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Added more CAN addresses for buttons and adc inputs

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0xFEEDC0DE64
2021-06-28 14:21:22 +02:00
parent 2e0f97d6dd
commit 2c6fb114f2
1 changed files with 177 additions and 104 deletions
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281
bobbycar-can.h
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@ -6,17 +6,18 @@ namespace bobbycar {
namespace protocol { namespace protocol {
namespace can { namespace can {
enum : uint16_t { // vvv
DeviceTypeMotorController = 0b00000000000,
DeviceTypeBoardcomputer = 0b00100000000
};
template<bool isBack, bool isRight> template<bool isBack, bool isRight>
class MotorController class MotorController
{ {
private: private:
enum : uint16_t { // vvv
DeviceTypeMotorController = 0b00000000000
};
enum : uint16_t { // ...v enum : uint16_t { // ...v
MotorControllerCommand = 0b00000000000, MotorControllerCommand = 0b00000000000, // send only TO the motor controller
MotorControllerFeedback = 0b00010000000, MotorControllerFeedback = 0b00010000000, // send only FROM the motor controller
}; };
enum : uint16_t { // .........v enum : uint16_t { // .........v
@ -40,7 +41,9 @@ public:
MotorController() = delete; MotorController() = delete;
~MotorController() = delete; ~MotorController() = delete;
class Command { // send only TO the motor controller
class Command
{
private: private:
enum : uint16_t { enum : uint16_t {
MotorControllerCommandMask = MotorControllerCommandMask =
@ -71,7 +74,9 @@ public:
}; };
}; };
class Feedback { // send only FROM the motor controller
class Feedback
{
private: private:
enum : uint16_t { enum : uint16_t {
MotorControllerFeedbackMask = MotorControllerFeedbackMask =
@ -99,106 +104,174 @@ public:
}; };
}; };
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;
enum {
ButtonUp = 1,
ButtonDown = 2,
ButtonConfirm = 4,
ButtonBack = 8,
ButtonProfile0 = 16,
ButtonProfile1 = 32,
ButtonProfile2 = 64,
ButtonProfile3 = 128,
};
// send only TO the boardcomputer
class Command
{
private:
enum : uint16_t {
BoardcomputerCommandMask =
uint16_t(DeviceTypeBoardcomputer) |
uint16_t(BoardcomputerCommand)
};
public:
Command() = delete;
~Command() = delete;
enum : uint16_t { // ....vvvvvvv
ButtonPress = 0b00000000000 | BoardcomputerCommandMask,
RawGas = 0b00000000001 | BoardcomputerCommandMask,
RawBrems = 0b00000000010 | BoardcomputerCommandMask
};
};
// send only FROM the boardcomputer
class Feedback
{
private:
enum : uint16_t {
BoardcomputerFeedbackMask =
uint16_t(DeviceTypeBoardcomputer) |
uint16_t(BoardcomputerFeedback)
};
public:
Feedback() = delete;
~Feedback() = delete;
enum : uint16_t { // ....vvvvvvv
ButtonLeds = 0b00000000000 | BoardcomputerFeedbackMask,
};
};
};
inline const char *bobbycarCanIdDesc(uint16_t id) inline const char *bobbycarCanIdDesc(uint16_t id)
{ {
switch (id) switch (id)
{ {
case MotorController<false, false>::Command::Enable: return "Enable (Command, Front, Left)"; case MotorController<false, false>::Command::Enable: return "Enable (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::Enable: return "Enable (Command, Front, Right)"; case MotorController<false, true>::Command::Enable: return "Enable (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::Enable: return "Enable (Command, Back, Left)"; case MotorController<true, false>::Command::Enable: return "Enable (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::Enable: return "Enable (Command, Back, Right)"; case MotorController<true, true>::Command::Enable: return "Enable (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::InpTgt: return "InpTgt (Command, Front, Left)"; case MotorController<false, false>::Command::InpTgt: return "InpTgt (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::InpTgt: return "InpTgt (Command, Front, Right)"; case MotorController<false, true>::Command::InpTgt: return "InpTgt (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::InpTgt: return "InpTgt (Command, Back, Left)"; case MotorController<true, false>::Command::InpTgt: return "InpTgt (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::InpTgt: return "InpTgt (Command, Back, Right)"; case MotorController<true, true>::Command::InpTgt: return "InpTgt (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Left)"; case MotorController<false, false>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Right)"; case MotorController<false, true>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Left)"; case MotorController<true, false>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Right)"; case MotorController<true, true>::Command::CtrlTyp: return "CtrlTyp (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::CtrlMod: return "CtrlMod (Command, Front, Left)"; case MotorController<false, false>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::CtrlMod: return "CtrlMod (Command, Front, Right)"; case MotorController<false, true>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::CtrlMod: return "CtrlMod (Command, Back, Left)"; case MotorController<true, false>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::CtrlMod: return "CtrlMod (Command, Back, Right)"; case MotorController<true, true>::Command::CtrlMod: return "CtrlMod (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::IMotMax: return "IMotMax (Command, Front, Left)"; case MotorController<false, false>::Command::IMotMax: return "IMotMax (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::IMotMax: return "IMotMax (Command, Front, Right)"; case MotorController<false, true>::Command::IMotMax: return "IMotMax (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::IMotMax: return "IMotMax (Command, Back, Left)"; case MotorController<true, false>::Command::IMotMax: return "IMotMax (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::IMotMax: return "IMotMax (Command, Back, Right)"; case MotorController<true, true>::Command::IMotMax: return "IMotMax (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::IDcMax: return "IDcMax (Command, Front, Left)"; case MotorController<false, false>::Command::IDcMax: return "IDcMax (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::IDcMax: return "IDcMax (Command, Front, Right)"; case MotorController<false, true>::Command::IDcMax: return "IDcMax (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::IDcMax: return "IDcMax (Command, Back, Left)"; case MotorController<true, false>::Command::IDcMax: return "IDcMax (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::IDcMax: return "IDcMax (Command, Back, Right)"; case MotorController<true, true>::Command::IDcMax: return "IDcMax (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::NMotMax: return "NMotMax (Command, Front, Left)"; case MotorController<false, false>::Command::NMotMax: return "NMotMax (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::NMotMax: return "NMotMax (Command, Front, Right)"; case MotorController<false, true>::Command::NMotMax: return "NMotMax (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::NMotMax: return "NMotMax (Command, Back, Left)"; case MotorController<true, false>::Command::NMotMax: return "NMotMax (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::NMotMax: return "NMotMax (Command, Back, Right)"; case MotorController<true, true>::Command::NMotMax: return "NMotMax (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Left)"; case MotorController<false, false>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Right)"; case MotorController<false, true>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Left)"; case MotorController<true, false>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Right)"; case MotorController<true, true>::Command::FieldWeakMax: return "FieldWeakMax (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Left)"; case MotorController<false, false>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Right)"; case MotorController<false, true>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Left)"; case MotorController<true, false>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Right)"; case MotorController<true, true>::Command::PhaseAdvMax: return "PhaseAdvMax (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Left)"; case MotorController<false, false>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Right)"; case MotorController<false, true>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Left)"; case MotorController<true, false>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Right)"; case MotorController<true, true>::Command::BuzzerFreq: return "BuzzerFreq (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Left)"; case MotorController<false, false>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Right)"; case MotorController<false, true>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Left)"; case MotorController<true, false>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Right)"; case MotorController<true, true>::Command::BuzzerPattern: return "BuzzerPattern (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::Led: return "Led (Command, Front, Left)"; case MotorController<false, false>::Command::Led: return "Led (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::Led: return "Led (Command, Front, Right)"; case MotorController<false, true>::Command::Led: return "Led (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::Led: return "Led (Command, Back, Left)"; case MotorController<true, false>::Command::Led: return "Led (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::Led: return "Led (Command, Back, Right)"; case MotorController<true, true>::Command::Led: return "Led (MotorController, Command, Back, Right)";
case MotorController<false, false>::Command::Poweroff: return "Poweroff (Command, Front, Left)"; case MotorController<false, false>::Command::Poweroff: return "Poweroff (MotorController, Command, Front, Left)";
case MotorController<false, true>::Command::Poweroff: return "Poweroff (Command, Front, Right)"; case MotorController<false, true>::Command::Poweroff: return "Poweroff (MotorController, Command, Front, Right)";
case MotorController<true, false>::Command::Poweroff: return "Poweroff (Command, Back, Left)"; case MotorController<true, false>::Command::Poweroff: return "Poweroff (MotorController, Command, Back, Left)";
case MotorController<true, true>::Command::Poweroff: return "Poweroff (Command, Back, Right)"; case MotorController<true, true>::Command::Poweroff: return "Poweroff (MotorController, Command, Back, Right)";
