Callback for Get_Iq

Author: Your Name

src/ODriveCAN.cpp

@@ -185,6 +185,13 @@ void ODriveCAN::onReceive(uint32_t id, uint8_t length, const uint8_t* data) {
                 busVI_callback_(bus_vi, busVI_user_data_);
             break;
         }
+        case Get_Iq_msg_t::cmd_id: {
+            Get_Iq_msg_t iq;
+            iq.decode_buf(data);
+            if (currents_callback_)
+                currents_callback_(iq, currents_user_data_);
+            break;
+        }
         default: {
             if (requested_msg_id_ == REQUEST_PENDING)
                 return;

src/ODriveCAN.h

@@ -239,6 +239,14 @@ class ODriveCAN {
         busVI_user_data_ = user_data;
     }
 
+    /**
+     * @brief Registers a callback for ODrive currents feedback.
+     */
+    void onCurrents(void (*callback)(Get_Iq_msg_t& feedback, void* user_data), void* user_data = nullptr) {
+        currents_callback_ = callback;
+        currents_user_data_ = user_data;
+    }
+
     /**
      * @brief Processes received CAN messages for the ODrive.
      */
@@ -351,10 +359,12 @@ class ODriveCAN {
     void* torques_user_data_;
     void* temperature_user_data_;
     void* busVI_user_data_;
+    void* currents_user_data_;
 
     void (*axis_state_callback_)(Heartbeat_msg_t& feedback, void* user_data) = nullptr;
     void (*feedback_callback_)(Get_Encoder_Estimates_msg_t& feedback, void* user_data) = nullptr;
     void (*torques_callback_)(Get_Torques_msg_t& feedback, void* user_data) = nullptr;
     void (*temperature_callback_)(Get_Temperature_msg_t& feedback, void* user_data) = nullptr;
     void (*busVI_callback_)(Get_Bus_Voltage_Current_msg_t& feedback, void* user_data) = nullptr;
+    void (*currents_callback_)(Get_Iq_msg_t& feedback, void* user_data) = nullptr;
 };