Added build flags for BMS and OTA

platformio.ini

@@ -58,6 +58,7 @@ build_flags =
   -DPINS_TX2=26
   -DPINS_GAS=35
   -DPINS_BREMS=33
+  -DFEATURE_OTA
 
 
 
@@ -83,6 +84,7 @@ build_flags =
   -DDEFAULT_GASMAX=3700
   -DDEFAULT_BREMSMIN=1300
   -DDEFAULT_BREMSMAX=4000
+  -DFEATURE_BMS
 
 [env:feedc0de_usb]
 platform = ${common_env_data.platform}
@@ -152,7 +154,7 @@ build_flags =
 platform = ${common_env_data.platform}
 board = ${common_env_data.board}
 framework = ${common_env_data.framework}
-board_build.partitions = ${common_env_data.board_build.partitions}
+board_build.partitions = bobbycar_noota.csv
 lib_deps = ${common_env_data.lib_deps}
 lib_compat_mode = ${common_env_data.lib_compat_mode}
 build_unflags = ${common_env_data.build_unflags}

src/actions/bluetoothconnectbmsaction.h

@@ -6,6 +6,7 @@
 #include "globals.h"
 
 namespace {
+#ifdef FEATURE_BMS
 class BluetoothConnectBmsAction : public virtual ActionInterface
 {
 public:
@@ -19,4 +20,5 @@ public:
         }
     }
 };
+#endif
 }

src/actions/bmsturnoffchargeaction.h

@@ -4,6 +4,7 @@
 #include "bmsutils.h"
 
 namespace {
+#ifdef FEATURE_BMS
 class BmsTurnOffChargeAction : public virtual ActionInterface
 {
 public:
@@ -16,4 +17,5 @@ public:
         }
     }
 };
+#endif
 }

src/actions/bmsturnoffdischargeaction.h

@@ -4,6 +4,7 @@
 #include "bmsutils.h"
 
 namespace {
+#ifdef FEATURE_BMS
 class BmsTurnOffDischargeAction : public virtual ActionInterface
 {
 public:
@@ -16,4 +17,5 @@ public:
         }
     }
 };
+#endif
 }

src/actions/bmsturnonchargeaction.h

@@ -4,6 +4,7 @@
 #include "bmsutils.h"
 
 namespace {
+#ifdef FEATURE_BMS
 class BmsTurnOnChargeAction : public virtual ActionInterface
 {
 public:
@@ -16,4 +17,5 @@ public:
         }
     }
 };
+#endif
 }

src/actions/bmsturnondischargeaction.h

@@ -4,6 +4,7 @@
 #include "bmsutils.h"
 
 namespace {
+#ifdef FEATURE_BMS
 class BmsTurnOnDischargeAction : public virtual ActionInterface
 {
 public:
@@ -16,4 +17,5 @@ public:
         }
     }
 };
+#endif
 }

src/bmsutils.h

@@ -3,6 +3,7 @@
 #include "globals.h"
 
 namespace {
+#ifdef FEATURE_BMS
 namespace bms {
 constexpr auto autoReconnect = false; // causes hangs when not available
 
@@ -119,4 +120,5 @@ void update()
     }
 }
 }
+#endif
 }

src/displays/bmsdisplay.h

@@ -14,6 +14,7 @@ class MetersDisplay;
 class StatusDisplay;
 }
 namespace {
+#ifdef FEATURE_BMS
 class BmsDisplay : public DemoDisplay, public SwitchScreenAction<MainMenu>
 {
 public:
@@ -86,4 +87,5 @@ void BmsDisplay::rotate(int offset)
     else if (offset > 0)
         switchScreen<StatusDisplay>();
 }
+#endif
 }

src/displays/menus/bmsmenu.h

@@ -21,6 +21,7 @@ class MainMenu;
 }
 
 namespace {
+#ifdef FEATURE_BMS
 class BmsMenu :
     public MenuDisplay,
     public StaticText<TEXT_BMS>,
@@ -36,4 +37,5 @@ class BmsMenu :
         makeComponent<MenuItem, StaticText<TEXT_BACK>,             SwitchScreenAction<MainMenu>, StaticMenuItemIcon<&icons::back>>
     >
 {};
+#endif
 }

