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Fix for tempomat, apply cruise speed before enabling

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0xFEEDC0DE64
2022-09-08 23:24:49 +02:00
parent 61fddd0724
commit e930a515ca
1 changed files with 27 additions and 12 deletions
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39
main/can.cpp
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@ -387,18 +387,33 @@ void sendCanCommands()
static struct {
struct {
uint8_t freq = 0;
uint8_t pattern = 0;
struct {
int16_t nCruiseMotTgt{};
bool cruiseCtrlEna{};
} left, right;
uint8_t freq{};
uint8_t pattern{};
} front, back;
std::underlying_type_t<Boardcomputer::Button> buttonLeds{};
} lastValues;
static int i{};
if ((front && front->command.buzzer.freq != lastValues.front.freq ) ||
(front && front->command.buzzer.pattern != lastValues.front.pattern ) ||
(back && back->command.buzzer.freq != lastValues.back.freq) ||
(back && back->command.buzzer.pattern != lastValues.back.pattern))
// anti aufklatsch when tempomat
if ((front && front->command.left.nCruiseMotTgt != lastValues.front.left.nCruiseMotTgt) ||
(front && front->command.right.nCruiseMotTgt != lastValues.front.right.nCruiseMotTgt) ||
(back && back->command.left.nCruiseMotTgt != lastValues.back.left.nCruiseMotTgt) ||
(back && back->command.right.nCruiseMotTgt != lastValues.back.right.nCruiseMotTgt))
i = 8;
else if ((front && front->command.left.cruiseCtrlEna != lastValues.front.left.cruiseCtrlEna) ||
(front && front->command.right.cruiseCtrlEna != lastValues.front.right.cruiseCtrlEna) ||
(back && back->command.left.cruiseCtrlEna != lastValues.back.left.cruiseCtrlEna) ||
(back && back->command.right.cruiseCtrlEna != lastValues.back.right.cruiseCtrlEna))
i = 9;
else if ((front && front->command.buzzer.freq != lastValues.front.freq ) ||
(front && front->command.buzzer.pattern != lastValues.front.pattern ) ||
(back && back->command.buzzer.freq != lastValues.back.freq) ||
(back && back->command.buzzer.pattern != lastValues.back.pattern))
i = 10;
else if (buttonLeds != lastValues.buttonLeds)
i = 12;
@ -473,17 +488,17 @@ void sendCanCommands()
if (back) send(MotorController<true, true>::Command::PhaseAdvMax, back->command.right.phaseAdvMax);
break;
case 8:
if (front) send(MotorController<false, false>::Command::CruiseCtrlEna, front->command.left.cruiseCtrlEna);
if (front) send(MotorController<false, true>::Command::CruiseCtrlEna, front->command.right.cruiseCtrlEna);
if (back) send(MotorController<true, false>::Command::CruiseCtrlEna, back->command.left.cruiseCtrlEna);
if (back) send(MotorController<true, true>::Command::CruiseCtrlEna, back->command.right.cruiseCtrlEna);
break;
case 9:
if (front) send(MotorController<false, false>::Command::CruiseMotTgt, front->command.left.nCruiseMotTgt);
if (front) send(MotorController<false, true>::Command::CruiseMotTgt, front->command.right.nCruiseMotTgt);
if (back) send(MotorController<true, false>::Command::CruiseMotTgt, back->command.left.nCruiseMotTgt);
if (back) send(MotorController<true, true>::Command::CruiseMotTgt, back->command.right.nCruiseMotTgt);
break;
case 9:
if (front) send(MotorController<false, false>::Command::CruiseCtrlEna, front->command.left.cruiseCtrlEna);
if (front) send(MotorController<false, true>::Command::CruiseCtrlEna, front->command.right.cruiseCtrlEna);
if (back) send(MotorController<true, false>::Command::CruiseCtrlEna, back->command.left.cruiseCtrlEna);
if (back) send(MotorController<true, true>::Command::CruiseCtrlEna, back->command.right.cruiseCtrlEna);
break;
case 10:
if (front && send(MotorController<false, false>::Command::BuzzerFreq, front->command.buzzer.freq) == ESP_OK)
lastValues.front.freq = front->command.buzzer.freq;