*

ODrive-fw-v0.5.6/Firmware/Drivers/gate_driver.hpp

@@ -0,0 +1,42 @@
+#ifndef __GATE_DRIVER_HPP
+#define __GATE_DRIVER_HPP
+
+struct GateDriverBase {
+    /**
+     * @brief Unlocks or locks the gate signals of the gate driver.
+     * 
+     * While locked the PWM inputs are ignored and the switches are always in
+     * OFF state.
+     * Not all gate drivers implement this function and may return true even if
+     * the gate driver was not locked.
+     */
+    virtual bool set_enabled(bool enabled) = 0;
+
+    /**
+     * @brief Returns false if the gate driver is in a state where the output
+     * drive stages are disarmed or not properly configured (e.g. because they
+     * are not initialized or there was a fault condition).
+     */
+    virtual bool is_ready() = 0;
+};
+
+struct OpAmpBase {
+    /**
+     * @brief Returns false if the opamp is in a state where it's not operating
+     * with the latest configured gain (e.g. because it was not initialized or
+     * there was a fault condition).
+     */
+    virtual bool is_ready() = 0;
+
+    /**
+     * @brief Returns the neutral voltage of the OpAmp in Volts
+     */
+    virtual float get_midpoint() = 0;
+
+    /**
+     * @brief Returns the maximum voltage swing away from the midpoint voltage (in Volts)
+     */
+    virtual float get_max_output_swing() = 0;
+};
+
+#endif // __GATE_DRIVER_HPP