#ifndef ODriveEnums_h #define ODriveEnums_h /* TODO: This file is dangerous because the enums could potentially change between API versions. Should transmit as part of the JSON. ** To regenerate this file, nagivate to the top level of the ODrive repository and run: ** python Firmware/interface_generator_stub.py --definitions Firmware/odrive-interface.yaml --template tools/arduino_enums_template.j2 --output Arduino/ODriveArduino/ODriveEnums.h */ // ODrive.GpioMode enum GpioMode { GPIO_MODE_DIGITAL = 0, GPIO_MODE_DIGITAL_PULL_UP = 1, GPIO_MODE_DIGITAL_PULL_DOWN = 2, GPIO_MODE_ANALOG_IN = 3, GPIO_MODE_UART_A = 4, GPIO_MODE_UART_B = 5, GPIO_MODE_UART_C = 6, GPIO_MODE_CAN_A = 7, GPIO_MODE_I2C_A = 8, GPIO_MODE_SPI_A = 9, GPIO_MODE_PWM = 10, GPIO_MODE_ENC0 = 11, GPIO_MODE_ENC1 = 12, GPIO_MODE_ENC2 = 13, GPIO_MODE_MECH_BRAKE = 14, GPIO_MODE_STATUS = 15, }; // ODrive.StreamProtocolType enum StreamProtocolType { STREAM_PROTOCOL_TYPE_FIBRE = 0, STREAM_PROTOCOL_TYPE_ASCII = 1, STREAM_PROTOCOL_TYPE_STDOUT = 2, STREAM_PROTOCOL_TYPE_ASCII_AND_STDOUT = 3, }; // ODrive.Can.Protocol enum Protocol { PROTOCOL_SIMPLE = 0x00000001, }; // ODrive.Axis.AxisState enum AxisState { AXIS_STATE_UNDEFINED = 0, AXIS_STATE_IDLE = 1, AXIS_STATE_STARTUP_SEQUENCE = 2, AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3, AXIS_STATE_MOTOR_CALIBRATION = 4, AXIS_STATE_ENCODER_INDEX_SEARCH = 6, AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7, AXIS_STATE_CLOSED_LOOP_CONTROL = 8, AXIS_STATE_LOCKIN_SPIN = 9, AXIS_STATE_ENCODER_DIR_FIND = 10, AXIS_STATE_HOMING = 11, AXIS_STATE_ENCODER_HALL_POLARITY_CALIBRATION = 12, AXIS_STATE_ENCODER_HALL_PHASE_CALIBRATION = 13, }; // ODrive.Encoder.Mode enum EncoderMode { ENCODER_MODE_INCREMENTAL = 0, ENCODER_MODE_HALL = 1, ENCODER_MODE_SINCOS = 2, ENCODER_MODE_SPI_ABS_CUI = 256, ENCODER_MODE_SPI_ABS_AMS = 257, ENCODER_MODE_SPI_ABS_AEAT = 258, ENCODER_MODE_SPI_ABS_RLS = 259, ENCODER_MODE_SPI_ABS_MA732 = 260, }; // ODrive.Controller.ControlMode enum ControlMode { CONTROL_MODE_VOLTAGE_CONTROL = 0, CONTROL_MODE_TORQUE_CONTROL = 1, CONTROL_MODE_VELOCITY_CONTROL = 2, CONTROL_MODE_POSITION_CONTROL = 3, }; // ODrive.Controller.InputMode enum InputMode { INPUT_MODE_INACTIVE = 0, INPUT_MODE_PASSTHROUGH = 1, INPUT_MODE_VEL_RAMP = 2, INPUT_MODE_POS_FILTER = 3, INPUT_MODE_MIX_CHANNELS = 4, INPUT_MODE_TRAP_TRAJ = 5, INPUT_MODE_TORQUE_RAMP = 6, INPUT_MODE_MIRROR = 7, INPUT_MODE_TUNING = 8, }; // ODrive.Motor.MotorType enum MotorType { MOTOR_TYPE_HIGH_CURRENT = 0, MOTOR_TYPE_GIMBAL = 2, MOTOR_TYPE_ACIM = 3, }; // ODrive.Error enum ODriveError { ODRIVE_ERROR_NONE = 0x00000000, ODRIVE_ERROR_CONTROL_ITERATION_MISSED = 0x00000001, ODRIVE_ERROR_DC_BUS_UNDER_VOLTAGE = 0x00000002, ODRIVE_ERROR_DC_BUS_OVER_VOLTAGE = 0x00000004, ODRIVE_ERROR_DC_BUS_OVER_REGEN_CURRENT = 0x00000008, ODRIVE_ERROR_DC_BUS_OVER_CURRENT = 0x00000010, ODRIVE_ERROR_BRAKE_DEADTIME_VIOLATION = 0x00000020, ODRIVE_ERROR_BRAKE_DUTY_CYCLE_NAN = 0x00000040, ODRIVE_ERROR_INVALID_BRAKE_RESISTANCE = 0x00000080, }; // ODrive.Can.Error enum CanError { CAN_ERROR_NONE = 0x00000000, CAN_ERROR_DUPLICATE_CAN_IDS = 