/// <summary>
/// Writes a SmcSettings object as text to the specified streamwriter.
/// </summary>
/// <param name="settings">The settings to read from.</param>
/// <param name="filename">The file to write to.</param>
/// <param name="device">The device that these settings came from (optional!). Adds extra comments to the file.</param>
public static void save(SmcSettings settings, string filename, Smc device)
{
using (FileStream settingsFile = File.Open(filename, FileMode.Create))
{
using (StreamWriter sw = new StreamWriter(settingsFile))
{
save(settings, sw, device);
}
}
}
/// <summary>
/// Compares this object to another to see if they have the same values.
/// </summary>
public override bool Equals(object x)
{
SmcSettings s = x as SmcSettings;
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>
/// 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>
/// 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>
/// Gets the settings for the specified channel.
/// </summary>
/// <param name="settings">The settings of the device.</param>
/// <param name="channel">Specifies what channel to fetch.</param>
/// <returns>The settings of the specified channel.</returns>
public static SmcChannelSettings getChannelSettings(this SmcSettings settings, SmcChannel channel)
{
switch (channel)
{
case SmcChannel.Analog1: return(settings.analog1);
case SmcChannel.Analog2: return(settings.analog2);
case SmcChannel.Rc1: return(settings.rc1);
case SmcChannel.Rc2: return(settings.rc2);
default: throw new Exception("Unknown Channel: " + channel.ToString());
}
}
/// <summary>
/// Writes a SmcSettings object as text to the specified streamwriter.
/// </summary>
/// <param name="settings">The settings to read from.</param>
/// <param name="sw">The file to write to.</param>
/// <param name="device">The device that these settings came from (optional!). Adds extra comments to the file.</param>
public static void save(SmcSettings settings, StreamWriter sw, Smc device)
{
XmlTextWriter writer = new XmlTextWriter(sw);
writer.Formatting = Formatting.Indented;
writer.WriteComment("Pololu Simple Motor Controller settings file. http://www.pololu.com/docs/0J44");
writer.WriteComment("Created on: " + DateTime.Now.ToString("u").TrimEnd('Z')); // save local time in a sortable format
if (device != null)
{
writer.WriteComment("Device model: " + Smc.productIdToLongModelString(device.productId));
writer.WriteComment("Device serial number: " + device.getSerialNumber());
writer.WriteComment("Device firmware version: " + device.getFirmwareVersionString());
}
writer.WriteStartElement("SmcSettings");
// XML file version, so that we can parse old XML types in the future and old versions of the
// configuration utility don't try to read newer settings files that have a different format.
writer.WriteAttributeString("version", "1");
// [Add-new-settings-here]
writer.WriteElementString("InputMode", settings.inputMode.ToString());
writer.WriteElementString("MixingMode", settings.mixingMode.ToString());
writer.WriteElementBool("DisableSafeStart", settings.disableSafeStart);
writer.WriteElementBool("IgnorePotDisconnect", settings.ignorePotDisconnect);
writer.WriteElementBool("IgnoreErrLineHigh", settings.ignoreErrLineHigh);
writer.WriteElementBool("NeverSuspend", settings.neverSuspend);
writer.WriteElementBool("TempLimitGradual", settings.tempLimitGradual);
writer.WriteElementRange("OverTemp", settings.overTempMin, settings.overTempMax);
writer.WriteElementU32("LowVinShutoffTimeout", settings.lowVinShutoffTimeout);
writer.WriteElementU32("LowVinShutoffMv", settings.lowVinShutoffMv);
