CAN implementation started

platformio.ini

@@ -162,6 +162,7 @@ build_flags =
 ;  -DDEFAULT_GAMETRAKDISTMIN=0
 ;  -DDEFAULT_GAMETRAKDISTMAX=4095
   -DFEATURE_CLOUD
+  -DFEATURE_CAN
 
 [env:feedc0de_usb]
 platform = ${feedc0de.platform}

src/controller.h

@@ -4,20 +4,33 @@
 
 #include "bobbycar-protocol/protocol.h"
 
+#ifndef FEATURE_CAN
 #include "feedbackparser.h"
+#endif
 
+#ifndef FEATURE_CAN
 class HardwareSerial;
+#endif
 
 namespace {
 struct Controller {
-    Controller(HardwareSerial &serial, bool &enableLeft, bool &enableRight, bool &invertLeft, bool &invertRight) :
-        serial{serial}, enableLeft{enableLeft}, enableRight{enableRight}, invertLeft{invertLeft}, invertRight{invertRight}
+    Controller(
+#ifndef FEATURE_CAN
+        HardwareSerial &serial,
+#endif
+        bool &enableLeft, bool &enableRight, bool &invertLeft, bool &invertRight) :
+#ifndef FEATURE_CAN
+        serial{serial},
+#endif
+        enableLeft{enableLeft}, enableRight{enableRight}, invertLeft{invertLeft}, invertRight{invertRight}
     {
     }
 //    Controller(const Controller &) = delete;
 //    Controller &operator=(const Controller &) = delete;
 
+#ifndef FEATURE_CAN
     std::reference_wrapper<HardwareSerial> serial;
+#endif
     bool &enableLeft, &enableRight, &invertLeft, &invertRight;
 
     Command command{};
@@ -25,6 +38,8 @@ struct Controller {
     bool feedbackValid{};
     Feedback feedback{};
 
+#ifndef FEATURE_CAN
     FeedbackParser parser{serial, feedbackValid, feedback};
+#endif
 };
 }

src/displays/menus/controllerhardwaresettingsmenu.h

@@ -60,7 +60,9 @@ public:
         constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_WHEELDIAMETERMM>,   SwitchScreenAction<WheelDiameterMmChangeScreen>>>();
         constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_WHEELDIAMETERINCH>, SwitchScreenAction<WheelDiameterInchChangeScreen>>>();
         constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_NUMMAGNETPOLES>,    SwitchScreenAction<NumMagnetPolesChangeScreen>>>();
+#ifndef FEATURE_CAN
         constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SWAPFRONTBACK>,     ToggleBoolAction, CheckboxIcon, SwapFrontBackAccessor>>();
+#endif
         constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,              SwitchScreenAction<SettingsMenu>, StaticMenuItemIcon<&icons::back>>>();
     }
 };

src/globals.h

@@ -41,8 +41,18 @@ class Controllers : public std::array<Controller, 2>
 public:
     explicit Controllers() :
         std::array<Controller, 2>{{
-            Controller{Serial1, settings.controllerHardware.enableFrontLeft, settings.controllerHardware.enableFrontRight, settings.controllerHardware.invertFrontLeft, settings.controllerHardware.invertFrontRight},
-            Controller{Serial2, settings.controllerHardware.enableBackLeft, settings.controllerHardware.enableBackRight, settings.controllerHardware.invertBackLeft, settings.controllerHardware.invertBackRight}
+            Controller {
+#ifndef FEATURE_CAN
+                Serial1,
+#endif
+                settings.controllerHardware.enableFrontLeft, settings.controllerHardware.enableFrontRight, settings.controllerHardware.invertFrontLeft, settings.controllerHardware.invertFrontRight
+            },
+            Controller {
+#ifndef FEATURE_CAN
+                Serial2,
+#endif
+                settings.controllerHardware.enableBackLeft, settings.controllerHardware.enableBackRight, settings.controllerHardware.invertBackLeft, settings.controllerHardware.invertBackRight
+            }
         }}
     {}
 

src/main.cpp

@@ -233,9 +233,11 @@ void setup()
     }
     printMemoryStats("loadSettings()");
 
+#ifndef FEATURE_CAN
     bootLabel.redraw("swap front back");
     updateSwapFrontBack();
     printMemoryStats("swapFronBack()");
+#endif
 
     bootLabel.redraw("deviceName");
     {
@@ -295,11 +297,13 @@ void setup()
     }
 #endif
 
