DefaultMode tempomat preperations

main/CMakeLists.txt

@@ -1,5 +1,8 @@
 set(headers
     accessorinterface.h
+    accessors/globalaccessors.h
+    accessors/settingsaccessors.h
+    accessors/wifiaccessors.h
     actioninterface.h
     actions/backproxyaction.h
     actions/bluetoothbeginaction.h
@@ -12,6 +15,7 @@ set(headers
     actions/bmsturnoffdischargeaction.h
     actions/bmsturnonchargeaction.h
     actions/bmsturnondischargeaction.h
+    actions/defaultmodeapplycurrspeedaction.h
     actions/dummyaction.h
     actions/erasenvsaction.h
     actions/loadsettingsaction.h
@@ -136,7 +140,6 @@ set(headers
     widgets/vumeter.h
     widgets/graph.h
     widgets/label.h
-    wifiaccessors.h
     esptexthelpers.h
     presets.h
     bluetoothtexthelpers.h
@@ -159,7 +162,6 @@ set(headers
     ota.h
     serialhandler.h
     settings.h
-    settingsaccessors.h
     settingspersister.h
     settingsutils.h
     statistics.h

main/accessors/globalaccessors.h

@@ -0,0 +1,17 @@
+#pragma once
+
+// local includes
+#include "accessorinterface.h"
+#include "globals.h"
+#include "modes/defaultmode.h"
+
+namespace {
+
+struct AvgSpeedAccessor : public RefAccessor<float> { float &getRef() const override { return avgSpeed; } };
+struct AvgSpeedKmhAccessor : public RefAccessor<float> { float &getRef() const override { return avgSpeedKmh; } };
+struct SumCurrentAccessor : public RefAccessor<float> { float &getRef() const override { return sumCurrent; } };
+
+struct DefaultModeCruiseCtrlEnaAccessor : public RefAccessor<bool> { bool &getRef() const override { return modes::defaultMode.cruiseCtrlEna; } };
+struct DefaultModenCruiseMotTgtAccessor : public RefAccessor<int16_t> { int16_t &getRef() const override { return modes::defaultMode.nCruiseMotTgt; } };
+
+} // namespace

main/actions/defaultmodeapplycurrspeedaction.h

@@ -0,0 +1,17 @@
+#pragma once
+
+// local includes
+#include "actioninterface.h"
+#include "globals.h"
+#include "modes/defaultmode.h"
+
+namespace {
+class DefaultModeApplyCurrentSpeedAction : public virtual ActionInterface
+{
+public:
+    void triggered() override
+    {
+        modes::defaultMode.nCruiseMotTgt = avgSpeed;
+    }
+};
+} // namespace

main/displays/menus/bluetoothsettingsmenu.h

@@ -14,7 +14,7 @@
 #endif
 #include "actions/switchscreenaction.h"
 #include "bluetoothtexthelpers.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 #include "icons/back.h"
 #include "texts.h"
 

main/displays/menus/boardcomputerhardwaresettingsmenu.h

@@ -10,7 +10,7 @@
 #include "icons/back.h"
 #include "checkboxicon.h"
 #include "texts.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {

main/displays/menus/buzzermenu.h

@@ -11,7 +11,7 @@
 #include "icons/back.h"
 #include "texts.h"
 #include "globals.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {

main/displays/menus/controllerhardwaresettingsmenu.h

@@ -12,7 +12,7 @@
 #include "icons/back.h"
 #include "texts.h"
 #include "globals.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {

main/displays/menus/defaultmodesettingsmenu.h

@@ -10,7 +10,9 @@
 #include "checkboxicon.h"
 #include "icons/back.h"
 #include "texts.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
+#include "accessors/globalaccessors.h"
+#include "actions/defaultmodeapplycurrspeedaction.h"
 
