private static void parseChannel(Tag tag, SmcChannel channel, string name, SmcChannelSettings cs, List <string> warnings)
{
if (assertChild(tag, name, warnings))
{
Tag channelTag = tag.children[name];
parseBool(channelTag, "Invert", ref cs.invert, warnings);
if (assertValue(channelTag, "AlternateUse", warnings))
{
try
{
cs.alternateUse = (SmcChannelAlternateUse)Enum.Parse(typeof(SmcChannelAlternateUse), channelTag.values["AlternateUse"]);
}
catch
{
warnings.Add("Invalid AlternateUse value \"" + channelTag.values["AlternateUse"] + "\".");
}
}
if (channel.type() == SmcChannelType.Analog && assertValue(channelTag, "PinMode", warnings))
{
try
{
cs.pinMode = (SmcPinMode)Enum.Parse(typeof(SmcPinMode), channelTag.values["PinMode"]);
}
catch
{
warnings.Add("Invalid PinMode value \"" + channelTag.values["PinMode"] + "\".");
}
}
parseU8(channelTag, "ScalingDegree", ref cs.scalingDegree, warnings);
parseRange(channelTag, "Error", ref cs.errorMin, ref cs.errorMax, warnings);
parseRange(channelTag, "Input", ref cs.inputMin, ref cs.inputMax, warnings);
parseRange(channelTag, "InputNeutral", ref cs.inputNeutralMin, ref cs.inputNeutralMax, warnings);
}
}
/// <summary>
/// Compares this object to another and sees if they have the same values.
/// </summary>
public override bool Equals(object x)
{
SmcChannelSettings s = x as SmcChannelSettings;
if (s == null)
{
return(false);
}
return(this.convertToStruct().Equals(s.convertToStruct()));
}
/// <summary>
/// Fixes certain thigns about a setttings object so that it doesn't make the device
/// do something invalid.
/// For each thing that gets fixed, a warning is added to the warnings list that is passed in.
/// </summary>
/// <param name="newSettings">The settings to fix.</param>
/// <param name="warnings">A list of warnings. This function will add items to the list.</param>
/// <param name="productId">The product ID of the device these settings will be used for.
/// If unknown, this argument should be 0.</param>
public static void fixSettings(SmcSettings newSettings, List <string> warnings, UInt16 productId)
{
if (newSettings.overTempMax < newSettings.overTempMin)
{
warnings.Add("The over-temperature minimum was lower than the over-temperature maximum. " +
"Both settings will be set to " + Smc.temperatureToString(newSettings.overTempMax) + " so the motor will shut off at that temperature.");
newSettings.overTempMin = newSettings.overTempMax;
}
if (newSettings.lowVinStartupMv < newSettings.lowVinShutoffMv)
{
if (newSettings.lowVinShutoffMv + 500 > UInt16.MaxValue)
{
newSettings.lowVinStartupMv = UInt16.MaxValue;
}
else
{
newSettings.lowVinStartupMv = (UInt16)(newSettings.lowVinShutoffMv + 500);
}
warnings.Add("The Low VIN Startup voltage was lower than the Low VIN Shutoff voltage (" + newSettings.lowVinShutoffMv / (decimal)1000 + " V). " +
"The Low VIN Startup voltage will be changed to " + newSettings.lowVinStartupMv / (decimal)1000 + " V.");
}
if (newSettings.highVinShutoffMv < newSettings.lowVinStartupMv)
{
newSettings.highVinShutoffMv = (new SmcSettings(productId).highVinShutoffMv);
warnings.Add("The High VIN Shutoff voltage was lower than the Low VIN Startup voltage (" + newSettings.lowVinStartupMv / (decimal)1000 + " V). " +
"The High VIN Shutoff voltage will be changed to " + newSettings.highVinShutoffMv / (decimal)1000 + " V.");
}
// Prevent the channel scaling values from being out of order (it's okay if they are equal)
foreach (SmcChannel channel in Smc.channels)
{
SmcChannelSettings cs = newSettings.getChannelSettings(channel);
if (cs.errorMin > cs.inputMin ||
cs.inputMin > cs.inputNeutralMin ||
cs.inputNeutralMin > cs.inputNeutralMax ||
cs.inputNeutralMax > cs.inputMax ||
cs.inputMax > cs.errorMax)
{
warnings.Add("The scaling values for " + channel.name() + " are out of order. They will be reset to their default settings.");
SmcChannelSettings defaults = SmcChannelSettings.defaults(channel);
cs.errorMin = defaults.errorMin;
cs.inputMin = defaults.inputMin;
cs.inputNeutralMin = defaults.inputNeutralMin;
cs.inputNeutralMax = defaults.inputNeutralMax;
cs.inputMax = defaults.inputMax;
cs.errorMax = defaults.errorMax;
}
}
fixMotorLimits(newSettings.forwardLimits, "forward", warnings);
fixMotorLimits(newSettings.reverseLimits, "reverse", warnings);
}
/// <summary>
/// Returns the default settings for the given channel.
