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back/front board compile time defines

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0xFEEDC0DE64
2021-05-21 00:07:17 +02:00
parent bb10aa0796
commit 0fbd4e62d0
3 changed files with 60 additions and 50 deletions
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1
CMakeLists.txt
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@@ -45,6 +45,7 @@ add_definitions(-DHUARN2)
add_definitions(-DLOG_TO_SERIAL)
add_definitions(-DFEATURE_CAN)
#add_definitions(-DCAN_LOG_UNKNOWN_ADDR)
add_definitions(-DIS_BACK)
add_executable(firmware.elf
STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c

2
bobbycar-protocol

Submodule bobbycar-protocol updated: 49fa47c90a...fee1175bf8

107
main.cpp
View File

@@ -98,6 +98,13 @@ CAN_HandleTypeDef CanHandle;
char logBuffer[512];
#endif
constexpr bool isBackBoard =
#ifdef IS_BACK
true
#else
false
#endif
;
template<std::size_t formatLength, typename ... Targs>
void myPrintf(const char (&format)[formatLength], Targs ... args)
@@ -1584,32 +1591,33 @@ void applyIncomingCanMessage()
switch (header.StdId)
{
case MotorControllerFrontLeftEnable: /* myPrintf("MotorControllerFrontLeftEnable"); */ left.enable = *((bool *)buf); break;
case MotorControllerFrontRightEnable: /* myPrintf("MotorControllerFrontRightEnable"); */ right.enable = *((bool *)buf); break;
case MotorControllerFrontLeftInpTgt: /* myPrintf("MotorControllerFrontLeftInpTgt"); */ timeoutCntLeft = 0; left.rtU.r_inpTgt = *((int16_t*)buf); break;
case MotorControllerFrontRightInpTgt: /* myPrintf("MotorControllerFrontRightInpTgt"); */ timeoutCntRight = 0; right.rtU.r_inpTgt = *((int16_t*)buf); break;
case MotorControllerFrontLeftCtrlTyp: /* myPrintf("MotorControllerFrontLeftCtrlTyp"); */ left.rtP.z_ctrlTypSel = *((uint8_t*)buf); break;
case MotorControllerFrontRightCtrlTyp: /* myPrintf("MotorControllerFrontRightCtrlTyp"); */ right.rtP.z_ctrlTypSel = *((uint8_t*)buf); break;
case MotorControllerFrontLeftCtrlMod: /* myPrintf("MotorControllerFrontLeftCtrlMod"); */ left.rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorControllerFrontRightCtrlMod: /* myPrintf("MotorControllerFrontRightCtrlMod"); */ right.rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorControllerFrontLeftIMotMax: /* myPrintf("MotorControllerFrontLeftIMotMax"); */ left.rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorControllerFrontRightIMotMax: /* myPrintf("MotorControllerFrontRightIMotMax"); */ right.rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorControllerFrontLeftIDcMax: /* myPrintf("MotorControllerFrontLeftIDcMax"); */ left.iDcMax = *((uint8_t*)buf); break;
case MotorControllerFrontRightIDcMax: /* myPrintf("MotorControllerFrontRightIDcMax"); */ right.iDcMax = *((uint8_t*)buf); break;
case MotorControllerFrontLeftNMotMax: /* myPrintf("MotorControllerFrontLeftNMotMax"); */ left.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorControllerFrontRightNMotMax: /* myPrintf("MotorControllerFrontRightNMotMax"); */ right.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorControllerFrontLeftFieldWeakMax: /* myPrintf("MotorControllerFrontLeftFieldWeakMax"); */ left.rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorControllerFrontRightFieldWeakMax: /* myPrintf("MotorControllerFrontRightFieldWeakMax"); */ right.rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorControllerFrontLeftPhaseAdvMax: /* myPrintf("MotorControllerFrontLeftPhaseAdvMax"); */ left.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorControllerFrontRightPhaseAdvMax: /* myPrintf("MotorControllerFrontRightPhaseAdvMax"); */ right.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorControllerFrontLeftBuzzerFreq: /* myPrintf("MotorControllerFrontLeftBuzzerFreq"); */ buzzer.freq = *((uint8_t*)buf); break;
case MotorControllerFrontRightBuzzerFreq: /* myPrintf("MotorControllerFrontRightBuzzerFreq"); */ buzzer.freq = *((uint8_t*)buf); break;
case MotorControllerFrontLeftBuzzerPattern: /* myPrintf("MotorControllerFrontLeftBuzzerPattern"); */ buzzer.pattern = *((uint8_t*)buf); break;
