Updated can submodule
This commit is contained in:
Submodule src/bobbycar-protocol updated: 994d0c95a7...fee1175bf8
296
src/can.h
296
src/can.h
@ -1,5 +1,7 @@
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#pragma once
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#include <cstring>
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#include <esp_log.h>
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#include <driver/gpio.h>
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#include <driver/can.h>
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@ -12,11 +14,9 @@
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#include "globals.h"
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namespace {
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millis_t m_lastCanFeedback{};
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void initCan()
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{
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Serial.printf("CAN info hello world\r\n");
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Serial.println("initCan()");
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can_general_config_t g_config = CAN_GENERAL_CONFIG_DEFAULT(GPIO_NUM_21, GPIO_NUM_22, CAN_MODE_NORMAL);
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can_timing_config_t t_config CAN_TIMING_CONFIG_250KBITS();
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@ -59,100 +59,222 @@ void initCan()
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}
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}
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void parseCanInput()
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template<bool isBack>
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bool parseCanMessage(const can_message_t &message)
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{
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can_message_t message;
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if (const auto result = can_receive(&message, pdMS_TO_TICKS(200)); result != ESP_OK)
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{
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controllers.front.feedbackValid = millis() - m_lastCanFeedback <= 100;
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if (result != ESP_ERR_TIMEOUT)
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Serial.printf("CAN err can_receive() failed with %s\r\n", esp_err_to_name(result));
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return;
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}
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auto &controller = isBack ? controllers.back : controllers.front;
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switch (message.identifier)
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{
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case MotorControllerFrontLeftDcLink:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.left.current = *((int16_t*)message.data);
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break;
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case MotorControllerFrontRightDcLink:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.right.current = *((int16_t*)message.data);
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break;
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case MotorControllerFrontLeftSpeed:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.left.speed = *((int16_t*)message.data);
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break;
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case MotorControllerFrontRightSpeed:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.right.speed = *((int16_t*)message.data);
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break;
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case MotorControllerFrontLeftError:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.left.error = *((int8_t*)message.data);
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break;
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case MotorControllerFrontRightError:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.right.error = *((int8_t*)message.data);
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break;
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case MotorControllerFrontLeftAngle:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.left.angle = *((int16_t*)message.data);
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break;
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case MotorControllerFrontRightAngle:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.right.angle = *((int16_t*)message.data);
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break;
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case MotorControllerFrontLeftChops:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.left.chops = *((uint16_t*)message.data);
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break;
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case MotorControllerFrontRightChops:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.right.chops = *((uint16_t*)message.data);
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break;
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case MotorControllerFrontLeftHall:
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{
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.left.hallA = *((uint8_t*)message.data) & 1;
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controllers.front.feedback.left.hallB = *((uint8_t*)message.data) & 2;
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controllers.front.feedback.left.hallC = *((uint8_t*)message.data) & 4;
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break;
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using namespace bobbycar::can;
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case MotorController<isBack, false>::Feedback::DcLink:
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controller.feedback.left.current = *((int16_t*)message.data);
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return true;
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case MotorController<isBack, true>::Feedback::DcLink:
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controller.feedback.right.current = *((int16_t*)message.data);
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return true;
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case MotorController<isBack, false>::Feedback::Speed:
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controller.feedback.left.speed = *((int16_t*)message.data);
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return true;
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case MotorController<isBack, true>::Feedback::Speed:
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controller.feedback.right.speed = *((int16_t*)message.data);
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return true;
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case MotorController<isBack, false>::Feedback::Error:
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controller.feedback.left.error = *((int8_t*)message.data);
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return true;
