mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-10 12:14:37 +08:00
Samuel Sadok
c45ef8934b
Before this commit, bad user input could cause the device to hang, that is, no longer respond on USB (other side effects are likely, though not tested for). An example of such an input is: odrv0.axis0.encoder.config.cpr = 10 odrv0.axis0.encoder.config.offset = 20000
119 lines
2.9 KiB
C++
119 lines
2.9 KiB
C++
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#ifndef __UTILS_H
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#define __UTILS_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <math.h>
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/**
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* @brief Flash size register address
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*/
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#define ID_FLASH_ADDRESS (0x1FFF7A22)
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/**
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* @brief Device ID register address
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*/
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#define ID_DBGMCU_IDCODE (0xE0042000)
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/**
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* "Returns" the device signature
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*
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* Possible returns:
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* - 0x0413: STM32F405xx/07xx and STM32F415xx/17xx)
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* - 0x0419: STM32F42xxx and STM32F43xxx
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* - 0x0423: STM32F401xB/C
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* - 0x0433: STM32F401xD/E
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* - 0x0431: STM32F411xC/E
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*
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* Returned data is in 16-bit mode, but only bits 11:0 are valid, bits 15:12 are always 0.
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* Defined as macro
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*/
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#define STM_ID_GetSignature() ((*(uint16_t *)(ID_DBGMCU_IDCODE)) & 0x0FFF)
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/**
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* "Returns" the device revision
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*
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* Revisions possible:
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* - 0x1000: Revision A
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* - 0x1001: Revision Z
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* - 0x1003: Revision Y
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* - 0x1007: Revision 1
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* - 0x2001: Revision 3
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*
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* Returned data is in 16-bit mode.
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*/
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#define STM_ID_GetRevision() (*(uint16_t *)(ID_DBGMCU_IDCODE + 2))
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/**
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* "Returns" the Flash size
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*
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* Returned data is in 16-bit mode, returned value is flash size in kB (kilo bytes).
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*/
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#define STM_ID_GetFlashSize() (*(uint16_t *)(ID_FLASH_ADDRESS))
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#ifdef M_PI
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#undef M_PI
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#endif
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#define M_PI (3.14159265358979323846f)
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#define MACRO_MAX(x, y) (((x) > (y)) ? (x) : (y))
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#define MACRO_MIN(x, y) (((x) < (y)) ? (x) : (y))
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#define SQ(x) ((x) * (x))
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static const float one_by_sqrt3 = 0.57735026919f;
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static const float two_by_sqrt3 = 1.15470053838f;
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static const float sqrt3_by_2 = 0.86602540378f;
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// like fmodf, but always positive
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static inline float fmodf_pos(float x, float y) {
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float out = fmodf(x, y);
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if (out < 0.0f)
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out += y;
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return out;
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}
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/**
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* @brief Similar to modulo operator, except that the output range is centered
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* around zero.
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* The returned value is always in the range [-pm_range, pm_range).
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*/
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static inline float wrap_pm(float x, float pm_range) {
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return fmodf_pos(x + pm_range, 2.0f * pm_range) - pm_range;
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}
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//beware of inserting large angles!
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static inline float wrap_pm_pi(float theta) {
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return wrap_pm(theta, M_PI);
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}
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// Compute rising edge timings (0.0 - 1.0) as a function of alpha-beta
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// as per the magnitude invariant clarke transform
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// The magnitude of the alpha-beta vector may not be larger than sqrt(3)/2
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// Returns 0 on success, and -1 if the input was out of range
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int SVM(float alpha, float beta, float* tA, float* tB, float* tC);
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float fast_atan2(float y, float x);
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float horner_fma(float x, const float *coeffs, size_t count);
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int mod(int dividend, int divisor);
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uint32_t deadline_to_timeout(uint32_t deadline_ms);
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uint32_t timeout_to_deadline(uint32_t timeout_ms);
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int is_in_the_future(uint32_t time_ms);
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uint32_t micros(void);
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void delay_us(uint32_t us);
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float our_arm_sin_f32(float x);
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float our_arm_cos_f32(float x);
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#ifdef __cplusplus
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}
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#endif
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#endif //__UTILS_H
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