case MotorControllerFrontRightBuzzerPattern: /* myPrintf("MotorControllerFrontRightBuzzerPattern"); */ buzzer.pattern = *((uint8_t*)buf); break;
case MotorControllerFrontLeftLed: /* myPrintf("MotorControllerFrontLeftLed"); */ break;
case MotorControllerFrontRightLed: /* myPrintf("MotorControllerFrontRightLed"); */ break;
case MotorControllerFrontLeftPoweroff: /* myPrintf("MotorControllerFrontLeftPoweroff"); */ break;
case MotorControllerFrontRightPoweroff: /* myPrintf("MotorControllerFrontRightPoweroff"); */ break;
using namespace bobbycar::can;
case MotorController<isBackBoard, false>::Command::Enable: left.enable = *((bool *)buf); break;
case MotorController<isBackBoard, true>::Command::Enable: right.enable = *((bool *)buf); break;
case MotorController<isBackBoard, false>::Command::InpTgt: timeoutCntLeft = 0; left.rtU.r_inpTgt = *((int16_t*)buf); break;
case MotorController<isBackBoard, true>::Command::InpTgt: timeoutCntRight = 0; right.rtU.r_inpTgt = *((int16_t*)buf); break;
case MotorController<isBackBoard, false>::Command::CtrlTyp: left.rtP.z_ctrlTypSel = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true>::Command::CtrlTyp: right.rtP.z_ctrlTypSel = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::CtrlMod: left.rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true>::Command::CtrlMod: right.rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::IMotMax: left.rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true>::Command::IMotMax: right.rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::IDcMax: left.iDcMax = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true>::Command::IDcMax: right.iDcMax = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::NMotMax: left.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, true>::Command::NMotMax: right.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::FieldWeakMax: left.rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true>::Command::FieldWeakMax: right.rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::PhaseAdvMax: left.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, true>::Command::PhaseAdvMax: right.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::BuzzerFreq: buzzer.freq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true>::Command::BuzzerFreq: buzzer.freq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::BuzzerPattern: buzzer.pattern = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true>::Command::BuzzerPattern: buzzer.pattern = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::Led: break;
case MotorController<isBackBoard, true>::Command::Led: break;
case MotorController<isBackBoard, false>::Command::Poweroff: break;
case MotorController<isBackBoard, true>::Command::Poweroff: break;
default:
#ifndef CAN_LOG_UNKNOWN_ADDR
if constexpr (false)
@@ -1624,7 +1632,7 @@ void applyIncomingCanMessage()
header.StdId&64?'1':'0',
header.StdId&32?'1':'0',
header.StdId&16?'1':'0',
header.StdId&8?'1':'0',
header.StdId&8?' 1':'0',
header.StdId&4?'1':'0',
header.StdId&2?'1':'0',
@@ -1676,28 +1684,29 @@ void sendCanFeedback()
switch (whichToSend++)
{
case 0: /* myPrintf("LeftCurrent free=%u", free); */ send(MotorControllerFrontLeftDcLink, left. rtU.i_DCLink); break;
case 1: /* myPrintf("RightCurrent free=%u", free); */ send(MotorControllerFrontRightDcLink, right.rtU.i_DCLink); break;
case 2: /* myPrintf("LeftSpeed free=%u", free); */ send(MotorControllerFrontLeftSpeed, left. rtY.n_mot); break;
case 3: /* myPrintf("RightSpeed free=%u", free); */ send(MotorControllerFrontRightSpeed, right.rtY.n_mot); break;
case 4: /* myPrintf("LeftError free=%u", free); */ send(MotorControllerFrontLeftError, left. rtY.z_errCode); break;
case 5: /* myPrintf("RightError free=%u", free); */ send(MotorControllerFrontRightError, right.rtY.z_errCode); break;
case 6: /* myPrintf("LeftAngle free=%u", free); */ send(MotorControllerFrontLeftAngle, left. rtY.a_elecAngle); break;
