From 5d75f266bb0e8f5ccfd5ca27a17cce0f2ff59420 Mon Sep 17 00:00:00 2001 From: 0xFEEDC0DE64 Date: Fri, 16 Jul 2021 19:28:14 +0200 Subject: [PATCH] removed uneeded debug parameters and preparations for tempomat --- components/bobbycar-protocol | 2 +- components/cpputils | 2 +- components/espcpputils | 2 +- components/espwifistack | 2 +- main/can.h | 20 +++++++-- main/debugtexthelpers.h | 44 ++++++++++---------- main/displays/menus/feedbackdebugmenu.h | 4 +- main/displays/menus/motorfeedbackdebugmenu.h | 10 ++--- main/displays/menus/motorstatedebugmenu.h | 20 +++++---- 9 files changed, 61 insertions(+), 45 deletions(-) diff --git a/components/bobbycar-protocol b/components/bobbycar-protocol index 1acdbfe..a331746 160000 --- a/components/bobbycar-protocol +++ b/components/bobbycar-protocol @@ -1 +1 @@ -Subproject commit 1acdbfe14e59808f5fe0b29a0267e9d068b7f6f8 +Subproject commit a331746edecef1cd14bd8ab6a109b3859c45cce8 diff --git a/components/cpputils b/components/cpputils index 79a7f4e..89bff1a 160000 --- a/components/cpputils +++ b/components/cpputils @@ -1 +1 @@ -Subproject commit 79a7f4ef855454e73dc9f657db6a4011b3fa7f7e +Subproject commit 89bff1a8dcac2f951ac3f2c3d7415691ce16ca12 diff --git a/components/espcpputils b/components/espcpputils index a504262..3dc1efd 160000 --- a/components/espcpputils +++ b/components/espcpputils @@ -1 +1 @@ -Subproject commit a504262f3949b267c6f79e97f448ecf1f8fb1a45 +Subproject commit 3dc1efd38dcea8946eb684a1bebf4ff79d0c4112 diff --git a/components/espwifistack b/components/espwifistack index 04ed820..581b478 160000 --- a/components/espwifistack +++ b/components/espwifistack @@ -1 +1 @@ -Subproject commit 04ed8200f503b2b376ec0e045bc4bd2ed046eb4c +Subproject commit 581b478de00ef8b2854d43c1ec9a6bb8480a577c diff --git a/main/can.h b/main/can.h index f4560a9..47927d0 100644 --- a/main/can.h +++ b/main/can.h @@ -332,9 +332,9 @@ void sendCanCommands() front.command.buzzer.pattern != lastValues.front.pattern || back.command.buzzer.freq != lastValues.back.freq || back.command.buzzer.pattern != lastValues.back.pattern) - i = 8; - else if (buttonLeds != lastValues.buttonLeds) i = 10; + else if (buttonLeds != lastValues.buttonLeds) + i = 12; switch (i++) { @@ -387,6 +387,18 @@ void sendCanCommands() send(MotorController::Command::PhaseAdvMax, back.command.right.phaseAdvMax); break; case 8: + send(MotorController::Command::CruiseCtrlEna, front.command.left.cruiseCtrlEna); + send(MotorController::Command::CruiseCtrlEna, front.command.right.cruiseCtrlEna); + send(MotorController::Command::CruiseCtrlEna, back.command.left.cruiseCtrlEna); + send(MotorController::Command::CruiseCtrlEna, back.command.right.cruiseCtrlEna); + break; + case 9: + send(MotorController::Command::CruiseMotTgt, front.command.left.nCruiseMotTgt); + send(MotorController::Command::CruiseMotTgt, front.command.right.nCruiseMotTgt); + send(MotorController::Command::CruiseMotTgt, back.command.left.nCruiseMotTgt); + send(MotorController::Command::CruiseMotTgt, back.command.right.nCruiseMotTgt); + break; + case 10: if (send(MotorController::Command::BuzzerFreq, front.command.buzzer.freq) == ESP_OK) lastValues.front.freq = front.command.buzzer.freq; // if (send(MotorController::Command::BuzzerFreq, front.command.buzzer.freq) == ESP_OK) @@ -404,7 +416,7 @@ void sendCanCommands() // if (send(MotorController::Command::BuzzerPattern, back.command.buzzer.pattern) == ESP_OK) // lastValues.back.pattern = back.command.buzzer.pattern; break; - case 9: + case 11: send(MotorController::Command::Led, front.command.led); //send(MotorController::Command::Led, front.command.led); send(MotorController::Command::Led, back.command.led); @@ -414,7 +426,7 @@ void sendCanCommands() send(MotorController::Command::Poweroff, back.command.poweroff); //send(MotorController::Command::Poweroff, back.command.poweroff); break; - case 10: + case 12: if (send(Boardcomputer::Feedback::ButtonLeds, buttonLeds) == ESP_OK) lastValues.buttonLeds = buttonLeds; [[fallthrough]]; diff --git a/main/debugtexthelpers.h b/main/debugtexthelpers.h index 7a78041..b553089 100644 --- a/main/debugtexthelpers.h +++ b/main/debugtexthelpers.h @@ -15,10 +15,10 @@ struct ControllerTexts ControllerTexts() = delete; ~ControllerTexts() = delete; - struct BuzzerFreqText : public virtual TextInterface { public: std::string text() const override { return "buzzerFreq: " + std::to_string(controller::get().command.buzzer.freq); } }; - struct BuzzerPatternText : public virtual TextInterface { public: std::string text() const override { return "buzzerPattern: " + std::to_string(controller::get().command.buzzer.pattern); } }; - struct PoweroffText : public virtual TextInterface { public: std::string text() const override { return "poweroff: " + std::to_string(controller::get().command.poweroff); } }; - struct LedText : public virtual TextInterface { public: std::string text() const override { return "led: " + std::to_string(controller::get().command.led); } }; + struct BuzzerFreqText : public virtual TextInterface { public: std::string text() const override { return fmt::format("buzzerFreq: {}", controller::get().command.buzzer.freq); } }; + struct BuzzerPatternText : public virtual TextInterface { public: std::string text() const override { return fmt::format("buzzerPattern: {}", controller::get().command.buzzer.pattern); } }; + struct PoweroffText : public virtual TextInterface { public: std::string text() const override { return fmt::format("poweroff: {}", controller::get().command.poweroff); } }; + struct LedText : public virtual TextInterface { public: std::string text() const override { return fmt::format("led: {}", controller::get().command.led); } }; private: struct LeftCommandGetter { static const bobbycar::protocol::serial::MotorState &get() { return controller::get().command.left; } }; @@ -30,24 +30,26 @@ private: CommandTexts() = delete; ~CommandTexts() = delete; - struct EnableText : public virtual TextInterface { public: std::string text() const override { return "enable: " + std::to_string(MotorStateGetter::get().enable); } }; - struct PwmText : public virtual TextInterface { public: std::string text() const override { return "pwm: " + std::to_string(MotorStateGetter::get().pwm); } }; - struct CtrlTypText : public virtual TextInterface { public: std::string text() const override { return "ctrlTyp: " + to_string(MotorStateGetter::get().ctrlTyp); } }; - struct CtrlModText : public virtual TextInterface { public: std::string text() const override { return "ctrlMod: " + to_string(MotorStateGetter::get().ctrlMod); } }; - struct IMotMaxText : public virtual TextInterface { public: std::string text() const override { return "iMotMax: " + std::to_string(MotorStateGetter::get().iMotMax); } }; - struct IDcMaxText : public virtual TextInterface { public: std::string text() const override { return "iDcMax: " + std::to_string(MotorStateGetter::get().iDcMax); } }; - struct NMotMaxText : public virtual TextInterface { public: std::string text() const override { return "nMotMax: " + std::to_string(MotorStateGetter::get().nMotMax); } }; - struct FieldWeakMaxText : public virtual TextInterface { public: std::string text() const override { return "fieldWeakMax: " + std::to_string(MotorStateGetter::get().fieldWeakMax); } }; - struct PhaseAdvMaxText : public virtual TextInterface { public: std::string text() const override { return "phaseAdvMax: " + std::to_string(MotorStateGetter::get().phaseAdvMax); } }; + struct EnableText : public virtual TextInterface { public: std::string text() const override { return fmt::format("enable: {}", MotorStateGetter::get().enable); } }; + struct PwmText : public virtual TextInterface { public: std::string text() const override { return fmt::format("pwm: {}", MotorStateGetter::get().pwm); } }; + struct CtrlTypText : public virtual TextInterface { public: std::string text() const override { return fmt::format("ctrlTyp: {}", to_string(MotorStateGetter::get().ctrlTyp)); } }; + struct CtrlModText : public virtual TextInterface { public: std::string text() const override { return fmt::format("ctrlMod: {}", to_string(MotorStateGetter::get().ctrlMod)); } }; + struct IMotMaxText : public virtual TextInterface { public: std::string text() const override { return fmt::format("iMotMax: {}", MotorStateGetter::get().iMotMax); } }; + struct IDcMaxText : public virtual TextInterface { public: std::string text() const override { return fmt::format("iDcMax: {}", MotorStateGetter::get().iDcMax); } }; + struct NMotMaxText : public virtual TextInterface { public: std::string text() const override { return fmt::format("nMotMax: {}", MotorStateGetter::get().nMotMax); } }; + struct FieldWeakMaxText : public virtual TextInterface { public: std::string text() const