firmware_settings.h

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#ifndef FIRMWARE_SETTINGS_HPP_
#define FIRMWARE_SETTINGS_HPP_
 
typedef struct __attribute__((packed, aligned(1))) {
  int16_t front;
  int16_t rear;
} ServoOffset_t;
 
typedef struct __attribute__((packed)) {
  float motor_current_max; /* Ampere */
 
  float erpm_max;
 
  float max_brake_current; /* Ampere */
 
  ServoOffset_t max_servo_offset; /* shall be positive */
 
  uint16_t manual_override_difference;
 
  /* if true the car will take the RC steering values in autonomous mode */
  uint8_t use_rc_to_steer;
 
  /* set erpm instead of motor current with RC */
  uint8_t rc_use_erpm;
 
  /* can be negative, depends in which direction the wheels should steer in
   * idle*/
  ServoOffset_t servo_offset;
 
  float motor_current_max_rc;
 
  float erpm_max_rc;
} FirmwareSetup_t;
/*
 * tests to ensure that alignment works as intended
 * Further info here: https://www.embedded.com/design/prototyping-and-development/4024941/Learn-a-new-trick-with-the-offsetof--macro
 */
/* disable warnings for this one, only fail on error */
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-variable"
static union {
  char wrong_offset_motor_current_max[(offsetof(FirmwareSetup_t, motor_current_max) == 0) ? 1 : -1];
 
  char wrong_offset_erpm_max[(offsetof(FirmwareSetup_t, erpm_max) == 4) ? 1 : -1];
 
  char wrong_offset_max_brake_current[(offsetof(FirmwareSetup_t, max_brake_current) == 4 + 4) ? 1 : -1];
 
  char wrong_offset_max_servo_offset[(offsetof(FirmwareSetup_t, max_servo_offset) == 12) ? 1 : -1];
 
  char wrong_offset_manual_override_difference[(offsetof(FirmwareSetup_t, manual_override_difference) == 12 + 4) ? 1 : -1];
 
  char wrong_offset_use_rc_to_steer[(offsetof(FirmwareSetup_t, use_rc_to_steer) == 12 + 4 + 2) ? 1 : -1];
 
  char wrong_offset_rc_use_erpm[(offsetof(FirmwareSetup_t, rc_use_erpm) == 12 + 4 + 2 + 1) ? 1 : -1];
 
  char wrong_offset_servo_offset[(offsetof(FirmwareSetup_t, servo_offset) == 12 + 4 + 2 + 1 + 1) ? 1 : -1];
 
  char wrong_offset_motor_current_max_rc[(offsetof(FirmwareSetup_t, motor_current_max_rc) == 12 + 4 + 2 + 1 + 1 + 4) ? 1 : -1];
 
  char wrong_offset_erpm_max_rc[(offsetof(FirmwareSetup_t, erpm_max_rc) == 12 + 4 + 2 + 1 + 1 + 4 + 4) ? 1 : -1];
 
  char wrong_sizeof_packet[(sizeof(FirmwareSetup_t) == 32) ? 1 : -1];
} FirmwareSetupTest;
/* enable all warnings again */
#pragma GCC diagnostic pop
 
#endif /* ifndef FIRMWARE_SETTINGS_HPP_ */