case 7: /* myPrintf("RightAngle free=%u", free); */ send(MotorControllerFrontRightAngle, right.rtY.a_elecAngle); break;
case 8: /* myPrintf("LeftDcPhaA free=%u", free); */ send(MotorControllerFrontLeftDcPhaA, left. rtY.DC_phaA); break;
case 9: /* myPrintf("RightDcPhaA free=%u", free); */ send(MotorControllerFrontRightDcPhaA, right.rtY.DC_phaA); break;
case 10: /* myPrintf("LeftDcPhaB free=%u", free); */ send(MotorControllerFrontLeftDcPhaB, left. rtY.DC_phaB); break;
case 11: /* myPrintf("RightDcPhaB free=%u", free); */ send(MotorControllerFrontRightDcPhaB, right.rtY.DC_phaB); break;
case 12: /* myPrintf("LeftDcPhaC free=%u", free); */ send(MotorControllerFrontLeftDcPhaC, left. rtY.DC_phaC); break;
case 13: /* myPrintf("RightDcPhaC free=%u", free); */ send(MotorControllerFrontRightDcPhaC, right.rtY.DC_phaC); break;
case 14: /* myPrintf("LeftChops free=%u", free); */ send(MotorControllerFrontLeftChops, left. chops); break;
case 15: /* myPrintf("RightChops free=%u", free); */ send(MotorControllerFrontRightChops, right.chops); break;
case 16: /* myPrintf("LeftHall free=%u", free); */ send(MotorControllerFrontLeftHall, left.hallBits()); break;
case 17: /* myPrintf("RightHall free=%u", free); */ send(MotorControllerFrontRightHall, right.hallBits()); break;
case 18: /* myPrintf("LeftVoltage free=%u", free); */ send(MotorControllerFrontLeftVoltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); break;
case 19: /* myPrintf("RightVoltage free=%u", free); */ send(MotorControllerFrontRightVoltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); break;
case 20: /* myPrintf("LeftTemp free=%u", free); */ send(MotorControllerFrontLeftTemp, board_temp_deg_c); break;
case 21: /* myPrintf("RightTemp free=%u", free); */ send(MotorControllerFrontRightTemp, board_temp_deg_c); whichToSend = 0; break;
using namespace bobbycar::can;
case 0: send(MotorController<isBackBoard, false>::Feedback::DcLink, left. rtU.i_DCLink); break;
case 1: send(MotorController<isBackBoard, true>::Feedback::DcLink, right.rtU.i_DCLink); break;
case 2: send(MotorController<isBackBoard, false>::Feedback::Speed, left. rtY.n_mot); break;
case 3: send(MotorController<isBackBoard, true>::Feedback::Speed, right.rtY.n_mot); break;
case 4: send(MotorController<isBackBoard, false>::Feedback::Error, left. rtY.z_errCode); break;
case 5: send(MotorController<isBackBoard, true>::Feedback::Error, right.rtY.z_errCode); break;
case 6: send(MotorController<isBackBoard, false>::Feedback::Angle, left. rtY.a_elecAngle); break;
case 7: send(MotorController<isBackBoard, true>::Feedback::Angle, right.rtY.a_elecAngle); break;
case 8: send(MotorController<isBackBoard, false>::Feedback::DcPhaA, left. rtY.DC_phaA); break;
case 9: send(MotorController<isBackBoard, true>::Feedback::DcPhaA, right.rtY.DC_phaA); break;
case 10: send(MotorController<isBackBoard, false>::Feedback::DcPhaB, left. rtY.DC_phaB); break;
case 11: send(MotorController<isBackBoard, true>::Feedback::DcPhaB, right.rtY.DC_phaB); break;
case 12: send(MotorController<isBackBoard, false>::Feedback::DcPhaC, left. rtY.DC_phaC); break;
case 13: send(MotorController<isBackBoard, true>::Feedback::DcPhaC, right.rtY.DC_phaC); break;
case 14: send(MotorController<isBackBoard, false>::Feedback::Chops, left. chops); break;
case 15: send(MotorController<isBackBoard, true>::Feedback::Chops, right.chops); break;
case 16: send(MotorController<isBackBoard, false>::Feedback::Hall, left.hallBits()); break;
case 17: send(MotorController<isBackBoard, true>::Feedback::Hall, right.hallBits()); break;
case 18: send(MotorController<isBackBoard, false>::Feedback::Voltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); break;
case 19: send(MotorController<isBackBoard, true>::Feedback::Voltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); break;
case 20: send(MotorController<isBackBoard, false>::Feedback::Temp, board_temp_deg_c); break;
case 21: send(MotorController<isBackBoard, true>::Feedback::Temp, board_temp_deg_c); whichToSend = 0; break;
default: myPrintf("unreachable");
}
}