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case MotorController<isBack, true>::Feedback::Error:
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controller.feedback.right.error = *((int8_t*)message.data);
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return true;
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case MotorController<isBack, false>::Feedback::Angle:
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controller.feedback.left.angle = *((int16_t*)message.data);
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return true;
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case MotorController<isBack, true>::Feedback::Angle:
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controller.feedback.right.angle = *((int16_t*)message.data);
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return true;
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case MotorController<isBack, false>::Feedback::DcPhaA:
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case MotorController<isBack, true>::Feedback::DcPhaA:
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case MotorController<isBack, false>::Feedback::DcPhaB:
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case MotorController<isBack, true>::Feedback::DcPhaB:
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case MotorController<isBack, false>::Feedback::DcPhaC:
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case MotorController<isBack, true>::Feedback::DcPhaC:
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return true;
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case MotorController<isBack, false>::Feedback::Chops:
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controller.feedback.left.chops = *((uint16_t*)message.data);
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return true;
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case MotorController<isBack, true>::Feedback::Chops:
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controller.feedback.right.chops = *((uint16_t*)message.data);
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return true;
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case MotorController<isBack, false>::Feedback::Hall:
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controller.feedback.left.hallA = *((uint8_t*)message.data) & 1;
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controller.feedback.left.hallB = *((uint8_t*)message.data) & 2;
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controller.feedback.left.hallC = *((uint8_t*)message.data) & 4;
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return true;
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case MotorController<isBack, true>::Feedback::Hall:
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controller.feedback.right.hallA = *((uint8_t*)message.data) & 1;
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controller.feedback.right.hallB = *((uint8_t*)message.data) & 2;
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controller.feedback.right.hallC = *((uint8_t*)message.data) & 4;
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return true;
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case MotorController<isBack, false>::Feedback::Voltage:
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case MotorController<isBack, true>::Feedback::Voltage:
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controller.feedback.batVoltage = *((int16_t*)message.data);
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return true;
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case MotorController<isBack, false>::Feedback::Temp:
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case MotorController<isBack, true>::Feedback::Temp:
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controller.feedback.boardTemp = *((int16_t*)message.data);
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return true;
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}
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case MotorControllerFrontRightHall:
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return false;
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}
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bool parseCanInput()
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{
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can_message_t message;
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if (const auto result = can_receive(&message, pdMS_TO_TICKS(50)); result != ESP_OK)
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{
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.right.hallA = *((uint8_t*)message.data) & 1;
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controllers.front.feedback.right.hallB = *((uint8_t*)message.data) & 2;
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controllers.front.feedback.right.hallC = *((uint8_t*)message.data) & 4;
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break;
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if (millis() - controllers.front.lastCanFeedback > 100)
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controllers.front.feedbackValid = false;
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if (millis() - controllers.back.lastCanFeedback > 100)
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controllers.back.feedbackValid = false;
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if (result != ESP_ERR_TIMEOUT)
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Serial.printf("CAN err can_receive() failed with %s\r\n", esp_err_to_name(result));
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return false;
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}
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case MotorControllerFrontLeftVoltage:
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m_lastCanFeedback = millis();
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if (parseCanMessage<false>(message))
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{
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if (millis() - controllers.back.lastCanFeedback > 100)
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controllers.back.feedbackValid = false;
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controllers.front.lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.batVoltage = *((int16_t*)message.data);
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return true;
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}
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else
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{
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if (millis() - controllers.front.lastCanFeedback > 100)
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controllers.front.feedbackValid = false;
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}
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if (parseCanMessage<true>(message))
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{
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controllers.back.lastCanFeedback = millis();
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controllers.back.feedbackValid = true;
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return true;
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}
