Callback for Get_Bus_Voltage_Current

Author: Your Name

src/ODriveCAN.cpp

@@ -178,6 +178,13 @@ void ODriveCAN::onReceive(uint32_t id, uint8_t length, const uint8_t* data) {
                 temperature_callback_(temperature, temperature_user_data_);
             break;
         }
+        case Get_Bus_Voltage_Current_msg_t::cmd_id: {
+            Get_Bus_Voltage_Current_msg_t bus_vi;
+            bus_vi.decode_buf(data);
+            if (busVI_callback_)
+                busVI_callback_(bus_vi, busVI_user_data_);
+            break;
+        }
         default: {
             if (requested_msg_id_ == REQUEST_PENDING)
                 return;

src/ODriveCAN.h

@@ -171,6 +171,7 @@ class ODriveCAN {
      * @brief Requests ODrive DC bus voltage and current
      * 
      * This function will block and wait for up to timeout_ms (default 10msec) for ODrive to reply
+     * May trigger onBusVI callback if it's registered.
      */
     bool getBusVI(Get_Bus_Voltage_Current_msg_t& msg, uint16_t timeout_ms = 10);
 
@@ -230,6 +231,14 @@ class ODriveCAN {
         temperature_user_data_ = user_data;
     }
 
+    /**
+     * @brief Registers a callback for ODrive bus voltage/current feedback.
+     */
+    void onBusVI(void (*callback)(Get_Bus_Voltage_Current_msg_t& feedback, void* user_data), void* user_data = nullptr) {
+        busVI_callback_ = callback;
+        busVI_user_data_ = user_data;
+    }
+
     /**
      * @brief Processes received CAN messages for the ODrive.
      */
@@ -341,9 +350,11 @@ class ODriveCAN {
     void* feedback_user_data_;
     void* torques_user_data_;
     void* temperature_user_data_;
+    void* busVI_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;
 };