+#ifndef FEATURE_CAN
     bootLabel.redraw("front Serial begin");
     controllers.front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
 
     bootLabel.redraw("back Serial begin");
     controllers.back.serial.get().begin(38400, SERIAL_8N1, PINS_RX2, PINS_TX2);
+#endif
 
     raw_gas = 0;
     raw_brems = 0;
@@ -418,8 +422,10 @@ void loop()
         performance.lastTime = now;
     }
 
+#ifndef FEATURE_CAN
     for (Controller &controller : controllers)
         controller.parser.update();
+#endif
 
     handleSerial();
 

src/presets.h

@@ -32,7 +32,9 @@ constexpr Settings::ControllerHardware defaultControllerHardware {
 
     .wheelDiameter = DEFAULT_WHEELDIAMETER,
     .numMagnetPoles = 15,
+#ifndef FEATURE_CAN
     .swapFrontBack = false
+#endif
 };
 
 constexpr Settings::ControllerHardware mosfetsOffControllerHardware {
@@ -48,7 +50,9 @@ constexpr Settings::ControllerHardware mosfetsOffControllerHardware {
 
     .wheelDiameter = 165,
     .numMagnetPoles = 15,
+#ifndef FEATURE_CAN
     .swapFrontBack = false
+#endif
 };
 
 constexpr Settings::WifiSettings defaultWifiSettings {
@@ -75,7 +79,9 @@ constexpr Settings::ControllerHardware spinnerControllerHardware {
 
     .wheelDiameter = 165,
     .numMagnetPoles = 15,
+#ifndef FEATURE_CAN
     .swapFrontBack = false
+#endif
 };
 
 constexpr Settings::BoardcomputerHardware::TimersSettings defaultTimersSettings {

src/settings.h

@@ -51,7 +51,9 @@ struct Settings
 
         int16_t wheelDiameter; // in mm
         int16_t numMagnetPoles; // virtual RPM per one real RPM
+#ifndef FEATURE_CAN
         bool swapFrontBack;
+#endif
     } controllerHardware;
 
     struct BoardcomputerHardware {
@@ -142,7 +144,9 @@ void Settings::executeForEverySetting(T &&callable)
 
     callable("wheelDiameter", controllerHardware.wheelDiameter);
     callable("numMagnetPoles", controllerHardware.numMagnetPoles);
+#ifndef FEATURE_CAN
     callable("swapFrontBack", controllerHardware.swapFrontBack);
+#endif
 
     callable("sampleCount", boardcomputerHardware.sampleCount);
     callable("gasMin", boardcomputerHardware.gasMin);

src/settingsaccessors.h

@@ -56,10 +56,12 @@ struct WheelDiameterInchAccessor : public virtual AccessorInterface<float>
     void setValue(float value) override { settings.controllerHardware.wheelDiameter = convertFromInch(value); saveSettings(); }
 };
 struct NumMagnetPolesAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.controllerHardware.numMagnetPoles; } };
+#ifndef FEATURE_CAN
 struct SwapFrontBackAccessor : public RefAccessorSaveSettings<bool> {
     bool &getRef() const override { return settings.controllerHardware.swapFrontBack; }
     void setValue(bool value) override { RefAccessorSaveSettings<bool>::setValue(value); updateSwapFrontBack(); };
 };
+#endif
 
 struct SampleCountAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.sampleCount; } };
 struct GasMinAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.gasMin; } };

src/utils.h

@@ -251,18 +251,22 @@ void sendCommands()
     {
         controller.command.start = Command::VALID_HEADER;
         controller.command.checksum = calculateChecksum(controller.command);
+#ifndef FEATURE_CAN
         controller.serial.get().write((uint8_t *) &controller.command, sizeof(controller.command));
+#endif
     }
 }
 
 template<typename T, typename... Args>
 void switchScreen(Args&&... args);
 
+#ifndef FEATURE_CAN
 void updateSwapFrontBack()
 {
     controllers.front.serial = settings.controllerHardware.swapFrontBack ? Serial2 : Serial1;
     controllers.back.serial = settings.controllerHardware.swapFrontBack ? Serial1 : Serial2;
 }
+#endif
 
 void loadSettings()
 {