feedc0de/bobbycar-protocol
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

Fix Id, Iq feedbacks; add separators to multi-bit fields to make less error prone

Browse Source
This commit is contained in:
Michael Ehrenreich
2022-04-28 03:52:48 +02:00
parent cb5939eefb
commit 496e2556f4
1 changed files with 42 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

84
bobbycar-can.h
View File

@ -6,9 +6,9 @@ namespace bobbycar {
namespace protocol {
namespace can {
enum : uint16_t { // vvv
DeviceTypeMotorController = 0b00000000000,
DeviceTypeBoardcomputer = 0b00100000000
enum : uint16_t { // vvv'
DeviceTypeMotorController = 0b000'00000000,
DeviceTypeBoardcomputer = 0b001'00000000
};
template<bool isBack, bool isRight>
@ -55,22 +55,22 @@ public:
Command() = delete;
~Command() = delete;
enum : uint16_t { // ....vvvvv
Enable = 0b00000000000 | MotorControllerCommandMask,
InpTgt = 0b00000000100 | MotorControllerCommandMask,
CtrlTyp = 0b00000001000 | MotorControllerCommandMask,
CtrlMod = 0b00000001100 | MotorControllerCommandMask,
IMotMax = 0b00000010000 | MotorControllerCommandMask,
IDcMax = 0b00000010100 | MotorControllerCommandMask,
NMotMax = 0b00000011000 | MotorControllerCommandMask,
FieldWeakMax = 0b00000011100 | MotorControllerCommandMask,
PhaseAdvMax = 0b00000100000 | MotorControllerCommandMask,
CruiseCtrlEna = 0b00000100100 | MotorControllerCommandMask,
CruiseMotTgt = 0b00000101000 | MotorControllerCommandMask,
BuzzerFreq = 0b00000101100 | MotorControllerCommandMask,
BuzzerPattern = 0b00000110000 | MotorControllerCommandMask,
Led = 0b00000110100 | MotorControllerCommandMask,
Poweroff = 0b00000111000 | MotorControllerCommandMask
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
};
};
@ -88,20 +88,20 @@ public:
Feedback() = delete;
~Feedback() = delete;
enum : uint16_t { // ....vvvvv
DcLink = 0b00000000000 | MotorControllerFeedbackMask,
Speed = 0b00000000100 | MotorControllerFeedbackMask,
Error = 0b00000001000 | MotorControllerFeedbackMask,
Angle = 0b00000001100 | MotorControllerFeedbackMask,
DcPhaA = 0b00000010000 | MotorControllerFeedbackMask, // unused
DcPhaB = 0b00000010100 | MotorControllerFeedbackMask, // unused
DcPhaC = 0b00000011000 | MotorControllerFeedbackMask, // unused
Chops = 0b00000011100 | MotorControllerFeedbackMask,
Hall = 0b00000100000 | MotorControllerFeedbackMask,
Voltage = 0b00000100100 | MotorControllerFeedbackMask,
Temp = 0b00000101000 | MotorControllerFeedbackMask,
Id = 0b00000101001 | MotorControllerFeedbackMask,
Iq = 0b00000101010 | MotorControllerFeedbackMask,
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,
};
};
};
@ -148,13 +148,13 @@ public:
Command() = delete;
~Command() = delete;
enum : uint16_t { // ....vvvvvvv
RawButtonPressed = 0b00000000000 | BoardcomputerCommandMask,
RawButtonReleased = 0b00000000001 | BoardcomputerCommandMask,
ButtonPressed = 0b00000000010 | BoardcomputerCommandMask,
ButtonReleased = 0b00000000011 | BoardcomputerCommandMask,
RawGas = 0b00000000100 | BoardcomputerCommandMask,
RawBrems = 0b00000000101 | BoardcomputerCommandMask
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
};
};
@ -172,8 +172,8 @@ public:
Feedback() = delete;
~Feedback() = delete;
enum : uint16_t { // ....vvvvvvv
ButtonLeds = 0b00000000000 | BoardcomputerFeedbackMask,
enum : uint16_t { // ....'vvvvvvv
ButtonLeds = 0b0000'0000000 | BoardcomputerFeedbackMask,
};
};
};