/// </summary>
/// <param name="channel"></param>
/// <returns></returns>
public static SmcChannelSettings defaults(SmcChannel channel)
{
if (channel.type() == SmcChannelType.Analog)
{
return(SmcChannelSettings.defaultAnalogSettings());
}
else
{
return(SmcChannelSettings.defaultRCSettings());
}
}
/// <summary>
/// Returns the default settings for Analog channels.
/// </summary>
public static SmcChannelSettings defaultAnalogSettings()
{
var cs = new SmcChannelSettings();
cs.errorMin = 0;
cs.errorMax = 4095;
cs.inputMin = 40;
cs.inputMax = 4055;
cs.inputNeutralMin = 2015;
cs.inputNeutralMax = 2080;
return(cs);
}
/// <summary>
/// Returns the default settings for RC channels.
/// </summary>
public static SmcChannelSettings defaultRCSettings()
{
var cs = new SmcChannelSettings();
cs.errorMin = 500 * 4;
cs.errorMax = 2500 * 4;
cs.inputMin = 1000 * 4;
cs.inputMax = 2000 * 4;
cs.inputNeutralMin = 1475 * 4;
cs.inputNeutralMax = 1525 * 4;
return(cs);
}
/// <summary>
/// Constructs a new SmcSettings object that has the default settings for a particular product.
/// </summary>
/// <param name="productId">The product ID of the device. This determines the initial value of
/// some product-dependent parameters like highVinShutoffMv. Pass this argument as 0 if the
/// product ID is unknown at this time.
/// </param>
public SmcSettings(UInt16 productId)
{
rc1 = SmcChannelSettings.defaultRCSettings();
rc2 = SmcChannelSettings.defaultRCSettings();
analog1 = SmcChannelSettings.defaultAnalogSettings();
analog2 = SmcChannelSettings.defaultAnalogSettings();
forwardLimits = new SmcMotorLimits();
reverseLimits = new SmcMotorLimits();
if (productId == 0x99 || productId == 0x9D)
{
// For the versions with 40V MOSFETs:
this.highVinShutoffMv = 35000;
}
else
{
// For the versions with 30V MOSFETs:
this.highVinShutoffMv = 25000;
}
}
internal SmcSettings(SmcSettingsStruct s)
{
// [Add-new-settings-here]
this.neverSuspend = s.neverSuspend;
this.uartResponseDelay = s.uartResponseDelay;
this.useFixedBaudRate = s.useFixedBaudRate;
this.disableSafeStart = s.disableSafeStart;
this.fixedBaudRateBps = Smc.convertBaudRegisterToBps(s.fixedBaudRateRegister);
this.speedUpdatePeriod = s.speedUpdatePeriod;
this.commandTimeout = s.commandTimeout;
this.serialDeviceNumber = s.serialDeviceNumber;
this.crcMode = s.crcMode;
this.overTempMin = s.overTempMin;
this.overTempMax = s.overTempMax;
this.inputMode = s.inputMode;
this.pwmMode = s.pwmMode;
this.pwmPeriodFactor = s.pwmPeriodFactor;
this.mixingMode = s.mixingMode;
this.minPulsePeriod = s.minPulsePeriod;
this.maxPulsePeriod = s.maxPulsePeriod;
this.rcTimeout = s.rcTimeout;
this.ignorePotDisconnect = s.ignorePotDisconnect;
this.tempLimitGradual = s.tempLimitGradual;
this.consecGoodPulses = s.consecGoodPulses;
this.motorInvert = s.motorInvert;
this.speedZeroBrakeAmount = s.speedZeroBrakeAmount;
this.ignoreErrLineHigh = s.ignoreErrLineHigh;
this.vinMultiplierOffset = s.vinMultiplierOffset;
this.lowVinShutoffTimeout = s.lowVinShutoffTimeout;
this.lowVinShutoffMv = s.lowVinShutoffMv;
this.lowVinStartupMv = s.lowVinStartupMv;
this.highVinShutoffMv = s.highVinShutoffMv;
this.serialMode = s.serialMode;
this.rc1 = new SmcChannelSettings(s.rc1);
this.rc2 = new SmcChannelSettings(s.rc2);
this.analog1 = new SmcChannelSettings(s.analog1);
this.analog2 = new SmcChannelSettings(s.analog2);
this.forwardLimits = new SmcMotorLimits(s.forwardLimits);
this.reverseLimits = new SmcMotorLimits(s.reverseLimits);
}
private static void WriteElementChannelSettings(this XmlWriter writer, SmcChannel channel, SmcChannelSettings cs)
