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bobbycar-protocol/bobbycar-can.h

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Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
#pragma once
#include <cstdint>
namespace bobbycar {
More sorts of currents in feedback (#5) * more types of current in state * fixed layout assertions and added namespaces
2021-06-28 10:34:10 +02:00
namespace protocol {
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
namespace can {
More sorts of currents in feedback (#5) * more types of current in state * fixed layout assertions and added namespaces
2021-06-28 10:34:10 +02:00
Fix Id, Iq feedbacks; add separators to multi-bit fields to make less error prone
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enum : uint16_t { // vvv'
DeviceTypeMotorController = 0b000'00000000,
DeviceTypeBoardcomputer = 0b001'00000000
Added more CAN addresses for buttons and adc inputs
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};
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
template<bool isBack, bool isRight>
class MotorController
{
private:
Fixed compiler warnings with mixed types in enum declarations
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enum : uint16_t { // ...v
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MotorControllerCommand = 0b00000000000, // send only TO the motor controller
MotorControllerFeedback = 0b00010000000, // send only FROM the motor controller
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
};
Fixed compiler warnings with mixed types in enum declarations
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enum : uint16_t { // .........v
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
MotorControllerFront = 0b00000000000,
MotorControllerBack = 0b00000000010,
};
Fixed compiler warnings with mixed types in enum declarations
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enum : uint16_t { // ..........v
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
MotorControllerLeft = 0b00000000000,
MotorControllerRight = 0b00000000001,
};
Fixed compiler warnings with mixed types in enum declarations
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enum : uint16_t {
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
MotorControllerMask =
Fixed compiler warnings with mixed types in enum declarations
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uint16_t(DeviceTypeMotorController) |
uint16_t(isBack ? MotorControllerBack : MotorControllerFront) |
uint16_t(isRight ? MotorControllerRight : MotorControllerLeft)
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
};
public:
MotorController() = delete;
~MotorController() = delete;
Added more CAN addresses for buttons and adc inputs
2021-06-28 14:21:22 +02:00
// send only TO the motor controller
class Command
{
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
private:
Fixed compiler warnings with mixed types in enum declarations
2021-06-28 10:46:56 +02:00
enum : uint16_t {
MotorControllerCommandMask =
uint16_t(MotorControllerMask) |
uint16_t(MotorControllerCommand)
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
};
public:
Command() = delete;
~Command() = delete;
Fix Id, Iq feedbacks; add separators to multi-bit fields to make less error prone
2022-04-28 03:52:48 +02:00
enum : uint16_t { // ....'vvvvv'..
Enable = 0b0000'00000'00 | MotorControllerCommandMask,
InpTgt = 0b0000'00001'00 | MotorControllerCommandMask,
CtrlTyp = 0b0000'00010'00 | MotorControllerCommandMask,
CtrlMod = 0b0000'00011'00 | MotorControllerCommandMask,
IMotMax = 0b0000'00100'00 | MotorControllerCommandMask,
IDcMax = 0b0000'00101'00 | MotorControllerCommandMask,
NMotMax = 0b0000'00110'00 | MotorControllerCommandMask,
FieldWeakMax = 0b0000'00111'00 | MotorControllerCommandMask,
PhaseAdvMax = 0b0000'01000'00 | MotorControllerCommandMask,
CruiseCtrlEna = 0b0000'01001'00 | MotorControllerCommandMask,
CruiseMotTgt = 0b0000'01010'00 | MotorControllerCommandMask,
BuzzerFreq = 0b0000'01011'00 | MotorControllerCommandMask,
BuzzerPattern = 0b0000'01100'00 | MotorControllerCommandMask,
Led = 0b0000'01101'00 | MotorControllerCommandMask,
Poweroff = 0b0000'01110'00 | MotorControllerCommandMask
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
};
};
Added more CAN addresses for buttons and adc inputs
2021-06-28 14:21:22 +02:00
// send only FROM the motor controller
class Feedback
{
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
private:
Fixed compiler warnings with mixed types in enum declarations
2021-06-28 10:46:56 +02:00
enum : uint16_t {
MotorControllerFeedbackMask =
uint16_t(MotorControllerMask) |
uint16_t(MotorControllerFeedback)
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
};
public:
Feedback() = delete;
~Feedback() = delete;
Fix Id, Iq feedbacks; add separators to multi-bit fields to make less error prone
2022-04-28 03:52:48 +02:00
enum : uint16_t { // ....'vvvvv'..