writer.WriteElementU32("LowVinStartupMv", settings.lowVinStartupMv);
writer.WriteElementU32("HighVinShutoffMv", settings.highVinShutoffMv);
writer.WriteElementString("SerialMode", settings.serialMode.ToString());
writer.WriteElementU32("SerialDeviceNumber", settings.serialDeviceNumber);
writer.WriteElementU32("CommandTimeout", settings.commandTimeout);
writer.WriteElementString("CrcMode", settings.crcMode.ToString());
writer.WriteElementBool("UartResponseDelay", settings.uartResponseDelay);
writer.WriteElementBool("UseFixedBaudRate", settings.useFixedBaudRate);
writer.WriteElementU32("FixedBaudRate", settings.fixedBaudRateBps);
writer.WriteComment("Input Settings");
writer.WriteElementChannelSettings(SmcChannel.Rc1, settings.rc1);
writer.WriteElementChannelSettings(SmcChannel.Rc2, settings.rc2);
writer.WriteElementChannelSettings(SmcChannel.Analog1, settings.analog1);
writer.WriteElementChannelSettings(SmcChannel.Analog2, settings.analog2);
writer.WriteComment("Motor Settings");
writer.WriteElementU32("PwmPeriodFactor", settings.pwmPeriodFactor);
writer.WriteElementBool("MotorInvert", settings.motorInvert);
writer.WriteElementU32("SpeedZeroBrakeAmount", settings.speedZeroBrakeAmount);
writer.WriteElementU32("SpeedUpdatePeriod", settings.speedUpdatePeriod);
writer.WriteElementMotorLimits("ForwardLimits", settings.forwardLimits);
writer.WriteElementMotorLimits("ReverseLimits", settings.reverseLimits);
writer.WriteComment("Advanced Settings");
writer.WriteElementRange("PulsePeriod", settings.minPulsePeriod, settings.maxPulsePeriod);
writer.WriteElementU32("RcTimeout", settings.rcTimeout);
writer.WriteElementU32("ConsecGoodPulses", settings.consecGoodPulses);
writer.WriteElementS32("VinMultiplierOffset", settings.vinMultiplierOffset);
writer.WriteEndElement(); // End SmcSettings tag.
}
/// <summary>
/// Parses a saved configuration file and returns a SmcSettings object.
/// </summary>
/// <param name="warnings">A list of warnings. Whenever something goes
/// wrong with the file loading, a warning will be added to this list.
/// The warnings are not fatal; if the function returns it will return
/// a valid SmcSettings object.
/// </param>
/// <param name="sr">The file to read from.</param>
/// <param name="productId">The product id of the device we are loading these
/// settings for. Pass 0 if it is unknown at this time.</param>
public static SmcSettings load(StreamReader sr, List <String> warnings, UInt16 productId)
{
XmlReader reader = XmlReader.Create(sr);
reader.ReadToFollowing("SmcSettings");
Tag settingsTag = Tag.readFrom(reader, warnings);
reader.Close();
SmcSettings settings = new SmcSettings(productId);
// [Add-new-settings-here]
if (assertValue(settingsTag, "InputMode", warnings))
{
try
{
settings.inputMode = (SmcInputMode)Enum.Parse(typeof(SmcInputMode), settingsTag.values["InputMode"]);
}
catch
{
warnings.Add("Invalid InputMode value \"" + settingsTag.values["InputMode"] + "\".");
}
}
if (assertValue(settingsTag, "MixingMode", warnings))
{
try
{
settings.mixingMode = (SmcMixingMode)Enum.Parse(typeof(SmcMixingMode), settingsTag.values["MixingMode"]);
}
catch
{
warnings.Add("Invalid MixingMode value \"" + settingsTag.values["MixingMode"] + "\".");
}
}
parseBool(settingsTag, "DisableSafeStart", ref settings.disableSafeStart, warnings);
parseBool(settingsTag, "IgnorePotDisconnect", ref settings.ignorePotDisconnect, warnings);
parseBool(settingsTag, "IgnoreErrLineHigh", ref settings.ignoreErrLineHigh, warnings);
parseBool(settingsTag, "NeverSuspend", ref settings.neverSuspend, warnings);
