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Merge pull request odriverobotics#583 from aarondls/arduino-improvements
Arduino improvements
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,199 @@ | ||
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| #ifndef ODriveEnums_h | ||
| #define ODriveEnums_h | ||
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| /* TODO: This file is dangerous because the enums could potentially change between API versions. Should transmit as part of the JSON. | ||
| ** To regenerate this file, nagivate to the top level of the ODrive repository and run: | ||
| ** python Firmware/interface_generator_stub.py --definitions Firmware/odrive-interface.yaml --template tools/arduino_enums_template.j2 --output Arduino/ODriveArduino/ODriveEnums.h | ||
| */ | ||
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| // ODrive.GpioMode | ||
| enum GpioMode { | ||
| GPIO_MODE_DIGITAL = 0, | ||
| GPIO_MODE_DIGITAL_PULL_UP = 1, | ||
| GPIO_MODE_DIGITAL_PULL_DOWN = 2, | ||
| GPIO_MODE_ANALOG_IN = 3, | ||
| GPIO_MODE_UART_A = 4, | ||
| GPIO_MODE_UART_B = 5, | ||
| GPIO_MODE_UART_C = 6, | ||
| GPIO_MODE_CAN_A = 7, | ||
| GPIO_MODE_I2C_A = 8, | ||
| GPIO_MODE_SPI_A = 9, | ||
| GPIO_MODE_PWM = 10, | ||
| GPIO_MODE_ENC0 = 11, | ||
| GPIO_MODE_ENC1 = 12, | ||
| GPIO_MODE_ENC2 = 13, | ||
| GPIO_MODE_MECH_BRAKE = 14, | ||
| GPIO_MODE_STATUS = 15, | ||
| }; | ||
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| // ODrive.StreamProtocolType | ||
| enum StreamProtocolType { | ||
| STREAM_PROTOCOL_TYPE_FIBRE = 0, | ||
| STREAM_PROTOCOL_TYPE_ASCII = 1, | ||
| STREAM_PROTOCOL_TYPE_STDOUT = 2, | ||
| STREAM_PROTOCOL_TYPE_ASCII_AND_STDOUT = 3, | ||
| }; | ||
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| // ODrive.Can.Protocol | ||
| enum Protocol { | ||
| PROTOCOL_SIMPLE = 0x00000001, | ||
| }; | ||
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| // ODrive.Axis.AxisState | ||
| enum AxisState { | ||
| AXIS_STATE_UNDEFINED = 0, | ||
| AXIS_STATE_IDLE = 1, | ||
| AXIS_STATE_STARTUP_SEQUENCE = 2, | ||
| AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3, | ||
| AXIS_STATE_MOTOR_CALIBRATION = 4, | ||
| AXIS_STATE_ENCODER_INDEX_SEARCH = 6, | ||
| AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7, | ||
| AXIS_STATE_CLOSED_LOOP_CONTROL = 8, | ||
| AXIS_STATE_LOCKIN_SPIN = 9, | ||
| AXIS_STATE_ENCODER_DIR_FIND = 10, | ||
| AXIS_STATE_HOMING = 11, | ||
| AXIS_STATE_ENCODER_HALL_POLARITY_CALIBRATION = 12, | ||
| AXIS_STATE_ENCODER_HALL_PHASE_CALIBRATION = 13, | ||
| }; | ||
|
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| // ODrive.Encoder.Mode | ||
| enum EncoderMode { | ||
| ENCODER_MODE_INCREMENTAL = 0, | ||
| ENCODER_MODE_HALL = 1, | ||
| ENCODER_MODE_SINCOS = 2, | ||
| ENCODER_MODE_SPI_ABS_CUI = 256, | ||
| ENCODER_MODE_SPI_ABS_AMS = 257, | ||
| ENCODER_MODE_SPI_ABS_AEAT = 258, | ||
| ENCODER_MODE_SPI_ABS_RLS = 259, | ||
| ENCODER_MODE_SPI_ABS_MA732 = 260, | ||
| }; | ||
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| // ODrive.Controller.ControlMode | ||
| enum ControlMode { | ||
| CONTROL_MODE_VOLTAGE_CONTROL = 0, | ||
| CONTROL_MODE_TORQUE_CONTROL = 1, | ||
| CONTROL_MODE_VELOCITY_CONTROL = 2, | ||
| CONTROL_MODE_POSITION_CONTROL = 3, | ||
| }; | ||
|
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| // ODrive.Controller.InputMode | ||