case MotorController<false, false>::Feedback::DcLink: return "DcLink (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcLink: return "DcLink (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcLink: return "DcLink (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcLink: return "DcLink (Feedback, Back, Right)"; case MotorController<true, true>::Feedback::DcLink: return "DcLink (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Speed: return "Speed (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::Speed: return "Speed (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Speed: return "Speed (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::Speed: return "Speed (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Speed: return "Speed (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::Speed: return "Speed (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Speed: return "Speed (Feedback, Back, Right)"; case MotorController<true, true>::Feedback::Speed: return "Speed (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Error: return "Error (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::Error: return "Error (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Error: return "Error (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::Error: return "Error (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Error: return "Error (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::Error: return "Error (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Error: return "Error (Feedback, Back, Right)"; case MotorController<true, true>::Feedback::Error: return "Error (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Angle: return "Angle (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::Angle: return "Angle (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Angle: return "Angle (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::Angle: return "Angle (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Angle: return "Angle (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::Angle: return "Angle (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Angle: return "Angle (Feedback, Back, Right)"; case MotorController<true, true>::Feedback::Angle: return "Angle (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Right)"; case MotorController<true, true>::Feedback::DcPhaA: return "DcPhaA (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::DcPhaB: return "DcPhaB (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::DcPhaB: return "DcPhaB (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::DcPhaB: return "DcPhaB (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Right)"; case MotorController<true, true>::Feedback::DcPhaB: return "DcPhaB (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::DcPhaC: return "DcPhaC (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::DcPhaC: return "DcPhaC (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::DcPhaC: return "DcPhaC (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Right)"; case MotorController<true, true>::Feedback::DcPhaC: return "DcPhaC (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Chops: return "Chops (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::Chops: return "Chops (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Chops: return "Chops (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::Chops: return "Chops (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Chops: return "Chops (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::Chops: return "Chops (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Chops: return "Chops (Feedback, Back, Right)"; case MotorController<true, true>::Feedback::Chops: return "Chops (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Hall: return "Hall (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::Hall: return "Hall (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Hall: return "Hall (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::Hall: return "Hall (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Hall: return "Hall (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::Hall: return "Hall (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Hall: return "Hall (Feedback, Back, Right)"; case MotorController<true, true>::Feedback::Hall: return "Hall (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Voltage: return "Voltage (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::Voltage: return "Voltage (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Voltage: return "Voltage (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::Voltage: return "Voltage (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Voltage: return "Voltage (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::Voltage: return "Voltage (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Voltage: return "Voltage (Feedback, Back, Right)"; case MotorController<true, true>::Feedback::Voltage: return "Voltage (MotorController, Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Temp: return "Temp (Feedback, Front, Left)"; case MotorController<false, false>::Feedback::Temp: return "Temp (MotorController, Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Temp: return "Temp (Feedback, Front, Right)"; case MotorController<false, true>::Feedback::Temp: return "Temp (MotorController, Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Temp: return "Temp (Feedback, Back, Left)"; case MotorController<true, false>::Feedback::Temp: return "Temp (MotorController, Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Temp: return "Temp (Feedback, Back, Right)"; 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"; return "Unknown";
} }