src/displays/menus/graphsmenu.h

@@ -23,6 +23,7 @@ using SumCurrentGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_SU
 using SumAbsoluteCurrentGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_SUMABSOLUTECURRENT>, MultiStatisticsSingleImpl, SumAbsoluteCurrentStatistics>;
 using FrontVoltageGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_FRONTVOLTAGE>, MultiStatisticsSingleImpl, FrontVoltageStatistics>;
 using BackVoltageGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_BACKVOLTAGE>, MultiStatisticsSingleImpl, BackVoltageStatistics>;
+#ifdef FEATURE_BMS
 using BmsVoltageGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_BMSVOLTAGE>, MultiStatisticsSingleImpl, BmsVoltageStatistics>;
 using BmsCurrentGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_BMSCURRENT>, MultiStatisticsSingleImpl, BmsCurrentStatistics>;
 using BmsPowerGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_BMSPOWER>, MultiStatisticsSingleImpl, BmsPowerStatistics>;
@@ -35,6 +36,7 @@ class SumCurrentsComparisonStatistics : public virtual MultiStatisticsInterface<
     }
 };
 using SumCurrentsComparisonGraphDisplay = makeComponent<GraphDisplay<2>, StaticText<TEXT_SUMCURRENTSCOMPARISON>, SumCurrentsComparisonStatistics>;
+#endif
 
 class MotorCurrentsStatistics : public virtual MultiStatisticsInterface<4>
 {
@@ -58,10 +60,12 @@ class GraphsMenu :
         makeComponent<MenuItem, StaticText<TEXT_SUMABSOLUTECURRENT>,    SwitchScreenAction<SumAbsoluteCurrentGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_FRONTVOLTAGE>,          SwitchScreenAction<FrontVoltageGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_BACKVOLTAGE>,           SwitchScreenAction<BackVoltageGraphDisplay>>,
+#ifdef FEATURE_BMS
         makeComponent<MenuItem, StaticText<TEXT_BMSVOLTAGE>,            SwitchScreenAction<BmsVoltageGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_BMSCURRENT>,            SwitchScreenAction<BmsCurrentGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_BMSPOWER>,              SwitchScreenAction<BmsPowerGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_SUMCURRENTSCOMPARISON>, SwitchScreenAction<SumCurrentsComparisonGraphDisplay>>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_MOTORCURRENTS>,         SwitchScreenAction<MotorCurrentsGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_DUALGRAPHS>,            SwitchScreenAction<DualGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_BACK>,                  SwitchScreenAction<MainMenu>, StaticMenuItemIcon<&icons::back>>

src/displays/menus/mainmenu.h

@@ -40,7 +40,9 @@ class MainMenu :
         makeComponent<MenuItem, StaticText<TEXT_SELECTMODE>,  SwitchScreenAction<SelectModeMenu>, StaticMenuItemIcon<&icons::modes>>,
         makeComponent<MenuItem, StaticText<TEXT_PRESETS>,     SwitchScreenAction<PresetsMenu>, StaticMenuItemIcon<&icons::presets>>,
         makeComponent<MenuItem, StaticText<TEXT_GRAPHS>,      SwitchScreenAction<GraphsMenu>, StaticMenuItemIcon<&icons::graph>>,
+#ifdef FEATURE_BMS
         makeComponent<MenuItem, StaticText<TEXT_BMS>,         SwitchScreenAction<BmsMenu>, StaticMenuItemIcon<&icons::bms>>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_SETTINGS>,    SwitchScreenAction<SettingsMenu>, StaticMenuItemIcon<&icons::settings>>,
         makeComponent<MenuItem, StaticText<TEXT_LOCKVEHICLE>, SwitchScreenAction<Lockscreen>, StaticMenuItemIcon<&icons::lock>>,
         makeComponent<MenuItem, StaticText<TEXT_DEMOS>,       SwitchScreenAction<DemosMenu>, StaticMenuItemIcon<&icons::demos>>,