{
writer.WriteStartElement(channel.ToString());
writer.WriteElementString("AlternateUse", cs.alternateUse.ToString());
if (channel.type() == SmcChannelType.Analog)
{
writer.WriteElementString("PinMode", cs.pinMode.ToString());
}
writer.WriteElementBool("Invert", cs.invert);
writer.WriteElementU32("ScalingDegree", cs.scalingDegree);
writer.WriteElementRange("Error", cs.errorMin, cs.errorMax);
writer.WriteElementRange("Input", cs.inputMin, cs.inputMax);
writer.WriteElementRange("InputNeutral", cs.inputNeutralMin, cs.inputNeutralMax);
writer.WriteEndElement();
}
private static void parseChannel(Tag tag, SmcChannel channel, string name, SmcChannelSettings cs, List<string> warnings)
{
if (assertChild(tag, name, warnings))
{
Tag channelTag = tag.children[name];
parseBool(channelTag, "Invert", ref cs.invert, warnings);
if (assertValue(channelTag, "AlternateUse", warnings))
{
try
{
cs.alternateUse = (SmcChannelAlternateUse)Enum.Parse(typeof(SmcChannelAlternateUse), channelTag.values["AlternateUse"]);
}
catch
{
warnings.Add("Invalid AlternateUse value \"" + channelTag.values["AlternateUse"] + "\".");
}
}
if (channel.type() == SmcChannelType.Analog && assertValue(channelTag, "PinMode", warnings))
{
try
{
cs.pinMode = (SmcPinMode)Enum.Parse(typeof(SmcPinMode), channelTag.values["PinMode"]);
}
catch
{
warnings.Add("Invalid PinMode value \"" + channelTag.values["PinMode"] + "\".");
}
}
parseU8(channelTag, "ScalingDegree", ref cs.scalingDegree, warnings);
parseRange(channelTag, "Error", ref cs.errorMin, ref cs.errorMax, warnings);
parseRange(channelTag, "Input", ref cs.inputMin, ref cs.inputMax, warnings);
parseRange(channelTag, "InputNeutral", ref cs.inputNeutralMin, ref cs.inputNeutralMax, warnings);
}
}
/// <summary>
/// Returns the default settings for RC channels.
/// </summary>
public static SmcChannelSettings defaultRCSettings()
{
var cs = new SmcChannelSettings();
cs.errorMin = 500 * 4;
cs.errorMax = 2500 * 4;
cs.inputMin = 1000 * 4;
cs.inputMax = 2000 * 4;
cs.inputNeutralMin = 1475 * 4;
cs.inputNeutralMax = 1525 * 4;
return cs;
}
/// <summary>
/// Changes the settings for a specified channel.
/// </summary>
/// <param name="settings">The settings of the device. This object will be modified.</param>
/// <param name="channel">Specifies the channel to change.</param>
/// <param name="channelSettings">The new settings for the channel.</param>
public static void setChannelSettings(this SmcSettings settings, SmcChannel channel, SmcChannelSettings channelSettings)
{
switch (channel)
{
case SmcChannel.Analog1: settings.analog1 = channelSettings; break;
case SmcChannel.Analog2: settings.analog2 = channelSettings; break;
case SmcChannel.Rc1: settings.rc1 = channelSettings; break;
case SmcChannel.Rc2: settings.rc2 = channelSettings; break;
default: throw new Exception("Unknown Channel: " + channel.ToString());
}
}
internal SmcSettings(SmcSettingsStruct s)
{
// [Add-new-settings-here]
this.neverSuspend = s.neverSuspend;
this.uartResponseDelay = s.uartResponseDelay;
this.useFixedBaudRate = s.useFixedBaudRate;
this.disableSafeStart = s.disableSafeStart;
this.fixedBaudRateBps = Smc.convertBaudRegisterToBps(s.fixedBaudRateRegister);
this.speedUpdatePeriod = s.speedUpdatePeriod;
this.commandTimeout = s.commandTimeout;
this.serialDeviceNumber = s.serialDeviceNumber;
this.crcMode = s.crcMode;
this.overTempMin = s.overTempMin;
this.overTempMax = s.overTempMax;
this.inputMode = s.inputMode;
this.pwmMode = s.pwmMode;
this.pwmPeriodFactor = s.pwmPeriodFactor;
this.mixingMode = s.mixingMode;
this.minPulsePeriod = s.minPulsePeriod;