| enum InputMode { | ||
| INPUT_MODE_INACTIVE = 0, | ||
| INPUT_MODE_PASSTHROUGH = 1, | ||
| INPUT_MODE_VEL_RAMP = 2, | ||
| INPUT_MODE_POS_FILTER = 3, | ||
| INPUT_MODE_MIX_CHANNELS = 4, | ||
| INPUT_MODE_TRAP_TRAJ = 5, | ||
| INPUT_MODE_TORQUE_RAMP = 6, | ||
| INPUT_MODE_MIRROR = 7, | ||
| INPUT_MODE_TUNING = 8, | ||
| }; | ||
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| // ODrive.Motor.MotorType | ||
| enum MotorType { | ||
| MOTOR_TYPE_HIGH_CURRENT = 0, | ||
| MOTOR_TYPE_GIMBAL = 2, | ||
| MOTOR_TYPE_ACIM = 3, | ||
| }; | ||
|
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| // ODrive.Error | ||
| enum ODriveError { | ||
| ODRIVE_ERROR_NONE = 0x00000000, | ||
| ODRIVE_ERROR_CONTROL_ITERATION_MISSED = 0x00000001, | ||
| ODRIVE_ERROR_DC_BUS_UNDER_VOLTAGE = 0x00000002, | ||
| ODRIVE_ERROR_DC_BUS_OVER_VOLTAGE = 0x00000004, | ||
| ODRIVE_ERROR_DC_BUS_OVER_REGEN_CURRENT = 0x00000008, | ||
| ODRIVE_ERROR_DC_BUS_OVER_CURRENT = 0x00000010, | ||
| ODRIVE_ERROR_BRAKE_DEADTIME_VIOLATION = 0x00000020, | ||
| ODRIVE_ERROR_BRAKE_DUTY_CYCLE_NAN = 0x00000040, | ||
| ODRIVE_ERROR_INVALID_BRAKE_RESISTANCE = 0x00000080, | ||
| }; | ||
|
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| // ODrive.Can.Error | ||
| enum CanError { | ||
| CAN_ERROR_NONE = 0x00000000, | ||
| CAN_ERROR_DUPLICATE_CAN_IDS = 0x00000001, | ||
| }; | ||
|
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| // ODrive.Axis.Error | ||
| enum AxisError { | ||
| AXIS_ERROR_NONE = 0x00000000, | ||
| AXIS_ERROR_INVALID_STATE = 0x00000001, | ||
| AXIS_ERROR_WATCHDOG_TIMER_EXPIRED = 0x00000800, | ||
| AXIS_ERROR_MIN_ENDSTOP_PRESSED = 0x00001000, | ||
| AXIS_ERROR_MAX_ENDSTOP_PRESSED = 0x00002000, | ||
| AXIS_ERROR_ESTOP_REQUESTED = 0x00004000, | ||
| AXIS_ERROR_HOMING_WITHOUT_ENDSTOP = 0x00020000, | ||
| AXIS_ERROR_OVER_TEMP = 0x00040000, | ||
| AXIS_ERROR_UNKNOWN_POSITION = 0x00080000, | ||
| }; | ||
|
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| // ODrive.Motor.Error | ||
| enum MotorError { | ||
| MOTOR_ERROR_NONE = 0x00000000, | ||
| MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE = 0x00000001, | ||
| MOTOR_ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE = 0x00000002, | ||
| MOTOR_ERROR_DRV_FAULT = 0x00000008, | ||
| MOTOR_ERROR_CONTROL_DEADLINE_MISSED = 0x00000010, | ||
| MOTOR_ERROR_MODULATION_MAGNITUDE = 0x00000080, | ||
| MOTOR_ERROR_CURRENT_SENSE_SATURATION = 0x00000400, | ||
| MOTOR_ERROR_CURRENT_LIMIT_VIOLATION = 0x00001000, | ||
| MOTOR_ERROR_MODULATION_IS_NAN = 0x00010000, | ||
| MOTOR_ERROR_MOTOR_THERMISTOR_OVER_TEMP = 0x00020000, | ||
| MOTOR_ERROR_FET_THERMISTOR_OVER_TEMP = 0x00040000, | ||
| MOTOR_ERROR_TIMER_UPDATE_MISSED = 0x00080000, | ||
| MOTOR_ERROR_CURRENT_MEASUREMENT_UNAVAILABLE = 0x00100000, | ||
| MOTOR_ERROR_CONTROLLER_FAILED = 0x00200000, | ||
| MOTOR_ERROR_I_BUS_OUT_OF_RANGE = 0x00400000, | ||
| MOTOR_ERROR_BRAKE_RESISTOR_DISARMED = 0x00800000, | ||
| MOTOR_ERROR_SYSTEM_LEVEL = 0x01000000, | ||
| MOTOR_ERROR_BAD_TIMING = 0x02000000, | ||
| MOTOR_ERROR_UNKNOWN_PHASE_ESTIMATE = 0x04000000, | ||
| MOTOR_ERROR_UNKNOWN_PHASE_VEL = 0x08000000, | ||
| MOTOR_ERROR_UNKNOWN_TORQUE = 0x10000000, | ||
| MOTOR_ERROR_UNKNOWN_CURRENT_COMMAND = 0x20000000, | ||
| MOTOR_ERROR_UNKNOWN_CURRENT_MEASUREMENT = 0x40000000, | ||
| MOTOR_ERROR_UNKNOWN_VBUS_VOLTAGE = 0x80000000, | ||
