Added more CAN addresses for buttons and adc inputs
This commit is contained in:
281
bobbycar-can.h
281
bobbycar-can.h
@ -6,17 +6,18 @@ namespace bobbycar {
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namespace protocol {
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namespace can {
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enum : uint16_t { // vvv
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DeviceTypeMotorController = 0b00000000000,
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DeviceTypeBoardcomputer = 0b00100000000
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};
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template<bool isBack, bool isRight>
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class MotorController
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{
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private:
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enum : uint16_t { // vvv
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DeviceTypeMotorController = 0b00000000000
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};
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enum : uint16_t { // ...v
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MotorControllerCommand = 0b00000000000,
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MotorControllerFeedback = 0b00010000000,
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MotorControllerCommand = 0b00000000000, // send only TO the motor controller
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MotorControllerFeedback = 0b00010000000, // send only FROM the motor controller
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};
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enum : uint16_t { // .........v
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@ -40,7 +41,9 @@ public:
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MotorController() = delete;
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~MotorController() = delete;
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class Command {
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// send only TO the motor controller
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class Command
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{
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private:
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enum : uint16_t {
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MotorControllerCommandMask =
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@ -71,7 +74,9 @@ public:
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};
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};
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class Feedback {
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// send only FROM the motor controller
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class Feedback
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{
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private:
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enum : uint16_t {
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MotorControllerFeedbackMask =
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@ -99,106 +104,174 @@ public:
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};
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};
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class Boardcomputer
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{
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private:
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enum : uint16_t { // ...v
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BoardcomputerCommand = 0b00000000000, // send only TO the boardcomputer
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BoardcomputerFeedback = 0b00010000000, // send only FROM the boardcomputer
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};
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public:
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Boardcomputer() = delete;
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~Boardcomputer() = delete;
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enum {
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ButtonUp = 1,
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ButtonDown = 2,
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ButtonConfirm = 4,
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ButtonBack = 8,
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ButtonProfile0 = 16,
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ButtonProfile1 = 32,
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ButtonProfile2 = 64,
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ButtonProfile3 = 128,
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};
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// send only TO the boardcomputer
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class Command
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{
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private:
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enum : uint16_t {
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BoardcomputerCommandMask =
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uint16_t(DeviceTypeBoardcomputer) |
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uint16_t(BoardcomputerCommand)
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};
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public:
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Command() = delete;
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~Command() = delete;
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enum : uint16_t { // ....vvvvvvv
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ButtonPress = 0b00000000000 | BoardcomputerCommandMask,
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RawGas = 0b00000000001 | BoardcomputerCommandMask,
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RawBrems = 0b00000000010 | BoardcomputerCommandMask
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};
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};
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// send only FROM the boardcomputer
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class Feedback
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{
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private:
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enum : uint16_t {
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BoardcomputerFeedbackMask =
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uint16_t(DeviceTypeBoardcomputer) |
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uint16_t(BoardcomputerFeedback)
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};
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public:
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Feedback() = delete;
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~Feedback() = delete;
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enum : uint16_t { // ....vvvvvvv
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ButtonLeds = 0b00000000000 | BoardcomputerFeedbackMask,
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};
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};
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};
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inline const char *bobbycarCanIdDesc(uint16_t id)
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{
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switch (id)
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{
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case MotorController<false, false>::Command::Enable: return "Enable (Command, Front, Left)";
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case MotorController<false, true>::Command::Enable: return "Enable (Command, Front, Right)";
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case MotorController<true, false>::Command::Enable: return "Enable (Command, Back, Left)";
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case MotorController<true, true>::Command::Enable: return "Enable (Command, Back, Right)";
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case MotorController<false, false>::Command::InpTgt: return "InpTgt (Command, Front, Left)";
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case MotorController<false, true>::Command::InpTgt: return "InpTgt (Command, Front, Right)";
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case MotorController<true, false>::Command::InpTgt: return "InpTgt (Command, Back, Left)";
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case MotorController<true, true>::Command::InpTgt: return "InpTgt (Command, Back, Right)";
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case MotorController<false, false>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Left)";
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case MotorController<false, true>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Right)";
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case MotorController<true, false>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Left)";
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case MotorController<true, true>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Right)";
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case MotorController<false, false>::Command::CtrlMod: return "CtrlMod (Command, Front, Left)";
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case MotorController<false, true>::Command::CtrlMod: return "CtrlMod (Command, Front, Right)";
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case MotorController<true, false>::Command::CtrlMod: return "CtrlMod (Command, Back, Left)";
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case MotorController<true, true>::Command::CtrlMod: return "CtrlMod (Command, Back, Right)";
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case MotorController<false, false>::Command::IMotMax: return "IMotMax (Command, Front, Left)";
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case MotorController<false, true>::Command::IMotMax: return "IMotMax (Command, Front, Right)";
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case MotorController<true, false>::Command::IMotMax: return "IMotMax (Command, Back, Left)";
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case MotorController<true, true>::Command::IMotMax: return "IMotMax (Command, Back, Right)";
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case MotorController<false, false>::Command::IDcMax: return "IDcMax (Command, Front, Left)";
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case MotorController<false, true>::Command::IDcMax: return "IDcMax (Command, Front, Right)";
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case MotorController<true, false>::Command::IDcMax: return "IDcMax (Command, Back, Left)";
