Feature can (#4)
* 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:
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200
bobbycar-can.h
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200
bobbycar-can.h
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#pragma once
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#include <cstdint>
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namespace bobbycar {
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namespace can {
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template<bool isBack, bool isRight>
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class MotorController
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{
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private:
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enum { // vvv
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DeviceTypeMotorController = 0b00000000000
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};
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enum { // ...v
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MotorControllerCommand = 0b00000000000,
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MotorControllerFeedback = 0b00010000000,
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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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MotorControllerMask =
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DeviceTypeMotorController |
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(isBack ? MotorControllerBack : MotorControllerFront) |
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(isRight ? MotorControllerRight : MotorControllerLeft)
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};
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public:
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MotorController() = delete;
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~MotorController() = delete;
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class Command {
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private:
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enum {
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MotorControllerCommandMask = MotorControllerMask | MotorControllerCommand
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};
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public:
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Command() = delete;
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~Command() = delete;
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enum { // ....vvvvv
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Enable = 0b00000000000 | MotorControllerCommandMask,
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InpTgt = 0b00000000100 | MotorControllerCommandMask,
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CtrlTyp = 0b00000001000 | MotorControllerCommandMask,
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CtrlMod = 0b00000001100 | MotorControllerCommandMask,
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IMotMax = 0b00000010000 | MotorControllerCommandMask,
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IDcMax = 0b00000010100 | MotorControllerCommandMask,
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NMotMax = 0b00000011000 | MotorControllerCommandMask,
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FieldWeakMax = 0b00000011100 | MotorControllerCommandMask,
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PhaseAdvMax = 0b00000100000 | MotorControllerCommandMask,
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CruiseCtrlEna = 0b00000100100 | MotorControllerCommandMask,
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CruiseMotTgt = 0b00000101000 | MotorControllerCommandMask,
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BuzzerFreq = 0b00000101100 | MotorControllerCommandMask,
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BuzzerPattern = 0b00000110000 | MotorControllerCommandMask,
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Led = 0b00000110100 | MotorControllerCommandMask,
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Poweroff = 0b00000111000 | MotorControllerCommandMask
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};
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};
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class Feedback {
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private:
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enum {
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MotorControllerFeedbackMask = MotorControllerMask | MotorControllerFeedback
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};
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public:
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Feedback() = delete;
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~Feedback() = delete;
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enum { // ....vvvvv
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DcLink = 0b00000000000 | MotorControllerFeedbackMask,
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Speed = 0b00000000100 | MotorControllerFeedbackMask,
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Error = 0b00000001000 | MotorControllerFeedbackMask,
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Angle = 0b00000001100 | MotorControllerFeedbackMask,
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DcPhaA = 0b00000010000 | MotorControllerFeedbackMask,
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DcPhaB = 0b00000010100 | MotorControllerFeedbackMask,
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DcPhaC = 0b00000011000 | MotorControllerFeedbackMask,
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Chops = 0b00000011100 | MotorControllerFeedbackMask,
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Hall = 0b00000100000 | MotorControllerFeedbackMask,
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Voltage = 0b00000100100 | MotorControllerFeedbackMask,
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Temp = 0b00000101000 | MotorControllerFeedbackMask
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};
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};
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};
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inline const char *bobbycarCanIdDesc(uint16_t id)
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{
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switch (id)
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{
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case MotorController<false, false>::Command::Enable: return "Enable (Command, Front, Left)";
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case MotorController<false, true>::Command::Enable: return "Enable (Command, Front, Right)";
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case MotorController<true, false>::Command::Enable: return "Enable (Command, Back, Left)";
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case MotorController<true, true>::Command::Enable: return "Enable (Command, Back, Right)";
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case MotorController<false, false>::Command::InpTgt: return "InpTgt (Command, Front, Left)";
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case MotorController<false, true>::Command::InpTgt: return "InpTgt (Command, Front, Right)";
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case MotorController<true, false>::Command::InpTgt: return "InpTgt (Command, Back, Left)";
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case MotorController<true, true>::Command::InpTgt: return "InpTgt (Command, Back, Right)";
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case MotorController<false, false>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Left)";
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case MotorController<false, true>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Right)";
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case MotorController<true, false>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Left)";
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case MotorController<true, true>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Right)";
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case MotorController<false, false>::Command::CtrlMod: return "CtrlMod (Command, Front, Left)";
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case MotorController<false, true>::Command::CtrlMod: return "CtrlMod (Command, Front, Right)";
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case MotorController<true, false>::Command::CtrlMod: return "CtrlMod (Command, Back, Left)";
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case MotorController<true, true>::Command::CtrlMod: return "CtrlMod (Command, Back, Right)";
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case MotorController<false, false>::Command::IMotMax: return "IMotMax (Command, Front, Left)";
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case MotorController<false, true>::Command::IMotMax: return "IMotMax (Command, Front, Right)";
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case MotorController<true, false>::Command::IMotMax: return "IMotMax (Command, Back, Left)";
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case MotorController<true, true>::Command::IMotMax: return "IMotMax (Command, Back, Right)";
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case MotorController<false, false>::Command::IDcMax: return "IDcMax (Command, Front, Left)";
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case MotorController<false, true>::Command::IDcMax: return "IDcMax (Command, Front, Right)";
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case MotorController<true, false>::Command::IDcMax: return "IDcMax (Command, Back, Left)";
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case MotorController<true, true>::Command::IDcMax: return "IDcMax (Command, Back, Right)";
