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Replace inline bitmasks with defines in COMM_GET_VALUES_SELECTIVE and COMM_GET_VALUES_SETUP_SELECTIVE #845

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Replace inline bitmasks with defines in COMM_GET_VALUES_SELECTIVE and COMM_GET_VALUES_SETUP_SELECTIVE #845

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c53e370
Command parsing for COMM_GET_VALUES_SELECTIVE now uses #defines as bi…
Jul 30, 2025
fbd06f2
Command parsing for COMM_GET_VALUES_SETUP_SELECTIVE now also uses #de…
Jul 30, 2025
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89 changes: 45 additions & 44 deletions comm/commands.c
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#include "datatypes.h"
#pragma GCC optimize ("Os")

#include "commands.h"
Expand Down Expand Up @@ -394,58 +395,58 @@ void commands_process_packet(unsigned char *data, unsigned int len,
buffer_append_uint32(send_buffer, mask, &ind);
}

if (mask & ((uint32_t)1 << 0)) {
if (mask & GET_VALUES_FET_TEMP_FILT) {
buffer_append_float16(send_buffer, mc_interface_temp_fet_filtered(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 1)) {
if (mask & GET_VALUES_MC_TEMP_FILT) {
buffer_append_float16(send_buffer, mc_interface_temp_motor_filtered(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 2)) {
if (mask & GET_VALUES_AVG_MOTOR_CURRENT) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_motor_current(), 1e2, &ind);
}
if (mask & ((uint32_t)1 << 3)) {
if (mask & GET_VALUES_AVG_IN_CURRENT) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_input_current(), 1e2, &ind);
}
if (mask & ((uint32_t)1 << 4)) {
if (mask & GET_VALUES_AVG_ID) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_id(), 1e2, &ind);
}
if (mask & ((uint32_t)1 << 5)) {
if (mask & GET_VALUES_AVG_IQ) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_iq(), 1e2, &ind);
}
if (mask & ((uint32_t)1 << 6)) {
if (mask & GET_VALUES_DUTY_CYCLE) {
buffer_append_float16(send_buffer, mc_interface_get_duty_cycle_now(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 7)) {
if (mask & GET_VALUES_RPM) {
buffer_append_float32(send_buffer, mc_interface_get_rpm(), 1e0, &ind);
}
if (mask & ((uint32_t)1 << 8)) {
if (mask & GET_VALUES_V_IN) {
buffer_append_float16(send_buffer, mc_interface_get_input_voltage_filtered(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 9)) {
if (mask & GET_VALUES_AH) {
buffer_append_float32(send_buffer, mc_interface_get_amp_hours(false), 1e4, &ind);
}
if (mask & ((uint32_t)1 << 10)) {
if (mask & GET_VALUES_AH_CHARGED) {
buffer_append_float32(send_buffer, mc_interface_get_amp_hours_charged(false), 1e4, &ind);
}
if (mask & ((uint32_t)1 << 11)) {
if (mask & GET_VALUES_WH) {
buffer_append_float32(send_buffer, mc_interface_get_watt_hours(false), 1e4, &ind);
}
if (mask & ((uint32_t)1 << 12)) {
if (mask & GET_VALUES_WH_CHARGED) {
buffer_append_float32(send_buffer, mc_interface_get_watt_hours_charged(false), 1e4, &ind);
}
if (mask & ((uint32_t)1 << 13)) {
if (mask & GET_VALUES_TACHO) {
buffer_append_int32(send_buffer, mc_interface_get_tachometer_value(false), &ind);
}
if (mask & ((uint32_t)1 << 14)) {
if (mask & GET_VALUES_TACHO_ABS) {
buffer_append_int32(send_buffer, mc_interface_get_tachometer_abs_value(false), &ind);
}
if (mask & ((uint32_t)1 << 15)) {
if (mask & GET_VALUES_FAULT_CODE) {
send_buffer[ind++] = mc_interface_get_fault();
}
if (mask & ((uint32_t)1 << 16)) {
if (mask & GET_VALUES_PID_POS) {
buffer_append_float32(send_buffer, mc_interface_get_pid_pos_now(), 1e6, &ind);
}
if (mask & ((uint32_t)1 << 17)) {
if (mask & GET_VALUES_CONTROLLER_ID) {
uint8_t current_controller_id = app_get_configuration()->controller_id;
#ifdef HW_HAS_DUAL_MOTORS
if (mc_interface_get_motor_thread() == 2) {
Expand All @@ -454,7 +455,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
#endif
send_buffer[ind++] = current_controller_id;
}
if (mask & ((uint32_t)1 << 18)) {
if (mask & GET_VALUES_NTC_TEMP_MOS) {
if (mc_interface_get_motor_thread() == 2) {
buffer_append_float16(send_buffer, NTC_TEMP_MOS1_M2(), 1e1, &ind);
buffer_append_float16(send_buffer, NTC_TEMP_MOS2_M2(), 1e1, &ind);
Expand All @@ -465,13 +466,13 @@ void commands_process_packet(unsigned char *data, unsigned int len,
buffer_append_float16(send_buffer, NTC_TEMP_MOS3(), 1e1, &ind);
}
}
if (mask & ((uint32_t)1 << 19)) {
if (mask & GET_VALUES_AVG_VD) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_vd(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 20)) {
if (mask & GET_VALUES_AVG_VQ) {
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_vq(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 21)) {
if (mask & GET_VALUES_STATUS) {
uint8_t status = 0;
status |= timeout_has_timeout();
status |= timeout_kill_sw_active() << 1;
Expand Down Expand Up @@ -810,58 +811,58 @@ void commands_process_packet(unsigned char *data, unsigned int len,
buffer_append_uint32(send_buffer, mask, &ind);
}

