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Replaced protocol with git submodule

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0xFEEDC0DE64
2020-05-19 13:00:42 +02:00
parent 3e9b8d725e
commit fd7c239f73
3 changed files with 2 additions and 123 deletions
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2
.gitmodules vendored
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@ -1,3 +1,3 @@
[submodule "bobbycar-protocol"]
[submodule "src/bobbycar-protocol"]
path = src/bobbycar-protocol
url = git@github.com:bobbycar-graz/bobbycar-protocol.git

1
src/bobbycar-protocol Submodule

Submodule src/bobbycar-protocol added at 39f76cb62b

122
src/bobbycar-protocol/protocol.h
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#pragma once
#include <stdint.h>
namespace {
enum class ControlType : uint8_t {
Commutation,
Sinusoidal,
FieldOrientedControl
};
enum class ControlMode : uint8_t {
OpenMode,
Voltage,
Speed, // Only with FieldOrientedControl
Torque // Only with FieldOrientedControl
};
struct MotorState {
bool enable = false;
int16_t pwm = 0;
ControlType ctrlTyp = ControlType::FieldOrientedControl;
ControlMode ctrlMod = ControlMode::OpenMode;
int16_t iMotMax = 15; // [A] Maximum motor current limit
int16_t iDcMax = 17; // [A] Maximum DC Link current limit (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A)
int16_t nMotMax = 1000; // [rpm] Maximum motor speed limit
int16_t fieldWeakMax = 10; // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed.
int16_t phaseAdvMax = 40; // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
};
uint16_t calculateChecksum(MotorState state) {
return
uint16_t(state.enable) ^
state.pwm ^
uint16_t(state.ctrlTyp) ^
uint16_t(state.ctrlMod) ^
state.iMotMax ^
state.iDcMax ^
state.nMotMax ^
state.fieldWeakMax ^
state.phaseAdvMax;
}
struct BuzzerState {
uint8_t freq = 0;
uint8_t pattern = 0;
};
uint16_t calculateChecksum(BuzzerState state) {
return state.freq ^ state.pattern;
}
struct Command {
static constexpr uint16_t VALID_HEADER = 0xAAAA;
static constexpr uint16_t INVALID_HEADER = 0xFFFF;
uint16_t start;
MotorState left, right;
BuzzerState buzzer;
bool poweroff = false;
bool led = false;
uint16_t checksum;
};
uint16_t calculateChecksum(Command command) {
return command.start ^
calculateChecksum(command.left) ^
calculateChecksum(command.right) ^
calculateChecksum(command.buzzer) ^
command.poweroff ^
command.led;
}
struct MotorFeedback {
int16_t angle = 0;
int16_t speed = 0;
uint8_t error = 0;
int16_t current = 0;
uint32_t chops = 0;
bool hallA = false,
hallB = false,
hallC = false;
};
uint16_t calculateChecksum(MotorFeedback feedback) {
return feedback.angle ^ feedback.speed ^
feedback.error ^ feedback.current ^
feedback.chops ^
feedback.hallA ^ feedback.hallB ^ feedback.hallC;
}
struct Feedback {
static constexpr uint16_t VALID_HEADER = 0xAAAA;
static constexpr uint16_t INVALID_HEADER = 0xFFFF;
uint16_t start;
MotorFeedback left, right;
int16_t batVoltage = 0;
int16_t boardTemp = 0;
int16_t timeoutCntSerial = 0;
uint16_t checksum;
};
uint16_t calculateChecksum(Feedback feedback) {
return feedback.start ^
calculateChecksum(feedback.left) ^
calculateChecksum(feedback.right) ^
feedback.batVoltage ^
feedback.boardTemp ^
feedback.timeoutCntSerial;
}
}