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case MotorController<false, false>::Command::NMotMax: return "NMotMax (Command, Front, Left)";
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case MotorController<false, true>::Command::NMotMax: return "NMotMax (Command, Front, Right)";
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case MotorController<true, false>::Command::NMotMax: return "NMotMax (Command, Back, Left)";
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case MotorController<true, true>::Command::NMotMax: return "NMotMax (Command, Back, Right)";
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case MotorController<false, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Left)";
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case MotorController<false, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Right)";
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case MotorController<true, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Left)";
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case MotorController<true, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Right)";
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case MotorController<false, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Left)";
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case MotorController<false, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Right)";
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case MotorController<true, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Left)";
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case MotorController<true, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Right)";
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case MotorController<false, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Left)";
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case MotorController<false, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Right)";
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case MotorController<true, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Left)";
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case MotorController<true, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Right)";
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case MotorController<false, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Left)";
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case MotorController<false, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Right)";
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case MotorController<true, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Left)";
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case MotorController<true, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Right)";
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case MotorController<false, false>::Command::Led: return "Led (Command, Front, Left)";
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case MotorController<false, true>::Command::Led: return "Led (Command, Front, Right)";
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case MotorController<true, false>::Command::Led: return "Led (Command, Back, Left)";
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case MotorController<true, true>::Command::Led: return "Led (Command, Back, Right)";
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case MotorController<false, false>::Command::Poweroff: return "Poweroff (Command, Front, Left)";
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case MotorController<false, true>::Command::Poweroff: return "Poweroff (Command, Front, Right)";
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case MotorController<true, false>::Command::Poweroff: return "Poweroff (Command, Back, Left)";
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case MotorController<true, true>::Command::Poweroff: return "Poweroff (Command, Back, Right)";
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case MotorController<false, false>::Feedback::DcLink: return "DcLink (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcLink: return "DcLink (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::DcLink: return "DcLink (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::DcLink: return "DcLink (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Speed: return "Speed (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Speed: return "Speed (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Speed: return "Speed (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Speed: return "Speed (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Error: return "Error (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Error: return "Error (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Error: return "Error (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Error: return "Error (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Angle: return "Angle (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Angle: return "Angle (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Angle: return "Angle (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Angle: return "Angle (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Chops: return "Chops (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Chops: return "Chops (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Chops: return "Chops (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Chops: return "Chops (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Hall: return "Hall (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Hall: return "Hall (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Hall: return "Hall (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Hall: return "Hall (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Voltage: return "Voltage (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Voltage: return "Voltage (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Voltage: return "Voltage (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Voltage: return "Voltage (Feedback, Back, Right)";
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case MotorController<false, false>::Feedback::Temp: return "Temp (Feedback, Front, Left)";
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case MotorController<false, true>::Feedback::Temp: return "Temp (Feedback, Front, Right)";
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case MotorController<true, false>::Feedback::Temp: return "Temp (Feedback, Back, Left)";
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case MotorController<true, true>::Feedback::Temp: return "Temp (Feedback, Back, Right)";
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}
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return "Unknown";
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}
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}
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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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@ -2,20 +2,7 @@
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#include <stdint.h>
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#include <stdint.h>
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namespace {
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#include "bobbycar-common.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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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 +16,7 @@ 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 +34,7 @@ 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 +54,7 @@ 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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@ -82,12 +69,12 @@ struct MotorFeedback {
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uint8_t error = 0;
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uint8_t error = 0;
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int16_t current = 0;
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int16_t current = 0;
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uint16_t chops = 0;
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uint16_t chops = 0;
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bool hallA = false,
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bool hallA = false;
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hallB = false,
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bool hallB = false;
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hallC = false;
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bool 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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@ -105,12 +92,12 @@ struct Feedback {
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int16_t batVoltage = 0;
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int16_t batVoltage = 0;
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int16_t boardTemp = 0;
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int16_t boardTemp = 0;
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int16_t timeoutCntSerial = 0;
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int16_t timeoutCntSerial = 0;
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|
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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 +108,7 @@ uint16_t calculateChecksum(Feedback feedback) {
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#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);
|
||||||
@ -181,5 +168,3 @@ ASSERT_LAYOUT(Command, buzzer.pattern, 27);
|
|||||||
ASSERT_LAYOUT(Command, poweroff, 28);
|
ASSERT_LAYOUT(Command, poweroff, 28);
|
||||||
ASSERT_LAYOUT(Command, led, 29);
|
ASSERT_LAYOUT(Command, led, 29);
|
||||||
ASSERT_LAYOUT(Command, checksum, 30);
|
ASSERT_LAYOUT(Command, checksum, 30);
|
||||||
|
|
||||||
}
|
|
||||||
Reference in New Issue
Block a user