parseBool(settingsTag, "TempLimitGradual", ref settings.tempLimitGradual, warnings);
parseRange(settingsTag, "OverTemp", ref settings.overTempMin, ref settings.overTempMax, warnings);
parseU16(settingsTag, "LowVinShutoffTimeout", ref settings.lowVinShutoffTimeout, warnings);
parseU16(settingsTag, "LowVinShutoffMv", ref settings.lowVinShutoffMv, warnings);
parseU16(settingsTag, "LowVinStartupMv", ref settings.lowVinStartupMv, warnings);
parseU16(settingsTag, "HighVinShutoffMv", ref settings.highVinShutoffMv, warnings);
if (assertValue(settingsTag, "SerialMode", warnings))
{
try
{
settings.serialMode = (SmcSerialMode)Enum.Parse(typeof(SmcSerialMode), settingsTag.values["SerialMode"]);
}
catch
{
warnings.Add("Invalid SmcSerialMode value \"" + settingsTag.values["SerialMode"] + "\".");
}
}
parseU8(settingsTag, "SerialDeviceNumber", ref settings.serialDeviceNumber, warnings);
parseU16(settingsTag, "CommandTimeout", ref settings.commandTimeout, warnings);
if (assertValue(settingsTag, "CrcMode", warnings))
{
try
{
settings.crcMode = (SmcCrcMode)Enum.Parse(typeof(SmcCrcMode), settingsTag.values["CrcMode"]);
}
catch
{
warnings.Add("Invalid CrcMode value \"" + settingsTag.values["CrcMode"] + "\".");
}
}
parseBool(settingsTag, "UartResponseDelay", ref settings.uartResponseDelay, warnings);
parseBool(settingsTag, "UseFixedBaudRate", ref settings.useFixedBaudRate, warnings);
parseU32(settingsTag, "FixedBaudRate", ref settings.fixedBaudRateBps, warnings);
parseChannel(settingsTag, SmcChannel.Rc1, "Rc1", settings.rc1, warnings);
parseChannel(settingsTag, SmcChannel.Rc2, "Rc2", settings.rc2, warnings);
parseChannel(settingsTag, SmcChannel.Analog1, "Analog1", settings.analog1, warnings);
parseChannel(settingsTag, SmcChannel.Analog2, "Analog2", settings.analog2, warnings);
parseU8(settingsTag, "PwmPeriodFactor", ref settings.pwmPeriodFactor, warnings);
parseBool(settingsTag, "MotorInvert", ref settings.motorInvert, warnings);
parseU8(settingsTag, "SpeedZeroBrakeAmount", ref settings.speedZeroBrakeAmount, warnings);
parseU16(settingsTag, "SpeedUpdatePeriod", ref settings.speedUpdatePeriod, warnings);
parseLimits(settingsTag, "ForwardLimits", settings.forwardLimits, warnings);
parseLimits(settingsTag, "ReverseLimits", settings.reverseLimits, warnings);
parseRange(settingsTag, "PulsePeriod", ref settings.minPulsePeriod, ref settings.maxPulsePeriod, warnings);
parseU16(settingsTag, "RcTimeout", ref settings.rcTimeout, warnings);
parseU8(settingsTag, "ConsecGoodPulses", ref settings.consecGoodPulses, warnings);
parseS16(settingsTag, "VinMultiplierOffset", ref settings.vinMultiplierOffset, warnings);
return(settings);
}
/// <summary>
/// Parses a saved configuration file and returns a SmcSettings object.
/// </summary>
/// <param name="warnings">A list of warnings. Whenever something goes
/// wrong with the file loading, a warning will be added to this list.
/// The warnings are not fatal; if the function returns it will return
/// a valid SmcSettings object.
/// </param>
/// <param name="sr">The file to read from.</param>
/// <param name="productId">The product id of the device we are loading these
/// settings for. Pass 0 if it is unknown at this time.</param>
public static SmcSettings load(StreamReader sr, List<String> warnings, UInt16 productId)
{
XmlReader reader = XmlReader.Create(sr);
reader.ReadToFollowing("SmcSettings");
Tag settingsTag = Tag.readFrom(reader, warnings);
reader.Close();
SmcSettings settings = new SmcSettings(productId);
// [Add-new-settings-here]
if (assertValue(settingsTag, "InputMode", warnings))