if (mask & ((uint32_t)1 << 0)) {
if (mask & GET_VALUES_SETUP_FET_TEMP) {
buffer_append_float16(send_buffer, mc_interface_temp_fet_filtered(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 1)) {
if (mask & GET_VALUES_SETUP_MC_TEMP) {
buffer_append_float16(send_buffer, mc_interface_temp_motor_filtered(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 2)) {
if (mask & GET_VALUES_SETUP_CURRENT_TOT) {
buffer_append_float32(send_buffer, val.current_tot, 1e2, &ind);
}
if (mask & ((uint32_t)1 << 3)) {
if (mask & GET_VALUES_SETUP_CURRENT_IN_TOT) {
buffer_append_float32(send_buffer, val.current_in_tot, 1e2, &ind);
}
if (mask & ((uint32_t)1 << 4)) {
if (mask & GET_VALUES_SETUP_DUTY_CYCLE) {
buffer_append_float16(send_buffer, mc_interface_get_duty_cycle_now(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 5)) {
if (mask & GET_VALUES_SETUP_RPM) {
buffer_append_float32(send_buffer, mc_interface_get_rpm(), 1e0, &ind);
}
if (mask & ((uint32_t)1 << 6)) {
if (mask & GET_VALUES_SETUP_SPEED) {
buffer_append_float32(send_buffer, mc_interface_get_speed(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 7)) {
if (mask & GET_VALUES_SETUP_V_IN) {
buffer_append_float16(send_buffer, mc_interface_get_input_voltage_filtered(), 1e1, &ind);
}
if (mask & ((uint32_t)1 << 8)) {
if (mask & GET_VALUES_SETUP_BAT_LEVEL) {
buffer_append_float16(send_buffer, battery_level, 1e3, &ind);
}
if (mask & ((uint32_t)1 << 9)) {
if (mask & GET_VALUES_SETUP_AH_TOT) {
buffer_append_float32(send_buffer, val.ah_tot, 1e4, &ind);
}
if (mask & ((uint32_t)1 << 10)) {
if (mask & GET_VALUES_SETUP_AH_CHARGE_TOT) {
buffer_append_float32(send_buffer, val.ah_charge_tot, 1e4, &ind);
}
if (mask & ((uint32_t)1 << 11)) {
if (mask & GET_VALUES_SETUP_WH_TOT) {
buffer_append_float32(send_buffer, val.wh_tot, 1e4, &ind);
}
if (mask & ((uint32_t)1 << 12)) {
if (mask & GET_VALUES_SETUP_WH_CHARGE_TOT) {
buffer_append_float32(send_buffer, val.wh_charge_tot, 1e4, &ind);
}
if (mask & ((uint32_t)1 << 13)) {
if (mask & GET_VALUES_SETUP_DISTANCE) {
buffer_append_float32(send_buffer, mc_interface_get_distance(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 14)) {
if (mask & GET_VALUES_SETUP_DISTANCE_ABS) {
buffer_append_float32(send_buffer, mc_interface_get_distance_abs(), 1e3, &ind);
}
if (mask & ((uint32_t)1 << 15)) {
if (mask & GET_VALUES_SETUP_PID_POS) {
buffer_append_float32(send_buffer, mc_interface_get_pid_pos_now(), 1e6, &ind);
}
if (mask & ((uint32_t)1 << 16)) {
if (mask & GET_VALUES_SETUP_FAULT_CODE) {
send_buffer[ind++] = mc_interface_get_fault();
}
if (mask & ((uint32_t)1 << 17)) {
if (mask & GET_VALUES_SETUP_CONTROLLER_ID) {
uint8_t current_controller_id = app_get_configuration()->controller_id;
#ifdef HW_HAS_DUAL_MOTORS
if (mc_interface_get_motor_thread() == 2) {
Expand All @@ -870,16 +871,16 @@ void commands_process_packet(unsigned char *data, unsigned int len,
#endif
send_buffer[ind++] = current_controller_id;
}
if (mask & ((uint32_t)1 << 18)) {
if (mask & GET_VALUES_SETUP_NUM_CONTROLLERS) {
send_buffer[ind++] = val.num_vescs;
}
if (mask & ((uint32_t)1 << 19)) {
if (mask & GET_VALUES_SETUP_WH_BAT_LEFT) {
buffer_append_float32(send_buffer, wh_batt_left, 1e3, &ind);
}
if (mask & ((uint32_t)1 << 20)) {
if (mask & GET_VALUES_SETUP_ODOMETER) {
buffer_append_uint32(send_buffer, mc_interface_get_odometer(), &ind);
}
if (mask & ((uint32_t)1 << 21)) {
if (mask & GET_VALUES_SETUP_SYSTIME) {
buffer_append_uint32(send_buffer, chVTGetSystemTimeX() / (CH_CFG_ST_FREQUENCY / 1000), &ind);
}

