/**
* Process a received buffer with commands and data.
*
* @param data
* The buffer to process.
*
* @param len
* The length of the buffer.
*/
void bldc_interface_process_packet(unsigned char *data, unsigned int len) {
if (!len) {
return;
}
if (forward_func) {
forward_func(data, len);
return;
}
int32_t ind = 0;
int i = 0;
unsigned char id = data[0];
data++;
len--;
switch (id) {
case COMM_FW_VERSION:
if (len == 2) {
ind = 0;
fw_major = data[ind++];
fw_minor = data[ind++];
} else {
fw_major = -1;
fw_minor = -1;
}
break;
case COMM_ERASE_NEW_APP:
case COMM_WRITE_NEW_APP_DATA:
// TODO
break;
case COMM_GET_VALUES:
ind = 0;
values.temp_mos1 = buffer_get_float16(data, 10.0, &ind);
values.temp_mos2 = buffer_get_float16(data, 10.0, &ind);
values.temp_mos3 = buffer_get_float16(data, 10.0, &ind);
values.temp_mos4 = buffer_get_float16(data, 10.0, &ind);
values.temp_mos5 = buffer_get_float16(data, 10.0, &ind);
values.temp_mos6 = buffer_get_float16(data, 10.0, &ind);
values.temp_pcb = buffer_get_float16(data, 10.0, &ind);
values.current_motor = buffer_get_float32(data, 100.0, &ind);
values.current_in = buffer_get_float32(data, 100.0, &ind);
values.duty_now = buffer_get_float16(data, 1000.0, &ind);
values.rpm = buffer_get_float32(data, 1.0, &ind);
values.v_in = buffer_get_float16(data, 10.0, &ind);
values.amp_hours = buffer_get_float32(data, 10000.0, &ind);
values.amp_hours_charged = buffer_get_float32(data, 10000.0, &ind);
values.watt_hours = buffer_get_float32(data, 10000.0, &ind);
values.watt_hours_charged = buffer_get_float32(data, 10000.0, &ind);
values.tachometer = buffer_get_int32(data, &ind);
values.tachometer_abs = buffer_get_int32(data, &ind);
values.fault_code = (mc_fault_code)data[ind++];
if (rx_value_func) {
rx_value_func(&values);
}
break;
case COMM_PRINT:
// TODO
break;
case COMM_SAMPLE_PRINT:
// TODO
break;
case COMM_ROTOR_POSITION:
ind = 0;
rotor_pos = buffer_get_float32(data, 100000.0, &ind);
if (rx_rotor_pos_func) {
rx_rotor_pos_func(rotor_pos);
}
break;
case COMM_EXPERIMENT_SAMPLE:
// TODO
break;
case COMM_GET_MCCONF:
ind = 0;
mcconf.pwm_mode = (mc_pwm_mode)data[ind++];
mcconf.comm_mode = (mc_comm_mode)data[ind++];
mcconf.motor_type = (mc_motor_type)data[ind++];
mcconf.sensor_mode = (mc_sensor_mode)data[ind++];
mcconf.l_current_max = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_current_min = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_in_current_max = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_in_current_min = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_abs_current_max = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_min_erpm = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_erpm = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_erpm_fbrake = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_erpm_fbrake_cc = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_min_vin = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_vin = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_battery_cut_start = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_battery_cut_end = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_slow_abs_current = data[ind++];
mcconf.l_rpm_lim_neg_torque = data[ind++];
mcconf.l_temp_fet_start = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_temp_fet_end = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_temp_motor_start = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_temp_motor_end = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_min_duty = buffer_get_float32(data, 1000000.0, &ind);
mcconf.l_max_duty = buffer_get_float32(data, 1000000.0, &ind);
mcconf.sl_min_erpm = buffer_get_float32(data, 1000.0, &ind);
mcconf.sl_min_erpm_cycle_int_limit = buffer_get_float32(data, 1000.0, &ind);
mcconf.sl_max_fullbreak_current_dir_change = buffer_get_float32(data, 1000.0, &ind);
mcconf.sl_cycle_int_limit = buffer_get_float32(data, 1000.0, &ind);
mcconf.sl_phase_advance_at_br = buffer_get_float32(data, 1000.0, &ind);
mcconf.sl_cycle_int_rpm_br = buffer_get_float32(data, 1000.0, &ind);
mcconf.sl_bemf_coupling_k = buffer_get_float32(data, 1000.0, &ind);
memcpy(mcconf.hall_table, data + ind, 8);
ind += 8;
mcconf.hall_sl_erpm = buffer_get_float32(data, 1000.0, &ind);
mcconf.s_pid_kp = buffer_get_float32(data, 1000000.0, &ind);
mcconf.s_pid_ki = buffer_get_float32(data, 1000000.0, &ind);
mcconf.s_pid_kd = buffer_get_float32(data, 1000000.0, &ind);
mcconf.s_pid_min_erpm = buffer_get_float32(data, 1000.0, &ind);
mcconf.p_pid_kp = buffer_get_float32(data, 1000000.0, &ind);
mcconf.p_pid_ki = buffer_get_float32(data, 1000000.0, &ind);