 // forward declares
 namespace {
@@ -21,68 +23,76 @@ class ModesSettingsMenu;
 namespace {
 using DefaultModeModelModeChangeDisplay = makeComponent<
     ChangeValueDisplay<UnifiedModelMode>,
-    StaticText<TEXT_SETMODELMODE>,
+    StaticText<TEXT_MODELMODE>,
     DefaultModeModelModeAccessor,
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
 using DefaultModeSmoothingChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
-    StaticText<TEXT_SETSMOOTHING>,
+    StaticText<TEXT_SMOOTHINGVAL>,
     DefaultModeSmoothingAccessor,
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
 using DefaultModeFrontPercentageChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
-    StaticText<TEXT_SETFRONTPERCENTAGE>,
+    StaticText<TEXT_FRONTPERCENTAGE>,
     DefaultModeFrontPercentageAccessor,
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
 using DefaultModeBackPercentageChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
-    StaticText<TEXT_SETBACKPERCENTAGE>,
+    StaticText<TEXT_BACKPERCENTAGE>,
     DefaultModeBackPercentageAccessor,
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
 using DefaultModeAddSchwelleChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
-    StaticText<TEXT_SETADDSCHWELLE>,
+    StaticText<TEXT_ADDSCHWELLE>,
     DefaultModeAddSchwelleAccessor,
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
 using DefaultModeGas1WertChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
-    StaticText<TEXT_SETGAS1WERT>,
+    StaticText<TEXT_ADDGASVAL>,
     DefaultModeGas1WertAccessor,
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
 using DefaultModeGas2WertChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
-    StaticText<TEXT_SETGAS2WERT>,
+    StaticText<TEXT_SUBGASVAL>,
     DefaultModeGas2WertAccessor,
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
 using DefaultModeBrems1WertChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
-    StaticText<TEXT_SETBREMS1WERT>,
+    StaticText<TEXT_ADDBRAKEVAL>,
     DefaultModeBrems1WertAccessor,
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
 using DefaultModeBrems2WertChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
-    StaticText<TEXT_SETBREMS2WERT>,
+    StaticText<TEXT_SUBBRAKEVAL>,
     DefaultModeBrems2WertAccessor,
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
 
+using DefaultModeCruiseMotTgtChangeDisplay = makeComponent<
+    ChangeValueDisplay<int16_t>,
+    StaticText<TEXT_NCRUISEMOTTGT>,
+    DefaultModenCruiseMotTgtAccessor,
+    BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
+    SwitchScreenAction<DefaultModeSettingsMenu>
+>;
+
 class DefaultModeSettingsMenu :
     public MenuDisplay,
     public StaticText<TEXT_DEFAULTMODESETTIGNS>,
@@ -91,19 +101,22 @@ class DefaultModeSettingsMenu :
 public:
     DefaultModeSettingsMenu()
     {
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETMODELMODE>,       SwitchScreenAction<DefaultModeModelModeChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MODELMODE>,          SwitchScreenAction<DefaultModeModelModeChangeDisplay>>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SQUAREGAS>,          ToggleBoolAction, CheckboxIcon, DefaultModeSquareGasAccessor>>();
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_CRUISECTRLENA>,      ToggleBoolAction, CheckboxIcon,  DefaultModeCruiseCtrlEnaAccessor>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SQUAREBREMS>,        ToggleBoolAction, CheckboxIcon, DefaultModeSquareBremsAccessor>>();
+        constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_NCRUISEMOTTGT, DefaultModenCruiseMotTgtAccessor>, SwitchScreenAction<DefaultModeCruiseMotTgtChangeDisplay>>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_ENABLESMOOTHING>,    ToggleBoolAction, CheckboxIcon, DefaultModeEnableSmoothingAccessor>>();
+        constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_APPLYCURRSPEED, AvgSpeedAccessor>, DefaultModeApplyCurrentSpeedAction>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETSMOOTHING>,       SwitchScreenAction<DefaultModeSmoothingChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SQUAREGAS>,          ToggleBoolAction, CheckboxIcon,  DefaultModeSquareGasAccessor>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETFRONTPERCENTAGE>, SwitchScreenAction<DefaultModeFrontPercentageChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SQUAREBREMS>,        ToggleBoolAction, CheckboxIcon,  DefaultModeSquareBremsAccessor>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETBACKPERCENTAGE>,  SwitchScreenAction<DefaultModeBackPercentageChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_ENABLESMOOTHING>,    ToggleBoolAction, CheckboxIcon,  DefaultModeEnableSmoothingAccessor>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETADDSCHWELLE>,     SwitchScreenAction<DefaultModeAddSchwelleChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_SMOOTHINGVAL, DefaultModeSmoothingAccessor>,                     SwitchScreenAction<DefaultModeSmoothingChangeDisplay>>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETGAS1WERT>,        SwitchScreenAction<DefaultModeGas1WertChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_FRONTPERCENTAGE, DefaultModeFrontPercentageAccessor>, SwitchScreenAction<DefaultModeFrontPercentageChangeDisplay>>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETGAS2WERT>,        SwitchScreenAction<DefaultModeGas2WertChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_BACKPERCENTAGE, DefaultModeBackPercentageAccessor>,   SwitchScreenAction<DefaultModeBackPercentageChangeDisplay>>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETBREMS1WERT>,      SwitchScreenAction<DefaultModeBrems1WertChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_ADDSCHWELLE, DefaultModeAddSchwelleAccessor>,                    SwitchScreenAction<DefaultModeAddSchwelleChangeDisplay>>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETBREMS2WERT>,      SwitchScreenAction<DefaultModeBrems2WertChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_SUBGASVAL, DefaultModeGas2WertAccessor>,                         SwitchScreenAction<DefaultModeGas2WertChangeDisplay>>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,               SwitchScreenAction<ModesSettingsMenu>, StaticMenuItemIcon<&icons::back>>>();
+        constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_SUBBRAKEVAL, DefaultModeBrems2WertAccessor>,                     SwitchScreenAction<DefaultModeBrems2WertChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_ADDGASVAL, DefaultModeGas1WertAccessor>,                         SwitchScreenAction<DefaultModeGas1WertChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_ADDBRAKEVAL, DefaultModeBrems1WertAccessor>,                     SwitchScreenAction<DefaultModeBrems1WertChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,                                                                    SwitchScreenAction<ModesSettingsMenu>, StaticMenuItemIcon<&icons::back>>>();
     }
 };
 } // namespace

