*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
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+/*
+* This file was autogenerated using the "odrivetool generate-code" feature.
+*
+* The file matches a specific firmware version. If you add/remove/rename any
+* properties exposed by the ODrive, this file needs to be regenerated, otherwise
+* the ODrive will ignore all commands.
+*/
+
+#ifndef __ODRIVE_ENDPOINTS_HPP
+#define __ODRIVE_ENDPOINTS_HPP
+{% macro enum_name(endpoint) %}{{ endpoint.name | replace('.', '__') | upper }}{% endmacro %}
+
+namespace odrive {
+    
+static constexpr const uint16_t json_crc = 0x{{ "%0x" | format(json_crc) }};
+
+static constexpr const uint16_t per_axis_offset = {{ per_axis_offset }};
+
+enum { {% for endpoint in endpoints %}
+    {{enum_name(endpoint)}} = {{endpoint.id}},
+{%- endfor %}
+
+    // Per-Axis endpoints (to be used with read_axis_property and write_axis_property)
+{%- for endpoint in axis_endpoints %}
+    {{enum_name(endpoint)}} = {{endpoint.id}},
+{%- endfor %}
+};
+
+template<int I>
+struct endpoint_type;
+
+{% for endpoint in endpoints -%}
+template<> struct endpoint_type<{{enum_name(endpoint)}}> { typedef {{endpoint.type}} type; };
+{% endfor %}
+
+// Per-axis endpoints
+{% for endpoint in axis_endpoints -%}
+template<> struct endpoint_type<{{enum_name(endpoint)}}> { typedef {{endpoint.type}} type; };
+{% endfor %}
+
+template<int I>
+using endpoint_type_t = typename endpoint_type<I>::type;
+
+}
+
+#endif // __ODRIVE_ENDPOINTS_HPP