Daniel Brunner
964acb82f0
* more types of current in state * fixed layout assertions and added namespaces
205 lines
13 KiB
C++
205 lines
13 KiB
C++
#pragma once
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#include <cstdint>
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namespace bobbycar {
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namespace protocol {
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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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} // namespace can
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} // namespace protocol
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} // namespace bobbycar
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