mirror of
https://github.com/odriverobotics/ODrive.git
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48 lines
1002 B
C
48 lines
1002 B
C
#ifndef COMMANDS_H
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#define COMMANDS_H
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// TODO: resolve assert
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#define assert(expr)
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#ifdef __cplusplus
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#include <functional>
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#include <limits>
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#include "crc.hpp"
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// Select which protocol to run on USB (see README for more details)
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#define USB_PROTOCOL_NATIVE
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// #define USB_PROTOCOL_NATIVE_STREAM_BASED
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// #define USB_PROTOCOL_LEGACY
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// #define USB_PROTOCOL_NONE
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// Select which protocol to run on UART (see README for more details)
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// #define UART_PROTOCOL_NATIVE
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// #define UART_PROTOCOL_LEGACY
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#define UART_PROTOCOL_NONE
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// Use GPIO 1/2 for step/dir input instead of UART
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// #define USE_GPIO_MODE_STEP_DIR
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typedef enum {
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GPIO_MODE_NONE,
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GPIO_MODE_UART,
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GPIO_MODE_STEP_DIR,
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} GpioMode_t;
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extern "C" {
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#endif
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void init_communication(void);
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void communication_task(void const * argument);
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void set_cmd_buffer(uint8_t *buf, uint32_t len);
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void usb_update_thread();
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void USB_receive_packet(const uint8_t *buffer, size_t length);
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#ifdef __cplusplus
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}
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#endif
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#endif /* COMMANDS_H */
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