mcconf.p_pid_kd = buffer_get_float32(data, 1000000.0, &ind);
mcconf.cc_startup_boost_duty = buffer_get_float32(data, 1000000.0, &ind);
mcconf.cc_min_current = buffer_get_float32(data, 1000.0, &ind);
mcconf.cc_gain = buffer_get_float32(data, 1000000.0, &ind);
mcconf.cc_ramp_step_max = buffer_get_float32(data, 1000000.0, &ind);
mcconf.m_fault_stop_time_ms = buffer_get_int32(data, &ind);
mcconf.m_duty_ramp_step = buffer_get_float32(data, 1000000.0, &ind);
mcconf.m_duty_ramp_step_rpm_lim = buffer_get_float32(data, 1000000.0, &ind);
mcconf.m_current_backoff_gain = buffer_get_float32(data, 1000000.0, &ind);
if (rx_mcconf_func) {
rx_mcconf_func(&mcconf);
}
break;
case COMM_GET_APPCONF:
ind = 0;
appconf.controller_id = data[ind++];
appconf.timeout_msec = buffer_get_uint32(data, &ind);
appconf.timeout_brake_current = buffer_get_float32(data, 1000.0, &ind);
appconf.send_can_status = data[ind++];
appconf.send_can_status_rate_hz = buffer_get_uint16(data, &ind);
appconf.app_to_use = (app_use)data[ind++];
appconf.app_ppm_conf.ctrl_type = (ppm_control_type)data[ind++];
appconf.app_ppm_conf.pid_max_erpm = buffer_get_float32(data, 1000.0, &ind);
appconf.app_ppm_conf.hyst = buffer_get_float32(data, 1000.0, &ind);
appconf.app_ppm_conf.pulse_start = buffer_get_float32(data, 1000.0, &ind);
appconf.app_ppm_conf.pulse_end = buffer_get_float32(data, 1000.0, &ind);
appconf.app_ppm_conf.median_filter = data[ind++];
appconf.app_ppm_conf.safe_start = data[ind++];
appconf.app_ppm_conf.rpm_lim_start = buffer_get_float32(data, 1000.0, &ind);
appconf.app_ppm_conf.rpm_lim_end = buffer_get_float32(data, 1000.0, &ind);
appconf.app_ppm_conf.multi_esc = data[ind++];
appconf.app_ppm_conf.tc = data[ind++];
appconf.app_ppm_conf.tc_max_diff = buffer_get_float32(data, 1000.0, &ind);
appconf.app_adc_conf.ctrl_type = (adc_control_type)data[ind++];
appconf.app_adc_conf.hyst = buffer_get_float32(data, 1000.0, &ind);
appconf.app_adc_conf.voltage_start = buffer_get_float32(data, 1000.0, &ind);
appconf.app_adc_conf.voltage_end = buffer_get_float32(data, 1000.0, &ind);
appconf.app_adc_conf.use_filter = data[ind++];
appconf.app_adc_conf.safe_start = data[ind++];
appconf.app_adc_conf.cc_button_inverted = data[ind++];
appconf.app_adc_conf.rev_button_inverted = data[ind++];
appconf.app_adc_conf.voltage_inverted = data[ind++];
appconf.app_adc_conf.rpm_lim_start = buffer_get_float32(data, 1000.0, &ind);
appconf.app_adc_conf.rpm_lim_end = buffer_get_float32(data, 1000.0, &ind);
appconf.app_adc_conf.multi_esc = data[ind++];
appconf.app_adc_conf.tc = data[ind++];
appconf.app_adc_conf.tc_max_diff = buffer_get_float32(data, 1000.0, &ind);
appconf.app_adc_conf.update_rate_hz = buffer_get_uint16(data, &ind);
appconf.app_uart_baudrate = buffer_get_uint32(data, &ind);
appconf.app_chuk_conf.ctrl_type = (chuk_control_type)data[ind++];
appconf.app_chuk_conf.hyst = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.rpm_lim_start = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.rpm_lim_end = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.ramp_time_pos = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.ramp_time_neg = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.stick_erpm_per_s_in_cc = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.multi_esc = data[ind++];
appconf.app_chuk_conf.tc = data[ind++];
appconf.app_chuk_conf.tc_max_diff = buffer_get_float32(data, 1000.0, &ind);
if (rx_appconf_func) {
rx_appconf_func(&appconf);
}
break;
case COMM_DETECT_MOTOR_PARAM:
ind = 0;
detect_cycle_int_limit = buffer_get_float32(data, 1000.0, &ind);
detect_coupling_k = buffer_get_float32(data, 1000.0, &ind);
for (i = 0;i < 8;i++) {
detect_hall_table[i] = (const signed char)(data[ind++]);
}
detect_hall_res = (const signed char)(data[ind++]);
if (rx_detect_func) {
rx_detect_func(detect_cycle_int_limit, detect_coupling_k,
detect_hall_table, detect_hall_res);
}
break;
case COMM_GET_DECODED_PPM:
ind = 0;
dec_ppm = buffer_get_float32(data, 1000000.0, &ind);
dec_ppm_len = buffer_get_float32(data, 1000000.0, &ind);
if (rx_dec_ppm_func) {
rx_dec_ppm_func(dec_ppm, dec_ppm_len);
}
break;
case COMM_GET_DECODED_ADC:
ind = 0;
dec_adc = buffer_get_float32(data, 1000000.0, &ind);
dec_adc_voltage = buffer_get_float32(data, 1000000.0, &ind);
if (rx_dec_adc_func) {
rx_dec_adc_func(dec_adc, dec_adc_voltage);
}
break;
case COMM_GET_DECODED_CHUK:
ind = 0;
dec_chuk = buffer_get_float32(data, 1000000.0, &ind);
if (rx_dec_chuk_func) {
rx_dec_chuk_func(dec_chuk);
}
break;
case COMM_SET_MCCONF:
// This is a confirmation that the new mcconf is received.
