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commands.cpp
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/*
Copyright 2016 - 2019 Benjamin Vedder [email protected]
This file is part of VESC Tool.
VESC Tool is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
VESC Tool is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "commands.h"
#include <QDebug>
Commands::Commands(QObject *parent) : QObject(parent)
{
mSendCan = false;
mCanId = -1;
mIsLimitedMode = false;
mLimitedSupportsFwdAllCan = false;
mLimitedSupportsEraseBootloader = false;
mCheckNextMcConfig = false;
mTimer = new QTimer(this);
mTimer->setInterval(10);
mTimer->start();
mMcConfig = nullptr;
mAppConfig = nullptr;
mTimeoutCount = 100;
mTimeoutFwVer = 0;
mTimeoutMcconf = 0;
mTimeoutAppconf = 0;
mTimeoutValues = 0;
mTimeoutValuesSetup = 0;
mTimeoutImuData = 0;
mTimeoutDecPpm = 0;
mTimeoutDecAdc = 0;
mTimeoutDecChuk = 0;
mTimeoutDecBalance = 0;
mTimeoutPingCan = 0;
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
void Commands::setLimitedMode(bool is_limited)
{
mIsLimitedMode = is_limited;
}
bool Commands::isLimitedMode()
{
return mIsLimitedMode;
}
bool Commands::setSendCan(bool sendCan, int id)
{
if (id >= 0) {
mCanId = id;
}
if (mCanId >= 0) {
mSendCan = sendCan;
} else {
mSendCan = false;
}
return mSendCan == sendCan;
}
bool Commands::getSendCan()
{
return mSendCan;
}
void Commands::setCanSendId(unsigned int id)
{
mCanId = int(id);
}
int Commands::getCanSendId()
{
return mCanId;
}
void Commands::processPacket(QByteArray data)
{
VByteArray vb(data);
COMM_PACKET_ID id = COMM_PACKET_ID(vb.vbPopFrontUint8());
switch (id) {
case COMM_FW_VERSION: {
mTimeoutFwVer = 0;
int fw_major = -1;
int fw_minor = -1;
QString hw;
QByteArray uuid;
bool isPaired = false;
if (vb.size() >= 2) {
fw_major = vb.vbPopFrontInt8();
fw_minor = vb.vbPopFrontInt8();
hw = vb.vbPopFrontString();
}
if (vb.size() >= 12) {
uuid.append(vb.left(12));
vb.remove(0, 12);
}
if (vb.size() >= 1) {
isPaired = vb.vbPopFrontInt8();
}
emit fwVersionReceived(fw_major, fw_minor, hw, uuid, isPaired);
} break;
case COMM_ERASE_NEW_APP:
emit eraseNewAppResReceived(vb.at(0));
break;
case COMM_WRITE_NEW_APP_DATA:
emit writeNewAppDataResReceived(vb.at(0));
break;
case COMM_ERASE_BOOTLOADER:
emit eraseBootloaderResReceived(vb.at(0));
break;
case COMM_GET_VALUES:
case COMM_GET_VALUES_SELECTIVE: {
mTimeoutValues = 0;
MC_VALUES values;
uint32_t mask = 0xFFFFFFFF;
if (id == COMM_GET_VALUES_SELECTIVE) {
mask = vb.vbPopFrontUint32();
}
if (mask & (uint32_t(1) << 0)) {
values.temp_mos = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 1)) {
values.temp_motor = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 2)) {
values.current_motor = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 3)) {
values.current_in = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 4)) {
values.id = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 5)) {
values.iq = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 6)) {
values.duty_now = vb.vbPopFrontDouble16(1e3);
}
if (mask & (uint32_t(1) << 7)) {
values.rpm = vb.vbPopFrontDouble32(1e0);
}
if (mask & (uint32_t(1) << 8)) {
values.v_in = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 9)) {
values.amp_hours = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 10)) {
