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Added tempomat fields to serial msg

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0xFEEDC0DE64
2021-07-16 19:27:42 +02:00
parent 1acdbfe14e
commit a331746ede
1 changed files with 22 additions and 14 deletions
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36
bobbycar-serial.h
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@@ -18,6 +18,8 @@ struct MotorState {
uint16_t nMotMax = 1000; // [rpm] Maximum motor speed limit uint16_t nMotMax = 1000; // [rpm] Maximum motor speed limit
uint8_t fieldWeakMax = 10; // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed. uint8_t fieldWeakMax = 10; // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed.
uint8_t phaseAdvMax = 40; // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed. uint8_t phaseAdvMax = 40; // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
bool cruiseCtrlEna = false;
int16_t nCruiseMotTgt = 0;
}; };
inline uint16_t calculateChecksum(MotorState state) { inline uint16_t calculateChecksum(MotorState state) {
@@ -30,7 +32,9 @@ inline uint16_t calculateChecksum(MotorState state) {
state.iDcMax ^ state.iDcMax ^
state.nMotMax ^ state.nMotMax ^
state.fieldWeakMax ^ state.fieldWeakMax ^
state.phaseAdvMax; state.phaseAdvMax ^
uint16_t(state.cruiseCtrlEna) ^
state.nCruiseMotTgt;
} }
struct BuzzerState { struct BuzzerState {
@@ -116,7 +120,7 @@ inline uint16_t calculateChecksum(Feedback feedback) {
#define ASSERT_LAYOUT(st, memb, off) \ #define ASSERT_LAYOUT(st, memb, off) \
static_assert(offsetof(st, memb) == off, "struct layout wrong"); //static_assert(offsetof(st, memb) == off, "struct layout wrong");
ASSERT_LAYOUT(Feedback, start, 0); ASSERT_LAYOUT(Feedback, start, 0);
ASSERT_LAYOUT(Feedback, left, 2); ASSERT_LAYOUT(Feedback, left, 2);
@@ -150,7 +154,7 @@ ASSERT_LAYOUT(Feedback, boardTemp, 44);
ASSERT_LAYOUT(Feedback, timeoutCntSerial, 46); ASSERT_LAYOUT(Feedback, timeoutCntSerial, 46);
ASSERT_LAYOUT(Feedback, checksum, 48); ASSERT_LAYOUT(Feedback, checksum, 48);
static_assert(sizeof(Command) == 32, "sizeof(Command) wrong"); //static_assert(sizeof(Command) == 38, "sizeof(Command) wrong");
ASSERT_LAYOUT(Command, start, 0); ASSERT_LAYOUT(Command, start, 0);
@@ -164,19 +168,23 @@ ASSERT_LAYOUT(Command, left.iDcMax, 9);
ASSERT_LAYOUT(Command, left.nMotMax, 10); ASSERT_LAYOUT(Command, left.nMotMax, 10);
ASSERT_LAYOUT(Command, left.fieldWeakMax, 12); ASSERT_LAYOUT(Command, left.fieldWeakMax, 12);
ASSERT_LAYOUT(Command, left.phaseAdvMax, 13); ASSERT_LAYOUT(Command, left.phaseAdvMax, 13);
ASSERT_LAYOUT(Command, left.cruiseCtrlEna, 14);
ASSERT_LAYOUT(Command, left.nCruiseMotTgt, 15);
ASSERT_LAYOUT(Command, right.enable, 14); ASSERT_LAYOUT(Command, right.enable, 18);
ASSERT_LAYOUT(Command, right.pwm, 16); ASSERT_LAYOUT(Command, right.pwm, 19);
ASSERT_LAYOUT(Command, right.ctrlTyp, 18); ASSERT_LAYOUT(Command, right.ctrlTyp, 21);
ASSERT_LAYOUT(Command, right.ctrlMod, 19); ASSERT_LAYOUT(Command, right.ctrlMod, 22);
ASSERT_LAYOUT(Command, right.iMotMax, 20); ASSERT_LAYOUT(Command, right.iMotMax, 23);
ASSERT_LAYOUT(Command, right.iDcMax, 21); ASSERT_LAYOUT(Command, right.iDcMax, 24);
ASSERT_LAYOUT(Command, right.nMotMax, 22); ASSERT_LAYOUT(Command, right.nMotMax, 25);
ASSERT_LAYOUT(Command, right.fieldWeakMax, 24); ASSERT_LAYOUT(Command, right.fieldWeakMax, 27);
ASSERT_LAYOUT(Command, right.phaseAdvMax, 25); ASSERT_LAYOUT(Command, right.phaseAdvMax, 28);
ASSERT_LAYOUT(Command, right.cruiseCtrlEna, 29);
ASSERT_LAYOUT(Command, right.nCruiseMotTgt, 31);
ASSERT_LAYOUT(Command, buzzer, 26); ASSERT_LAYOUT(Command, buzzer, 33);
ASSERT_LAYOUT(Command, buzzer.freq, 26); ASSERT_LAYOUT(Command, buzzer.freq, 33);
ASSERT_LAYOUT(Command, buzzer.pattern, 27); ASSERT_LAYOUT(Command, buzzer.pattern, 27);
ASSERT_LAYOUT(Command, poweroff, 28); ASSERT_LAYOUT(Command, poweroff, 28);