if (rx_mcconf_received_func) {
rx_mcconf_received_func();
}
break;
case COMM_SET_APPCONF:
// This is a confirmation that the new appconf is received.
if (rx_appconf_received_func) {
rx_appconf_received_func();
}
break;
default:
break;
}
}
int main()
{
std::cout<<"test move constructor:\n";
std::allocator<std::string> alloc;
size_t size = 5;
auto old_strs = alloc.allocate(size);
for(size_t i = 0; i < size; i++)
{
alloc.construct(old_strs + i, "abcde");
}
std::cout<<"old_strs[0]: "<<old_strs[0]<<std::endl;
auto new_strs = alloc.allocate(size);
for(size_t i = 0; i < size; i++)
{
alloc.construct(new_strs + i, std::move(*(old_strs + i)));
}
std::cout<<"new_strs[0]: "<<new_strs[0]<<std::endl;
std::cout<<"old_strs[0]: "<<old_strs[0]<<std::endl;
for(size_t i = 0; i < size; i++)
{
alloc.destroy(old_strs + i);
}
alloc.deallocate(old_strs, size);
std::cout<<"test move constructor done.\n"<<std::endl;
std::cout<<"test rvalue reference:\n";
int j = 42;
int &lr = j;
//int &&rr = j; // Wrong. Can't bind a rvalue ref to a lvalue.
//int &lr2 = i * 42; // Wrong. Can't bind a lvalue ref to a rvalue.
const int &lr3 = j * 42;
int &&rr2 = j * 42;
//int &&rr3 = rr2; // Wrong. rr2 is a rvalue ref and rvalue ref is a lvalue.
int &lr4 = rr2;
std::cout<<j<<'\t'<<lr<<'\t'<<lr3<<'\t'<<rr2<<'\t'<<lr4<<std::endl;
std::cout<<"test rvalue ref done.\n"<<std::endl;
std::cout<<"test std::move:\n";
std::string str5 = "asdf";
std::string &lr5 = str5;
std::string &&rr5 = std::move(str5);
rr5[0] = 'b';
lr5[1] = 'z';
std::cout<<rr5<<'\t'<<lr5<<'\t'<<str5<<std::endl;
std::cout<<"test std::move done.\n"<<std::endl;
std::cout<<"test custom move copy constructor/move assign operator.\n";
IntVec iv1(10);
for(size_t i = 0; i < 5; i++)
iv1.push_back(i);
std::cout<<"-------iv1:\n";
iv1.print_info();
IntVec iv2(std::move(iv1));
std::cout<<"-------iv2:\n";
iv2.print_info();
std::cout<<"-------iv1:\n";
iv1.print_info();
IntVec iv3 = iv2;
std::cout<<"-------iv3:\n";
iv3.print_info();
std::cout<<"-------iv2:\n";
iv2.print_info();
IntVec iv4(5);
std::cout<<"-------iv4:\n";
iv4.print_info();
iv4 = std::move(iv2);
std::cout<<"-------iv4:\n";
iv4.print_info();
std::cout<<"-------iv2:\n";
iv2.print_info();
std::cout<<"test custom move copy constructor/move assign operator done.\n"<<std::endl;
std::cout<<"test move iterator:\n";
auto new_strs2 = alloc.allocate(size);
std::uninitialized_copy(std::make_move_iterator(new_strs),
std::make_move_iterator(new_strs + size),
new_strs2);
std::cout<<"new_strs[0]: "<<new_strs[0]<<std::endl;
std::cout<<"new_strs2[0]: "<<new_strs2[0]<<std::endl;
for(size_t i = 0; i < size; i++)
{
alloc.destroy(new_strs + i);
}
alloc.deallocate(new_strs, size);
std::cout<<"test move iterator done.\n"<<std::endl;
std::cout<<"test ref folding:\n";
int val = 2;
int &lref = val;
int &&rref = 2;
std::cout<<"-------with val:\n";
vague_func(2);
std::cout<<"-------with lref:\n";
vague_func(lref);
std::cout<<"-------with rref:\n";
vague_func(rref);
vague_func(std::move(val));
std::cout<<"test ref done.\n"<<std::endl;
std::cout<<"test forward:\n";
forward_func(f, 5);
forward_func(g, rref);
forward_func(g, val);
std::cout<<"test forward done.\n"<<std::endl;
}
