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0xFEEDC0DE64
2021-06-26 03:27:49 +02:00
parent db10a294de
commit db024a298f
8 changed files with 41 additions and 18 deletions
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2
src/bobbycar-protocol

Submodule src/bobbycar-protocol updated: b6f0d6a185...28052f8625

15
src/can.h
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@ -65,10 +65,10 @@ bool parseCanMessage(const can_message_t &message, Controller &controller)
{ {
using namespace bobbycar::can; using namespace bobbycar::can;
case MotorController<isBack, false>::Feedback::DcLink: case MotorController<isBack, false>::Feedback::DcLink:
controller.feedback.left.current = *((int16_t*)message.data); controller.feedback.left.dcLink = *((int16_t*)message.data);
return true; return true;
case MotorController<isBack, true>::Feedback::DcLink: case MotorController<isBack, true>::Feedback::DcLink:
controller.feedback.right.current = *((int16_t*)message.data); controller.feedback.right.dcLink = *((int16_t*)message.data);
return true; return true;
case MotorController<isBack, false>::Feedback::Speed: case MotorController<isBack, false>::Feedback::Speed:
controller.feedback.left.speed = *((int16_t*)message.data); controller.feedback.left.speed = *((int16_t*)message.data);
@ -89,11 +89,22 @@ bool parseCanMessage(const can_message_t &message, Controller &controller)
controller.feedback.right.angle = *((int16_t*)message.data); controller.feedback.right.angle = *((int16_t*)message.data);
return true; return true;
case MotorController<isBack, false>::Feedback::DcPhaA: case MotorController<isBack, false>::Feedback::DcPhaA:
controller.feedback.left.dcPhaA = *((int16_t*)message.data);
return true;
case MotorController<isBack, true>::Feedback::DcPhaA: case MotorController<isBack, true>::Feedback::DcPhaA:
controller.feedback.right.dcPhaA = *((int16_t*)message.data);
return true;
case MotorController<isBack, false>::Feedback::DcPhaB: case MotorController<isBack, false>::Feedback::DcPhaB:
controller.feedback.left.dcPhaB = *((int16_t*)message.data);
return true;
case MotorController<isBack, true>::Feedback::DcPhaB: case MotorController<isBack, true>::Feedback::DcPhaB:
controller.feedback.right.dcPhaB = *((int16_t*)message.data);
return true;
case MotorController<isBack, false>::Feedback::DcPhaC: case MotorController<isBack, false>::Feedback::DcPhaC:
controller.feedback.left.dcPhaC = *((int16_t*)message.data);
return true;
case MotorController<isBack, true>::Feedback::DcPhaC: case MotorController<isBack, true>::Feedback::DcPhaC:
controller.feedback.right.dcPhaC = *((int16_t*)message.data);
return true; return true;
case MotorController<isBack, false>::Feedback::Chops: case MotorController<isBack, false>::Feedback::Chops:
controller.feedback.left.chops = *((uint16_t*)message.data); controller.feedback.left.chops = *((uint16_t*)message.data);