src/displays/menus/settingsmenu.h

@@ -45,7 +45,9 @@ class SettingsMenu :
         makeComponent<MenuItem, StaticText<TEXT_MODESSETTINGS>,                 SwitchScreenAction<ModesSettingsMenu>>,
         makeComponent<MenuItem, StaticText<TEXT_CONTROLLERHARDWARESETTINGS>,    SwitchScreenAction<ControllerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::hardware>>,
         makeComponent<MenuItem, StaticText<TEXT_BOARDCOMPUTERHARDWARESETTINGS>, SwitchScreenAction<BoardcomputerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::hardware>>,
+#ifdef FEATURE_BMS
         makeComponent<MenuItem, StaticText<TEXT_AUTOCONNECTBMS>,                ToggleBoolAction, CheckboxIcon, AutoConnectBmsAccessor>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_BUZZER>,                        SwitchScreenAction<BuzzerMenu>, StaticMenuItemIcon<&icons::buzzer>>,
         makeComponent<MenuItem, StaticText<TEXT_FRONTLED>,                      ToggleBoolAction, CheckboxIcon, FrontLedAccessor>,
         makeComponent<MenuItem, StaticText<TEXT_BACKLED>,                       ToggleBoolAction, CheckboxIcon, BackLedAccessor>,

src/displays/metersdisplay.h

@@ -87,7 +87,11 @@ void MetersDisplay::rotate(int offset)
     if (offset < 0)
         switchScreen<StatusDisplay>();
     else if (offset > 0)
+#ifdef FEATURE_BMS
         switchScreen<BmsDisplay>();
+#else
+        switchScreen<StatusDisplay>();
+#endif
 }
 
 void MetersDisplay::analogMeter()

src/displays/statusdisplay.h

@@ -163,7 +163,11 @@ void StatusDisplay::redraw()
 void StatusDisplay::rotate(int offset)
 {
     if (offset < 0)
+#ifdef FEATURE_BMS
         switchScreen<BmsDisplay>();
+#else
+        switchScreen<MetersDisplay>();
+#endif
     else if (offset > 0)
         switchScreen<MetersDisplay>();
 }

src/displays/updatedisplay.h

@@ -18,6 +18,7 @@ class StatusDisplay;
 }
 
 namespace {
+#ifdef FEATURE_OTA
 class UpdateDisplay : public Display
 {
 public:
@@ -90,4 +91,5 @@ void UpdateDisplay::confirm()
     if (m_finished)
         switchScreen<StatusDisplay>();
 }
+#endif
 }

src/main.cpp

@@ -67,8 +67,10 @@ void setup()
     //WiFi.begin("McDonalds Free WiFi 2.4GHz", "Passwort_123");
 
     BluetoothBeginMasterAction{}.triggered();
+#ifdef FEATURE_BMS
     if (settings.autoConnectBms)
         BluetoothConnectBmsAction{}.triggered();
+#endif
 
     front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
     back.serial.get().begin(38400, SERIAL_8N1, PINS_RX2, PINS_TX2);
@@ -83,7 +85,9 @@ void setup()
 
     currentMode = &modes::defaultMode;
 
+#ifdef FEATURE_OTA
     initOta();
+#endif
 
     initWebserver();
 
@@ -160,9 +164,13 @@ void loop()
 
     handleSerial();
 
+#ifdef FEATURE_OTA
     handleOta();
+#endif
 
     handleWebserver();
 
+#ifdef FEATURE_BMS
     bms::update();
+#endif
 }

src/ota.h

@@ -1,11 +1,14 @@
 #pragma once
 
+#ifdef FEATURE_OTA
 #include <ArduinoOTA.h>
+#endif
 
 #include "screens.h"
 #include "displays/updatedisplay.h"
 
 namespace {
+#ifdef FEATURE_OTA
 void initOta()
 {
     ArduinoOTA
@@ -42,4 +45,5 @@ void handleOta()
 {
     ArduinoOTA.handle();
 }
+#endif
 }

