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Feature can (#4)

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* can related implementations

* Fixed includes

* Added receiving can registers

* Added debug utility

* template compile time magic

* more canbus registers

* Indent fixes
This commit is contained in:
Daniel Brunner
2021-05-23 17:53:27 +02:00
committed by GitHub
parent 8c6b432d7e
commit b6f0d6a185
3 changed files with 227 additions and 26 deletions
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200
bobbycar-can.h Normal file
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@ -0,0 +1,200 @@
#pragma once
#include <cstdint>
namespace bobbycar {
namespace can {
template<bool isBack, bool isRight>
class MotorController
{
private:
enum { // vvv
DeviceTypeMotorController = 0b00000000000
};
enum { // ...v
MotorControllerCommand = 0b00000000000,
MotorControllerFeedback = 0b00010000000,
};
enum { // .........v
MotorControllerFront = 0b00000000000,
MotorControllerBack = 0b00000000010,
};
enum { // ..........v
MotorControllerLeft = 0b00000000000,
MotorControllerRight = 0b00000000001,
};
enum {
MotorControllerMask =
DeviceTypeMotorController |
(isBack ? MotorControllerBack : MotorControllerFront) |
(isRight ? MotorControllerRight : MotorControllerLeft)
};
public:
MotorController() = delete;
~MotorController() = delete;
class Command {
private:
enum {
MotorControllerCommandMask = MotorControllerMask | MotorControllerCommand
};
public:
Command() = delete;
~Command() = delete;
enum { // ....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
};
};
class Feedback {
private:
enum {
MotorControllerFeedbackMask = MotorControllerMask | MotorControllerFeedback
};
public:
Feedback() = delete;
~Feedback() = delete;
enum { // ....vvvvv
DcLink = 0b00000000000 | MotorControllerFeedbackMask,
Speed = 0b00000000100 | MotorControllerFeedbackMask,
Error = 0b00000001000 | MotorControllerFeedbackMask,
Angle = 0b00000001100 | MotorControllerFeedbackMask,
DcPhaA = 0b00000010000 | MotorControllerFeedbackMask,
DcPhaB = 0b00000010100 | MotorControllerFeedbackMask,
DcPhaC = 0b00000011000 | MotorControllerFeedbackMask,
Chops = 0b00000011100 | MotorControllerFeedbackMask,
Hall = 0b00000100000 | MotorControllerFeedbackMask,
Voltage = 0b00000100100 | MotorControllerFeedbackMask,
Temp = 0b00000101000 | MotorControllerFeedbackMask
};
};
};
inline const char *bobbycarCanIdDesc(uint16_t id)
{
switch (id)
{
case MotorController<false, false>::Command::Enable: return "Enable (Command, Front, Left)";
case MotorController<false, true>::Command::Enable: return "Enable (Command, Front, Right)";
case MotorController<true, false>::Command::Enable: return "Enable (Command, Back, Left)";
case MotorController<true, true>::Command::Enable: return "Enable (Command, Back, Right)";
case MotorController<false, false>::Command::InpTgt: return "InpTgt (Command, Front, Left)";
case MotorController<false, true>::Command::InpTgt: return "InpTgt (Command, Front, Right)";
case MotorController<true, false>::Command::InpTgt: return "InpTgt (Command, Back, Left)";
case MotorController<true, true>::Command::InpTgt: return "InpTgt (Command, Back, Right)";
case MotorController<false, false>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Left)";
case MotorController<false, true>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Right)";
case MotorController<true, false>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Left)";
case MotorController<true, true>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Right)";
case MotorController<false, false>::Command::CtrlMod: return "CtrlMod (Command, Front, Left)";
case MotorController<false, true>::Command::CtrlMod: return "CtrlMod (Command, Front, Right)";
case MotorController<true, false>::Command::CtrlMod: return "CtrlMod (Command, Back, Left)";
case MotorController<true, true>::Command::CtrlMod: return "CtrlMod (Command, Back, Right)";
case MotorController<false, false>::Command::IMotMax: return "IMotMax (Command, Front, Left)";
case MotorController<false, true>::Command::IMotMax: return "IMotMax (Command, Front, Right)";
case MotorController<true, false>::Command::IMotMax: return "IMotMax (Command, Back, Left)";
case MotorController<true, true>::Command::IMotMax: return "IMotMax (Command, Back, Right)";
case MotorController<false, false>::Command::IDcMax: return "IDcMax (Command, Front, Left)";
case MotorController<false, true>::Command::IDcMax: return "IDcMax (Command, Front, Right)";
case MotorController<true, false>::Command::IDcMax: return "IDcMax (Command, Back, Left)";
case MotorController<true, true>::Command::IDcMax: return "IDcMax (Command, Back, Right)";
case MotorController<false, false>::Command::NMotMax: return "NMotMax (Command, Front, Left)";
case MotorController<false, true>::Command::NMotMax: return "NMotMax (Command, Front, Right)";
case MotorController<true, false>::Command::NMotMax: return "NMotMax (Command, Back, Left)";
case MotorController<true, true>::Command::NMotMax: return "NMotMax (Command, Back, Right)";
case MotorController<false, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Left)";
case MotorController<false, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Right)";
case MotorController<true, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Left)";
case MotorController<true, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Right)";
case MotorController<false, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Left)";
case MotorController<false, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Right)";
case MotorController<true, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Left)";
case MotorController<true, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Right)";
case MotorController<false, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Left)";
case MotorController<false, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Right)";
case MotorController<true, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Left)";
case MotorController<true, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Right)";
case MotorController<false, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Left)";
case MotorController<false, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Right)";
case MotorController<true, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Left)";
case MotorController<true, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Right)";
case MotorController<false, false>::Command::Led: return "Led (Command, Front, Left)";
case MotorController<false, true>::Command::Led: return "Led (Command, Front, Right)";
case MotorController<true, false>::Command::Led: return "Led (Command, Back, Left)";
case MotorController<true, true>::Command::Led: return "Led (Command, Back, Right)";
case MotorController<false, false>::Command::Poweroff: return "Poweroff (Command, Front, Left)";
case MotorController<false, true>::Command::Poweroff: return "Poweroff (Command, Front, Right)";
case MotorController<true, false>::Command::Poweroff: return "Poweroff (Command, Back, Left)";
case MotorController<true, true>::Command::Poweroff: return "Poweroff (Command, Back, Right)";
case MotorController<false, false>::Feedback::DcLink: return "DcLink (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcLink: return "DcLink (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcLink: return "DcLink (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcLink: return "DcLink (Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Speed: return "Speed (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Speed: return "Speed (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Speed: return "Speed (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Speed: return "Speed (Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Error: return "Error (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Error: return "Error (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Error: return "Error (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Error: return "Error (Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Angle: return "Angle (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Angle: return "Angle (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Angle: return "Angle (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Angle: return "Angle (Feedback, Back, Right)";
case MotorController<false, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Right)";
case MotorController<false, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Right)";
case MotorController<false, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Chops: return "Chops (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Chops: return "Chops (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Chops: return "Chops (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Chops: return "Chops (Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Hall: return "Hall (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Hall: return "Hall (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Hall: return "Hall (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Hall: return "Hall (Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Voltage: return "Voltage (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Voltage: return "Voltage (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Voltage: return "Voltage (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Voltage: return "Voltage (Feedback, Back, Right)";
case MotorController<false, false>::Feedback::Temp: return "Temp (Feedback, Front, Left)";
case MotorController<false, true>::Feedback::Temp: return "Temp (Feedback, Front, Right)";
case MotorController<true, false>::Feedback::Temp: return "Temp (Feedback, Back, Left)";
case MotorController<true, true>::Feedback::Temp: return "Temp (Feedback, Back, Right)";
}
return "Unknown";
}
}
}

