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https://github.com/odriverobotics/ODrive.git
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58 lines
1.3 KiB
C++
58 lines
1.3 KiB
C++
#ifndef __ODRIVE_MAIN_HPP
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#define __ODRIVE_MAIN_HPP
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// stdlib includes
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#include <functional>
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// System includes
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#include <cmsis_os.h>
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// STM specific includes
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#include <stm32f4xx_hal.h> // Sets up the correct chip specifc defines required by arm_math
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#define ARM_MATH_CM4 // TODO: might change in future board versions
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#include <arm_math.h>
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// Hardware configuration
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#if HW_VERSION_MAJOR == 3
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#include <board_config_v3.h>
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#else
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#error "unknown board version"
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#endif
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// @brief general user configurable board configuration
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struct BoardConfig_t {
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bool enable_uart = true;
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float brake_resistance = 0.47f; // [ohm]
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};
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class Axis;
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//default timeout waiting for phase measurement signals
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#define PH_CURRENT_MEAS_TIMEOUT 2 // [ms]
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static const float current_meas_period = CURRENT_MEAS_PERIOD;
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static const int current_meas_hz = CURRENT_MEAS_HZ;
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extern float vbus_voltage;
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extern const float elec_rad_per_enc;
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extern BoardConfig_t board_config;
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constexpr size_t AXIS_COUNT = 2;
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extern Axis *axes[AXIS_COUNT];
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// ODrive specific includes
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#include <protocol.hpp>
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#include <utils.h>
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#include <low_level.h>
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#include <encoder.hpp>
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#include <sensorless_estimator.hpp>
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#include <controller.hpp>
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#include <motor.hpp>
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#include <axis.hpp>
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// defined in main.cpp
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void save_configuration(void);
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void erase_configuration(void);
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#endif /* __ODRIVE_MAIN_HPP */
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