src/presets.h

@@ -68,7 +68,9 @@ constexpr Settings::LarsmMode defaultLarsmMode {
 };
 
 constexpr Settings defaultSettings{
+#ifdef FEATURE_BMS
     .autoConnectBms = false,
+#endif
     .reverseBeep = true,
     .reverseBeepFreq0 = 3,
     .reverseBeepFreq1 = 0,

src/screens.h

@@ -55,7 +55,9 @@ union X {
     AboutMenu aboutMenu;
     AccessPointWifiSettingsMenu accessPointWifiSettingsMenu;
     BluetoothSettingsMenu bluetoothSettingsMenu;
+#ifdef FEATURE_BMS
     BmsMenu bmsMenu;
+#endif
     BuzzerMenu buzzerMenu;
     FrontCommandDebugMenu frontCommandDebugMenu;
     BackCommandDebugMenu backCommandDebugMenu;
@@ -91,7 +93,9 @@ union X {
     WifiScanMenu wifiScanMenu;
     WifiSettingsMenu wifiSettingsMenu;
 
+#ifdef FEATURE_BMS
     BmsDisplay bmsDisplay;
+#endif
     CalibrateDisplay calibrateDisplay;
     DualGraphDisplay dualGraphDisplay;
     GameOfLifeDisplay gameOfLifeDisplay;
@@ -102,7 +106,9 @@ union X {
     SpiroDisplay spiroDisplay;
     StarfieldDisplay starFieldDisplay;
     StatusDisplay statusDisplay;
+#ifdef FEATURE_OTA
     UpdateDisplay updateDisplay;
+#endif
 
     FrontFreqChangeScreen changeFrontFreq;
     FrontPatternChangeScreen changeFrontPattern;
@@ -158,10 +164,12 @@ union X {
     SumAbsoluteCurrentGraphDisplay sumAbsoluteCurrentGraphDisplay;
     FrontVoltageGraphDisplay frontVoltageGraphDisplay;
     BackVoltageGraphDisplay backVoltageGraphDisplay;
+#ifdef FEATURE_BMS
     BmsVoltageGraphDisplay bmsVoltageGraphDisplay;
     BmsCurrentGraphDisplay bmsCurrentGraphDisplay;
     BmsPowerGraphDisplay bmsPowerGraphDisplay;
     SumCurrentsComparisonGraphDisplay sumCurrentsComparisonGraphDisplay;
+#endif
     MotorCurrentsGraphDisplay motorCurrentsGraphDisplay;
 } displays;
 
@@ -169,7 +177,9 @@ template<typename T> T &getRefByType() = delete;
 template<> decltype(displays.aboutMenu)                                        &getRefByType<decltype(displays.aboutMenu)>()                                        { return displays.aboutMenu; }
 template<> decltype(displays.accessPointWifiSettingsMenu)                      &getRefByType<decltype(displays.accessPointWifiSettingsMenu)>()                      { return displays.accessPointWifiSettingsMenu; }
 template<> decltype(displays.bluetoothSettingsMenu)                            &getRefByType<decltype(displays.bluetoothSettingsMenu)>()                            { return displays.bluetoothSettingsMenu; }
+#ifdef FEATURE_BMS
 template<> decltype(displays.bmsMenu)                                          &getRefByType<decltype(displays.bmsMenu)>()                                          { return displays.bmsMenu; }
+#endif
 template<> decltype(displays.buzzerMenu)                                       &getRefByType<decltype(displays.buzzerMenu)>()                                       { return displays.buzzerMenu; }
 template<> decltype(displays.boardcomputerHardwareSettingsMenu)                &getRefByType<decltype(displays.boardcomputerHardwareSettingsMenu)>()                { return displays.boardcomputerHardwareSettingsMenu; }
 template<> decltype(displays.controllerHardwareSettingsMenu)                   &getRefByType<decltype(displays.controllerHardwareSettingsMenu)>()                   { return displays.controllerHardwareSettingsMenu; }
@@ -205,7 +215,9 @@ template<> decltype(displays.stationWifiSettingsMenu)                          &
 template<> decltype(displays.wifiScanMenu)                                     &getRefByType<decltype(displays.wifiScanMenu)>()                                     { return displays.wifiScanMenu; }
 template<> decltype(displays.wifiSettingsMenu)                                 &getRefByType<decltype(displays.wifiSettingsMenu)>()                                 { return displays.wifiSettingsMenu; }
 