10
src/debugtexthelpers.h
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@ -61,8 +61,14 @@ private:
struct SpeedText : public virtual TextInterface { public: String text() const override { auto line = String{"speed: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().speed); return line; } }; struct SpeedText : public virtual TextInterface { public: String text() const override { auto line = String{"speed: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().speed); return line; } };
struct SpeedKmhText : public virtual TextInterface { public: String text() const override { auto line = String{"speed kmh: "}; if (controller::get().feedbackValid) line += toString(convertToKmh(MotorFeedbackGetter::get().speed)); return line; } }; struct SpeedKmhText : public virtual TextInterface { public: String text() const override { auto line = String{"speed kmh: "}; if (controller::get().feedbackValid) line += toString(convertToKmh(MotorFeedbackGetter::get().speed)); return line; } };
struct ErrorText : public virtual TextInterface { public: String text() const override { auto line = String{"error: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().error); return line; } }; struct ErrorText : public virtual TextInterface { public: String text() const override { auto line = String{"error: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().error); return line; } };
struct CurrentText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().current); return line; } }; struct DcLinkText : public virtual TextInterface { public: String text() const override { auto line = String{"dcLink: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().dcLink); return line; } };
struct CurrentFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(fixCurrent(MotorFeedbackGetter::get().current)) + 'A'; return line; } }; struct DcLinkFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"dcLink: "}; if (controller::get().feedbackValid) line += toString(fixCurrent(MotorFeedbackGetter::get().dcLink)) + 'A'; return line; } };
struct DcPhaAText : public virtual TextInterface { public: String text() const override { auto line = String{"dcPhaA: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().dcPhaA); return line; } };
struct DcPhaAFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"dcPhaA: "}; if (controller::get().feedbackValid) line += toString(fixCurrent(MotorFeedbackGetter::get().dcPhaA)) + 'A'; return line; } };
struct DcPhaBText : public virtual TextInterface { public: String text() const override { auto line = String{"dcPhaB: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().dcPhaB); return line; } };
struct DcPhaBFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"dcPhaB: "}; if (controller::get().feedbackValid) line += toString(fixCurrent(MotorFeedbackGetter::get().dcPhaB)) + 'A'; return line; } };
struct DcPhaCText : public virtual TextInterface { public: String text() const override { auto line = String{"dcPhaC: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().dcPhaC); return line; } };
struct DcPhaCFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"dcPhaC: "}; if (controller::get().feedbackValid) line += toString(fixCurrent(MotorFeedbackGetter::get().dcPhaC)) + 'A'; return line; } };
struct ChopsText : public virtual TextInterface { public: String text() const override { auto line = String{"chops: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().chops); return line; } }; struct ChopsText : public virtual TextInterface { public: String text() const override { auto line = String{"chops: "}; if (controller::get().feedbackValid) line += toString(MotorFeedbackGetter::get().chops); return line; } };
struct HallText : public virtual TextInterface { public: String text() const override { auto line = String{"hall: "}; if (controller::get().feedbackValid) line += hallString(MotorFeedbackGetter::get()); return line; } }; struct HallText : public virtual TextInterface { public: String text() const override { auto line = String{"hall: "}; if (controller::get().feedbackValid) line += hallString(MotorFeedbackGetter::get()); return line; } };
}; };

10
src/displays/menus/motorfeedbackdebugmenu.h
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@ -30,8 +30,14 @@ public:
constructMenuItem<makeComponent<MenuItem, typename Ttexts::SpeedText, ColorInterface<TFT_DARKGREY>, DummyAction>>(); constructMenuItem<makeComponent<MenuItem, typename Ttexts::SpeedText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::SpeedKmhText, ColorInterface<TFT_DARKGREY>, DummyAction>>(); constructMenuItem<makeComponent<MenuItem, typename Ttexts::SpeedKmhText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::ErrorText, ColorInterface<TFT_DARKGREY>, DummyAction>>(); constructMenuItem<makeComponent<MenuItem, typename Ttexts::ErrorText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::CurrentText, ColorInterface<TFT_DARKGREY>, DummyAction>>(); constructMenuItem<makeComponent<MenuItem, typename Ttexts::DcLinkText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::CurrentFixedText, ColorInterface<TFT_DARKGREY>, DummyAction>>(); constructMenuItem<makeComponent<MenuItem, typename Ttexts::DcLinkFixedText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::DcPhaAText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::DcPhaAFixedText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::DcPhaBText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::DcPhaBFixedText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::DcPhaCText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::DcPhaCFixedText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::ChopsText, ColorInterface<TFT_DARKGREY>, DummyAction>>(); constructMenuItem<makeComponent<MenuItem, typename Ttexts::ChopsText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, typename Ttexts::HallText, ColorInterface<TFT_DARKGREY>, DummyAction>>(); constructMenuItem<makeComponent<MenuItem, typename Ttexts::HallText, ColorInterface<TFT_DARKGREY>, DummyAction>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>, SwitchScreenAction<DebugMenu>, StaticMenuItemIcon<&icons::back>>>(); constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>, SwitchScreenAction<DebugMenu>, StaticMenuItemIcon<&icons::back>>>();