{
try
{
settings.inputMode = (SmcInputMode)Enum.Parse(typeof(SmcInputMode), settingsTag.values["InputMode"]);
}
catch
{
warnings.Add("Invalid InputMode value \"" + settingsTag.values["InputMode"] + "\".");
}
}
if (assertValue(settingsTag, "MixingMode", warnings))
{
try
{
settings.mixingMode = (SmcMixingMode)Enum.Parse(typeof(SmcMixingMode), settingsTag.values["MixingMode"]);
}
catch
{
warnings.Add("Invalid MixingMode value \"" + settingsTag.values["MixingMode"] + "\".");
}
}
parseBool(settingsTag, "DisableSafeStart", ref settings.disableSafeStart, warnings);
parseBool(settingsTag, "IgnorePotDisconnect", ref settings.ignorePotDisconnect, warnings);
parseBool(settingsTag, "IgnoreErrLineHigh", ref settings.ignoreErrLineHigh, warnings);
parseBool(settingsTag, "NeverSuspend", ref settings.neverSuspend, warnings);
parseBool(settingsTag, "TempLimitGradual", ref settings.tempLimitGradual, warnings);
parseRange(settingsTag, "OverTemp", ref settings.overTempMin, ref settings.overTempMax, warnings);
parseU16(settingsTag, "LowVinShutoffTimeout", ref settings.lowVinShutoffTimeout, warnings);
parseU16(settingsTag, "LowVinShutoffMv", ref settings.lowVinShutoffMv, warnings);
parseU16(settingsTag, "LowVinStartupMv", ref settings.lowVinStartupMv, warnings);
parseU16(settingsTag, "HighVinShutoffMv", ref settings.highVinShutoffMv, warnings);
if (assertValue(settingsTag, "SerialMode", warnings))
{
try
{
settings.serialMode = (SmcSerialMode)Enum.Parse(typeof(SmcSerialMode), settingsTag.values["SerialMode"]);
}
catch
{
warnings.Add("Invalid SmcSerialMode value \"" + settingsTag.values["SerialMode"] + "\".");
}
}
parseU8(settingsTag, "SerialDeviceNumber", ref settings.serialDeviceNumber, warnings);
parseU16(settingsTag, "CommandTimeout", ref settings.commandTimeout, warnings);
if (assertValue(settingsTag, "CrcMode", warnings))
{
try
{
settings.crcMode = (SmcCrcMode)Enum.Parse(typeof(SmcCrcMode), settingsTag.values["CrcMode"]);
}
catch
{
warnings.Add("Invalid CrcMode value \"" + settingsTag.values["CrcMode"] + "\".");
}
}
parseBool(settingsTag, "UartResponseDelay", ref settings.uartResponseDelay, warnings);
parseBool(settingsTag, "UseFixedBaudRate", ref settings.useFixedBaudRate, warnings);
parseU32(settingsTag, "FixedBaudRate", ref settings.fixedBaudRateBps, warnings);
parseChannel(settingsTag, SmcChannel.Rc1, "Rc1", settings.rc1, warnings);
parseChannel(settingsTag, SmcChannel.Rc2, "Rc2", settings.rc2, warnings);
parseChannel(settingsTag, SmcChannel.Analog1, "Analog1", settings.analog1, warnings);
parseChannel(settingsTag, SmcChannel.Analog2, "Analog2", settings.analog2, warnings);
parseU8(settingsTag, "PwmPeriodFactor", ref settings.pwmPeriodFactor, warnings);
parseBool(settingsTag, "MotorInvert", ref settings.motorInvert, warnings);
parseU8(settingsTag, "SpeedZeroBrakeAmount", ref settings.speedZeroBrakeAmount, warnings);
parseU16(settingsTag, "SpeedUpdatePeriod", ref settings.speedUpdatePeriod, warnings);
parseLimits(settingsTag, "ForwardLimits", settings.forwardLimits, warnings);
parseLimits(settingsTag, "ReverseLimits", settings.reverseLimits, warnings);
parseRange(settingsTag, "PulsePeriod", ref settings.minPulsePeriod, ref settings.maxPulsePeriod, warnings);
parseU16(settingsTag, "RcTimeout", ref settings.rcTimeout, warnings);
parseU8(settingsTag, "ConsecGoodPulses", ref settings.consecGoodPulses, warnings);
parseS16(settingsTag, "VinMultiplierOffset", ref settings.vinMultiplierOffset, warnings);
return settings;
}
/// <summary>
/// Writes a SmcSettings object as text to the specified streamwriter.
