/// <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);
}
}
/// <summary>
/// Reads the current settings from the device.
/// </summary>
public unsafe SmcSettings getSmcSettings()
{
SmcSettingsStruct settingsStruct = new SmcSettingsStruct();
UInt16 settingsSize = (UInt16)sizeof(SmcSettingsStruct);
try
{
controlTransfer(0xC0, (byte)SmcRequest.GetSettings, 0, 0, &settingsStruct, settingsSize);
}
catch (Exception exception)
{
throw new Exception("There was an error reading settings from the device.", exception);
}
return(new SmcSettings(productId, settingsStruct));
}
internal SmcSettings(UInt16 productId, SmcSettingsStruct s)
{
this.productId = productId;
// [Add-new-settings-here]
this.neverSleep = (s.b1 & SmcBoolSettings1.NeverSleep) != 0;
this.uartResponseDelay = (s.b1 & SmcBoolSettings1.UartResponseDelay) != 0;
this.useFixedBaudRate = (s.b1 & SmcBoolSettings1.UseFixedBaudRate) != 0;
this.disableSafeStart = (s.b1 & SmcBoolSettings1.DisableSafeStart) != 0;
this.enableI2C = (s.b1 & SmcBoolSettings1.EnableI2C) != 0;
this.ignoreErrLineHigh = (s.b1 & SmcBoolSettings1.IgnoreErrLineHigh) != 0;
this.tempLimitGradual = (s.b1 & SmcBoolSettings1.TempLimitGradual) != 0;
this.ignorePotDisconnect = (s.b1 & SmcBoolSettings1.IgnorePotDisconnect) != 0;
this.motorInvert = (s.b1 & SmcBoolSettings1.MotorInvert) != 0;
this.coastWhenOff = (s.b1 & SmcBoolSettings1.CoastWhenOff) != 0;
this.crcForCommands = (s.b1 & SmcBoolSettings1.CrcForCommands) != 0;
this.crcForResponses = (s.b1 & SmcBoolSettings1.CrcForResponses) != 0;
this.fixedBaudRateBps = Smc.convertBaudRegisterToBps(s.fixedBaudRateRegister);
this.speedUpdatePeriod = s.speedUpdatePeriod;
this.commandTimeout = s.commandTimeout;
this.serialDeviceNumber = s.serialDeviceNumber;
this.overTempCompleteShutoffThreshold = s.overTempCompleteShutoffThreshold;
this.overTempNormalOperationThreshold = s.overTempNormalOperationThreshold;
this.inputMode = s.inputMode;
this.pwmPeriodFactor = s.pwmPeriodFactor;
this.mixingMode = s.mixingMode;
this.minPulsePeriod = s.minPulsePeriod;
this.maxPulsePeriod = s.maxPulsePeriod;
this.rcTimeout = s.rcTimeout;
this.consecGoodPulses = s.consecGoodPulses;
this.vinScaleCalibration = s.vinScaleCalibration;
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);
this.currentLimit = s.currentLimit;
this.currentOffsetCalibration = s.currentOffsetCalibration;
this.currentScaleCalibration = s.currentScaleCalibration;
}
internal SmcSettingsStruct convertToStruct()
{
SmcSettingsStruct s = new SmcSettingsStruct();
// [Add-new-settings-here]
if (this.neverSleep)
{
s.b1 |= SmcBoolSettings1.NeverSleep;
}
if (this.uartResponseDelay)
{
s.b1 |= SmcBoolSettings1.UartResponseDelay;
}
if (this.useFixedBaudRate)
{
s.b1 |= SmcBoolSettings1.UseFixedBaudRate;
}
if (this.disableSafeStart)
{
s.b1 |= SmcBoolSettings1.DisableSafeStart;
}
if (this.enableI2C)
{
s.b1 |= SmcBoolSettings1.EnableI2C;
}
if (this.ignoreErrLineHigh)
{
s.b1 |= SmcBoolSettings1.IgnoreErrLineHigh;
}
if (this.tempLimitGradual)
{
s.b1 |= SmcBoolSettings1.TempLimitGradual;
}
if (this.ignorePotDisconnect)
{
s.b1 |= SmcBoolSettings1.IgnorePotDisconnect;
}
if (this.motorInvert)
{
s.b1 |= SmcBoolSettings1.MotorInvert;
}
if (this.coastWhenOff)
{
s.b1 |= SmcBoolSettings1.CoastWhenOff;
}
if (this.crcForCommands)
{
s.b1 |= SmcBoolSettings1.CrcForCommands;
}
if (this.crcForResponses)
{
s.b1 |= SmcBoolSettings1.CrcForResponses;
}
s.fixedBaudRateRegister = Smc.convertBpsToBaudRegister(this.fixedBaudRateBps);
s.speedUpdatePeriod = this.speedUpdatePeriod;
s.commandTimeout = this.commandTimeout;
s.serialDeviceNumber = this.serialDeviceNumber;
s.overTempCompleteShutoffThreshold = this.overTempCompleteShutoffThreshold;
s.overTempNormalOperationThreshold = this.overTempNormalOperationThreshold;
s.inputMode = this.inputMode;
s.pwmPeriodFactor = this.pwmPeriodFactor;
s.mixingMode = this.mixingMode;
s.minPulsePeriod = this.minPulsePeriod;
s.maxPulsePeriod = this.maxPulsePeriod;
s.rcTimeout = this.rcTimeout;
s.consecGoodPulses = this.consecGoodPulses;
s.vinScaleCalibration = this.vinScaleCalibration;
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();
s.currentLimit = this.currentLimit;
s.currentOffsetCalibration = this.currentOffsetCalibration;
s.currentScaleCalibration = this.currentScaleCalibration;
return(s);
}
