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Implemented debug utilities

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0xFEEDC0DE64
2021-05-20 23:22:46 +02:00
parent c9b436e65f
commit bb10aa0796
3 changed files with 160 additions and 142 deletions
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1
CMakeLists.txt
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@@ -44,6 +44,7 @@ add_definitions(-DHUARN2)
#add_definitions(-DFEATURE_SERIAL_FEEDBACK) #add_definitions(-DFEATURE_SERIAL_FEEDBACK)
add_definitions(-DLOG_TO_SERIAL) add_definitions(-DLOG_TO_SERIAL)
add_definitions(-DFEATURE_CAN) add_definitions(-DFEATURE_CAN)
#add_definitions(-DCAN_LOG_UNKNOWN_ADDR)
add_executable(firmware.elf add_executable(firmware.elf
STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c

2
bobbycar-protocol

Submodule bobbycar-protocol updated: 994d0c95a7...49fa47c90a

299
main.cpp
View File

@@ -245,6 +245,7 @@ void sendFeedback();
#ifdef FEATURE_CAN #ifdef FEATURE_CAN
void parseCanCommand(); void parseCanCommand();
void applyIncomingCanMessage();
void sendCanFeedback(); void sendCanFeedback();
#endif #endif
@@ -353,6 +354,22 @@ int main()
while (true) while (true)
{ {
const auto DELAY_WITH_CAN_POLL = [](uint32_t Delay){
uint32_t tickstart = HAL_GetTick();
uint32_t wait = Delay;
/* Add a freq to guarantee minimum wait */
if (wait < HAL_MAX_DELAY)
{
wait += (uint32_t)(uwTickFreq);
}
while ((HAL_GetTick() - tickstart) < wait)
{
applyIncomingCanMessage();
}
};
HAL_Delay(5); //delay in ms HAL_Delay(5); //delay in ms
#ifdef MOTOR_TEST #ifdef MOTOR_TEST
@@ -794,8 +811,6 @@ void CAN_Init()
{ {
myPrintf("CAN_Init() called"); myPrintf("CAN_Init() called");
CAN_FilterTypeDef sFilterConfig;
/* Configure the CAN peripheral */ /* Configure the CAN peripheral */
CanHandle.Instance = CANx; CanHandle.Instance = CANx;
@@ -823,28 +838,33 @@ void CAN_Init()
while (true); while (true);
} }
/* Configure the CAN Filter */
sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
//
// TTRR.....FL
sFilterConfig.FilterIdHigh = 0b00000000000; // TODO
sFilterConfig.FilterIdLow = 0b00000000000; // TODO
sFilterConfig.FilterMaskIdHigh = 0b00000000000; // TODO
sFilterConfig.FilterMaskIdLow = 0b00000000000; // TODO
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if (const auto result = HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig); result == HAL_OK)
myPrintf("HAL_CAN_ConfigFilter() succeeded");
else
{ {
myPrintf("HAL_CAN_ConfigFilter() failed with %i", result); /* Configure the CAN Filter */
while (true); CAN_FilterTypeDef sFilterConfig;
sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
//
// TTRR.....FL
sFilterConfig.FilterIdHigh = 0b00000000000;
sFilterConfig.FilterIdLow = 0b00000000000;
sFilterConfig.FilterMaskIdHigh = 0b00000000000;
sFilterConfig.FilterMaskIdLow = 0b11110000010;
// 0b0000.....0.
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if (const auto result = HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig); result == HAL_OK)
myPrintf("HAL_CAN_ConfigFilter() succeeded");
else
{
myPrintf("HAL_CAN_ConfigFilter() failed with %i", result);
while (true);
}
} }
if (const auto result = HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID, CAN_RxFifo0MsgPendingCallback); result == HAL_OK) if (const auto result = HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID, CAN_RxFifo0MsgPendingCallback); result == HAL_OK)
@@ -900,13 +920,16 @@ void CAN_Init()
while (true); while (true);
} }
/* Activate CAN TX notification */ if (false)
if (const auto result = HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_TX_MAILBOX_EMPTY); result == HAL_OK)