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case MotorController<true, true>::Command::IDcMax: return "IDcMax (Command, Back, Right)";
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case MotorController<false, false>::Command::NMotMax: return "NMotMax (Command, Front, Left)";
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case MotorController<false, true>::Command::NMotMax: return "NMotMax (Command, Front, Right)";
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case MotorController<true, false>::Command::NMotMax: return "NMotMax (Command, Back, Left)";
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case MotorController<true, true>::Command::NMotMax: return "NMotMax (Command, Back, Right)";
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case MotorController<false, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Left)";
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case MotorController<false, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Right)";
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case MotorController<true, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Left)";
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case MotorController<true, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Right)";
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case MotorController<false, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Left)";
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case MotorController<false, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Right)";
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case MotorController<true, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Left)";
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case MotorController<true, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Right)";
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case MotorController<false, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Left)";
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case MotorController<false, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Right)";
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case MotorController<true, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Left)";
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case MotorController<true, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Right)";
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case MotorController<false, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Left)";
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case MotorController<false, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Right)";
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case MotorController<true, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Left)";
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case MotorController<true, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Right)";
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case MotorController<false, false>::Command::Led: return "Led (Command, Front, Left)";
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case MotorController<false, true>::Command::Led: return "Led (Command, Front, Right)";
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case MotorController<true, false>::Command::Led: return "Led (Command, Back, Left)";
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case MotorController<true, true>::Command::Led: return "Led (Command, Back, Right)";
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case MotorController<false, false>::Command::Poweroff: return "Poweroff (Command, Front, Left)";
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case MotorController<false, true>::Command::Poweroff: return "Poweroff (Command, Front, Right)";
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case MotorController<true, false>::Command::Poweroff: return "Poweroff (Command, Back, Left)";
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case MotorController<true, true>::Command::Poweroff: return "Poweroff (Command, Back, Right)";
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case MotorController<false, false>::Feedback::DcLink: return "DcLink (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcLink: return "DcLink (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::DcLink: return "DcLink (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::DcLink: return "DcLink (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Speed: return "Speed (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Speed: return "Speed (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Speed: return "Speed (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Speed: return "Speed (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Error: return "Error (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Error: return "Error (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Error: return "Error (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Error: return "Error (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Angle: return "Angle (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Angle: return "Angle (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Angle: return "Angle (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Angle: return "Angle (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Chops: return "Chops (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Chops: return "Chops (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Chops: return "Chops (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Chops: return "Chops (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Hall: return "Hall (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Hall: return "Hall (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Hall: return "Hall (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Hall: return "Hall (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Voltage: return "Voltage (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Voltage: return "Voltage (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Voltage: return "Voltage (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Voltage: return "Voltage (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Temp: return "Temp (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Temp: return "Temp (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Temp: return "Temp (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Temp: return "Temp (Feedback, Back, Right)";
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case MotorController<false, false>::Command::Enable: return "Enable (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::Enable: return "Enable (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::Enable: return "Enable (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::Enable: return "Enable (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::InpTgt: return "InpTgt (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::InpTgt: return "InpTgt (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::InpTgt: return "InpTgt (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::InpTgt: return "InpTgt (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::IMotMax: return "IMotMax (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::IMotMax: return "IMotMax (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::IMotMax: return "IMotMax (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::IMotMax: return "IMotMax (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::IDcMax: return "IDcMax (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::IDcMax: return "IDcMax (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::IDcMax: return "IDcMax (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::IDcMax: return "IDcMax (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::NMotMax: return "NMotMax (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::NMotMax: return "NMotMax (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::NMotMax: return "NMotMax (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::NMotMax: return "NMotMax (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::Led: return "Led (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::Led: return "Led (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::Led: return "Led (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::Led: return "Led (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Command::Poweroff: return "Poweroff (MotorController, Command, Front, Left)";
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case MotorController<false, true>::Command::Poweroff: return "Poweroff (MotorController, Command, Front, Right)";
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case MotorController<true, false>::Command::Poweroff: return "Poweroff (MotorController, Command, Back, Left)";
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case MotorController<true, true>::Command::Poweroff: return "Poweroff (MotorController, Command, Back, Right)";
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case MotorController<false, false>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Speed: return "Speed (MotorController, Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Speed: return "Speed (MotorController, Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Speed: return "Speed (MotorController, Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Speed: return "Speed (MotorController, Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Error: return "Error (MotorController, Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Error: return "Error (MotorController, Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Error: return "Error (MotorController, Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Error: return "Error (MotorController, Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Angle: return "Angle (MotorController, Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Angle: return "Angle (MotorController, Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Angle: return "Angle (MotorController, Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Angle: return "Angle (MotorController, Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::DcPhaB: return "DcPhaB (MotorController, Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcPhaB: return "DcPhaB (MotorController, Feedback, Front, Right)";
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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)";
|
||||
case Boardcomputer::Command::ButtonPress: return "ButtonPress (Boardcomputer, Command)";
|
||||
case Boardcomputer::Command::RawGas: return "RawGas (Boardcomputer, Command)";
|
||||
case Boardcomputer::Command::RawBrems: return "RawBrems (Boardcomputer, Command)";
|
||||
case Boardcomputer::Feedback::ButtonLeds: return "ButtonLeds (Boardcomputer, Feedback)";
|
||||
}
|
||||
return "Unknown";
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user