values.amp_hours_charged = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 11)) {
values.watt_hours = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 12)) {
values.watt_hours_charged = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 13)) {
values.tachometer = vb.vbPopFrontInt32();
}
if (mask & (uint32_t(1) << 14)) {
values.tachometer_abs = vb.vbPopFrontInt32();
}
if (mask & (uint32_t(1) << 15)) {
values.fault_code = mc_fault_code(vb.vbPopFrontInt8());
values.fault_str = faultToStr(values.fault_code);
}
if (vb.size() >= 4) {
if (mask & (uint32_t(1) << 16)) {
values.position = vb.vbPopFrontDouble32(1e6);
}
} else {
values.position = -1.0;
}
if (vb.size() >= 1) {
if (mask & (uint32_t(1) << 17)) {
values.vesc_id = vb.vbPopFrontUint8();
}
} else {
values.vesc_id = 255;
}
if (vb.size() >= 6) {
if (mask & (uint32_t(1) << 18)) {
values.temp_mos_1 = vb.vbPopFrontDouble16(1e1);
values.temp_mos_2 = vb.vbPopFrontDouble16(1e1);
values.temp_mos_3 = vb.vbPopFrontDouble16(1e1);
}
}
if (vb.size() >= 8) {
if (mask & (uint32_t(1) << 19)) {
values.vd = vb.vbPopFrontDouble32(1e3);
}
if (mask & (uint32_t(1) << 20)) {
values.vq = vb.vbPopFrontDouble32(1e3);
}
}
emit valuesReceived(values, mask);
} break;
case COMM_PRINT:
emit printReceived(QString::fromLatin1(vb));
break;
case COMM_SAMPLE_PRINT:
emit samplesReceived(vb);
break;
case COMM_ROTOR_POSITION:
emit rotorPosReceived(vb.vbPopFrontDouble32(1e5));
break;
case COMM_EXPERIMENT_SAMPLE: {
QVector<double> samples;
while (!vb.isEmpty()) {
samples.append(vb.vbPopFrontDouble32(1e4));
}
emit experimentSamplesReceived(samples);
} break;
case COMM_GET_MCCONF:
case COMM_GET_MCCONF_DEFAULT:
mTimeoutMcconf = 0;
if (mMcConfig) {
if (mMcConfig->deSerialize(vb)) {
mMcConfig->updateDone();
if (mCheckNextMcConfig) {
mCheckNextMcConfig = false;
emit mcConfigCheckResult(mMcConfig->checkDifference(&mMcConfigLast));
}
} else {
emit deserializeConfigFailed(true, false);
}
}
break;
case COMM_GET_APPCONF:
case COMM_GET_APPCONF_DEFAULT:
mTimeoutAppconf = 0;
if (mAppConfig) {
if (mAppConfig->deSerialize(vb)) {
mAppConfig->updateDone();
} else {
emit deserializeConfigFailed(false, true);
}
}
break;
case COMM_DETECT_MOTOR_PARAM: {
bldc_detect param;
param.cycle_int_limit = vb.vbPopFrontDouble32(1e3);
param.bemf_coupling_k = vb.vbPopFrontDouble32(1e3);
for (int i = 0;i < 8;i++) {
param.hall_table.append(int(vb.vbPopFrontUint8()));
}
param.hall_res = int(vb.vbPopFrontUint8());
emit bldcDetectReceived(param);
} break;
case COMM_DETECT_MOTOR_R_L: {
double r = vb.vbPopFrontDouble32(1e6);
double l = vb.vbPopFrontDouble32(1e3);
emit motorRLReceived(r, l);
} break;
case COMM_DETECT_MOTOR_FLUX_LINKAGE: {
emit motorLinkageReceived(vb.vbPopFrontDouble32(1e7));
} break;
case COMM_DETECT_ENCODER: {
double offset = vb.vbPopFrontDouble32(1e6);
double ratio = vb.vbPopFrontDouble32(1e6);
bool inverted = vb.vbPopFrontInt8();
emit encoderParamReceived(offset, ratio, inverted);
} break;
case COMM_DETECT_HALL_FOC: {
QVector<int> table;
for (int i = 0;i < 8;i++) {
table.append(vb.vbPopFrontUint8());
}
int res = vb.vbPopFrontUint8();
emit focHallTableReceived(table, res);
} break;
case COMM_GET_DECODED_PPM: {
mTimeoutDecPpm = 0;
double dec_ppm = vb.vbPopFrontDouble32(1e6);
double ppm_last_len = vb.vbPopFrontDouble32(1e6);
emit decodedPpmReceived(dec_ppm, ppm_last_len);
} break;
case COMM_GET_DECODED_ADC: {
