mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-15 17:38:37 +08:00
Samuel Sadok
27574234d5
- Disable interrupts before setting the reboot cookie - Delay after NVIC_SystemReset before jumping to bootloader (see comment for an explanation) - Make a variable for the reboot cookie - Do reboot cookie checks before C++ static initializers
78 lines
3.5 KiB
C++
78 lines
3.5 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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float dc_bus_undervoltage_trip_level = 8.0f; //<! [V] minimum voltage below which the motor stops operating
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float dc_bus_overvoltage_trip_level = 1.08f * HW_VERSION_VOLTAGE; //<! [V] maximum voltage above which the motor stops operating.
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//<! This protects against cases in which the power supply fails to dissipate
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//<! the brake power if the brake resistor is disabled.
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//<! The default is 26V for the 24V board version and 52V for the 48V board version.
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};
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class Axis;
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class Motor;
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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 bool brake_resistor_armed_;
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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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extern uint32_t _reboot_cookie;
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// TODO: move
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// this is technically not thread-safe but practically it might be
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#define DEFINE_ENUM_FLAG_OPERATORS(ENUMTYPE) \
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inline ENUMTYPE operator | (ENUMTYPE a, ENUMTYPE b) { return static_cast<ENUMTYPE>(static_cast<std::underlying_type_t<ENUMTYPE>>(a) | static_cast<std::underlying_type_t<ENUMTYPE>>(b)); } \
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inline ENUMTYPE operator & (ENUMTYPE a, ENUMTYPE b) { return static_cast<ENUMTYPE>(static_cast<std::underlying_type_t<ENUMTYPE>>(a) & static_cast<std::underlying_type_t<ENUMTYPE>>(b)); } \
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inline ENUMTYPE operator ^ (ENUMTYPE a, ENUMTYPE b) { return static_cast<ENUMTYPE>(static_cast<std::underlying_type_t<ENUMTYPE>>(a) ^ static_cast<std::underlying_type_t<ENUMTYPE>>(b)); } \
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inline ENUMTYPE &operator |= (ENUMTYPE &a, ENUMTYPE b) { return reinterpret_cast<ENUMTYPE&>(reinterpret_cast<std::underlying_type_t<ENUMTYPE>&>(a) |= static_cast<std::underlying_type_t<ENUMTYPE>>(b)); } \
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inline ENUMTYPE &operator &= (ENUMTYPE &a, ENUMTYPE b) { return reinterpret_cast<ENUMTYPE&>(reinterpret_cast<std::underlying_type_t<ENUMTYPE>&>(a) &= static_cast<std::underlying_type_t<ENUMTYPE>>(b)); } \
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inline ENUMTYPE &operator ^= (ENUMTYPE &a, ENUMTYPE b) { return reinterpret_cast<ENUMTYPE&>(reinterpret_cast<std::underlying_type_t<ENUMTYPE>&>(a) ^= static_cast<std::underlying_type_t<ENUMTYPE>>(b)); } \
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inline ENUMTYPE operator ~ (ENUMTYPE a) { return static_cast<ENUMTYPE>(~static_cast<std::underlying_type_t<ENUMTYPE>>(a)); }
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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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