odrive_callbacks.hpp

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#pragma once
#include <Arduino.h>
#include "ODriveCAN.h"
#include <FlexCAN_T4.h>
#include "ODriveFlexCAN.hpp"
#include "teensy_can.h"
#include "defines.h"
#include "odrive_utils/odrive_msgs.hpp"
#include "odrive_utils/odrive_errors.hpp"
 
void onFeedback(Get_Encoder_Estimates_msg_t & msg, void * user_data)
{
  ODriveUserData * odrv_user_data = static_cast<ODriveUserData *>(user_data);
  odrv_user_data->last_feedback = msg;
  odrv_user_data->received_feedback = true;
}
 
void onHeartbeat(Heartbeat_msg_t & msg, void * user_data)
{
  ODriveUserData * odrv_user_data = static_cast<ODriveUserData *>(user_data);
  odrv_user_data->last_heartbeat = msg;
  odrv_user_data->received_heartbeat = true;
  odrv_user_data->last_heartbeat_time = millis();
  if (odrv_user_data->last_error != odrv_user_data->last_heartbeat.Axis_Error) {
    odrv_user_data->last_error = odrv_user_data->last_heartbeat.Axis_Error;
    odrive_print_error(odrv_user_data->last_error);
  }
}
 
void onTemperature(Get_Temperature_msg_t & msg, void * user_data)
{
  ODriveUserData * odrv_user_data = static_cast<ODriveUserData *>(user_data);
  odrv_user_data->last_temperature = msg;
  odrv_user_data->received_temperature = true;
}