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else
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{
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if (millis() - controllers.back.lastCanFeedback > 100)
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controllers.back.feedbackValid = false;
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}
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Serial.printf("WARNING Unknown CAN info received .identifier = %u\r\n", message.identifier);
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return true;
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}
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void sendCanCommands()
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{
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constexpr auto send = [](uint32_t addr, auto value){
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can_message_t message;
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message.identifier = addr;
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message.flags = CAN_MSG_FLAG_SS;
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message.data_length_code = sizeof(value);
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std::fill(std::begin(message.data), std::end(message.data), 0);
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std::memcpy(message.data, &value, sizeof(value));
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const auto result = can_transmit(&message, pdMS_TO_TICKS(200));
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if (result != ESP_OK && result != ESP_ERR_TIMEOUT)
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Serial.printf("ERROR: can_transmit() failed with %s\r\n", esp_err_to_name(result));
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return result;
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};
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using namespace bobbycar::can;
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send(MotorController<false, false>::Command::InpTgt, controllers.front.command.left.pwm);
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send(MotorController<false, true>::Command::InpTgt, controllers.front.command.right.pwm);
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send(MotorController<true, false>::Command::InpTgt, controllers.back.command.left.pwm);
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send(MotorController<true, true>::Command::InpTgt, controllers.back.command.right.pwm);
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static int i{};
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switch (i++)
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{
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case 0:
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send(MotorController<false, false>::Command::Enable, controllers.front.command.left.enable);
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send(MotorController<false, true>::Command::Enable, controllers.front.command.right.enable);
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send(MotorController<true, false>::Command::Enable, controllers.back.command.left.enable);
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send(MotorController<true, true>::Command::Enable, controllers.back.command.right.enable);
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break;
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case MotorControllerFrontLeftTemp:
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m_lastCanFeedback = millis();
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controllers.front.feedbackValid = true;
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controllers.front.feedback.boardTemp = *((int16_t*)message.data);
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case 1:
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send(MotorController<false, false>::Command::CtrlTyp, controllers.front.command.left.ctrlTyp);
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send(MotorController<false, true>::Command::CtrlTyp, controllers.front.command.right.ctrlTyp);
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send(MotorController<true, false>::Command::CtrlTyp, controllers.back.command.left.ctrlTyp);
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send(MotorController<true, true>::Command::CtrlTyp, controllers.back.command.right.ctrlTyp);
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break;
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case 2:
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send(MotorController<false, false>::Command::CtrlMod, controllers.front.command.left.ctrlMod);
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send(MotorController<false, true>::Command::CtrlMod, controllers.front.command.right.ctrlMod);
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send(MotorController<true, false>::Command::CtrlMod, controllers.back.command.left.ctrlMod);
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send(MotorController<true, true>::Command::CtrlMod, controllers.back.command.right.ctrlMod);
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break;
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case 3:
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send(MotorController<false, false>::Command::IMotMax, controllers.front.command.left.iMotMax);
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send(MotorController<false, true>::Command::IMotMax, controllers.front.command.right.iMotMax);
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send(MotorController<true, false>::Command::IMotMax, controllers.back.command.left.iMotMax);
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send(MotorController<true, true>::Command::IMotMax, controllers.back.command.right.iMotMax);
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break;
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case 4:
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send(MotorController<false, false>::Command::IDcMax, controllers.front.command.left.iDcMax);
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send(MotorController<false, true>::Command::IDcMax, controllers.front.command.right.iDcMax);
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send(MotorController<true, false>::Command::IDcMax, controllers.back.command.left.iDcMax);
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send(MotorController<true, true>::Command::IDcMax, controllers.back.command.right.iDcMax);
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break;
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case 5:
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send(MotorController<false, false>::Command::NMotMax, controllers.front.command.left.nMotMax);
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send(MotorController<false, true>::Command::NMotMax, controllers.front.command.right.nMotMax);
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send(MotorController<true, false>::Command::NMotMax, controllers.back.command.left.nMotMax);
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send(MotorController<true, true>::Command::NMotMax, controllers.back.command.right.nMotMax);
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break;