+#ifdef FEATURE_BMS
 template<> decltype(displays.bmsDisplay)                                       &getRefByType<decltype(displays.bmsDisplay)>()                                       { return displays.bmsDisplay; }
+#endif
 template<> decltype(displays.calibrateDisplay)                                 &getRefByType<decltype(displays.calibrateDisplay)>()                                 { return displays.calibrateDisplay; }
 template<> decltype(displays.dualGraphDisplay)                                 &getRefByType<decltype(displays.dualGraphDisplay)>()                                 { return displays.dualGraphDisplay; }
 template<> decltype(displays.gameOfLifeDisplay)                                &getRefByType<decltype(displays.gameOfLifeDisplay)>()                                { return displays.gameOfLifeDisplay; }
@@ -216,7 +228,9 @@ template<> decltype(displays.poweroffDisplay)                                  &
 template<> decltype(displays.spiroDisplay)                                     &getRefByType<decltype(displays.spiroDisplay)>()                                     { return displays.spiroDisplay; }
 template<> decltype(displays.starFieldDisplay)                                 &getRefByType<decltype(displays.starFieldDisplay)>()                                 { return displays.starFieldDisplay; }
 template<> decltype(displays.statusDisplay)                                    &getRefByType<decltype(displays.statusDisplay)>()                                    { return displays.statusDisplay; }
+#ifdef FEATURE_OTA
 template<> decltype(displays.updateDisplay)                                    &getRefByType<decltype(displays.updateDisplay)>()                                    { return displays.updateDisplay; }
+#endif
 
 template<> decltype(displays.changeFrontFreq)                                  &getRefByType<decltype(displays.changeFrontFreq)>()                                  { return displays.changeFrontFreq; }
 template<> decltype(displays.changeFrontPattern)                               &getRefByType<decltype(displays.changeFrontPattern)>()                               { return displays.changeFrontPattern; }
@@ -272,10 +286,12 @@ template<> decltype(displays.sumCurrentGraphDisplay)                           &
 template<> decltype(displays.sumAbsoluteCurrentGraphDisplay)                   &getRefByType<decltype(displays.sumAbsoluteCurrentGraphDisplay)>()                   { return displays.sumAbsoluteCurrentGraphDisplay; }
 template<> decltype(displays.frontVoltageGraphDisplay)                         &getRefByType<decltype(displays.frontVoltageGraphDisplay)>()                         { return displays.frontVoltageGraphDisplay; }
 template<> decltype(displays.backVoltageGraphDisplay)                          &getRefByType<decltype(displays.backVoltageGraphDisplay)>()                          { return displays.backVoltageGraphDisplay; }
+#ifdef FEATURE_BMS
 template<> decltype(displays.bmsVoltageGraphDisplay)                           &getRefByType<decltype(displays.bmsVoltageGraphDisplay)>()                           { return displays.bmsVoltageGraphDisplay; }
 template<> decltype(displays.bmsCurrentGraphDisplay)                           &getRefByType<decltype(displays.bmsCurrentGraphDisplay)>()                           { return displays.bmsCurrentGraphDisplay; }
 template<> decltype(displays.bmsPowerGraphDisplay)                             &getRefByType<decltype(displays.bmsPowerGraphDisplay)>()                             { return displays.bmsPowerGraphDisplay; }
 template<> decltype(displays.sumCurrentsComparisonGraphDisplay)                &getRefByType<decltype(displays.sumCurrentsComparisonGraphDisplay)>()                { return displays.sumCurrentsComparisonGraphDisplay; }
+#endif
 template<> decltype(displays.motorCurrentsGraphDisplay)                        &getRefByType<decltype(displays.motorCurrentsGraphDisplay)>()                        { return displays.motorCurrentsGraphDisplay; }
 
