mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-21 23:53:35 +08:00
Rowan Goemans
1a0d6acace
- Added thermal errors to dump_errors call in odrivetool. - Added function in odrivetool to set thermistor coefficients based on thermistor specs. - Added documentation for users on how to connect and configure their own thermistors.
77 lines
2.5 KiB
C
77 lines
2.5 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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#ifndef __ODRIVE_MAIN_H
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#error "This file should not be included directly. Include odrive_main.h instead."
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#endif
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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 uint16_t adc_measurements_[ADC_CHANNEL_COUNT];
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/* Exported macro ------------------------------------------------------------*/
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/* Exported functions --------------------------------------------------------*/
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void safety_critical_arm_motor_pwm(Motor& motor);
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bool safety_critical_disarm_motor_pwm(Motor& motor);
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void safety_critical_apply_motor_pwm_timings(Motor& motor, uint16_t timings[3]);
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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 pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
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void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
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void tim_update_cb(TIM_HandleTypeDef* htim);
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void pwm_in_cb(int channel, uint32_t timestamp);
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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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float get_adc_voltage(const GPIO_TypeDef* const GPIO_port, uint16_t GPIO_pin);
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uint16_t channel_from_gpio(const GPIO_TypeDef* const GPIO_port, uint16_t GPIO_pin);
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float get_adc_voltage_channel(uint16_t channel);
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void pwm_in_init();
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void start_analog_thread();
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void update_brake_current();
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inline uint32_t cpu_enter_critical() {
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uint32_t primask = __get_PRIMASK();
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__disable_irq();
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return primask;
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}
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inline void cpu_exit_critical(uint32_t priority_mask) {
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__set_PRIMASK(priority_mask);
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}
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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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