feedc0de/bobbycar-controller-firmware
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This commit is contained in:
0xFEEDC0DE64
2021-05-16 22:47:56 +02:00
parent 8f1e9ce266
commit a9f1e476f5
1 changed files with 41 additions and 21 deletions
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62
main.cpp
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@@ -337,7 +337,7 @@ int main()
while (true)
{
HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
//HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
#ifdef FEATURE_SERIAL_CONTROL
parseCommand();
@@ -1529,7 +1529,7 @@ void sendFeedback()
#ifdef FEATURE_CAN
void sendCanFeedback()
{
myPrintf("sendCanFeedback() called");
//myPrintf("sendCanFeedback() called");
const auto free = HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle);
if (!free)
@@ -1553,7 +1553,9 @@ void sendCanFeedback()
MotorControllerDcPhaB = 0b00000010100,
MotorControllerDcPhaC = 0b00000011000,
MotorControllerChops = 0b00000011100,
MotorControllerHall = 0b00000100000
MotorControllerHall = 0b00000100000,
MotorControllerVoltage = 0b00000100100,
MotorControllerTemp = 0b00000101000
};
enum { // .........v
@@ -1611,6 +1613,16 @@ void sendCanFeedback()
MotorControllerFrontRightHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerFront | MotorControllerRight,
MotorControllerBackLeftHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerBack | MotorControllerLeft,
MotorControllerBackRightHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerBack | MotorControllerRight,
MotorControllerFrontLeftVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerFront | MotorControllerLeft,
MotorControllerFrontRightVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerFront | MotorControllerRight,
MotorControllerBackLeftVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerBack | MotorControllerLeft,
MotorControllerBackRightVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerBack | MotorControllerRight,
MotorControllerFrontLeftTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerFront | MotorControllerLeft,
MotorControllerFrontRightTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerFront | MotorControllerRight,
MotorControllerBackLeftTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerBack | MotorControllerLeft,
MotorControllerBackRightTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerBack | MotorControllerRight,
};
enum SendState : uint8_t {
@@ -1632,6 +1644,10 @@ void sendCanFeedback()
RightChops,
LeftHall,
RightHall,
LeftVoltage,
RightVoltage,
LeftTemp,
RightTemp,
Restart
};
@@ -1662,24 +1678,28 @@ void sendCanFeedback()
switch (sendState)
{
case LeftDcLink: myPrintf("LeftCurrent free=%u", free); send(MotorControllerFrontLeftDcLink, left. rtU.i_DCLink); break;
case RightDcLink: myPrintf("RightCurrent free=%u", free); send(MotorControllerFrontRightDcLink, right.rtU.i_DCLink); break;
case LeftSpeed: myPrintf("LeftSpeed free=%u", free); send(MotorControllerFrontLeftSpeed, left. rtY.n_mot); break;
case RightSpeed: myPrintf("RightSpeed free=%u", free); send(MotorControllerFrontRightSpeed, right.rtY.n_mot); break;
case LeftError: myPrintf("LeftError free=%u", free); send(MotorControllerFrontLeftError, left. rtY.z_errCode); break;
case RightError: myPrintf("RightError free=%u", free); send(MotorControllerFrontRightError, right.rtY.z_errCode); break;
case LeftAngle: myPrintf("LeftAngle free=%u", free); send(MotorControllerFrontLeftAngle, left. rtY.a_elecAngle); break;
case RightAngle: myPrintf("RightAngle free=%u", free); send(MotorControllerFrontRightAngle, right.rtY.a_elecAngle); break;
case LeftDcPhaA: myPrintf("LeftDcPhaA free=%u", free); send(MotorControllerFrontLeftDcPhaA, left. rtY.DC_phaA); break;
case RightDcPhaA: myPrintf("RightDcPhaA free=%u", free); send(MotorControllerFrontRightDcPhaA, right.rtY.DC_phaA); break;