 

src/settings.h

@@ -9,7 +9,9 @@ enum class LarsmModeMode : uint8_t { Mode1, Mode2, Mode3, Mode4 };
 
 struct Settings
 {
+#ifdef FEATURE_BMS
     bool autoConnectBms;
+#endif
     bool reverseBeep;
     uint8_t reverseBeepFreq0;
     uint8_t reverseBeepFreq1;
@@ -71,7 +73,9 @@ struct Settings
 template<typename T>
 void Settings::executeForEverySetting(T &&callable)
 {
+#ifdef FEATURE_BMS
     callable("autoConnectBms", autoConnectBms);
+#endif
     callable("reverseBeep", reverseBeep);
     callable("revBeepFreq0", reverseBeepFreq0);
     callable("revBeepFreq1", reverseBeepFreq1);

src/settingsaccessors.h

@@ -12,7 +12,9 @@ struct RefAccessorSaveSettings : public virtual RefAccessor<T>
     void setValue(T value) override { RefAccessor<T>::setValue(value); saveSettings(); };
 };
 
+#ifdef FEATURE_BMS
 struct AutoConnectBmsAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.autoConnectBms; } };
+#endif
 struct ReverseBeepAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.reverseBeep; } };
 struct ReverseBeepFreq0Accessor : public RefAccessorSaveSettings<uint8_t> { uint8_t &getRef() const override { return settings.reverseBeepFreq0; } };
 struct ReverseBeepFreq1Accessor : public RefAccessorSaveSettings<uint8_t> { uint8_t &getRef() const override { return settings.reverseBeepFreq1; } };

src/statistics.h

@@ -9,7 +9,11 @@
 namespace {
 namespace statistics {
 using ContainerType = ring_buffer<float, 200>;
-ContainerType gas, brems, avgSpeed, avgSpeedKmh, sumCurrent, sumAbsoluteCurrent, frontVoltage, backVoltage, frontLeftCurrent, frontRightCurrent, backLeftCurrent, backRightCurrent, bmsVoltage, bmsCurrent, bmsPower;
+ContainerType gas, brems, avgSpeed, avgSpeedKmh, sumCurrent, sumAbsoluteCurrent, frontVoltage, backVoltage, frontLeftCurrent, frontRightCurrent, backLeftCurrent, backRightCurrent
+#ifdef FEATURE_BMS
+, bmsVoltage, bmsCurrent, bmsPower
+#endif
+;
 }
 
 void pushStats()
@@ -32,9 +36,11 @@ void pushStats()
         statistics::backLeftCurrent.push_back(fixCurrent(back.feedback.left.current));
         statistics::backRightCurrent.push_back(fixCurrent(back.feedback.right.current));
     }
+#ifdef FEATURE_BMS
     statistics::bmsVoltage.push_back(bms::voltage);
     statistics::bmsCurrent.push_back(bms::current);
     statistics::bmsPower.push_back(bms::power);
+#endif
 }
 
 class BufferAccessorInterface
@@ -58,9 +64,11 @@ using SumCurrentStatistics = BufferAccessorImpl<statistics::sumCurrent>;
 using SumAbsoluteCurrentStatistics = BufferAccessorImpl<statistics::sumAbsoluteCurrent>;
 using FrontVoltageStatistics = BufferAccessorImpl<statistics::frontVoltage>;
 using BackVoltageStatistics = BufferAccessorImpl<statistics::backVoltage>;
+#ifdef FEATURE_BMS
 using BmsVoltageStatistics = BufferAccessorImpl<statistics::bmsVoltage>;
 using BmsCurrentStatistics = BufferAccessorImpl<statistics::bmsCurrent>;
 using BmsPowerStatistics = BufferAccessorImpl<statistics::bmsPower>;
+#endif
 using FrontLeftCurrentStatistics = BufferAccessorImpl<statistics::frontLeftCurrent>;
 using FrontRightCurrentStatistics = BufferAccessorImpl<statistics::frontRightCurrent>;
 using BackLeftCurrentStatistics = BufferAccessorImpl<statistics::backLeftCurrent>;