/// </summary>
/// <param name="settings">The settings to read from.</param>
/// <param name="sw">The file to write to.</param>
/// <param name="device">The device that these settings came from (optional!). Adds extra comments to the file.</param>
public static void save(SmcSettings settings, StreamWriter sw, Smc device)
{
XmlTextWriter writer = new XmlTextWriter(sw);
writer.Formatting = Formatting.Indented;
writer.WriteComment("Pololu Simple Motor Controller settings file. http://www.pololu.com/docs/0J44");
writer.WriteComment("Created on: " + DateTime.Now.ToString("u").TrimEnd('Z')); // save local time in a sortable format
if (device != null)
{
writer.WriteComment("Device model: " + Smc.productIdToLongModelString(device.productId));
writer.WriteComment("Device serial number: " + device.getSerialNumber());
writer.WriteComment("Device firmware version: " + device.getFirmwareVersionString());
}
writer.WriteStartElement("SmcSettings");
// XML file version, so that we can parse old XML types in the future and old versions of the
// configuration utility don't try to read newer settings files that have a different format.
writer.WriteAttributeString("version", "1");
// [Add-new-settings-here]
writer.WriteElementString("InputMode", settings.inputMode.ToString());
writer.WriteElementString("MixingMode", settings.mixingMode.ToString());
writer.WriteElementBool("DisableSafeStart", settings.disableSafeStart);
writer.WriteElementBool("IgnorePotDisconnect", settings.ignorePotDisconnect);
writer.WriteElementBool("IgnoreErrLineHigh", settings.ignoreErrLineHigh);
writer.WriteElementBool("NeverSuspend", settings.neverSuspend);
writer.WriteElementBool("TempLimitGradual", settings.tempLimitGradual);
writer.WriteElementRange("OverTemp", settings.overTempMin, settings.overTempMax);
writer.WriteElementU32("LowVinShutoffTimeout", settings.lowVinShutoffTimeout);
writer.WriteElementU32("LowVinShutoffMv", settings.lowVinShutoffMv);
writer.WriteElementU32("LowVinStartupMv", settings.lowVinStartupMv);
writer.WriteElementU32("HighVinShutoffMv", settings.highVinShutoffMv);
writer.WriteElementString("SerialMode", settings.serialMode.ToString());
writer.WriteElementU32("SerialDeviceNumber", settings.serialDeviceNumber);
writer.WriteElementU32("CommandTimeout", settings.commandTimeout);
writer.WriteElementString("CrcMode", settings.crcMode.ToString());
writer.WriteElementBool("UartResponseDelay", settings.uartResponseDelay);
writer.WriteElementBool("UseFixedBaudRate", settings.useFixedBaudRate);
writer.WriteElementU32("FixedBaudRate", settings.fixedBaudRateBps);
writer.WriteComment("Input Settings");
writer.WriteElementChannelSettings(SmcChannel.Rc1, settings.rc1);
writer.WriteElementChannelSettings(SmcChannel.Rc2, settings.rc2);
writer.WriteElementChannelSettings(SmcChannel.Analog1, settings.analog1);
writer.WriteElementChannelSettings(SmcChannel.Analog2, settings.analog2);
writer.WriteComment("Motor Settings");
writer.WriteElementU32("PwmPeriodFactor", settings.pwmPeriodFactor);
writer.WriteElementBool("MotorInvert", settings.motorInvert);
writer.WriteElementU32("SpeedZeroBrakeAmount", settings.speedZeroBrakeAmount);
writer.WriteElementU32("SpeedUpdatePeriod", settings.speedUpdatePeriod);
writer.WriteElementMotorLimits("ForwardLimits", settings.forwardLimits);
writer.WriteElementMotorLimits("ReverseLimits", settings.reverseLimits);
writer.WriteComment("Advanced Settings");
writer.WriteElementRange("PulsePeriod", settings.minPulsePeriod, settings.maxPulsePeriod);
writer.WriteElementU32("RcTimeout", settings.rcTimeout);
writer.WriteElementU32("ConsecGoodPulses", settings.consecGoodPulses);
writer.WriteElementS32("VinMultiplierOffset", settings.vinMultiplierOffset);
writer.WriteEndElement(); // End SmcSettings tag.
}
/// <summary>
/// Writes a SmcSettings object as text to the specified streamwriter.
/// </summary>
/// <param name="settings">The settings to read from.</param>
/// <param name="filename">The file to write to.</param>
/// <param name="device">The device that these settings came from (optional!). Adds extra comments to the file.</param>
public static void save(SmcSettings settings, string filename, Smc device)
{
using (FileStream settingsFile = File.Open(filename, FileMode.Create))
{
using (StreamWriter sw = new StreamWriter(settingsFile))
{
save(settings, sw, device);
}
}
}
/// <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>
/// 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);
}
