Feature can (#4)
* can related implementations * Fixed includes * Added receiving can registers * Added debug utility * template compile time magic * more canbus registers * Indent fixes
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170
bobbycar-serial.h
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170
bobbycar-serial.h
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#pragma once
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#include <stdint.h>
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#include "bobbycar-common.h"
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struct MotorState {
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bool enable = false;
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int16_t pwm = 0;
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ControlType ctrlTyp = ControlType::FieldOrientedControl;
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ControlMode ctrlMod = ControlMode::OpenMode;
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uint8_t iMotMax = 15; // [A] Maximum motor current limit
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uint8_t iDcMax = 17; // [A] Maximum DC Link current limit (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A)
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uint16_t nMotMax = 1000; // [rpm] Maximum motor speed limit
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uint8_t fieldWeakMax = 10; // [A] Maximum Field Weakening D axis current (only for FOC). Higher current 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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inline uint16_t calculateChecksum(MotorState state) {
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return
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uint16_t(state.enable) ^
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state.pwm ^
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uint16_t(state.ctrlTyp) ^
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uint16_t(state.ctrlMod) ^
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state.iMotMax ^
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state.iDcMax ^
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state.nMotMax ^
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state.fieldWeakMax ^
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state.phaseAdvMax;
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}
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struct BuzzerState {
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uint8_t freq = 0;
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uint8_t pattern = 0;
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};
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inline uint16_t calculateChecksum(BuzzerState state) {
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return state.freq ^ state.pattern;
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}
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struct Command {
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static constexpr uint16_t VALID_HEADER = 0xAAAA;
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static constexpr uint16_t INVALID_HEADER = 0xFFFF;
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uint16_t start;
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MotorState left, right;
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BuzzerState buzzer;
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bool poweroff = false;
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bool led = false;
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uint16_t checksum;
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};
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inline uint16_t calculateChecksum(Command command) {
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return command.start ^
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calculateChecksum(command.left) ^
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calculateChecksum(command.right) ^
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calculateChecksum(command.buzzer) ^
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command.poweroff ^
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command.led;
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}
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struct MotorFeedback {
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int16_t angle = 0;
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int16_t speed = 0;
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uint8_t error = 0;
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int16_t current = 0;
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uint16_t chops = 0;
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bool hallA = false;
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bool hallB = false;
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bool hallC = false;
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};
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inline uint16_t calculateChecksum(MotorFeedback feedback) {
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return feedback.angle ^ feedback.speed ^
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feedback.error ^ feedback.current ^
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feedback.chops ^
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feedback.hallA ^ feedback.hallB ^ feedback.hallC;
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}
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struct Feedback {
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static constexpr uint16_t VALID_HEADER = 0xAAAA;
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static constexpr uint16_t INVALID_HEADER = 0xFFFF;
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uint16_t start;
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MotorFeedback left, right;
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int16_t batVoltage = 0;
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int16_t boardTemp = 0;
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int16_t timeoutCntSerial = 0;
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uint16_t checksum;
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};
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inline uint16_t calculateChecksum(Feedback feedback) {
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return feedback.start ^
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calculateChecksum(feedback.left) ^
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calculateChecksum(feedback.right) ^
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feedback.batVoltage ^
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feedback.boardTemp ^
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feedback.timeoutCntSerial;
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}
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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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ASSERT_LAYOUT(Feedback, start, 0);
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ASSERT_LAYOUT(Feedback, left, 2);
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ASSERT_LAYOUT(Feedback, left.angle, 2);
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ASSERT_LAYOUT(Feedback, left.speed, 4);
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ASSERT_LAYOUT(Feedback, left.error, 6);
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ASSERT_LAYOUT(Feedback, left.current, 8);
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ASSERT_LAYOUT(Feedback, left.chops, 10);
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ASSERT_LAYOUT(Feedback, left.hallA, 12);
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ASSERT_LAYOUT(Feedback, left.hallB, 13);
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ASSERT_LAYOUT(Feedback, left.hallC, 14);
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ASSERT_LAYOUT(Feedback, right, 16);
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ASSERT_LAYOUT(Feedback, right.angle, 16);
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ASSERT_LAYOUT(Feedback, right.speed, 18);
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ASSERT_LAYOUT(Feedback, right.error, 20);
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ASSERT_LAYOUT(Feedback, right.current, 22);
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ASSERT_LAYOUT(Feedback, right.chops, 24);
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ASSERT_LAYOUT(Feedback, right.hallA, 26);
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ASSERT_LAYOUT(Feedback, right.hallB, 27);
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ASSERT_LAYOUT(Feedback, right.hallC, 28);
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ASSERT_LAYOUT(Feedback, batVoltage, 30);
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ASSERT_LAYOUT(Feedback, boardTemp, 32);
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ASSERT_LAYOUT(Feedback, timeoutCntSerial, 34);
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ASSERT_LAYOUT(Feedback, checksum, 36);
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static_assert(sizeof(Command) == 32, "sizeof(Command) wrong");
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ASSERT_LAYOUT(Command, start, 0);
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ASSERT_LAYOUT(Command, left, 2);
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ASSERT_LAYOUT(Command, left.enable, 2);
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ASSERT_LAYOUT(Command, left.pwm, 4);
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ASSERT_LAYOUT(Command, left.ctrlTyp, 6);
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ASSERT_LAYOUT(Command, left.ctrlMod, 7);
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ASSERT_LAYOUT(Command, left.iMotMax, 8);
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ASSERT_LAYOUT(Command, left.iDcMax, 9);
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ASSERT_LAYOUT(Command, left.nMotMax, 10);
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ASSERT_LAYOUT(Command, left.fieldWeakMax, 12);
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ASSERT_LAYOUT(Command, left.phaseAdvMax, 13);
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ASSERT_LAYOUT(Command, right.enable, 14);
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ASSERT_LAYOUT(Command, right.pwm, 16);
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ASSERT_LAYOUT(Command, right.ctrlTyp, 18);
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ASSERT_LAYOUT(Command, right.ctrlMod, 19);
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ASSERT_LAYOUT(Command, right.iMotMax, 20);
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ASSERT_LAYOUT(Command, right.iDcMax, 21);
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ASSERT_LAYOUT(Command, right.nMotMax, 22);
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ASSERT_LAYOUT(Command, right.fieldWeakMax, 24);
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ASSERT_LAYOUT(Command, right.phaseAdvMax, 25);
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ASSERT_LAYOUT(Command, buzzer, 26);
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ASSERT_LAYOUT(Command, buzzer.freq, 26);
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ASSERT_LAYOUT(Command, buzzer.pattern, 27);
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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, checksum, 30);
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