myPrintf("HAL_CAN_ActivateNotification() CAN_IT_TX_MAILBOX_EMPTY succeeded");
else
{ {
myPrintf("HAL_CAN_ActivateNotification() CAN_IT_TX_MAILBOX_EMPTY failed with %i", result); /* Activate CAN TX notification */
while (true); if (const auto result = HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_TX_MAILBOX_EMPTY); result == HAL_OK)
myPrintf("HAL_CAN_ActivateNotification() CAN_IT_TX_MAILBOX_EMPTY succeeded");
else
{
myPrintf("HAL_CAN_ActivateNotification() CAN_IT_TX_MAILBOX_EMPTY failed with %i", result);
while (true);
}
} }
} }
@@ -973,54 +996,7 @@ void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanHandle)
{ {
//myPrintf("CAN_RxFifo0MsgPendingCallback() called"); //myPrintf("CAN_RxFifo0MsgPendingCallback() called");
CAN_RxHeaderTypeDef header; applyIncomingCanMessage();
uint8_t buf[8];
if (const auto result = HAL_CAN_GetRxMessage(CanHandle, CAN_RX_FIFO0, &header, buf); result != HAL_OK)
{
myPrintf("HAL_CAN_GetRxMessage() failed with %i", result);
//while (true);
return;
}
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;
default:
myPrintf("UNKNOWN StdId=%x %u ExtId=%x %u IDE=%x %u RTR=%x %u DLC=%x %u Timestamp=%x %u FilterMatchIndex=%x %u",
header.StdId, header.StdId,
header.ExtId, header.ExtId,
header.IDE, header.IDE,
header.RTR, header.RTR,
header.DLC, header.DLC,
header.Timestamp, header.Timestamp,
header.FilterMatchIndex, header.FilterMatchIndex
);
}
} }
void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan) void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan)
@@ -1595,43 +1571,87 @@ void parseCanCommand()
} }
} }
void applyIncomingCanMessage()
{
CAN_RxHeaderTypeDef header;
uint8_t buf[8];
if (const auto result = HAL_CAN_GetRxMessage(&CanHandle, CAN_RX_FIFO0, &header, buf); result != HAL_OK)
{
myPrintf("HAL_CAN_GetRxMessage() failed with %i", result);
//while (true);
return;
}
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;
default:
#ifndef CAN_LOG_UNKNOWN_ADDR
if constexpr (false)
#endif
myPrintf("UNKNOWN %c%c %c%c %c%c%c%c%c %c%c %s",
header.StdId&1024?'1':'0',
header.StdId&512?'1':'0',
header.StdId&256?'1':'0',
header.StdId&128?'1':'0',
header.StdId&64?'1':'0',
header.StdId&32?'1':'0',
header.StdId&16?'1':'0',
header.StdId&8?'1':'0',
header.StdId&4?'1':'0',
header.StdId&2?'1':'0',
header.StdId&1?'1':'0',
bobbycarCanIdDesc(header.StdId)
);
if constexpr (false)
myPrintf("UNKNOWN StdId=%x %u ExtId=%x %u IDE=%x %u RTR=%x %u DLC=%x %u Timestamp=%x %u FilterMatchIndex=%x %u",
header.StdId, header.StdId,
header.ExtId, header.ExtId,
header.IDE, header.IDE,
header.RTR, header.RTR,
header.DLC, header.DLC,
header.Timestamp, header.Timestamp,
header.FilterMatchIndex, header.FilterMatchIndex
);
}
}
void sendCanFeedback() void sendCanFeedback()
{ {
const auto free = HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle); const auto free = HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle);
if (!free) if (!free)
return; return;
enum SendState : uint8_t {
LeftDcLink,
RightDcLink,
LeftSpeed,
RightSpeed,
LeftError,
RightError,
LeftAngle,
RightAngle,
LeftDcPhaA,
RightDcPhaA,
LeftDcPhaB,
RightDcPhaB,
LeftDcPhaC,
RightDcPhaC,
LeftChops,
RightChops,
LeftHall,
RightHall,
LeftVoltage,
RightVoltage,
LeftTemp,
RightTemp,
Restart
};
static union {
SendState sendState{LeftDcLink};
uint8_t asUint8;
};
constexpr auto send = [](uint32_t addr, auto value){ constexpr auto send = [](uint32_t addr, auto value){
CAN_TxHeaderTypeDef header; CAN_TxHeaderTypeDef header;
header.StdId = addr; header.StdId = addr;
@@ -1652,37 +1672,34 @@ void sendCanFeedback()
} }
}; };
