITHOUT_ENDSTOP = 0x00020000
# Axis.LockinState
# ODrive.Axis.LockinState
LOCKIN_STATE_INACTIVE = 0
LOCKIN_STATE_RAMP = 1
LOCKIN_STATE_ACCELERATE = 2
LOCKIN_STATE_CONST_VEL = 3
# Motor.Error
# ODrive.Motor.Error
MOTOR_ERROR_NONE = 0x00000000
MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE = 0x00000001
MOTOR_ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE = 0x00000002
@@ -95,13 +95,13 @@ MOTOR_ERROR_BRAKE_DUTY_CYCLE_NAN = 0x00002000
MOTOR_ERROR_DC_BUS_OVER_REGEN_CURRENT = 0x00004000
MOTOR_ERROR_DC_BUS_OVER_CURRENT = 0x00008000
# Motor.ArmedState
# ODrive.Motor.ArmedState
ARMED_STATE_DISARMED = 0
ARMED_STATE_WAITING_FOR_TIMINGS = 1
ARMED_STATE_WAITING_FOR_UPDATE = 2
ARMED_STATE_ARMED = 3
# Motor.GateDriver.DrvFault
# ODrive.Motor.GateDriver.DrvFault
DRV_FAULT_NO_FAULT = 0x00000000
DRV_FAULT_FET_LOW_C_OVERCURRENT = 0x00000001
DRV_FAULT_FET_HIGH_C_OVERCURRENT = 0x00000002
@@ -115,7 +115,7 @@ DRV_FAULT_P_VDD_UNDERVOLTAGE = 0x00000100
DRV_FAULT_G_VDD_UNDERVOLTAGE = 0x00000200
DRV_FAULT_G_VDD_OVERVOLTAGE = 0x00000400
# Controller.Error
# ODrive.Controller.Error
CONTROLLER_ERROR_NONE = 0x00000000
CONTROLLER_ERROR_OVERSPEED = 0x00000001
CONTROLLER_ERROR_INVALID_INPUT_MODE = 0x00000002
@@ -124,7 +124,7 @@ CONTROLLER_ERROR_INVALID_MIRROR_AXIS = 0x00000008
CONTROLLER_ERROR_INVALID_LOAD_ENCODER = 0x00000010
CONTROLLER_ERROR_INVALID_ESTIMATE = 0x00000020
# Encoder.Error
# ODrive.Encoder.Error
ENCODER_ERROR_NONE = 0x00000000
ENCODER_ERROR_UNSTABLE_GAIN = 0x00000001
ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH = 0x00000002
@@ -136,6 +136,6 @@ ENCODER_ERROR_ABS_SPI_TIMEOUT = 0x00000040
ENCODER_ERROR_ABS_SPI_COM_FAIL = 0x00000080
ENCODER_ERROR_ABS_SPI_NOT_READY = 0x00000100
# SensorlessEstimator.Error
# ODrive.SensorlessEstimator.Error
SENSORLESS_ESTIMATOR_ERROR_NONE = 0x00000000
SENSORLESS_ESTIMATOR_ERROR_UNSTABLE_GAIN = 0x00000001