case LeftDcPhaB: myPrintf("LeftDcPhaB free=%u", free); send(MotorControllerFrontLeftDcPhaB, left. rtY.DC_phaB); break;
case RightDcPhaB: myPrintf("RightDcPhaB free=%u", free); send(MotorControllerFrontRightDcPhaB, right.rtY.DC_phaB); break;
case LeftDcPhaC: myPrintf("LeftDcPhaC free=%u", free); send(MotorControllerFrontLeftDcPhaC, left. rtY.DC_phaC); break;
case RightDcPhaC: myPrintf("RightDcPhaC free=%u", free); send(MotorControllerFrontRightDcPhaC, right.rtY.DC_phaC); break;
case LeftChops: myPrintf("LeftChops free=%u", free); send(MotorControllerFrontLeftChops, left. chops); break;
case RightChops: myPrintf("RightChops free=%u", free); send(MotorControllerFrontRightChops, right.chops); break;
case LeftHall: myPrintf("LeftHall free=%u", free); send(MotorControllerFrontLeftHall, left.hallBits()); break;
case RightHall: myPrintf("RightHall free=%u", free); send(MotorControllerFrontRightHall, right.hallBits()); break;
case LeftDcLink: /* myPrintf("LeftCurrent free=%u", free); */ send(MotorControllerFrontLeftDcLink, left. rtU.i_DCLink); break;
case RightDcLink: /* myPrintf("RightCurrent free=%u", free); */ send(MotorControllerFrontRightDcLink, right.rtU.i_DCLink); break;
case LeftSpeed: /* myPrintf("LeftSpeed free=%u", free); */ send(MotorControllerFrontLeftSpeed, left. rtY.n_mot); break;
case RightSpeed: /* myPrintf("RightSpeed free=%u", free); */ send(MotorControllerFrontRightSpeed, right.rtY.n_mot); break;
case LeftError: /* myPrintf("LeftError free=%u", free); */ send(MotorControllerFrontLeftError, left. rtY.z_errCode); break;
case RightError: /* myPrintf("RightError free=%u", free); */ send(MotorControllerFrontRightError, right.rtY.z_errCode); break;
case LeftAngle: /* myPrintf("LeftAngle free=%u", free); */ send(MotorControllerFrontLeftAngle, left. rtY.a_elecAngle); break;
case RightAngle: /* myPrintf("RightAngle free=%u", free); */ send(MotorControllerFrontRightAngle, right.rtY.a_elecAngle); break;
case LeftDcPhaA: /* myPrintf("LeftDcPhaA free=%u", free); */ send(MotorControllerFrontLeftDcPhaA, left. rtY.DC_phaA); break;
case RightDcPhaA: /* myPrintf("RightDcPhaA free=%u", free); */ send(MotorControllerFrontRightDcPhaA, right.rtY.DC_phaA); break;
case LeftDcPhaB: /* myPrintf("LeftDcPhaB free=%u", free); */ send(MotorControllerFrontLeftDcPhaB, left. rtY.DC_phaB); break;
case RightDcPhaB: /* myPrintf("RightDcPhaB free=%u", free); */ send(MotorControllerFrontRightDcPhaB, right.rtY.DC_phaB); break;
case LeftDcPhaC: /* myPrintf("LeftDcPhaC free=%u", free); */ send(MotorControllerFrontLeftDcPhaC, left. rtY.DC_phaC); break;
case RightDcPhaC: /* myPrintf("RightDcPhaC free=%u", free); */ send(MotorControllerFrontRightDcPhaC, right.rtY.DC_phaC); break;
case LeftChops: /* myPrintf("LeftChops free=%u", free); */ send(MotorControllerFrontLeftChops, left. chops); break;
case RightChops: /* myPrintf("RightChops free=%u", free); */ send(MotorControllerFrontRightChops, right.chops); break;
case LeftHall: /* myPrintf("LeftHall free=%u", free); */ send(MotorControllerFrontLeftHall, left.hallBits()); break;
case RightHall: /* myPrintf("RightHall free=%u", free); */ send(MotorControllerFrontRightHall, right.hallBits()); break;
case LeftVoltage: /* myPrintf("LeftVoltage free=%u", free); */ send(MotorControllerFrontLeftVoltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); break;
case RightVoltage: /* myPrintf("RightVoltage free=%u", free); */ send(MotorControllerFrontRightVoltage, batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); break;
case LeftTemp: /* myPrintf("LeftTemp free=%u", free); */ send(MotorControllerFrontLeftTemp, board_temp_deg_c); break;
case RightTemp: /* myPrintf("RightTemp free=%u", free); */ send(MotorControllerFrontRightTemp, board_temp_deg_c); break;
default: __builtin_unreachable();
}