Expand Down
48 changes: 48 additions & 0 deletions datatypes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1443,4 +1443,52 @@ typedef struct __attribute__((packed)) {
uint8_t hw_config[128];
} backup_data;

/* These are for the packet type 'COMM_GET_VALUES_SETUP_SELECTIVE' */
#define GET_VALUES_SETUP_FET_TEMP ((uint32_t)1 << 0)
#define GET_VALUES_SETUP_MC_TEMP ((uint32_t)1 << 1)
#define GET_VALUES_SETUP_CURRENT_TOT ((uint32_t)1 << 2)
#define GET_VALUES_SETUP_CURRENT_IN_TOT ((uint32_t)1 << 3)
#define GET_VALUES_SETUP_DUTY_CYCLE ((uint32_t)1 << 4)
#define GET_VALUES_SETUP_RPM ((uint32_t)1 << 5)
#define GET_VALUES_SETUP_SPEED ((uint32_t)1 << 6)
#define GET_VALUES_SETUP_V_IN ((uint32_t)1 << 7)
#define GET_VALUES_SETUP_BAT_LEVEL ((uint32_t)1 << 8)
#define GET_VALUES_SETUP_AH_TOT ((uint32_t)1 << 9)
#define GET_VALUES_SETUP_AH_CHARGE_TOT ((uint32_t)1 << 10)
#define GET_VALUES_SETUP_WH_TOT ((uint32_t)1 << 11)
#define GET_VALUES_SETUP_WH_CHARGE_TOT ((uint32_t)1 << 12)
#define GET_VALUES_SETUP_DISTANCE ((uint32_t)1 << 13)
#define GET_VALUES_SETUP_DISTANCE_ABS ((uint32_t)1 << 14)
#define GET_VALUES_SETUP_PID_POS ((uint32_t)1 << 15)
#define GET_VALUES_SETUP_FAULT_CODE ((uint32_t)1 << 16)
#define GET_VALUES_SETUP_CONTROLLER_ID ((uint32_t)1 << 17)
#define GET_VALUES_SETUP_NUM_CONTROLLERS ((uint32_t)1 << 18)
#define GET_VALUES_SETUP_WH_BAT_LEFT ((uint32_t)1 << 19)
#define GET_VALUES_SETUP_ODOMETER ((uint32_t)1 << 20)
#define GET_VALUES_SETUP_SYSTIME ((uint32_t)1 << 21)

/* These are for the packet type 'COMM_GET_VALUES_SELECTIVE' */
#define GET_VALUES_FET_TEMP_FILT ((uint32_t)1 << 0)
#define GET_VALUES_MC_TEMP_FILT ((uint32_t)1 << 1)
#define GET_VALUES_AVG_MOTOR_CURRENT ((uint32_t)1 << 2)
#define GET_VALUES_AVG_IN_CURRENT ((uint32_t)1 << 3)
#define GET_VALUES_AVG_ID ((uint32_t)1 << 4)
#define GET_VALUES_AVG_IQ ((uint32_t)1 << 5)
#define GET_VALUES_DUTY_CYCLE ((uint32_t)1 << 6)
#define GET_VALUES_RPM ((uint32_t)1 << 7)
#define GET_VALUES_V_IN ((uint32_t)1 << 8)
#define GET_VALUES_AH ((uint32_t)1 << 9)
#define GET_VALUES_AH_CHARGED ((uint32_t)1 << 10)
#define GET_VALUES_WH ((uint32_t)1 << 11)
#define GET_VALUES_WH_CHARGED ((uint32_t)1 << 12)
#define GET_VALUES_TACHO ((uint32_t)1 << 13)
#define GET_VALUES_TACHO_ABS ((uint32_t)1 << 14)
#define GET_VALUES_FAULT_CODE ((uint32_t)1 << 15)
#define GET_VALUES_PID_POS ((uint32_t)1 << 16)
#define GET_VALUES_CONTROLLER_ID ((uint32_t)1 << 17)
#define GET_VALUES_NTC_TEMP_MOS ((uint32_t)1 << 18)
#define GET_VALUES_AVG_VD ((uint32_t)1 << 19)
#define GET_VALUES_AVG_VQ ((uint32_t)1 << 20)
#define GET_VALUES_STATUS ((uint32_t)1 << 21)

#endif /* DATATYPES_H_ */