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case 6:
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send(MotorController<false, false>::Command::FieldWeakMax, controllers.front.command.left.fieldWeakMax);
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send(MotorController<false, true>::Command::FieldWeakMax, controllers.front.command.right.fieldWeakMax);
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send(MotorController<true, false>::Command::FieldWeakMax, controllers.back.command.left.fieldWeakMax);
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send(MotorController<true, true>::Command::FieldWeakMax, controllers.back.command.right.fieldWeakMax);
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break;
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case 7:
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send(MotorController<false, false>::Command::PhaseAdvMax, controllers.front.command.left.phaseAdvMax);
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send(MotorController<false, true>::Command::PhaseAdvMax, controllers.front.command.right.phaseAdvMax);
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send(MotorController<true, false>::Command::PhaseAdvMax, controllers.back.command.left.phaseAdvMax);
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send(MotorController<true, true>::Command::PhaseAdvMax, controllers.back.command.right.phaseAdvMax);
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break;
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case 8:
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send(MotorController<false, false>::Command::BuzzerFreq, controllers.front.command.buzzer.freq);
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send(MotorController<false, true>::Command::BuzzerFreq, controllers.front.command.buzzer.freq);
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send(MotorController<true, false>::Command::BuzzerFreq, controllers.back.command.buzzer.freq);
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send(MotorController<true, true>::Command::BuzzerFreq, controllers.back.command.buzzer.freq);
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break;
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case 9:
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send(MotorController<false, false>::Command::BuzzerPattern, controllers.front.command.buzzer.pattern);
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send(MotorController<false, true>::Command::BuzzerPattern, controllers.front.command.buzzer.pattern);
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send(MotorController<true, false>::Command::BuzzerPattern, controllers.back.command.buzzer.pattern);
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send(MotorController<true, true>::Command::BuzzerPattern, controllers.back.command.buzzer.pattern);
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break;
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case 10:
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send(MotorController<false, false>::Command::Led, controllers.front.command.led);
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send(MotorController<false, true>::Command::Led, controllers.front.command.led);
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send(MotorController<true, false>::Command::Led, controllers.back.command.led);
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send(MotorController<true, true>::Command::Led, controllers.back.command.led);
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break;
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case 11:
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send(MotorController<false, false>::Command::Poweroff, controllers.front.command.poweroff);
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send(MotorController<false, true>::Command::Poweroff, controllers.front.command.poweroff);
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send(MotorController<true, false>::Command::Poweroff, controllers.back.command.poweroff);
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send(MotorController<true, true>::Command::Poweroff, controllers.back.command.poweroff);
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i=0;
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break;
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default:
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Serial.printf("WARNING Unknown CAN info received .identifier = %u\r\n", message.identifier);
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}
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}
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}
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@ -5,6 +5,8 @@
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#include "bobbycar-protocol/bobbycar-common.h"
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#include "bobbycar-protocol/bobbycar-serial.h"
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#include "types.h"
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#ifndef FEATURE_CAN
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#include "feedbackparser.h"
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#endif
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@ -36,6 +38,9 @@ struct Controller {
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Command command{};
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#ifdef FEATURE_CAN
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millis_t lastCanFeedback{};
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#endif
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bool feedbackValid{};
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Feedback feedback{};
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@ -429,7 +429,9 @@ void loop()
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}
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#ifdef FEATURE_CAN
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parseCanInput();
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for (int i = 0; i < 4; i++)
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if (!parseCanInput())
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break;
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#else
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for (Controller &controller : controllers)
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controller.parser.update();
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108
src/utils.h
108
src/utils.h
@ -2,7 +2,6 @@
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#include <algorithm>
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#include <utility>
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#include <cstring>
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#include <driver/can.h>
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@ -14,6 +13,9 @@
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#include "display.h"
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#include "globals.h"
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#ifdef FEATURE_CAN
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#include "can.h"
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#endif