main/displays/menus/enablemenu.h

@@ -9,7 +9,7 @@
 #include "checkboxicon.h"
 #include "icons/back.h"
 #include "texts.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {

main/displays/menus/genericwifisettingsmenu.h

@@ -10,7 +10,7 @@
 #include "checkboxicon.h"
 #include "icons/back.h"
 #include "wifitexthelpers.h"
-#include "wifiaccessors.h"
+#include "accessors/wifiaccessors.h"
 #include "texts.h"
 
 // forward declares

main/displays/menus/invertmenu.h

@@ -9,7 +9,7 @@
 #include "checkboxicon.h"
 #include "icons/back.h"
 #include "texts.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {

main/displays/menus/larsmmodesettingsmenu.h

@@ -8,7 +8,7 @@
 #include "actions/switchscreenaction.h"
 #include "icons/back.h"
 #include "texts.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {
@@ -19,7 +19,7 @@ class ModesSettingsMenu;
 namespace {
 using LarsmModeModelModeChangeDisplay = makeComponent<
     ChangeValueDisplay<UnifiedModelMode>,
-    StaticText<TEXT_SETMODELMODE>,
+    StaticText<TEXT_MODELMODE>,
     LarsmModeModelModeAccessor,
     BackActionInterface<SwitchScreenAction<LarsmModeSettingsMenu>>,
     SwitchScreenAction<LarsmModeSettingsMenu>
@@ -47,7 +47,7 @@ class LarsmModeSettingsMenu :
 public:
     LarsmModeSettingsMenu()
     {
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETMODELMODE>,  SwitchScreenAction<LarsmModeModelModeChangeDisplay>>>();
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MODELMODE>,     SwitchScreenAction<LarsmModeModelModeChangeDisplay>>>();
         constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETMODE>,       SwitchScreenAction<LarsmModeModeChangeDisplay>>>();
         constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETITERATIONS>, SwitchScreenAction<LarsmModeIterationsChangeDisplay>>>();
         constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,          SwitchScreenAction<ModesSettingsMenu>, StaticMenuItemIcon<&icons::back>>>();

main/displays/menus/limitssettingsmenu.h

@@ -8,7 +8,7 @@
 #include "actions/switchscreenaction.h"
 #include "icons/back.h"
 #include "texts.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {
@@ -17,12 +17,6 @@ class SettingsMenu;
 } // namespace
 
