Arduino-FOC-drivers/src/comms/streams/PacketCommander.h at master · Santynolo/Arduino-FOC-drivers · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45


#pragma once


#include "../SimpleFOCRegisters.h"


#if !defined(PACKETCOMMANDER_MAX_MOTORS)
#define PACKETCOMMANDER_MAX_MOTORS 4
#endif


class PacketCommander {
public:
    PacketCommander(bool echo = false);
    virtual ~PacketCommander();

    void addMotor(FOCMotor* motor);

    virtual void init(PacketIO& io);
    virtual void run();

    bool echo = true;
protected:

    virtual bool commsToRegister(uint8_t reg);
    virtual bool registerToComms(uint8_t reg);
    virtual void handleRegisterPacket(bool write, uint8_t reg);
    virtual bool handlePacket(Packet& packet);

    FOCMotor* motors[PACKETCOMMANDER_MAX_MOTORS];
    uint8_t numMotors = 0;

    uint8_t curMotor = 0;
    uint8_t curRegister = REG_STATUS;

    bool commanderror = false;
    bool lastcommanderror = false;
    uint8_t lastcommandregister = REG_STATUS;

    PacketIO* _io;
    Packet curr_packet = Packet(0x00, 0x00);
};