mirror of
https://github.com/odriverobotics/ODrive.git
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98 lines
2.8 KiB
C
98 lines
2.8 KiB
C
/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __LOW_LEVEL_H
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#define __LOW_LEVEL_H
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/* Includes ------------------------------------------------------------------*/
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#include <cmsis_os.h>
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#include "drv8301.h"
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/* Exported types ------------------------------------------------------------*/
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typedef enum {
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M_SIGNAL_PH_CURRENT_MEAS = 1u << 0
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} Motor_thread_signals_t;
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typedef enum {
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CURRENT_CONTROL,
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VELOCITY_CONTROL,
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POSITION_CONTROL
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} Motor_control_mode_t;
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typedef struct {
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float phB;
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float phC;
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} Iph_BC_t;
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typedef struct {
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float current_lim; // [A]
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float p_gain; // [V/A]
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float i_gain; // [V/As]
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float v_current_control_integral_d; // [V]
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float v_current_control_integral_q; // [V]
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float Ibus; // DC bus current [A]
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} Current_control_t;
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typedef struct {
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TIM_HandleTypeDef* encoder_timer;
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int16_t encoder_offset;
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int32_t encoder_state;
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float phase;
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float pll_pos;
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float pll_vel;
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float pll_kp;
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float pll_ki;
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} Rotor_t;
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#define TIMING_LOG_SIZE 16
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typedef struct {
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Motor_control_mode_t control_mode;
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float pos_setpoint;
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float pos_gain;
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float vel_setpoint;
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float vel_gain;
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float vel_integrator_gain;
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float vel_integrator_current;
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float vel_limit;
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float current_setpoint;
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osThreadId motor_thread;
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bool thread_ready;
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TIM_HandleTypeDef* motor_timer;
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uint16_t next_timings[3];
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uint16_t control_deadline;
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Iph_BC_t current_meas;
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Iph_BC_t DC_calib;
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DRV8301_Obj gate_driver;
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float shunt_conductance;
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Current_control_t current_control;
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Rotor_t rotor;
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int timing_log_index;
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uint16_t timing_log[TIMING_LOG_SIZE];
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} Motor_t;
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/* Exported constants --------------------------------------------------------*/
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extern float vbus_voltage;
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extern Motor_t motors[];
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extern const int num_motors;
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/* Exported variables --------------------------------------------------------*/
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/* Exported macro ------------------------------------------------------------*/
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/* Exported functions --------------------------------------------------------*/
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//Note: to control without feed forward, set feed forward terms to 0.0f.
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void set_pos_setpoint(Motor_t* motor, float pos_setpoint, float vel_feed_forward, float current_feed_forward);
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void set_vel_setpoint(Motor_t* motor, float vel_setpoint, float current_feed_forward);
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void set_current_setpoint(Motor_t* motor, float current_setpoint);
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void safe_assert(int arg);
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void init_motor_control();
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void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc);
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void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc);
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//@TODO move motor thread to high level file
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void motor_thread(void const * argument);
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//@TODO move cmd parsing to high level file
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void motor_parse_cmd(uint8_t* buffer, int len);
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#endif //__LOW_LEVEL_H
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