switch (sendState) static uint8_t whichToSend{};
switch (whichToSend++)
{ {
case LeftDcLink: /* myPrintf("LeftCurrent free=%u", free); */ send(MotorControllerFrontLeftDcLink, left. rtU.i_DCLink); break; case 0: /* 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 1: /* 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 2: /* 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 3: /* 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 4: /* 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 5: /* 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 6: /* 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 7: /* 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 8: /* 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 9: /* 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 10: /* 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 11: /* 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 12: /* 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 13: /* 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 14: /* myPrintf("LeftChops free=%u", free); */ send(MotorControllerFrontLeftChops, left. chops); break;
case RightChops: /* myPrintf("RightChops free=%u", free); */ send(MotorControllerFrontRightChops, right.chops); break; case 15: /* myPrintf("RightChops free=%u", free); */ send(MotorControllerFrontRightChops, right.chops); break;
case LeftHall: /* myPrintf("LeftHall free=%u", free); */ send(MotorControllerFrontLeftHall, left.hallBits()); break; case 16: /* myPrintf("LeftHall free=%u", free); */ send(MotorControllerFrontLeftHall, left.hallBits()); break;
case RightHall: /* myPrintf("RightHall free=%u", free); */ send(MotorControllerFrontRightHall, right.hallBits()); break; case 17: /* 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 18: /* 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 19: /* 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 20: /* 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; case 21: /* myPrintf("RightTemp free=%u", free); */ send(MotorControllerFrontRightTemp, board_temp_deg_c); whichToSend = 0; break;
default: __builtin_unreachable(); default: myPrintf("unreachable");
} }
asUint8++;
if (sendState >= Restart)
sendState = LeftDcLink;
} }
#endif #endif
@@ -1692,8 +1709,8 @@ void applyDefaultSettings()
left.rtU.r_inpTgt = 0; left.rtU.r_inpTgt = 0;
left.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl); left.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
left.rtU.z_ctrlModReq = uint8_t(ControlMode::OpenMode); left.rtU.z_ctrlModReq = uint8_t(ControlMode::OpenMode);
left.rtP.i_max = (15 * A2BIT_CONV) << 4; left.rtP.i_max = (5 * A2BIT_CONV) << 4;
left.iDcMax = 17; left.iDcMax = 7;
left.rtP.n_max = 1000 << 4; left.rtP.n_max = 1000 << 4;
left.rtP.id_fieldWeakMax = (5 * A2BIT_CONV) << 4; left.rtP.id_fieldWeakMax = (5 * A2BIT_CONV) << 4;
left.rtP.a_phaAdvMax = 40 << 4; left.rtP.a_phaAdvMax = 40 << 4;
@@ -1702,8 +1719,8 @@ void applyDefaultSettings()
right.rtU.r_inpTgt = 0; right.rtU.r_inpTgt = 0;
right.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl); right.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
right.rtU.z_ctrlModReq = uint8_t(ControlMode::OpenMode); right.rtU.z_ctrlModReq = uint8_t(ControlMode::OpenMode);
right.rtP.i_max = (15 * A2BIT_CONV) << 4; right.rtP.i_max = (5 * A2BIT_CONV) << 4;
right.iDcMax = 17; right.iDcMax = 7;
right.rtP.n_max = 1000 << 4; right.rtP.n_max = 1000 << 4;
right.rtP.id_fieldWeakMax = (5 * A2BIT_CONV) << 4; right.rtP.id_fieldWeakMax = (5 * A2BIT_CONV) << 4;
right.rtP.a_phaAdvMax = 40 << 4; right.rtP.a_phaAdvMax = 40 << 4;