*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,76 @@
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __LOW_LEVEL_H
+#define __LOW_LEVEL_H
+
+#ifndef __ODRIVE_MAIN_H
+#error "This file should not be included directly. Include odrive_main.h instead."
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <cmsis_os.h>
+#include <stdbool.h>
+#include <adc.h>
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+#define ADC_CHANNEL_COUNT 16
+extern const float adc_full_scale;
+extern const float adc_ref_voltage;
+/* Exported variables --------------------------------------------------------*/
+extern float vbus_voltage;
+extern float ibus_;
+extern bool brake_resistor_armed;
+extern bool brake_resistor_saturated;
+extern uint16_t adc_measurements_[ADC_CHANNEL_COUNT];
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+void safety_critical_arm_motor_pwm(Motor& motor);
+bool safety_critical_disarm_motor_pwm(Motor& motor);
+void safety_critical_apply_motor_pwm_timings(Motor& motor, uint16_t timings[3]);
+void safety_critical_arm_brake_resistor();
+void safety_critical_disarm_brake_resistor();
+void safety_critical_apply_brake_resistor_timings(uint32_t low_off, uint32_t high_on);
+
+// called from STM platform code
+extern "C" {
+void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
+void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
+void tim_update_cb(TIM_HandleTypeDef* htim);
+void pwm_in_cb(int channel, uint32_t timestamp);
+}
+
+// Initalisation
+void start_adc_pwm();
+void start_pwm(TIM_HandleTypeDef* htim);
+void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
+                 uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset,
+                 TIM_HandleTypeDef* htim_refbase = nullptr);
+void start_general_purpose_adc();
+float get_adc_voltage(const GPIO_TypeDef* const GPIO_port, uint16_t GPIO_pin);
+uint16_t channel_from_gpio(const GPIO_TypeDef* const GPIO_port, uint16_t GPIO_pin);
+float get_adc_voltage_channel(uint16_t channel);
+void pwm_in_init();
+void start_analog_thread();
+
+void update_brake_current();
+
+inline uint32_t cpu_enter_critical() {
+    uint32_t primask = __get_PRIMASK();
+    __disable_irq();
+    return primask;
+}
+
+inline void cpu_exit_critical(uint32_t priority_mask) {
+    __set_PRIMASK(priority_mask);
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //__LOW_LEVEL_H