 namespace {
-template<const char *Tprefix, typename Taccessor>
-struct TextWithValueHelper : public virtual TextInterface
-{
-    std::string text() const override { return Tprefix + (' ' + std::to_string(Taccessor{}.getValue())); }
-};
-
 using IMotMaxChangeScreen = makeComponent<
     ChangeValueDisplay<int16_t>,
     StaticText<TEXT_IMOTMAX>,

main/displays/menus/settingsmenu.h

@@ -16,7 +16,7 @@
 #include "icons/back.h"
 #include "texts.h"
 #include "globals.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {

main/displays/menus/stationwifisettingsmenu.h

@@ -13,7 +13,7 @@
 #include "checkboxicon.h"
 #include "icons/back.h"
 #include "wifitexthelpers.h"
-#include "wifiaccessors.h"
+#include "accessors/wifiaccessors.h"
 #include "texts.h"
 
 // forward declares

main/displays/menus/tempomatmodesettingsmenu.h

@@ -8,7 +8,7 @@
 #include "actions/switchscreenaction.h"
 #include "icons/back.h"
 #include "texts.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {
@@ -19,7 +19,7 @@ class ModesSettingsMenu;
 namespace {
 using TempomatModeModelModeChangeScreen = makeComponent<
     ChangeValueDisplay<UnifiedModelMode>,
-    StaticText<TEXT_SETMODELMODE>,
+    StaticText<TEXT_MODELMODE>,
     TempomatModeModelModeAccessor,
     BackActionInterface<SwitchScreenAction<TempomatModeSettingsMenu>>,
     SwitchScreenAction<TempomatModeSettingsMenu>
@@ -33,8 +33,8 @@ class TempomatModeSettingsMenu :
 public:
     TempomatModeSettingsMenu()
     {
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SETMODELMODE>, SwitchScreenAction<TempomatModeModelModeChangeScreen>>>();
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MODELMODE>, SwitchScreenAction<TempomatModeModelModeChangeScreen>>>();
-        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,         SwitchScreenAction<ModesSettingsMenu>, StaticMenuItemIcon<&icons::back>>>();
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,      SwitchScreenAction<ModesSettingsMenu>, StaticMenuItemIcon<&icons::back>>>();
     }
 };
 } // namespace

main/displays/menus/timersmenu.h

@@ -7,7 +7,7 @@
 #include "actions/switchscreenaction.h"
 #include "icons/back.h"
 #include "texts.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {

main/displays/menus/wifisettingsmenu.h

@@ -10,7 +10,7 @@
 #include "icons/scan.h"
 #include "icons/back.h"
 #include "texts.h"
-#include "settingsaccessors.h"
+#include "accessors/settingsaccessors.h"
 
 // forward declares
 namespace {

main/modes/defaultmode.h

@@ -13,7 +13,10 @@
 namespace {
 class DefaultMode : public ModeInterface
 {
+    using Base = ModeInterface;
+
 public:
+    void start() override;
     void update() override;
 
     const char *displayName() const override { return "Default"; }
@@ -21,6 +24,9 @@ public:
     bool waitForGasLoslass{false};
     bool waitForBremsLoslass{false};
 
+    bool cruiseCtrlEna{false};
+    int16_t nCruiseMotTgt{0};
+
 private:
     espchrono::millis_clock::time_point lastTime{espchrono::millis_clock::now()};
     float lastPwm{0};
@@ -30,6 +36,13 @@ namespace modes {
 DefaultMode defaultMode;
 }
 