DcLink = 0b0000'00000'00 | MotorControllerFeedbackMask,
Speed = 0b0000'00001'00 | MotorControllerFeedbackMask,
Error = 0b0000'00010'00 | MotorControllerFeedbackMask,
Angle = 0b0000'00011'00 | MotorControllerFeedbackMask,
DcPhaA = 0b0000'00100'00 | MotorControllerFeedbackMask, // unused
DcPhaB = 0b0000'00101'00 | MotorControllerFeedbackMask, // unused
DcPhaC = 0b0000'00110'00 | MotorControllerFeedbackMask, // unused
Chops = 0b0000'00111'00 | MotorControllerFeedbackMask,
Hall = 0b0000'01000'00 | MotorControllerFeedbackMask,
Voltage = 0b0000'01001'00 | MotorControllerFeedbackMask,
Temp = 0b0000'01010'00 | MotorControllerFeedbackMask,
Id = 0b0000'01011'00 | MotorControllerFeedbackMask,
Iq = 0b0000'01100'00 | MotorControllerFeedbackMask,
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
};
};
};
Added more CAN addresses for buttons and adc inputs
2021-06-28 14:21:22 +02:00
class Boardcomputer
{
private:
enum : uint16_t { // ...v
BoardcomputerCommand = 0b00000000000, // send only TO the boardcomputer
BoardcomputerFeedback = 0b00010000000, // send only FROM the boardcomputer
};
public:
Boardcomputer() = delete;
~Boardcomputer() = delete;
New button protocol
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// used with ButtonPressed and ButtonReleased
Irgendwas mit buttons
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enum class Button {
Profile0 = 1,
Profile1 = 2,
Profile2 = 4,
Profile3 = 8,
Left = 16,
Right = 32,
Up = 64,
Down = 128,
Left2 = 256,
Right2 = 512,
Up2 = 1024,
Down2 = 2048,
Added more CAN addresses for buttons and adc inputs
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};
// send only TO the boardcomputer
class Command
{
private:
enum : uint16_t {
BoardcomputerCommandMask =
uint16_t(DeviceTypeBoardcomputer) |
uint16_t(BoardcomputerCommand)
};
public:
Command() = delete;
~Command() = delete;
Fix Id, Iq feedbacks; add separators to multi-bit fields to make less error prone
2022-04-28 03:52:48 +02:00
enum : uint16_t { // ....'vvvvvvv
RawButtonPressed = 0b0000'0000000 | BoardcomputerCommandMask,
RawButtonReleased = 0b0000'0000001 | BoardcomputerCommandMask,
ButtonPressed = 0b0000'0000010 | BoardcomputerCommandMask,
ButtonReleased = 0b0000'0000011 | BoardcomputerCommandMask,
RawGas = 0b0000'0000100 | BoardcomputerCommandMask,
RawBrems = 0b0000'0000101 | BoardcomputerCommandMask
Added more CAN addresses for buttons and adc inputs
2021-06-28 14:21:22 +02:00
};
};
// send only FROM the boardcomputer
class Feedback
{
private:
enum : uint16_t {
BoardcomputerFeedbackMask =
uint16_t(DeviceTypeBoardcomputer) |
uint16_t(BoardcomputerFeedback)
};
public:
Feedback() = delete;
~Feedback() = delete;
Fix Id, Iq feedbacks; add separators to multi-bit fields to make less error prone
2022-04-28 03:52:48 +02:00
enum : uint16_t { // ....'vvvvvvv
ButtonLeds = 0b0000'0000000 | BoardcomputerFeedbackMask,
Added more CAN addresses for buttons and adc inputs
2021-06-28 14:21:22 +02:00
};
};
};
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
inline const char *bobbycarCanIdDesc(uint16_t id)
{
switch (id)
{
Added more CAN addresses for buttons and adc inputs
2021-06-28 14:21:22 +02:00
case MotorController<false, false>::Command::Enable: return "Enable (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::Enable: return "Enable (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::Enable: return "Enable (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::Enable: return "Enable (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::InpTgt: return "InpTgt (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::InpTgt: return "InpTgt (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::InpTgt: return "InpTgt (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::InpTgt: return "InpTgt (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::IMotMax: return "IMotMax (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::IMotMax: return "IMotMax (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::IMotMax: return "IMotMax (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::IMotMax: return "IMotMax (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::IDcMax: return "IDcMax (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::IDcMax: return "IDcMax (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::IDcMax: return "IDcMax (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::IDcMax: return "IDcMax (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::NMotMax: return "NMotMax (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::NMotMax: return "NMotMax (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::NMotMax: return "NMotMax (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::NMotMax: return "NMotMax (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::Led: return "Led (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::Led: return "Led (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::Led: return "Led (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::Led: return "Led (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::Poweroff: return "Poweroff (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::Poweroff: return "Poweroff (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::Poweroff: return "Poweroff (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::Poweroff: return "Poweroff (MotorController, Command, Back, Right)";
case MotorController<false, false>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Speed: return "Speed (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Speed: return "Speed (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Speed: return "Speed (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Speed: return "Speed (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Error: return "Error (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Error: return "Error (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Error: return "Error (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Error: return "Error (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Angle: return "Angle (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Angle: return "Angle (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Angle: return "Angle (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Angle: return "Angle (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::DcPhaB: return "DcPhaB (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcPhaB: return "DcPhaB (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcPhaB: return "DcPhaB (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcPhaB: return "DcPhaB (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::DcPhaC: return "DcPhaC (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcPhaC: return "DcPhaC (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcPhaC: return "DcPhaC (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcPhaC: return "DcPhaC (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Chops: return "Chops (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Chops: return "Chops (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Chops: return "Chops (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Chops: return "Chops (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Hall: return "Hall (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Hall: return "Hall (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Hall: return "Hall (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Hall: return "Hall (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Voltage: return "Voltage (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Voltage: return "Voltage (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Voltage: return "Voltage (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Voltage: return "Voltage (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Temp: return "Temp (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Temp: return "Temp (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Temp: return "Temp (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Temp: return "Temp (MotorController, Feedback, Back, Right)";
New button protocol
2021-12-29 23:49:57 +01:00
case Boardcomputer::Command::RawButtonPressed: return "RawButtonPressed (Boardcomputer, Command)";
case Boardcomputer::Command::RawButtonReleased: return "RawButtonReleased (Boardcomputer, Command)";
case Boardcomputer::Command::ButtonPressed: return "ButtonPressed (Boardcomputer, Command)";
case Boardcomputer::Command::ButtonReleased: return "ButtonReleased (Boardcomputer, Command)";
Added more CAN addresses for buttons and adc inputs
2021-06-28 14:21:22 +02:00
case Boardcomputer::Command::RawGas: return "RawGas (Boardcomputer, Command)";
case Boardcomputer::Command::RawBrems: return "RawBrems (Boardcomputer, Command)";
case Boardcomputer::Feedback::ButtonLeds: return "ButtonLeds (Boardcomputer, Feedback)";
Feature can (#4) * can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
2021-05-23 17:53:27 +02:00
}
return "Unknown";
}
More sorts of currents in feedback (#5) * more types of current in state * fixed layout assertions and added namespaces
2021-06-28 10:34:10 +02:00
} // namespace can
} // namespace protocol
} // namespace bobbycar
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