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odriverobotics · Jan 6, 2025 · 64c4445 · 64c4445
1 parent 96d1abc
commit 64c4445
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Showing 2 changed files with 15 additions and 2 deletions.
diff --git a/src/ODriveEnums.h b/src/ODriveEnums.h
@@ -55,6 +55,8 @@ enum ODriveAxisState {
     AXIS_STATE_ENCODER_HALL_POLARITY_CALIBRATION = 12,
     AXIS_STATE_ENCODER_HALL_PHASE_CALIBRATION = 13,
     AXIS_STATE_ANTICOGGING_CALIBRATION       = 14,
+    AXIS_STATE_HARMONIC_CALIBRATION          = 15,
+    AXIS_STATE_HARMONIC_CALIBRATION_COMMUTATION = 16,
 };
 
 // ODrive.Controller.ControlMode
@@ -192,6 +194,14 @@ enum ODriveMotorType {
     MOTOR_TYPE_ACIM                          = 3,
 };
 
+// ODrive.ThermistorMode
+enum ODriveThermistorMode {
+    THERMISTOR_MODE_NTC                      = 1,
+    THERMISTOR_MODE_QUADRATIC                = 2,
+    THERMISTOR_MODE_PT1000                   = 3,
+    THERMISTOR_MODE_KTY84                    = 4,
+};
+
 // ODrive.Can.Error
 enum ODriveCanError {
     CAN_ERROR_NONE                           = 0x00000000,

diff --git a/src/can_simple_messages.hpp b/src/can_simple_messages.hpp
@@ -179,18 +179,21 @@ struct Address_msg_t final {
     void encode_buf(uint8_t* buf) const {
         can_set_signal_raw<uint8_t>(buf, Node_ID, 0, 8, true);
         can_set_signal_raw<uint64_t>(buf, Serial_Number, 8, 48, true);
+        can_set_signal_raw<uint8_t>(buf, Connection_ID, 56, 8, true);
     }
 
     void decode_buf(const uint8_t* buf) {
         Node_ID = can_get_signal_raw<uint8_t>(buf, 0, 8, true);
         Serial_Number = can_get_signal_raw<uint64_t>(buf, 8, 48, true);
+        Connection_ID = can_get_signal_raw<uint8_t>(buf, 56, 8, true);
     }
 
     static const uint8_t cmd_id = 0x006;
     static const uint8_t msg_length = 8;
 
     uint8_t Node_ID = 0;
     uint64_t Serial_Number = 0;
+    uint8_t Connection_ID = 0;
 };
 
 struct Set_Axis_State_msg_t final {
@@ -325,8 +328,8 @@ struct Set_Input_Pos_msg_t final {
     static const uint8_t msg_length = 8;
 
     float Input_Pos = 0.0f; // [rev]
-    float Vel_FF = 0.0f; // [rev/s]
-    float Torque_FF = 0.0f; // [Nm]
+    float Vel_FF = 0.0f; // [rev/s (default) [#vel-ff-scale]_]
+    float Torque_FF = 0.0f; // [Nm (default) [#torque-ff-scale]_]
 };
 
 struct Set_Input_Vel_msg_t final {