siddarthiyer/ODrive-STM32-CAN-Driver 开源项目中文解读：技术栈、适用场景与上手建议

项目介绍

siddarthiyer/ODrive-STM32-CAN-Driver 是一个托管在 GitHub 上的开源项目，主要使用 C 编写，目前获得 29 个 Star、8 次 Fork。

仓库全名: siddarthiyer/ODrive-STM32-CAN-Driver

README 摘要

ODrive CAN Driver(STM32) Library written by me to control ODrive Motors with STM32 MCU via CAN Reference Functions: Declare a struct of type 'Axis' Struct declaration

完整内容见 GitHub 原始 README 或本页。

常见问题

ODrive-STM32-CAN-Driver 用什么语言开发？

主要使用 C 编写，目前有 29 个 Star。

如何获取 ODrive-STM32-CAN-Driver 的源码？

可以直接克隆仓库：git clone https://github.com/siddarthiyer/ODrive-STM32-CAN-Driver.git，默认分支为 main；安装与运行步骤见仓库 README。

ODrive-STM32-CAN-Driver 最近还在维护吗？

仓库最近一次更新为 2022年7月22日，当前有 1 个未关闭 Issue；Star 数为 29，可作为社区活跃度的参考。

关于

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

can-bus odrive odrive-motor-control odriverobotics stm32

29 Stars
8 Forks
2 Watching

描述取自 GitHub 官方 API，中文内容由 GitRead 中文社区编辑团队整理。

简要分析

热度分

价值分

活跃状态

活跃

GitHub

语言占比

贡献者

siddarthiyer

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;

暂无评论

ODrive-STM32-CAN-Driver