mTimeoutDecAdc = 0;
double dec_adc = vb.vbPopFrontDouble32(1e6);
double dec_adc_voltage = vb.vbPopFrontDouble32(1e6);
double dec_adc2 = vb.vbPopFrontDouble32(1e6);
double dec_adc_voltage2 = vb.vbPopFrontDouble32(1e6);
emit decodedAdcReceived(dec_adc, dec_adc_voltage, dec_adc2, dec_adc_voltage2);
} break;
case COMM_GET_DECODED_CHUK:
mTimeoutDecChuk = 0;
emit decodedChukReceived(vb.vbPopFrontDouble32(1000000.0));
break;
case COMM_GET_DECODED_BALANCE: {
mTimeoutDecBalance = 0;
BALANCE_VALUES values;
values.pid_output = vb.vbPopFrontDouble32(1e6);
values.m_angle = vb.vbPopFrontDouble32(1e6);
values.c_angle = vb.vbPopFrontDouble32(1e6);
values.diff_time = vb.vbPopFrontUint32();
values.motor_current = vb.vbPopFrontDouble32(1e6);
values.motor_position = vb.vbPopFrontDouble32(1e6);
values.state = vb.vbPopFrontUint16();
values.switch_value = vb.vbPopFrontUint16();
values.adc1 = vb.vbPopFrontDouble32(1e6);
values.adc2 = vb.vbPopFrontDouble32(1e6);
emit decodedBalanceReceived(values);
} break;
case COMM_SET_MCCONF:
emit ackReceived("MCCONF Write OK");
break;
case COMM_SET_APPCONF:
emit ackReceived("APPCONF Write OK");
break;
case COMM_CUSTOM_APP_DATA:
emit customAppDataReceived(vb);
break;
case COMM_NRF_START_PAIRING:
emit nrfPairingRes(NRF_PAIR_RES(vb.vbPopFrontInt8()));
break;
case COMM_GPD_BUFFER_NOTIFY:
emit gpdBufferNotifyReceived();
break;
case COMM_GPD_BUFFER_SIZE_LEFT:
emit gpdBufferSizeLeftReceived(vb.vbPopFrontInt16());
break;
case COMM_GET_VALUES_SETUP:
case COMM_GET_VALUES_SETUP_SELECTIVE: {
mTimeoutValuesSetup = 0;
SETUP_VALUES values;
uint32_t mask = 0xFFFFFFFF;
if (id == COMM_GET_VALUES_SETUP_SELECTIVE) {
mask = vb.vbPopFrontUint32();
}
if (mask & (uint32_t(1) << 0)) {
values.temp_mos = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 1)) {
values.temp_motor = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 2)) {
values.current_motor = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 3)) {
values.current_in = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 4)) {
values.duty_now = vb.vbPopFrontDouble16(1e3);
}
if (mask & (uint32_t(1) << 5)) {
values.rpm = vb.vbPopFrontDouble32(1e0);
}
if (mask & (uint32_t(1) << 6)) {
values.speed = vb.vbPopFrontDouble32(1e3);
}
if (mask & (uint32_t(1) << 7)) {
values.v_in = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 8)) {
values.battery_level = vb.vbPopFrontDouble16(1e3);
}
if (mask & (uint32_t(1) << 9)) {
values.amp_hours = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 10)) {
values.amp_hours_charged = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 11)) {
values.watt_hours = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 12)) {
values.watt_hours_charged = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 13)) {
values.tachometer = vb.vbPopFrontDouble32(1e3);
}
if (mask & (uint32_t(1) << 14)) {
values.tachometer_abs = vb.vbPopFrontDouble32(1e3);
}
if (mask & (uint32_t(1) << 15)) {
values.position = vb.vbPopFrontDouble32(1e6);
}
if (mask & (uint32_t(1) << 16)) {
values.fault_code = mc_fault_code(vb.vbPopFrontInt8());
values.fault_str = faultToStr(values.fault_code);
}
if (mask & (uint32_t(1) << 17)) {
values.vesc_id = vb.vbPopFrontUint8();
}
if (mask & (uint32_t(1) << 18)) {
values.num_vescs = vb.vbPopFrontUint8();
}
if (mask & (uint32_t(1) << 19)) {
values.battery_wh = vb.vbPopFrontDouble32(1e3);