8
src/displays/metersdisplay.h
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@ -76,10 +76,10 @@ void MetersDisplay::redraw()
meters[0].redraw(fixBatVoltage(controllers.front.feedback.batVoltage), 35, 50); meters[0].redraw(fixBatVoltage(controllers.front.feedback.batVoltage), 35, 50);
meters[1].redraw(fixBatVoltage(controllers.back.feedback.batVoltage), 35, 50); meters[1].redraw(fixBatVoltage(controllers.back.feedback.batVoltage), 35, 50);
meters[2].redraw(fixCurrent(controllers.front.feedback.left.current), -10, 10); meters[2].redraw(fixCurrent(controllers.front.feedback.left.dcLink), -10, 10);
meters[3].redraw(fixCurrent(controllers.front.feedback.right.current), -10, 10); meters[3].redraw(fixCurrent(controllers.front.feedback.right.dcLink), -10, 10);
meters[4].redraw(fixCurrent(controllers.back.feedback.left.current), -10, 10); meters[4].redraw(fixCurrent(controllers.back.feedback.left.dcLink), -10, 10);
meters[5].redraw(fixCurrent(controllers.back.feedback.right.current), -10, 10); meters[5].redraw(fixCurrent(controllers.back.feedback.right.dcLink), -10, 10);
} }
void MetersDisplay::rotate(int offset) void MetersDisplay::rotate(int offset)

2
src/displays/statusdisplay.h
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@ -253,7 +253,7 @@ void StatusDisplay::BoardStatus::MotorStatus::redraw(const MotorFeedback &motor)
m_labelError.redraw(String{motor.error}); m_labelError.redraw(String{motor.error});
tft.setTextColor(TFT_WHITE, TFT_BLACK); tft.setTextColor(TFT_WHITE, TFT_BLACK);
m_labelCurrent.redraw(String{fixCurrent(motor.current)} + 'A'); m_labelCurrent.redraw(String{fixCurrent(motor.dcLink)} + 'A');
m_labelSpeed.redraw(String{convertToKmh(motor.speed)}); m_labelSpeed.redraw(String{convertToKmh(motor.speed)});
tft.setTextFont(2); tft.setTextFont(2);

8
src/statistics.h
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@ -26,14 +26,14 @@ void pushStats()
if (controllers.front.feedbackValid) if (controllers.front.feedbackValid)
{ {
statistics::frontVoltage.push_back(fixBatVoltage(controllers.front.feedback.batVoltage)); statistics::frontVoltage.push_back(fixBatVoltage(controllers.front.feedback.batVoltage));
statistics::frontLeftCurrent.push_back(fixCurrent(controllers.front.feedback.left.current)); statistics::frontLeftCurrent.push_back(fixCurrent(controllers.front.feedback.left.dcLink));
statistics::frontRightCurrent.push_back(fixCurrent(controllers.front.feedback.right.current)); statistics::frontRightCurrent.push_back(fixCurrent(controllers.front.feedback.right.dcLink));
} }
if (controllers.back.feedbackValid) if (controllers.back.feedbackValid)
{ {
statistics::backVoltage.push_back(fixBatVoltage(controllers.back.feedback.batVoltage)); statistics::backVoltage.push_back(fixBatVoltage(controllers.back.feedback.batVoltage));
statistics::backLeftCurrent.push_back(fixCurrent(controllers.back.feedback.left.current)); statistics::backLeftCurrent.push_back(fixCurrent(controllers.back.feedback.left.dcLink));
statistics::backRightCurrent.push_back(fixCurrent(controllers.back.feedback.right.current)); statistics::backRightCurrent.push_back(fixCurrent(controllers.back.feedback.right.dcLink));
} }
#ifdef FEATURE_BMS #ifdef FEATURE_BMS
statistics::bmsVoltage.push_back(bms::voltage); statistics::bmsVoltage.push_back(bms::voltage);

4
src/utils.h
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@ -303,8 +303,8 @@ void updateAccumulators()
controller.feedback.right.speed * (controller.invertRight ? -1 : 1); controller.feedback.right.speed * (controller.invertRight ? -1 : 1);
sumCurrent += sumCurrent +=
controller.feedback.left.current + controller.feedback.left.dcLink +
controller.feedback.right.current; controller.feedback.right.dcLink;
count +=2; count +=2;
} }