| MOTOR_ERROR_UNKNOWN_VOLTAGE_COMMAND = 0x100000000, | ||
| MOTOR_ERROR_UNKNOWN_GAINS = 0x200000000, | ||
| MOTOR_ERROR_CONTROLLER_INITIALIZING = 0x400000000, | ||
| MOTOR_ERROR_UNBALANCED_PHASES = 0x800000000, | ||
| }; | ||
|
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| // ODrive.Controller.Error | ||
| enum ControllerError { | ||
| CONTROLLER_ERROR_NONE = 0x00000000, | ||
| CONTROLLER_ERROR_OVERSPEED = 0x00000001, | ||
| CONTROLLER_ERROR_INVALID_INPUT_MODE = 0x00000002, | ||
| CONTROLLER_ERROR_UNSTABLE_GAIN = 0x00000004, | ||
| CONTROLLER_ERROR_INVALID_MIRROR_AXIS = 0x00000008, | ||
| CONTROLLER_ERROR_INVALID_LOAD_ENCODER = 0x00000010, | ||
| CONTROLLER_ERROR_INVALID_ESTIMATE = 0x00000020, | ||
| CONTROLLER_ERROR_INVALID_CIRCULAR_RANGE = 0x00000040, | ||
| CONTROLLER_ERROR_SPINOUT_DETECTED = 0x00000080, | ||
| }; | ||
|
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| // ODrive.Encoder.Error | ||
| enum EncoderError { | ||
| ENCODER_ERROR_NONE = 0x00000000, | ||
| ENCODER_ERROR_UNSTABLE_GAIN = 0x00000001, | ||
| ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH = 0x00000002, | ||
| ENCODER_ERROR_NO_RESPONSE = 0x00000004, | ||
| ENCODER_ERROR_UNSUPPORTED_ENCODER_MODE = 0x00000008, | ||
| ENCODER_ERROR_ILLEGAL_HALL_STATE = 0x00000010, | ||
| ENCODER_ERROR_INDEX_NOT_FOUND_YET = 0x00000020, | ||
| ENCODER_ERROR_ABS_SPI_TIMEOUT = 0x00000040, | ||
| ENCODER_ERROR_ABS_SPI_COM_FAIL = 0x00000080, | ||
| ENCODER_ERROR_ABS_SPI_NOT_READY = 0x00000100, | ||
| ENCODER_ERROR_HALL_NOT_CALIBRATED_YET = 0x00000200, | ||
| }; | ||
|
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| // ODrive.SensorlessEstimator.Error | ||
| enum SensorlessEstimatorError { | ||
| SENSORLESS_ESTIMATOR_ERROR_NONE = 0x00000000, | ||
| SENSORLESS_ESTIMATOR_ERROR_UNSTABLE_GAIN = 0x00000001, | ||
| SENSORLESS_ESTIMATOR_ERROR_UNKNOWN_CURRENT_MEASUREMENT = 0x00000002, | ||
| }; | ||
|
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||
| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
|
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||
| #ifndef ODriveEnums_h | ||
| #define ODriveEnums_h | ||
|
|
||
| /* TODO: This file is dangerous because the enums could potentially change between API versions. Should transmit as part of the JSON. | ||
| ** To regenerate this file, nagivate to the top level of the ODrive repository and run: | ||
| ** python Firmware/interface_generator_stub.py --definitions Firmware/odrive-interface.yaml --template tools/arduino_enums_template.j2 --output Arduino/ODriveArduino/ODriveEnums.h | ||
| */ | ||
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| [%- for _, enum in value_types.items() %] | ||
| [%- if enum.is_enum %] | ||
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| // [[enum.fullname]] | ||
| enum [[(enum.parent.name if enum.name in ['Error', 'Mode'] else '') + enum.name ]] { | ||
| [%- for k, value in enum['values'].items() %] | ||
| [[((((enum.parent.name if enum.name in ['Error', 'Mode'] else '') + enum.name) | to_macro_case) + "_" + (k | to_macro_case)).ljust(40)]] = [% if enum.is_flags %]0x[['%08x' | format(value.value)]][% else %][[value.value]][% endif %], | ||
| [%- endfor %] | ||
| }; | ||
| [%- endif %] | ||
| [%- endfor %] | ||
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| #endif | ||
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