}
emit valuesSetupReceived(values, mask);
} break;
case COMM_SET_MCCONF_TEMP:
emit ackReceived("COMM_SET_MCCONF_TEMP Write OK");
break;
case COMM_SET_MCCONF_TEMP_SETUP:
emit ackReceived("COMM_SET_MCCONF_TEMP_SETUP Write OK");
break;
case COMM_DETECT_MOTOR_FLUX_LINKAGE_OPENLOOP:
emit motorLinkageReceived(vb.vbPopFrontDouble32(1e7));
break;
case COMM_DETECT_APPLY_ALL_FOC:
emit detectAllFocReceived(vb.vbPopFrontInt16());
break;
case COMM_PING_CAN: {
mTimeoutPingCan = 0;
QVector<int> devs;
while(vb.size() > 0) {
devs.append(vb.vbPopFrontUint8());
}
emit pingCanRx(devs, false);
} break;
case COMM_GET_IMU_DATA: {
mTimeoutImuData = 0;
IMU_VALUES values;
uint32_t mask = vb.vbPopFrontUint16();
if (mask & (uint32_t(1) << 0)) {
values.roll = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 1)) {
values.pitch = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 2)) {
values.yaw = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 3)) {
values.accX = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 4)) {
values.accY = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 5)) {
values.accZ = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 6)) {
values.gyroX = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 7)) {
values.gyroY = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 8)) {
values.gyroZ = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 9)) {
values.magX = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 10)) {
values.magY = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 11)) {
values.magZ = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 12)) {
values.q0 = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 13)) {
values.q1 = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 14)) {
values.q2 = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 15)) {
values.q3 = vb.vbPopFrontDouble32Auto();
}
emit valuesImuReceived(values, mask);
} break;
case COMM_BM_CONNECT:
emit bmConnRes(vb.vbPopFrontInt16());
break;
case COMM_BM_ERASE_FLASH_ALL:
emit bmEraseFlashAllRes(vb.vbPopFrontInt16());
break;
case COMM_BM_WRITE_FLASH:
case COMM_BM_WRITE_FLASH_LZO:
emit bmWriteFlashRes(vb.vbPopFrontInt16());
break;
case COMM_BM_REBOOT:
emit bmRebootRes(vb.vbPopFrontInt16());
break;
case COMM_BM_DISCONNECT:
emit ackReceived("COMM_BM_DISCONNECT OK");
break;
case COMM_BM_MAP_PINS_DEFAULT:
emit bmMapPinsDefaultRes(vb.vbPopFrontInt16());
break;
case COMM_BM_MAP_PINS_NRF5X:
emit bmMapPinsNrf5xRes(vb.vbPopFrontInt16());
break;
case COMM_PLOT_INIT: {
QString xL = vb.vbPopFrontString();
QString yL = vb.vbPopFrontString();
emit plotInitReceived(xL, yL);
} break;
case COMM_PLOT_DATA: {
double x = vb.vbPopFrontDouble32Auto();
double y = vb.vbPopFrontDouble32Auto();
emit plotDataReceived(x, y);
} break;
case COMM_PLOT_ADD_GRAPH: {
emit plotAddGraphReceived(vb.vbPopFrontString());
} break;
case COMM_PLOT_SET_GRAPH: {
emit plotSetGraphReceived(vb.vbPopFrontInt8());
} break;
case COMM_BM_MEM_READ: {
int res = vb.vbPopFrontInt16();
emit bmReadMemRes(res, vb);
} break;
case COMM_CAN_FWD_FRAME: {
quint32 id = vb.vbPopFrontUint32();
bool isExtended = vb.vbPopFrontInt8();
emit canFrameRx(vb, id, isExtended);
} break;
default:
break;
}
}
void Commands::getFwVersion()
{
if (mTimeoutFwVer > 0) {
return;
}
mTimeoutFwVer = mTimeoutCount;
VByteArray vb;