16
bobbycar-common.h Normal file
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@ -0,0 +1,16 @@
#pragma once
#include <stdint.h>
enum class ControlType : uint8_t {
Commutation,
Sinusoidal,
FieldOrientedControl
};
enum class ControlMode : uint8_t {
OpenMode,
Voltage,
Speed, // Only with FieldOrientedControl
Torque // Only with FieldOrientedControl
};

37
protocol.h → bobbycar-serial.h
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@ -2,20 +2,7 @@
#include <stdint.h>
namespace {
enum class ControlType : uint8_t {
Commutation,
Sinusoidal,
FieldOrientedControl
};
enum class ControlMode : uint8_t {
OpenMode,
Voltage,
Speed, // Only with FieldOrientedControl
Torque // Only with FieldOrientedControl
};
#include "bobbycar-common.h"
struct MotorState {
bool enable = false;
@ -29,7 +16,7 @@ struct MotorState {
uint8_t phaseAdvMax = 40; // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
};
uint16_t calculateChecksum(MotorState state) {
inline uint16_t calculateChecksum(MotorState state) {
return
uint16_t(state.enable) ^
state.pwm ^
@ -47,7 +34,7 @@ struct BuzzerState {
uint8_t pattern = 0;
};
uint16_t calculateChecksum(BuzzerState state) {
inline uint16_t calculateChecksum(BuzzerState state) {
return state.freq ^ state.pattern;
}
@ -67,7 +54,7 @@ struct Command {
uint16_t checksum;
};
uint16_t calculateChecksum(Command command) {
inline uint16_t calculateChecksum(Command command) {
return command.start ^
calculateChecksum(command.left) ^
calculateChecksum(command.right) ^
@ -82,12 +69,12 @@ struct MotorFeedback {
uint8_t error = 0;
int16_t current = 0;
uint16_t chops = 0;
bool hallA = false,
hallB = false,
hallC = false;
bool hallA = false;
bool hallB = false;
bool hallC = false;
};
uint16_t calculateChecksum(MotorFeedback feedback) {
inline uint16_t calculateChecksum(MotorFeedback feedback) {
return feedback.angle ^ feedback.speed ^
feedback.error ^ feedback.current ^
feedback.chops ^
@ -105,12 +92,12 @@ struct Feedback {
int16_t batVoltage = 0;
int16_t boardTemp = 0;
int16_t timeoutCntSerial = 0;
int16_t timeoutCntSerial = 0;
uint16_t checksum;
};
uint16_t calculateChecksum(Feedback feedback) {
inline uint16_t calculateChecksum(Feedback feedback) {
return feedback.start ^
calculateChecksum(feedback.left) ^
calculateChecksum(feedback.right) ^
@ -121,7 +108,7 @@ uint16_t calculateChecksum(Feedback feedback) {
#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, left, 2);
@ -181,5 +168,3 @@ ASSERT_LAYOUT(Command, buzzer.pattern, 27);
ASSERT_LAYOUT(Command, poweroff, 28);
ASSERT_LAYOUT(Command, led, 29);
ASSERT_LAYOUT(Command, checksum, 30);
}