+void DefaultMode::start()
+{
+    Base::start();
+    cruiseCtrlEna = false;
+    nCruiseMotTgt = 0;
+}
+
 void DefaultMode::update()
 {
     if (!gas || !brems)
@@ -41,6 +54,8 @@ void DefaultMode::update()
             motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
             motor.ctrlMod = bobbycar::protocol::ControlMode::OpenMode;
             motor.pwm = 0;
+            motor.cruiseCtrlEna = false;
+            motor.nCruiseMotTgt = 0;
         }
     }
     else
@@ -100,12 +115,16 @@ void DefaultMode::update()
             motor.ctrlTyp = pair.first;
             motor.ctrlMod = pair.second;
             motor.pwm = pwm / 100. * settings.defaultMode.frontPercentage;
+            motor.cruiseCtrlEna = cruiseCtrlEna;
+            motor.nCruiseMotTgt = nCruiseMotTgt;
         }
         for (bobbycar::protocol::serial::MotorState &motor : motorsInController(controllers.back))
         {
             motor.ctrlTyp = pair.first;
             motor.ctrlMod = pair.second;
             motor.pwm = pwm / 100. * settings.defaultMode.backPercentage;
+            motor.cruiseCtrlEna = cruiseCtrlEna;
+            motor.nCruiseMotTgt = nCruiseMotTgt;
         }
     }
 

main/modes/gametrakmode.h

@@ -20,6 +20,8 @@ namespace {
 #ifdef FEATURE_GAMETRAK
 class GametrakMode : public ModeInterface
 {
+    using Base = ModeInterface;
+
 public:
     void start() override;
     void update() override;
@@ -36,6 +38,7 @@ GametrakMode gametrakMode;
 
 void GametrakMode::start()
 {
+    Base::start();
     m_flag = false;
 }
 
@@ -50,6 +53,8 @@ void GametrakMode::update()
             motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
             motor.ctrlMod = bobbycar::protocol::ControlMode::OpenMode;
             motor.pwm = 0;
+            motor.cruiseCtrlEna = false;
+            motor.nCruiseMotTgt = 0;
         }
     }
     else
@@ -84,6 +89,8 @@ void GametrakMode::update()
             motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
             motor.ctrlMod = bobbycar::protocol::ControlMode::Speed;
             motor.pwm = pwm;
+            motor.cruiseCtrlEna = false;
+            motor.nCruiseMotTgt = 0;
         }
     }
 

main/modes/ignoreinputmode.h

@@ -32,6 +32,8 @@ void IgnoreInputMode::update()
         motor.ctrlTyp = m_ctrlTyp;
         motor.ctrlMod = m_ctrlMod;
         motor.pwm = m_pwm;
+        motor.cruiseCtrlEna = false;
+        motor.nCruiseMotTgt = 0;
     }
 
     fixCommonParams();

main/modes/larsmmode.h

@@ -9,6 +9,8 @@
 namespace {
 class LarsmMode : public ModeInterface
 {
+    using Base = ModeInterface;
+
 public:
     void start() override;
     void update() override;
@@ -28,6 +30,8 @@ LarsmMode larsmMode;
 
 void LarsmMode::start()
 {
+    Base::start();
+
     adc1_filtered = 0.f;
     adc2_filtered = 0.f;
     speed = 0;
@@ -45,6 +49,8 @@ void LarsmMode::update()
             motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
             motor.ctrlMod = bobbycar::protocol::ControlMode::OpenMode;
             motor.pwm = 0;
+            motor.cruiseCtrlEna = false;
+            motor.nCruiseMotTgt = 0;
         }
     }
     else
@@ -115,6 +121,8 @@ void LarsmMode::update()
             motor.ctrlTyp = pair.first;
             motor.ctrlMod = pair.second;
             motor.pwm = speed + weak;
+            motor.cruiseCtrlEna = false;
+            motor.nCruiseMotTgt = 0;
         }
     }
 

main/modes/tempomatmode.h

@@ -12,6 +12,8 @@
 namespace {
 class TempomatMode : public ModeInterface
 {
+    using Base = ModeInterface;
+
 public:
     void start() override;
     void update() override;
@@ -27,6 +29,7 @@ TempomatMode tempomatMode;
 
 void TempomatMode::start()
 {
+    Base::start();
     pwm = 0;
 }
 
@@ -41,6 +44,8 @@ void TempomatMode::update()
             motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
             motor.ctrlMod = bobbycar::protocol::ControlMode::OpenMode;
             motor.pwm = 0;
+            motor.cruiseCtrlEna = false;
+            motor.nCruiseMotTgt = 0;
         }
     }
     else
@@ -62,6 +67,8 @@ void TempomatMode::update()
             motor.ctrlTyp = pair.first;
             motor.ctrlMod = pair.second;
             motor.pwm = pwm;
+            motor.cruiseCtrlEna = false;
+            motor.nCruiseMotTgt = 0;
         }
     }
 