vb.vbAppendInt8(COMM_FW_VERSION);
emitData(vb);
}
void Commands::eraseNewApp(bool fwdCan, quint32 fwSize)
{
VByteArray vb;
vb.vbAppendInt8(fwdCan ? COMM_ERASE_NEW_APP_ALL_CAN :
COMM_ERASE_NEW_APP);
vb.vbAppendUint32(fwSize);
emitData(vb);
}
void Commands::eraseBootloader(bool fwdCan)
{
VByteArray vb;
vb.vbAppendInt8(fwdCan ? COMM_ERASE_BOOTLOADER_ALL_CAN :
COMM_ERASE_BOOTLOADER);
emitData(vb);
}
void Commands::writeNewAppData(QByteArray data, quint32 offset, bool fwdCan)
{
VByteArray vb;
vb.vbAppendInt8(fwdCan ? COMM_WRITE_NEW_APP_DATA_ALL_CAN :
COMM_WRITE_NEW_APP_DATA);
vb.vbAppendUint32(offset);
vb.append(data);
emitData(vb);
}
void Commands::writeNewAppDataLzo(QByteArray data, quint32 offset, quint16 decompressedLen, bool fwdCan)
{
VByteArray vb;
vb.vbAppendInt8(fwdCan ? COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO :
COMM_WRITE_NEW_APP_DATA_LZO);
vb.vbAppendUint32(offset);
vb.vbAppendUint16(decompressedLen);
vb.append(data);
emitData(vb);
}
void Commands::jumpToBootloader(bool fwdCan)
{
VByteArray vb;
vb.vbAppendInt8(fwdCan ? COMM_JUMP_TO_BOOTLOADER_ALL_CAN :
COMM_JUMP_TO_BOOTLOADER);
emitData(vb);
}
void Commands::getValues()
{
if (mTimeoutValues > 0) {
return;
}
mTimeoutValues = mTimeoutCount;
VByteArray vb;
vb.vbAppendInt8(COMM_GET_VALUES);
emitData(vb);
}
void Commands::sendTerminalCmd(QString cmd)
{
VByteArray vb;
vb.vbAppendInt8(COMM_TERMINAL_CMD);
vb.append(cmd.toLatin1());
emitData(vb);
}
void Commands::sendTerminalCmdSync(QString cmd)
{
VByteArray vb;
vb.vbAppendInt8(COMM_TERMINAL_CMD_SYNC);
vb.append(cmd.toLatin1());
emitData(vb);
}
void Commands::setDutyCycle(double dutyCycle)
{
VByteArray vb;
vb.vbAppendInt8(COMM_SET_DUTY);
vb.vbAppendDouble32(dutyCycle, 1e5);
emitData(vb);
}
void Commands::setCurrent(double current)
{
VByteArray vb;
vb.vbAppendInt8(COMM_SET_CURRENT);
vb.vbAppendDouble32(current, 1e3);
emitData(vb);
}
void Commands::setCurrentBrake(double current)
{
VByteArray vb;
vb.vbAppendInt8(COMM_SET_CURRENT_BRAKE);
vb.vbAppendDouble32(current, 1e3);
emitData(vb);
}
void Commands::setRpm(int rpm)
{
VByteArray vb;
vb.vbAppendInt8(COMM_SET_RPM);
vb.vbAppendInt32(rpm);
emitData(vb);
}
void Commands::setPos(double pos)
{
VByteArray vb;
vb.vbAppendInt8(COMM_SET_POS);
vb.vbAppendDouble32(pos, 1e6);
emitData(vb);
}
void Commands::setHandbrake(double current)
{
VByteArray vb;
vb.vbAppendInt8(COMM_SET_HANDBRAKE);
vb.vbAppendDouble32(current, 1e3);
emitData(vb);
}
void Commands::setDetect(disp_pos_mode mode)
{
VByteArray vb;
vb.vbAppendInt8(COMM_SET_DETECT);
vb.vbAppendInt8(mode);
emitData(vb);
}
void Commands::samplePrint(debug_sampling_mode mode, int sample_len, int dec)
{
VByteArray vb;
vb.vbAppendInt8(COMM_SAMPLE_PRINT);
vb.vbAppendInt8(mode);
vb.vbAppendUint16(sample_len);
vb.vbAppendUint8(dec);
emitData(vb);
}
void Commands::getMcconf()
{
if (mTimeoutMcconf > 0) {
return;
}
mTimeoutMcconf = mTimeoutCount;
mCheckNextMcConfig = false;
VByteArray vb;
vb.vbAppendInt8(COMM_GET_MCCONF);
emitData(vb);
}
void Commands::getMcconfDefault()
{
if (mTimeoutMcconf > 0) {
return;
}
mTimeoutMcconf = mTimeoutCount;
mCheckNextMcConfig = false;
VByteArray vb;
vb.vbAppendInt8(COMM_GET_MCCONF_DEFAULT);
emitData(vb);
}
void Commands::setMcconf(bool check)
{
if (mMcConfig) {
mMcConfigLast = *mMcConfig;
VByteArray vb;
vb.vbAppendInt8(COMM_SET_MCCONF);