override { return fmt::format("fieldWeakMax: {}", MotorStateGetter::get().fieldWeakMax); } }; + struct PhaseAdvMaxText : public virtual TextInterface { public: std::string text() const override { return fmt::format("phaseAdvMax: {}", MotorStateGetter::get().phaseAdvMax); } }; + struct CruiseCtrlEnaText : public virtual TextInterface { public: std::string text() const override { return fmt::format("cruiseCtrlEna: {}", MotorStateGetter::get().cruiseCtrlEna); } }; + struct NCruiseMotTgtText : public virtual TextInterface { public: std::string text() const override { return fmt::format("nCruiseMotTgt: {}", MotorStateGetter::get().nCruiseMotTgt); } }; }; public: using LeftCommand = CommandTexts; using RightCommand = CommandTexts; - struct BatVoltageText : public virtual TextInterface { public: std::string text() const override { std::string line{"batVoltage: "}; if (controller::get().feedbackValid) line += std::to_string(controller::get().feedback.batVoltage); return line; } }; + //struct BatVoltageText : public virtual TextInterface { public: std::string text() const override { std::string line{"batVoltage: "}; if (controller::get().feedbackValid) line += std::to_string(controller::get().feedback.batVoltage); return line; } }; struct BatVoltageFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"batVoltage: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}V", fixBatVoltage(controller::get().feedback.batVoltage)); return line; } }; - struct BoardTempText : public virtual TextInterface { public: std::string text() const override { std::string line{"boardTemp: "}; if (controller::get().feedbackValid) line += std::to_string(controller::get().feedback.boardTemp); return line; } }; + //struct BoardTempText : public virtual TextInterface { public: std::string text() const override { std::string line{"boardTemp: "}; if (controller::get().feedbackValid) line += std::to_string(controller::get().feedback.boardTemp); return line; } }; struct BoardTempFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"boardTemp: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}C", fixBoardTemp(controller::get().feedback.boardTemp)); return line; } }; struct TimeoutCntSerialText : public virtual TextInterface { public: std::string text() const override { std::string line{"timeoutCntSerial: "}; if (controller::get().feedbackValid) line += std::to_string(controller::get().feedback.timeoutCntSerial); return line; } }; @@ -62,16 +64,16 @@ private: ~FeedbackTexts() = delete; struct AngleText : public virtual TextInterface { public: std::string text() const override { std::string line{"angle: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().angle); return line; } }; - struct SpeedText : public virtual TextInterface { public: std::string text() const override { std::string line{"speed: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().speed); return line; } }; - struct SpeedKmhText : public virtual TextInterface { public: std::string text() const override { std::string line{"speed kmh: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}", convertToKmh(MotorFeedbackGetter::get().speed)); return line; } }; + //struct SpeedText : public virtual TextInterface { public: std::string text() const override { std::string line{"speed: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().speed); return line; } }; + struct SpeedKmhText : public virtual TextInterface { public: std::string text() const override { std::string line{"speed: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}kmh", convertToKmh(MotorFeedbackGetter::get().speed)); return line; } }; struct ErrorText : public virtual TextInterface { public: std::string text() const override { std::string line{"error: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().error); return line; } }; - struct DcLinkText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcLink: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcLink); return line; } }; + //struct DcLinkText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcLink: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcLink); return line; } }; struct DcLinkFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcLink: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}A", fixCurrent(MotorFeedbackGetter::get().dcLink)); return line; } }; - struct