can related implementations
This commit is contained in:
91
bobbycar-can.h
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91
bobbycar-can.h
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@@ -0,0 +1,91 @@
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#pragma once
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enum { // vv
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DeviceTypeMotorController = 0b00000000000
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};
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enum { // ..vv
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MotorControllerRec = 0b00000000000,
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MotorControllerSend = 0b00010000000,
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};
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enum { // ....vvvvv
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MotorControllerDcLink = 0b00000000000,
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MotorControllerSpeed = 0b00000000100,
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MotorControllerError = 0b00000001000,
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MotorControllerAngle = 0b00000001100,
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MotorControllerDcPhaA = 0b00000010000,
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MotorControllerDcPhaB = 0b00000010100,
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MotorControllerDcPhaC = 0b00000011000,
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MotorControllerChops = 0b00000011100,
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MotorControllerHall = 0b00000100000,
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MotorControllerVoltage = 0b00000100100,
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MotorControllerTemp = 0b00000101000
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};
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enum { // .........v
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MotorControllerFront = 0b00000000000,
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MotorControllerBack = 0b00000000010,
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};
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enum { // ..........v
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MotorControllerLeft = 0b00000000000,
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MotorControllerRight = 0b00000000001,
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};
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enum {
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MotorControllerFrontLeftDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerBack | MotorControllerRight,
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MotorControllerFrontLeftTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerFront | MotorControllerLeft,
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MotorControllerFrontRightTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerFront | MotorControllerRight,
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MotorControllerBackLeftTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerBack | MotorControllerLeft,
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MotorControllerBackRightTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerBack | MotorControllerRight,
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};
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16
bobbycar-common.h
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16
bobbycar-common.h
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@@ -0,0 +1,16 @@
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#pragma once
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#include <stdint.h>
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enum class ControlType : uint8_t {
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Commutation,
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Sinusoidal,
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FieldOrientedControl
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};
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enum class ControlMode : uint8_t {
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OpenMode,
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Voltage,
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Speed, // Only with FieldOrientedControl
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Torque // Only with FieldOrientedControl
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};
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@@ -1,21 +1,6 @@
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#pragma once
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#pragma once
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#include <stdint.h>
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#include "bobbycar-serial.h"
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namespace {
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enum class ControlType : uint8_t {
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Commutation,
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Sinusoidal,
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FieldOrientedControl
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};
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enum class ControlMode : uint8_t {
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OpenMode,
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Voltage,
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Speed, // Only with FieldOrientedControl
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Torque // Only with FieldOrientedControl
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};
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struct MotorState {
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struct MotorState {
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bool enable = false;
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bool enable = false;
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@@ -29,7 +14,7 @@ struct MotorState {
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uint8_t phaseAdvMax = 40; // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
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uint8_t phaseAdvMax = 40; // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
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};
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};
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uint16_t calculateChecksum(MotorState state) {
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inline uint16_t calculateChecksum(MotorState state) {
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return
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return
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uint16_t(state.enable) ^
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uint16_t(state.enable) ^
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state.pwm ^
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state.pwm ^
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@@ -47,7 +32,7 @@ struct BuzzerState {
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uint8_t pattern = 0;
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uint8_t pattern = 0;
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};
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};
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uint16_t calculateChecksum(BuzzerState state) {
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inline uint16_t calculateChecksum(BuzzerState state) {
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return state.freq ^ state.pattern;
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return state.freq ^ state.pattern;
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}
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}
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@@ -67,7 +52,7 @@ struct Command {
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uint16_t checksum;
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uint16_t checksum;
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};
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};
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uint16_t calculateChecksum(Command command) {
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inline uint16_t calculateChecksum(Command command) {
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return command.start ^
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return command.start ^
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calculateChecksum(command.left) ^
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calculateChecksum(command.left) ^
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calculateChecksum(command.right) ^
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calculateChecksum(command.right) ^
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@@ -87,7 +72,7 @@ struct MotorFeedback {
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hallC = false;
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hallC = false;
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};
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};
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uint16_t calculateChecksum(MotorFeedback feedback) {
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inline uint16_t calculateChecksum(MotorFeedback feedback) {
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return feedback.angle ^ feedback.speed ^
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return feedback.angle ^ feedback.speed ^
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feedback.error ^ feedback.current ^
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feedback.error ^ feedback.current ^
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feedback.chops ^
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feedback.chops ^
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@@ -110,7 +95,7 @@ struct Feedback {
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uint16_t checksum;
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uint16_t checksum;
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};
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};
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uint16_t calculateChecksum(Feedback feedback) {
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inline uint16_t calculateChecksum(Feedback feedback) {
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return feedback.start ^
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return feedback.start ^
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calculateChecksum(feedback.left) ^
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calculateChecksum(feedback.left) ^
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calculateChecksum(feedback.right) ^
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calculateChecksum(feedback.right) ^
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@@ -121,7 +106,7 @@ uint16_t calculateChecksum(Feedback feedback) {
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#define ASSERT_LAYOUT(st, memb, off) \
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#define ASSERT_LAYOUT(st, memb, off) \
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static_assert(offsetof(st, memb) == off, "struct layout wrong");
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static_assert(offsetof(st, memb) == off, "struct layout wrong");
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ASSERT_LAYOUT(Feedback, start, 0);
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ASSERT_LAYOUT(Feedback, start, 0);
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ASSERT_LAYOUT(Feedback, left, 2);
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ASSERT_LAYOUT(Feedback, left, 2);
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@@ -181,5 +166,3 @@ ASSERT_LAYOUT(Command, buzzer.pattern, 27);
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ASSERT_LAYOUT(Command, poweroff, 28);
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ASSERT_LAYOUT(Command, poweroff, 28);
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ASSERT_LAYOUT(Command, led, 29);
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ASSERT_LAYOUT(Command, led, 29);
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ASSERT_LAYOUT(Command, checksum, 30);
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ASSERT_LAYOUT(Command, checksum, 30);
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}
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