this.maxPulsePeriod = s.maxPulsePeriod;
this.rcTimeout = s.rcTimeout;
this.ignorePotDisconnect = s.ignorePotDisconnect;
this.tempLimitGradual = s.tempLimitGradual;
this.consecGoodPulses = s.consecGoodPulses;
this.motorInvert = s.motorInvert;
this.speedZeroBrakeAmount = s.speedZeroBrakeAmount;
this.ignoreErrLineHigh = s.ignoreErrLineHigh;
this.vinMultiplierOffset = s.vinMultiplierOffset;
this.lowVinShutoffTimeout = s.lowVinShutoffTimeout;
this.lowVinShutoffMv = s.lowVinShutoffMv;
this.lowVinStartupMv = s.lowVinStartupMv;
this.highVinShutoffMv = s.highVinShutoffMv;
this.serialMode = s.serialMode;
this.rc1 = new SmcChannelSettings(s.rc1);
this.rc2 = new SmcChannelSettings(s.rc2);
this.analog1 = new SmcChannelSettings(s.analog1);
this.analog2 = new SmcChannelSettings(s.analog2);
this.forwardLimits = new SmcMotorLimits(s.forwardLimits);
this.reverseLimits = new SmcMotorLimits(s.reverseLimits);
}
/// <summary>
/// Constructs a new SmcSettings object that has the default settings for a particular product.
/// </summary>
/// <param name="productId">The product ID of the device. This determines the initial value of
/// some product-dependent parameters like highVinShutoffMv. Pass this argument as 0 if the
/// product ID is unknown at this time.
/// </param>
public SmcSettings(UInt16 productId)
{
rc1 = SmcChannelSettings.defaultRCSettings();
rc2 = SmcChannelSettings.defaultRCSettings();
analog1 = SmcChannelSettings.defaultAnalogSettings();
analog2 = SmcChannelSettings.defaultAnalogSettings();
forwardLimits = new SmcMotorLimits();
reverseLimits = new SmcMotorLimits();
if (productId == 0x99 || productId == 0x9D)
{
// For the versions with 40V MOSFETs:
this.highVinShutoffMv = 35000;
}
else
{
// For the versions with 30V MOSFETs:
this.highVinShutoffMv = 25000;
}
}
private static void WriteElementChannelSettings(this XmlWriter writer, SmcChannel channel, SmcChannelSettings cs)
{
writer.WriteStartElement(channel.ToString());
writer.WriteElementString("AlternateUse", cs.alternateUse.ToString());
if (channel.type() == SmcChannelType.Analog)
{
writer.WriteElementString("PinMode", cs.pinMode.ToString());
}
writer.WriteElementBool("Invert", cs.invert);
writer.WriteElementU32("ScalingDegree", cs.scalingDegree);
writer.WriteElementRange("Error", cs.errorMin, cs.errorMax);
writer.WriteElementRange("Input", cs.inputMin, cs.inputMax);
writer.WriteElementRange("InputNeutral", cs.inputNeutralMin, cs.inputNeutralMax);
writer.WriteEndElement();
}
/// <summary>
/// Changes the settings for a specified channel.
/// </summary>
/// <param name="settings">The settings of the device. This object will be modified.</param>
/// <param name="channel">Specifies the channel to change.</param>
/// <param name="channelSettings">The new settings for the channel.</param>
public static void setChannelSettings(this SmcSettings settings, SmcChannel channel, SmcChannelSettings channelSettings)
{
switch (channel)
{
case SmcChannel.Analog1: settings.analog1 = channelSettings; break;
case SmcChannel.Analog2: settings.analog2 = channelSettings; break;
case SmcChannel.Rc1: settings.rc1 = channelSettings; break;
case SmcChannel.Rc2: settings.rc2 = channelSettings; break;
default: throw new Exception("Unknown Channel: " + channel.ToString());
}
}
/// <summary>
/// Returns the default settings for Analog channels.
/// </summary>
public static SmcChannelSettings defaultAnalogSettings()
{
var cs = new SmcChannelSettings();
cs.errorMin = 0;
cs.errorMax = 4095;
cs.inputMin = 40;
cs.inputMax = 4055;
cs.inputNeutralMin = 2015;
cs.inputNeutralMax = 2080;
return cs;
}
