/// <summary>
/// Sends a new set of settings to the device, to be written to flash.
/// This takes about 26 ms.
/// </summary>
public unsafe void setSmcSettings(SmcSettings settings)
{
SmcSettingsStruct settingsStruct = settings.convertToStruct();
try
{
controlTransfer(0x40, (byte)SmcRequest.SetSettings, 0, 0, &settingsStruct, (UInt16)sizeof(SmcSettingsStruct));
}
catch (Exception exception)
{
throw new Exception("There was an error writing settings to the device.", exception);
}
}
internal SmcSettingsStruct convertToStruct()
{
SmcSettingsStruct s = new SmcSettingsStruct();
// [Add-new-settings-here]
s.neverSuspend = this.neverSuspend;
s.uartResponseDelay = this.uartResponseDelay;
s.useFixedBaudRate = this.useFixedBaudRate;
s.disableSafeStart = this.disableSafeStart;
s.fixedBaudRateRegister = Smc.convertBpsToBaudRegister(this.fixedBaudRateBps);
s.speedUpdatePeriod = this.speedUpdatePeriod;
s.commandTimeout = this.commandTimeout;
s.serialDeviceNumber = this.serialDeviceNumber;
s.crcMode = this.crcMode;
s.overTempMin = this.overTempMin;
s.overTempMax = this.overTempMax;
s.inputMode = this.inputMode;
s.pwmMode = this.pwmMode;
s.pwmPeriodFactor = this.pwmPeriodFactor;
s.mixingMode = this.mixingMode;
s.minPulsePeriod = this.minPulsePeriod;
s.maxPulsePeriod = this.maxPulsePeriod;
s.rcTimeout = this.rcTimeout;
s.ignorePotDisconnect = this.ignorePotDisconnect;
s.tempLimitGradual = this.tempLimitGradual;
s.consecGoodPulses = this.consecGoodPulses;
s.motorInvert = this.motorInvert;
s.speedZeroBrakeAmount = this.speedZeroBrakeAmount;
s.ignoreErrLineHigh = this.ignoreErrLineHigh;
s.vinMultiplierOffset = this.vinMultiplierOffset;
s.lowVinShutoffTimeout = this.lowVinShutoffTimeout;
s.lowVinShutoffMv = this.lowVinShutoffMv;
s.lowVinStartupMv = this.lowVinStartupMv;
s.highVinShutoffMv = this.highVinShutoffMv;
s.serialMode = this.serialMode;
s.rc1 = this.rc1.convertToStruct();
s.rc2 = this.rc2.convertToStruct();
s.analog1 = this.analog1.convertToStruct();
s.analog2 = this.analog2.convertToStruct();
s.forwardLimits = this.forwardLimits.convertToStruct();
s.reverseLimits = this.reverseLimits.convertToStruct();
return(s);
}
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);
}
internal SmcSettingsStruct convertToStruct()
{
SmcSettingsStruct s = new SmcSettingsStruct();
// [Add-new-settings-here]
s.neverSuspend = this.neverSuspend;
s.uartResponseDelay = this.uartResponseDelay;
s.useFixedBaudRate = this.useFixedBaudRate;
s.disableSafeStart = this.disableSafeStart;
s.fixedBaudRateRegister = Smc.convertBpsToBaudRegister(this.fixedBaudRateBps);
s.speedUpdatePeriod = this.speedUpdatePeriod;
s.commandTimeout = this.commandTimeout;
s.serialDeviceNumber = this.serialDeviceNumber;
s.crcMode = this.crcMode;
s.overTempMin = this.overTempMin;
s.overTempMax = this.overTempMax;
s.inputMode = this.inputMode;
s.pwmMode = this.pwmMode;
s.pwmPeriodFactor = this.pwmPeriodFactor;
s.mixingMode = this.mixingMode;
s.minPulsePeriod = this.minPulsePeriod;
s.maxPulsePeriod = this.maxPulsePeriod;
s.rcTimeout = this.rcTimeout;
s.ignorePotDisconnect = this.ignorePotDisconnect;
s.tempLimitGradual = this.tempLimitGradual;
s.consecGoodPulses = this.consecGoodPulses;
s.motorInvert = this.motorInvert;
s.speedZeroBrakeAmount = this.speedZeroBrakeAmount;
s.ignoreErrLineHigh = this.ignoreErrLineHigh;
s.vinMultiplierOffset = this.vinMultiplierOffset;
s.lowVinShutoffTimeout = this.lowVinShutoffTimeout;
s.lowVinShutoffMv = this.lowVinShutoffMv;
s.lowVinStartupMv = this.lowVinStartupMv;
s.highVinShutoffMv = this.highVinShutoffMv;
s.serialMode = this.serialMode;
s.rc1 = this.rc1.convertToStruct();
s.rc2 = this.rc2.convertToStruct();
s.analog1 = this.analog1.convertToStruct();
s.analog2 = this.analog2.convertToStruct();
s.forwardLimits = this.forwardLimits.convertToStruct();
s.reverseLimits = this.reverseLimits.convertToStruct();
return s;
}
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);
}