DcPhaAText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaA: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaA); return line; } }; + //struct DcPhaAText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaA: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaA); return line; } }; struct DcPhaAFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaA: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}A", fixCurrent(MotorFeedbackGetter::get().dcPhaA)); return line; } }; - struct DcPhaBText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaB: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaB); return line; } }; + //struct DcPhaBText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaB: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaB); return line; } }; struct DcPhaBFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaB: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}A", fixCurrent(MotorFeedbackGetter::get().dcPhaB)); return line; } }; - struct DcPhaCText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaC: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaC); return line; } }; + //struct DcPhaCText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaC: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaC); return line; } }; struct DcPhaCFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaC: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}A", fixCurrent(MotorFeedbackGetter::get().dcPhaC)); return line; } }; struct ChopsText : public virtual TextInterface { public: std::string text() const override { std::string line{"chops: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().chops); return line; } }; struct HallText : public virtual TextInterface { public: std::string text() const override { std::string line{"hall: "}; if (controller::get().feedbackValid) line += hallString(MotorFeedbackGetter::get()); return line; } }; diff --git a/main/displays/menus/feedbackdebugmenu.h b/main/displays/menus/feedbackdebugmenu.h index e290c43..c40afad 100644 --- a/main/displays/menus/feedbackdebugmenu.h +++ b/main/displays/menus/feedbackdebugmenu.h @@ -26,9 +26,9 @@ class FeedbackDebugMenu : public: FeedbackDebugMenu() { - constructMenuItem, DummyAction>>(); + //constructMenuItem, DummyAction>>(); constructMenuItem, DummyAction>>(); - constructMenuItem, DummyAction>>(); + //constructMenuItem, DummyAction>>(); constructMenuItem, DummyAction>>(); constructMenuItem, ColorInterface, DummyAction>>(); constructMenuItem, SwitchScreenAction, StaticMenuItemIcon<&icons::back>>>(); diff --git a/main/displays/menus/motorfeedbackdebugmenu.h b/main/displays/menus/motorfeedbackdebugmenu.h index f187a68..4299580 100644 --- a/main/displays/menus/motorfeedbackdebugmenu.h +++ b/main/displays/menus/motorfeedbackdebugmenu.h @@ -27,16 +27,16 @@ public: MotorFeedbackDebugMenu() { constructMenuItem, DummyAction>>(); - constructMenuItem, DummyAction>>(); + //constructMenuItem, DummyAction>>(); constructMenuItem, DummyAction>>(); constructMenuItem, DummyAction>>(); - constructMenuItem, DummyAction>>(); + //constructMenuItem, DummyAction>>(); constructMenuItem, DummyAction>>(); - constructMenuItem, DummyAction>>(); + //constructMenuItem, DummyAction>>(); constructMenuItem, DummyAction>>(); - constructMenuItem, DummyAction>>(); + //constructMenuItem, DummyAction>>(); constructMenuItem, DummyAction>>(); - constructMenuItem, DummyAction>>(); + //constructMenuItem, DummyAction>>(); constructMenuItem, DummyAction>>(); constructMenuItem, DummyAction>>(); constructMenuItem, DummyAction>>(); diff --git a/main/displays/menus/motorstatedebugmenu.h b/main/displays/menus/motorstatedebugmenu.h index f8aa962..e4a8f3e 100644 --- a/main/displays/menus/motorstatedebugmenu.h +++ b/main/displays/menus/motorstatedebugmenu.h @@ -25,15 +25,17 @@ class MotorStateDebugMenu : public: MotorStateDebugMenu() { - constructMenuItem>(); - constructMenuItem>(); - constructMenuItem>(); - constructMenuItem>(); - constructMenuItem>(); - constructMenuItem>(); - constructMenuItem>(); - constructMenuItem>(); - constructMenuItem>(); + constructMenuItem>(); + constructMenuItem>(); + constructMenuItem>(); + constructMenuItem>(); + constructMenuItem>(); + constructMenuItem>(); + constructMenuItem>(); + constructMenuItem>(); + constructMenuItem>(); + constructMenuItem>(); + constructMenuItem>(); constructMenuItem, SwitchScreenAction, StaticMenuItemIcon<&icons::back>>>(); } };