*

ODrive-fw-v0.5.6/Firmware/MotorControl/thermistor.hpp

@@ -0,0 +1,81 @@
+#ifndef __THERMISTOR_HPP
+#define __THERMISTOR_HPP
+
+class Motor; // declared in motor.hpp
+
+#include "current_limiter.hpp"
+#include <autogen/interfaces.hpp>
+
+class ThermistorCurrentLimiter : public CurrentLimiter, public ODriveIntf::ThermistorCurrentLimiterIntf {
+public:
+    virtual ~ThermistorCurrentLimiter() = default;
+
+    ThermistorCurrentLimiter(uint16_t adc_channel,
+                             const float* const coefficients,
+                             size_t num_coeffs,
+                             const float& temp_limit_lower,
+                             const float& temp_limit_upper,
+                             const bool& enabled);
+
+    void update();
+    bool do_checks();
+    float get_current_limit(float base_current_lim) const override;
+
+    uint16_t adc_channel_;
+    const float* const coefficients_;
+    const size_t num_coeffs_;
+    float temperature_ = NAN; // [°C] NaN while the ODrive is initializing.
+    const float& temp_limit_lower_;
+    const float& temp_limit_upper_;
+    const bool& enabled_;
+    Motor* motor_ = nullptr; // set by Motor::apply_config()
+    std::array<float, 2> lpf_vals_ = { 0.0f };
+};
+
+class OnboardThermistorCurrentLimiter : public ThermistorCurrentLimiter, public ODriveIntf::OnboardThermistorCurrentLimiterIntf {
+public:
+    struct Config_t {
+        float temp_limit_lower = 100;
+        float temp_limit_upper = 120;
+        bool enabled = true;
+    };
+
+    virtual ~OnboardThermistorCurrentLimiter() = default;
+    OnboardThermistorCurrentLimiter(uint16_t adc_channel, const float* const coefficients, size_t num_coeffs);
+
+    Config_t config_;
+};
+
+class OffboardThermistorCurrentLimiter : public ThermistorCurrentLimiter, public ODriveIntf::OffboardThermistorCurrentLimiterIntf {
+public:
+    static const size_t num_coeffs_ = 4;
+
+    struct Config_t {
+        float thermistor_poly_coeffs[num_coeffs_];
+
+#if HW_VERSION_MAJOR == 3
+        uint16_t gpio_pin = 4;
+#elif HW_VERSION_MAJOR == 4
+        uint16_t gpio_pin = 2;
+#endif
+        float temp_limit_lower = 100;
+        float temp_limit_upper = 120;
+        bool enabled = false;
+
+        // custom setters
+        OffboardThermistorCurrentLimiter* parent;
+        void set_gpio_pin(uint16_t value) { gpio_pin = value; parent->decode_pin(); }
+    };
+
+    virtual ~OffboardThermistorCurrentLimiter() = default;
+    OffboardThermistorCurrentLimiter();
+
+    Config_t config_;
+
+    bool apply_config();
+
+private:
+    void decode_pin();
+};
+
+#endif // __THERMISTOR_HPP