mirror of
https://github.com/odriverobotics/ODrive.git
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64 lines
2.0 KiB
C
64 lines
2.0 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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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include <cmsis_os.h>
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#include <stdbool.h>
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#include <adc.h>
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/* Exported types ------------------------------------------------------------*/
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/* Exported constants --------------------------------------------------------*/
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#define ADC_CHANNEL_COUNT 16
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extern const float adc_full_scale;
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extern const float adc_ref_voltage;
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/* Exported variables --------------------------------------------------------*/
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extern float vbus_voltage;
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extern float ibus_;
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extern bool brake_resistor_armed;
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extern bool brake_resistor_saturated;
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extern float brake_resistor_current;
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extern uint16_t adc_measurements_[ADC_CHANNEL_COUNT];
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extern osThreadId analog_thread;
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extern const uint32_t stack_size_analog_thread;
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/* Exported macro ------------------------------------------------------------*/
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/* Exported functions --------------------------------------------------------*/
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void safety_critical_arm_brake_resistor();
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void safety_critical_disarm_brake_resistor();
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void safety_critical_apply_brake_resistor_timings(uint32_t low_off, uint32_t high_on);
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// called from STM platform code
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extern "C" {
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void vbus_sense_adc_cb(uint32_t adc_value);
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void pwm_in_cb(TIM_HandleTypeDef *htim);
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}
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// Initalisation
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void start_adc_pwm();
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void start_pwm(TIM_HandleTypeDef* htim);
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void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
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uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset,
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TIM_HandleTypeDef* htim_refbase = nullptr);
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void start_general_purpose_adc();
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void pwm_in_init();
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void start_analog_thread();
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// ADC getters
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uint16_t channel_from_gpio(Stm32Gpio gpio);
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float get_adc_voltage(Stm32Gpio gpio);
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float get_adc_relative_voltage(Stm32Gpio gpio);
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float get_adc_relative_voltage_ch(uint16_t channel);
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void update_brake_current();
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#ifdef __cplusplus
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}
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#endif
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#endif //__LOW_LEVEL_H
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