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// macros are a shit piece of software
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#define STRING2(s) #s
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@ -259,108 +261,8 @@ void sendCommands()
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controller.command.checksum = calculateChecksum(controller.command);
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controller.serial.get().write((uint8_t *) &controller.command, sizeof(controller.command));
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}
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#endif
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#ifdef FEATURE_CAN
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constexpr auto send = [](uint32_t addr, auto value){
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can_message_t message;
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message.identifier = addr;
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if (addr == MotorControllerFrontLeftInpTgt || addr == MotorControllerFrontRightInpTgt)
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message.flags = CAN_MSG_FLAG_SS;
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else
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message.flags = CAN_MSG_FLAG_NONE;
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message.data_length_code = sizeof(value);
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||||
std::fill(std::begin(message.data), std::end(message.data), 0);
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std::memcpy(message.data, &value, sizeof(value));
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const auto result = can_transmit(&message, pdMS_TO_TICKS(200));
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if (result != ESP_OK && result != ESP_ERR_TIMEOUT)
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||||
Serial.printf("ERROR: can_transmit() failed with %s\r\n", esp_err_to_name(result));
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return result;
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};
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||||
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send(MotorControllerFrontLeftInpTgt, controllers.front.command.left.pwm);
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send(MotorControllerFrontRightInpTgt, controllers.front.command.right.pwm);
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// send(MotorControllerBackLeftInpTgt, controllers.back.command.left.pwm);
|
||||
// send(MotorControllerBackRightInpTgt, controllers.back.command.right.pwm);
|
||||
|
||||
static int i = 0;
|
||||
switch (i++)
|
||||
{
|
||||
case 0:
|
||||
send(MotorControllerFrontLeftEnable, controllers.front.command.left.enable);
|
||||
send(MotorControllerFrontRightEnable, controllers.front.command.right.enable);
|
||||
// send(MotorControllerBackLeftEnable, controllers.back.command.left.enable);
|
||||
// send(MotorControllerBackRightEnable, controllers.back.command.right.enable);
|
||||
break;
|
||||
case 1:
|
||||
send(MotorControllerFrontLeftCtrlTyp, controllers.front.command.left.ctrlTyp);
|
||||
send(MotorControllerFrontRightCtrlTyp, controllers.front.command.right.ctrlTyp);
|
||||
// send(MotorControllerBackLeftCtrlTyp, controllers.back.command.left.ctrlTyp);
|
||||
// send(MotorControllerBackRightCtrlTyp, controllers.back.command.right.ctrlTyp);
|
||||
break;
|
||||
case 2:
|
||||
send(MotorControllerFrontLeftCtrlMod, controllers.front.command.left.ctrlMod);
|
||||
send(MotorControllerFrontRightCtrlMod, controllers.front.command.right.ctrlMod);
|
||||
// send(MotorControllerBackLeftCtrlMod, controllers.back.command.left.ctrlMod);
|
||||
// send(MotorControllerBackRightCtrlMod, controllers.back.command.right.ctrlMod);
|
||||
break;
|
||||
case 3:
|
||||
send(MotorControllerFrontLeftIMotMax, controllers.front.command.left.iMotMax);
|
||||
send(MotorControllerFrontRightIMotMax, controllers.front.command.right.iMotMax);
|
||||
// send(MotorControllerBackLeftIMotMax, controllers.back.command.left.iMotMax);
|
||||
// send(MotorControllerBackRightIMotMax, controllers.back.command.right.iMotMax);
|
||||
break;
|
||||
case 4:
|
||||
send(MotorControllerFrontLeftIDcMax, controllers.front.command.left.iDcMax);
|
||||
send(MotorControllerFrontRightIDcMax, controllers.front.command.right.iDcMax);
|
||||
// send(MotorControllerBackLeftIDcMax, controllers.back.command.left.iDcMax);
|
||||
// send(MotorControllerBackRightIDcMax, controllers.back.command.right.iDcMax);
|
||||
break;
|
||||
case 5:
|
||||
send(MotorControllerFrontLeftNMotMax, controllers.front.command.left.nMotMax);
|
||||
send(MotorControllerFrontRightNMotMax, controllers.front.command.right.nMotMax);
|
||||
// send(MotorControllerBackLeftNMotMax, controllers.back.command.left.nMotMax);
|
||||
// send(MotorControllerBackRightNMotMax, controllers.back.command.right.nMotMax);
|
||||
break;
|
||||
case 6:
|
||||
send(MotorControllerFrontLeftFieldWeakMax, controllers.front.command.left.fieldWeakMax);
|
||||
send(MotorControllerFrontRightFieldWeakMax, controllers.front.command.right.fieldWeakMax);
|
||||
// send(MotorControllerBackLeftFieldWeakMax, controllers.back.command.left.fieldWeakMax);
|
||||
// send(MotorControllerBackRightFieldWeakMax, controllers.back.command.right.fieldWeakMax);
|
||||
break;
|
||||
case 7:
|
||||
send(MotorControllerFrontLeftPhaseAdvMax, controllers.front.command.left.phaseAdvMax);
|
||||
send(MotorControllerFrontRightPhaseAdvMax, controllers.front.command.right.phaseAdvMax);
|
||||
// send(MotorControllerBackLeftPhaseAdvMax, controllers.back.command.left.phaseAdvMax);
|
||||
// send(MotorControllerBackRightPhaseAdvMax, controllers.back.command.right.phaseAdvMax);
|
||||
break;
|
||||
case 8:
|
||||
send(MotorControllerFrontLeftBuzzerFreq, controllers.front.command.buzzer.freq);
|
||||
send(MotorControllerFrontRightBuzzerFreq, controllers.front.command.buzzer.freq);
|
||||
// send(MotorControllerBackLeftBuzzerFreq, controllers.back.command.buzzer.freq);
|
||||
// send(MotorControllerBackRightBuzzerFreq, controllers.back.command.buzzer.freq);
|
||||
break;
|
||||
case 9:
|
||||
send(MotorControllerFrontLeftBuzzerPattern, controllers.front.command.buzzer.pattern);
|
||||
send(MotorControllerFrontRightBuzzerPattern, controllers.front.command.buzzer.pattern);
|
||||
// send(MotorControllerBackLeftBuzzerPattern, controllers.back.command.buzzer.pattern);
|
||||
// send(MotorControllerBackRightBuzzerPattern, controllers.back.command.buzzer.pattern);
|
||||
break;
|
||||
case 10:
|
||||
send(MotorControllerFrontLeftLed, controllers.front.command.led);
|
||||
send(MotorControllerFrontRightLed, controllers.front.command.led);
|
||||
// send(MotorControllerBackLeftLed, controllers.back.command.led);
|
||||
// send(MotorControllerBackRightLed, controllers.back.command.led);
|
||||
break;
|
||||
case 11:
|
||||
send(MotorControllerFrontLeftPoweroff, controllers.front.command.poweroff);
|
||||
send(MotorControllerFrontRightPoweroff, controllers.front.command.poweroff);
|
||||
// send(MotorControllerBackLeftPoweroff, controllers.back.command.poweroff);
|
||||
// send(MotorControllerBackRightPoweroff, controllers.back.command.poweroff);
|
||||
i=0;
|
||||
break;
|
||||
}
|
||||
#else
|
||||
sendCanCommands();
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user