feedc0de/bobbycar-boardcomputer-firmware
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transfered settings.bleSettings and settings.controllerHardware

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This commit is contained in:
CommanderRedYT
2022-01-02 01:40:32 +01:00
parent a4a530b2a3
commit 45cd8903df
11 changed files with 136 additions and 215 deletions
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14
main/can.cpp
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@@ -193,7 +193,7 @@ bool parseBoardcomputerCanMessage(const twai_message_t &message)
bool tryParseCanInput()
{
twai_message_t message;
const auto timeout = std::chrono::ceil<espcpputils::ticks>(espchrono::milliseconds32{settings.controllerHardware.canReceiveTimeout}).count();
const auto timeout = std::chrono::ceil<espcpputils::ticks>(espchrono::milliseconds32{configs.controllerHardware.canReceiveTimeout.value}).count();
if (const auto result = twai_receive(&message, timeout); result != ESP_OK)
{
if (result != ESP_ERR_TIMEOUT)
@@ -210,8 +210,8 @@ bool tryParseCanInput()
return false;
}
Controller &front = settings.controllerHardware.swapFrontBack ? controllers.back : controllers.front;
Controller &back = settings.controllerHardware.swapFrontBack ? controllers.front : controllers.back;
Controller &front = configs.controllerHardware.swapFrontBack.value ? controllers.back : controllers.front;
Controller &back = configs.controllerHardware.swapFrontBack.value ? controllers.front : controllers.back;
if (parseMotorControllerCanMessage<false>(message, front))
{
@@ -269,7 +269,7 @@ void sendCanCommands()
std::fill(std::begin(message.data), std::end(message.data), 0);
std::memcpy(message.data, &value, sizeof(value));
const auto timeout = std::chrono::ceil<espcpputils::ticks>(espchrono::milliseconds32{settings.controllerHardware.canTransmitTimeout}).count();
const auto timeout = std::chrono::ceil<espcpputils::ticks>(espchrono::milliseconds32{configs.controllerHardware.canTransmitTimeout.value}).count();
const auto timestamp_before = espchrono::millis_clock::now();
const auto result = twai_transmit(&message, timeout);
@@ -313,13 +313,13 @@ void sendCanCommands()
return result;
};
const bool swap = settings.controllerHardware.swapFrontBack;
const bool swap = configs.controllerHardware.swapFrontBack.value;
const Controller *front =
(swap ? settings.controllerHardware.sendBackCanCmd : settings.controllerHardware.sendFrontCanCmd ) ?
(swap ? configs.controllerHardware.sendBackCanCmd.value : configs.controllerHardware.sendFrontCanCmd.value ) ?
(swap ? &controllers.back : &controllers.front) :
nullptr;
const Controller *back =
(swap ? settings.controllerHardware.sendFrontCanCmd : settings.controllerHardware.sendBackCanCmd ) ?
(swap ? configs.controllerHardware.sendFrontCanCmd.value : configs.controllerHardware.sendBackCanCmd.value ) ?
(swap ? &controllers.front : &controllers.back) :
nullptr;