mMcConfig->serialize(vb);
emitData(vb);
if (check) {
checkMcConfig();
}
}
}
void Commands::getAppConf()
{
if (mTimeoutAppconf > 0) {
return;
}
mTimeoutAppconf = mTimeoutCount;
VByteArray vb;
vb.vbAppendInt8(COMM_GET_APPCONF);
emitData(vb);
}
void Commands::getAppConfDefault()
{
if (mTimeoutAppconf > 0) {
return;
}
mTimeoutAppconf = mTimeoutCount;
VByteArray vb;
vb.vbAppendInt8(COMM_GET_APPCONF_DEFAULT);
emitData(vb);
}
void Commands::setAppConf()
{
if (mAppConfig) {
VByteArray vb;
vb.vbAppendInt8(COMM_SET_APPCONF);
mAppConfig->serialize(vb);
emitData(vb);
}
}
void Commands::detectMotorParam(double current, double min_rpm, double low_duty)
{
VByteArray vb;
vb.vbAppendInt8(COMM_DETECT_MOTOR_PARAM);
vb.vbAppendDouble32(current, 1e3);
vb.vbAppendDouble32(min_rpm, 1e3);
vb.vbAppendDouble32(low_duty, 1e3);
emitData(vb);
}
void Commands::reboot()
{
VByteArray vb;
vb.vbAppendInt8(COMM_REBOOT);
emitData(vb);
}
void Commands::sendAlive()
{
VByteArray vb;
vb.vbAppendInt8(COMM_ALIVE);
emitData(vb);
}
void Commands::getDecodedPpm()
{
if (mTimeoutDecPpm > 0) {
return;
}
mTimeoutDecPpm = mTimeoutCount;
VByteArray vb;
vb.vbAppendInt8(COMM_GET_DECODED_PPM);
emitData(vb);
}
void Commands::getDecodedAdc()
{
if (mTimeoutDecAdc > 0) {
return;
}
mTimeoutDecAdc = mTimeoutCount;
VByteArray vb;
vb.vbAppendInt8(COMM_GET_DECODED_ADC);
emitData(vb);
}
void Commands::getDecodedChuk()
{
if (mTimeoutDecChuk > 0) {
return;
}
mTimeoutDecChuk = mTimeoutCount;
VByteArray vb;
vb.vbAppendInt8(COMM_GET_DECODED_CHUK);
emitData(vb);
}
void Commands::getDecodedBalance()
{
if (mTimeoutDecBalance > 0) {
return;
}
mTimeoutDecBalance = mTimeoutCount;
VByteArray vb;
vb.vbAppendInt8(COMM_GET_DECODED_BALANCE);
emitData(vb);
}
void Commands::setServoPos(double pos)
{
VByteArray vb;
vb.vbAppendInt8(COMM_SET_SERVO_POS);
vb.vbAppendDouble16(pos, 1e3);
emitData(vb);
}
void Commands::measureRL()
{
VByteArray vb;
vb.vbAppendInt8(COMM_DETECT_MOTOR_R_L);
emitData(vb);
}
void Commands::measureLinkage(double current, double min_rpm, double low_duty, double resistance)
{
VByteArray vb;
vb.vbAppendInt8(COMM_DETECT_MOTOR_FLUX_LINKAGE);
vb.vbAppendDouble32(current, 1e3);
vb.vbAppendDouble32(min_rpm, 1e3);
vb.vbAppendDouble32(low_duty, 1e3);
vb.vbAppendDouble32(resistance, 1e6);
emitData(vb);
}
void Commands::measureEncoder(double current)
{
VByteArray vb;
vb.vbAppendInt8(COMM_DETECT_ENCODER);
vb.vbAppendDouble32(current, 1e3);
emitData(vb);
}
void Commands::measureHallFoc(double current)
{
VByteArray vb;
vb.vbAppendInt8(COMM_DETECT_HALL_FOC);
vb.vbAppendDouble32(current, 1e3);
emitData(vb);
}
void Commands::sendCustomAppData(QByteArray data)
{
VByteArray vb;
vb.vbAppendInt8(COMM_CUSTOM_APP_DATA);
vb.append(data);
emitData(vb);
}
void Commands::sendCustomAppData(unsigned char *data, unsigned int len)
{
QByteArray ba((char*)data, len);
sendCustomAppData(ba);
}
void Commands::setChukData(chuck_data &data)
{
VByteArray vb;
vb.vbAppendInt8(COMM_SET_CHUCK_DATA);
vb.vbAppendUint8(data.js_x);
vb.vbAppendUint8(data.js_y);
vb.vbAppendUint8(data.bt_c);
vb.vbAppendUint8(data.bt_z);
vb.vbAppendInt16(data.acc_x);
vb.vbAppendInt16(data.acc_y);
vb.vbAppendInt16(data.acc_z);
emitData(vb);
}
void Commands::pairNrf(int ms)
{
VByteArray vb;
vb.vbAppendInt8(COMM_NRF_START_PAIRING);
vb.vbAppendInt32(ms);
emitData(vb);
}
void Commands::gpdSetFsw(float fsw)
{