feedc0de/bobbycar-controller-firmware
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0xFEEDC0DE64
2022-04-26 23:14:40 +02:00
parent e60c2fa6d2
commit 1161ed6c42
2 changed files with 57 additions and 51 deletions
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2
bobbycar-protocol

Submodule bobbycar-protocol updated: 2c6fb114f2...cb5939eefb

72
main.cpp
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@ -1689,13 +1689,9 @@ void applyIncomingCanMessage()
}
}
void sendCanFeedback()
template<typename T>
void send(uint32_t addr, T value)
{
const auto free = HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle);
if (!free)
return;
constexpr auto send = [](uint32_t addr, auto value){
CAN_TxHeaderTypeDef header;
header.StdId = addr;
header.ExtId = 0x01;
@ -1713,37 +1709,47 @@ void sendCanFeedback()
myPrintf("HAL_CAN_AddTxMessage() failed with %i", result);
//while (true);
}
};
}
void sendCanFeedback()
{
const auto free = HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle);
if (!free)
return;
static uint8_t whichToSend{};
switch (whichToSend++)
{
using namespace protocol::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.exchange(0)); break;
case 15: send(MotorController<isBackBoard, true>:: Feedback::Chops, right.chops.exchange(0)); 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");
}
constexpr void(*arr[])() = {
[](){ send(MotorController<isBackBoard, false>::Feedback::DcLink, left. rtU.i_DCLink); },
[](){ send(MotorController<isBackBoard, true>:: Feedback::DcLink, right.rtU.i_DCLink); },
[](){ send(MotorController<isBackBoard, false>::Feedback::Speed, left. rtY.n_mot); },
[](){ send(MotorController<isBackBoard, true>:: Feedback::Speed, right.rtY.n_mot); },
[](){ send(MotorController<isBackBoard, false>::Feedback::Error, left. rtY.z_errCode); },
[](){ send(MotorController<isBackBoard, true>:: Feedback::Error, right.rtY.z_errCode); },
[](){ send(MotorController<isBackBoard, false>::Feedback::Angle, left. rtY.a_elecAngle); },
[](){ send(MotorController<isBackBoard, true>:: Feedback::Angle, right.rtY.a_elecAngle); },
// [](){ send(MotorController<isBackBoard, false>::Feedback::DcPhaA, left. rtY.DC_phaA); },
// [](){ send(MotorController<isBackBoard, true>:: Feedback::DcPhaA, right.rtY.DC_phaA); },
// [](){ send(MotorController<isBackBoard, false>::Feedback::DcPhaB, left. rtY.DC_phaB); },
// [](){ send(MotorController<isBackBoard, true>:: Feedback::DcPhaB, right.rtY.DC_phaB); },
// [](){ send(MotorController<isBackBoard, false>::Feedback::DcPhaC, left. rtY.DC_phaC); },
// [](){ send(MotorController<isBackBoard, true>:: Feedback::DcPhaC, right.rtY.DC_phaC); },
[](){ send(MotorController<isBackBoard, false>::Feedback::Chops, left. chops.exchange(0)); },
[](){ send(MotorController<isBackBoard, true>:: Feedback::Chops, right.chops.exchange(0)); },
[](){ send(MotorController<isBackBoard, false>::Feedback::Hall, left.hallBits()); },
[](){ send(MotorController<isBackBoard, true>:: Feedback::Hall, right.hallBits()); },
[](){ send(MotorController<isBackBoard, false>::Feedback::Voltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); },
[](){ send(MotorController<isBackBoard, true>:: Feedback::Voltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); },
[](){ send(MotorController<isBackBoard, false>::Feedback::Temp, board_temp_deg_c); },
[](){ send(MotorController<isBackBoard, true>:: Feedback::Temp, board_temp_deg_c); },
[](){ send(MotorController<isBackBoard, false>::Feedback::Id, left. rtY.id); },
[](){ send(MotorController<isBackBoard, true>:: Feedback::Id, right.rtY.id); },
[](){ send(MotorController<isBackBoard, false>::Feedback::Iq, left. rtY.iq); },
[](){ send(MotorController<isBackBoard, true>:: Feedback::Iq, right.rtY.iq); whichToSend = 0; },
};
arr[whichToSend++]();
}
#endif