mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-19 02:43:27 +08:00
101 lines
2.9 KiB
C++
101 lines
2.9 KiB
C++
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/* Includes ------------------------------------------------------------------*/
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#include "communication.h"
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#include "interface_usb.h"
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#include "interface_uart.h"
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#include "interface_can.hpp"
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#include "interface_i2c.h"
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#include "odrive_main.h"
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#include "freertos_vars.h"
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#include "utils.hpp"
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#include "gpio_utils.hpp"
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#include "../autogen/version.h" // autogenerated based on Git state
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#include <cmsis_os.h>
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#include <memory>
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//#include <usbd_cdc_if.h>
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//#include <usb_device.h>
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//#include <usart.h>
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#include <gpio.h>
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#include <type_traits>
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/* Private defines -----------------------------------------------------------*/
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/* Private macros ------------------------------------------------------------*/
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/* Private typedef -----------------------------------------------------------*/
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/* Global constant data ------------------------------------------------------*/
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/* Global variables ----------------------------------------------------------*/
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uint64_t serial_number;
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char serial_number_str[13]; // 12 digits + null termination
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/* Private constant data -----------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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osThreadId comm_thread;
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const uint32_t stack_size_comm_thread = 4096; // Bytes
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volatile bool endpoint_list_valid = false;
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/* Private function prototypes -----------------------------------------------*/
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/* Function implementations --------------------------------------------------*/
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void init_communication(void) {
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printf("hi!\r\n");
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// Start command handling thread
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osThreadDef(task_cmd_parse, communication_task, osPriorityNormal, 0, stack_size_comm_thread / sizeof(StackType_t));
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comm_thread = osThreadCreate(osThread(task_cmd_parse), NULL);
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while (!endpoint_list_valid)
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osDelay(1);
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}
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float oscilloscope[OSCILLOSCOPE_SIZE] = {0};
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size_t oscilloscope_pos = 0;
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// Thread to handle deffered processing of USB interrupt, and
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// read commands out of the UART DMA circular buffer
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void communication_task(void * ctx) {
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(void) ctx; // unused parameter
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// Allow main init to continue
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endpoint_list_valid = true;
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start_uart_server();
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start_usb_server();
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if (odrv.config_.enable_i2c_instead_of_can) {
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start_i2c_server();
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} else {
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odCAN->start_can_server();
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}
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for (;;) {
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osDelay(1000); // nothing to do
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}
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}
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extern "C" {
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int _write(int file, const char* data, int len);
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}
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// @brief This is what printf calls internally
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int _write(int file, const char* data, int len) {
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#ifdef USB_PROTOCOL_STDOUT
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usb_stream_output_ptr->process_bytes((const uint8_t *)data, len, nullptr);
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#endif
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#ifdef UART_PROTOCOL_STDOUT
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uart4_stream_output_ptr->process_bytes((const uint8_t *)data, len, nullptr);
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#endif
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return len;
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}
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#include "../autogen/function_stubs.hpp"
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ODrive& ep_root = odrv;
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#include "../autogen/endpoints.hpp"
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