main/textinterface.h

@@ -1,7 +1,12 @@
 #pragma once
 
+// system includes
 #include <string>
 
+// 3rdparty lib includes
+#include <fmt/core.h>
+
+// local includes
 #include "utils.h"
 
 namespace {
@@ -80,4 +85,10 @@ public:
         return text;
     }
 };
+
+template<const char *Tprefix, typename Taccessor>
+struct TextWithValueHelper : public virtual TextInterface
+{
+    std::string text() const override { return fmt::format("{} {}", Tprefix, Taccessor{}.getValue()); }
+};
 }

main/texts.h

@@ -146,18 +146,21 @@ constexpr char TEXT_DYNAMICMENU[] = "Dynamic menu";
 
 //DefaultModeSettingsMenu
 //constexpr char TEXT_DEFAULTMODESETTINGS[] = "Default mode settings";
-constexpr char TEXT_SETMODELMODE[] = "Set model mode";
+constexpr char TEXT_MODELMODE[] = "Model mode";
+constexpr char TEXT_CRUISECTRLENA[] = "Enable tempomat";
+constexpr char TEXT_NCRUISEMOTTGT[] = "Tempomat";
+constexpr char TEXT_APPLYCURRSPEED[] = "Apply";
 constexpr char TEXT_SQUAREGAS[] = "Square gas";
 constexpr char TEXT_SQUAREBREMS[] = "Square brems";
 constexpr char TEXT_ENABLESMOOTHING[] = "Enable smoothing";
-constexpr char TEXT_SETSMOOTHING[] = "Set smoothing";
+constexpr char TEXT_SMOOTHINGVAL[] = "Smoothing";
-constexpr char TEXT_SETFRONTPERCENTAGE[] = "Set front percentage";
+constexpr char TEXT_FRONTPERCENTAGE[] = "Front %";
-constexpr char TEXT_SETBACKPERCENTAGE[] = "Set back percentage";
+constexpr char TEXT_BACKPERCENTAGE[] = "Back %";
-constexpr char TEXT_SETADDSCHWELLE[] = "Set add Schwelle";
+constexpr char TEXT_ADDSCHWELLE[] = "Add/Sub Lim";
-constexpr char TEXT_SETGAS1WERT[] = "Set Gas 1 Wert";
+constexpr char TEXT_SUBGASVAL[] = "Add Gas";
-constexpr char TEXT_SETGAS2WERT[] = "Set Gas 2 Wert";
+constexpr char TEXT_SUBBRAKEVAL[] = "Add Brake";
-constexpr char TEXT_SETBREMS1WERT[] = "Set Brems 1 Wert";
+constexpr char TEXT_ADDGASVAL[] = "Sub Gas";
-constexpr char TEXT_SETBREMS2WERT[] = "Set Brems 2 Wert";
+constexpr char TEXT_ADDBRAKEVAL[] = "Sub Brake";
 //constexpr char TEXT_BACK[] = "Back";
 
 //DynamicDebugMenu
@@ -211,7 +214,7 @@ constexpr char TEXT_INVERTBACKRIGHT[] = "Invert back right";
 
 //LarsmModeSettingsMenu
 constexpr char TEXT_LARSMMODESETTINGS[] = "Larsm mode settings";
-//constexpr char TEXT_SETMODELMODE[] = "Set model mode";
+//constexpr char TEXT_MODELMODE[] = "Model mode";
 constexpr char TEXT_SETMODE[] = "Set mode";
 constexpr char TEXT_SETITERATIONS[] = "Set iterations";
 //constexpr char TEXT_BACK[] = "Back";
@@ -232,7 +235,7 @@ constexpr char TEXT_MOSFET2[] = "Mosfet2";
 
 //TempomatModeSettingsMenu
 //constexpr char TEXT_TEMPOMATMODESETTINGS[] = "Tempomat mode settings";
-//constexpr char TEXT_SETMODELMODE[] = "Set model mode";
+//constexpr char TEXT_MODELMODE[] = "Model mode";
 //constexpr char TEXT_BACK[] = "Back";
 
 //WiFiSettingsMenu