mirror of
https://github.com/odriverobotics/ODrive.git
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50 lines
1.6 KiB
C
50 lines
1.6 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_HPP
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#error "This file should not be included directly. Include odrive_main.hpp 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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/* Exported variables --------------------------------------------------------*/
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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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}
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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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void update_brake_current();
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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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