siddarthiyer / ODrive-STM32-CAN-Driver

Library written by me to control ODrive Motors with STM32 MCU via CAN

ODrive CAN Driver(STM32)

Library written by me to control ODrive Motors with STM32 MCU via CAN

Reference

Functions:

void CAN_Setup(CAN_TypeDef *CAN_INSTANCE, int32_t baudrate);
void Set_Axis_Requested_State(Axis Axis, Axis_State state);
void Set_Input_Vel(Axis Axis, float vel, float torqueff);
void Set_TX_Param(int AXIS_ID, int COMMAND_ID, int id_type, int frame_type, int data_length);
void Clear_Errors(Axis Axis);
void Reboot_ODrive(Axis AXIS_ID);
void Set_Controller_Modes(Axis Axis, Control_Mode ControlMode, Input_Mode InputMode);
void Set_Input_Pos(Axis Axis, float Input_Pos, int Vel_FF, int Torque_FF);
void Get_Encoder_Count(Axis Axis);
void Set_Input_Torque(Axis Axis, float torque);
void Get_Bus_Voltage_Current(Axis Axis);
void Get_IQ(Axis Axis);
void Set_Position_Gain(Axis Axis, float pos_gain);
void Set_Vel_Gains(Axis Axis, float Vel_Gain, float Vel_Int_Gain);
void Set_Axis_Node_ID(Axis Axis, uint32_t node_id);
void Set_Limits(Axis Axis, float vel_lim, float curr_lim);
void ODrive_RX_CallBack(Axis *AXIS);

Declare a struct of type 'Axis'

struct Axis AXIS0;

Struct declaration

typedef struct Axis{
	int AXIS_ID;
	float AXIS_Encoder_Pos;
	float AXIS_Encoder_Vel;
	int32_t AXIS_Encoder_CPR;
	int32_t AXIS_Encoder_Shadow;
	float AXIS_Bus_Voltage;
	float AXIS_Bus_Current;
	float AXIS_Iq_Setpoint;
	float AXIS_Iq_Measured;
	uint32_t AXIS_Error;
	uint8_t AXIS_Current_State;
	uint8_t Controller_Status;
	CAN_TypeDef *CAN_INSTANCE;
}Axis;