0x00000001, }; // ODrive.Axis.Error enum AxisError { AXIS_ERROR_NONE = 0x00000000, AXIS_ERROR_INVALID_STATE = 0x00000001, AXIS_ERROR_WATCHDOG_TIMER_EXPIRED = 0x00000800, AXIS_ERROR_MIN_ENDSTOP_PRESSED = 0x00001000, AXIS_ERROR_MAX_ENDSTOP_PRESSED = 0x00002000, AXIS_ERROR_ESTOP_REQUESTED = 0x00004000, AXIS_ERROR_HOMING_WITHOUT_ENDSTOP = 0x00020000, AXIS_ERROR_OVER_TEMP = 0x00040000, AXIS_ERROR_UNKNOWN_POSITION = 0x00080000, }; // ODrive.Motor.Error enum MotorError { MOTOR_ERROR_NONE = 0x00000000, MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE = 0x00000001, MOTOR_ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE = 0x00000002, MOTOR_ERROR_DRV_FAULT = 0x00000008, MOTOR_ERROR_CONTROL_DEADLINE_MISSED = 0x00000010, MOTOR_ERROR_MODULATION_MAGNITUDE = 0x00000080, MOTOR_ERROR_CURRENT_SENSE_SATURATION = 0x00000400, MOTOR_ERROR_CURRENT_LIMIT_VIOLATION = 0x00001000, MOTOR_ERROR_MODULATION_IS_NAN = 0x00010000, MOTOR_ERROR_MOTOR_THERMISTOR_OVER_TEMP = 0x00020000, MOTOR_ERROR_FET_THERMISTOR_OVER_TEMP = 0x00040000, MOTOR_ERROR_TIMER_UPDATE_MISSED = 0x00080000, MOTOR_ERROR_CURRENT_MEASUREMENT_UNAVAILABLE = 0x00100000, MOTOR_ERROR_CONTROLLER_FAILED = 0x00200000, MOTOR_ERROR_I_BUS_OUT_OF_RANGE = 0x00400000, MOTOR_ERROR_BRAKE_RESISTOR_DISARMED = 0x00800000, MOTOR_ERROR_SYSTEM_LEVEL = 0x01000000, MOTOR_ERROR_BAD_TIMING = 0x02000000, MOTOR_ERROR_UNKNOWN_PHASE_ESTIMATE = 0x04000000, MOTOR_ERROR_UNKNOWN_PHASE_VEL = 0x08000000, MOTOR_ERROR_UNKNOWN_TORQUE = 0x10000000, MOTOR_ERROR_UNKNOWN_CURRENT_COMMAND = 0x20000000, MOTOR_ERROR_UNKNOWN_CURRENT_MEASUREMENT = 0x40000000, MOTOR_ERROR_UNKNOWN_VBUS_VOLTAGE = 0x80000000, MOTOR_ERROR_UNKNOWN_VOLTAGE_COMMAND = 0x100000000, MOTOR_ERROR_UNKNOWN_GAINS = 0x200000000, MOTOR_ERROR_CONTROLLER_INITIALIZING = 0x400000000, MOTOR_ERROR_UNBALANCED_PHASES = 0x800000000, }; // ODrive.Controller.Error enum ControllerError { CONTROLLER_ERROR_NONE = 0x00000000, CONTROLLER_ERROR_OVERSPEED = 0x00000001, CONTROLLER_ERROR_INVALID_INPUT_MODE = 0x00000002, CONTROLLER_ERROR_UNSTABLE_GAIN = 0x00000004, CONTROLLER_ERROR_INVALID_MIRROR_AXIS = 0x00000008, CONTROLLER_ERROR_INVALID_LOAD_ENCODER = 0x00000010, CONTROLLER_ERROR_INVALID_ESTIMATE = 0x00000020, CONTROLLER_ERROR_INVALID_CIRCULAR_RANGE = 0x00000040, CONTROLLER_ERROR_SPINOUT_DETECTED = 0x00000080, }; // ODrive.Encoder.Error enum EncoderError { ENCODER_ERROR_NONE = 0x00000000, ENCODER_ERROR_UNSTABLE_GAIN = 0x00000001, ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH = 0x00000002, ENCODER_ERROR_NO_RESPONSE = 0x00000004, ENCODER_ERROR_UNSUPPORTED_ENCODER_MODE = 0x00000008, ENCODER_ERROR_ILLEGAL_HALL_STATE = 0x00000010, ENCODER_ERROR_INDEX_NOT_FOUND_YET = 0x00000020, ENCODER_ERROR_ABS_SPI_TIMEOUT = 0x00000040, ENCODER_ERROR_ABS_SPI_COM_FAIL = 0x00000080, ENCODER_ERROR_ABS_SPI_NOT_READY = 0x00000100, ENCODER_ERROR_HALL_NOT_CALIBRATED_YET = 0x00000200, }; // ODrive.SensorlessEstimator.Error enum SensorlessEstimatorError { SENSORLESS_ESTIMATOR_ERROR_NONE = 0x00000000, SENSORLESS_ESTIMATOR_ERROR_UNSTABLE_GAIN = 0x00000001, SENSORLESS_ESTIMATOR_ERROR_UNKNOWN_CURRENT_MEASUREMENT = 0x00000002, }; #endif