feedc0de/bobbycar-boardcomputer-firmware
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Fixed project for new submodules

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This commit is contained in:
CommanderRedYT
2022-04-29 22:40:49 +02:00
parent 84a1cd40e9
commit 91880608dc
66 changed files with 632 additions and 561 deletions
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18
main/can.cpp
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@@ -203,7 +203,7 @@ bool parseBoardcomputerCanMessage(const twai_message_t &message)
bool tryParseCanInput()
{
twai_message_t message;
const auto timeout = std::chrono::ceil<espcpputils::ticks>(espchrono::milliseconds32{configs.controllerHardware.canReceiveTimeout.value}).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)
@@ -220,8 +220,8 @@ bool tryParseCanInput()
return false;
}
Controller &front = configs.controllerHardware.swapFrontBack.value ? controllers.back : controllers.front;
Controller &back = configs.controllerHardware.swapFrontBack.value ? 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))
{
@@ -274,7 +274,7 @@ 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{configs.controllerHardware.canTransmitTimeout.value}).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);
@@ -308,7 +308,7 @@ void sendCanCommands()
if (can_sequential_error_cnt > 3)
{
can_sequential_error_cnt = 0;
if (configs.canResetOnError.value)
if (configs.canResetOnError.value())
{
ESP_LOGW(TAG, "WARNING: Something isn't right, trying to restart can ic...");
if (const auto err = twai_stop(); err != ESP_OK)
@@ -316,7 +316,7 @@ void sendCanCommands()
ESP_LOGE(TAG, "ERROR: twai_stop() failed with %s", esp_err_to_name(err));
}
if (configs.canUninstallOnReset.value)
if (configs.canUninstallOnReset.value())
{
if (const auto err = twai_driver_uninstall(); err != ESP_OK) {
ESP_LOGE(TAG, "ERROR: twai_driver_uninstall() failed with %s", esp_err_to_name(err));
@@ -338,13 +338,13 @@ void sendCanCommands()
return result;
};
const bool swap = configs.controllerHardware.swapFrontBack.value;
const bool swap = configs.controllerHardware.swapFrontBack.value();
const Controller *front =
(swap ? configs.controllerHardware.sendBackCanCmd.value : configs.controllerHardware.sendFrontCanCmd.value ) ?
(swap ? configs.controllerHardware.sendBackCanCmd.value() : configs.controllerHardware.sendFrontCanCmd.value() ) ?
(swap ? &controllers.back : &controllers.front) :
nullptr;
const Controller *back =
(swap ? configs.controllerHardware.sendFrontCanCmd.value : configs.controllerHardware.sendBackCanCmd.value ) ?
(swap ? configs.controllerHardware.sendFrontCanCmd.value() : configs.controllerHardware.sendBackCanCmd.value() ) ?
(swap ? &controllers.front : &controllers.back) :
nullptr;