/// <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.</param>
public static void save(SmcSettings settings, StreamWriter sw, Smc device)
{
sw.WriteLine("# Pololu Simple Motor Controller G2 settings file.");
sw.WriteLine("# " + Smc.documentationUrl);
sw.WriteLine("product: " + Smc.productIdToShortModelString(device.productId));
// [Add-new-settings-here]
writeInputMode(sw, settings.inputMode);
writeMixingMode(sw, settings.mixingMode);
writeSerialMode(sw, settings.serialMode);
writeBool(sw, "enable_i2c", settings.enableI2C);
writeU32(sw, "serial_device_number", settings.serialDeviceNumber);
writeBool(sw, "crc_for_commands", settings.crcForCommands);
writeBool(sw, "crc_for_responses", settings.crcForResponses);
writeBool(sw, "uart_response_delay", settings.uartResponseDelay);
writeBool(sw, "use_fixed_baud_rate", settings.useFixedBaudRate);
writeU32(sw, "fixed_baud_rate", settings.fixedBaudRateBps);
// Channel settings
writeChannelSettings(sw, "rc1", false, settings.rc1);
writeChannelSettings(sw, "rc2", false, settings.rc2);
writeChannelSettings(sw, "analog1", true, settings.analog1);
writeChannelSettings(sw, "analog2", true, settings.analog2);
// Motor settings
writeU32(sw, "pwm_period_factor", settings.pwmPeriodFactor);
writeBool(sw, "motor_invert", settings.motorInvert);
writeBool(sw, "coast_when_off", settings.coastWhenOff);
writeU32(sw, "speed_update_period", settings.speedUpdatePeriod);
writeMotorLimits(sw, "forward", settings.forwardLimits);
writeMotorLimits(sw, "reverse", settings.reverseLimits);
writeU32(sw, "current_limit", settings.currentLimit);
writeU32(sw, "current_offset_calibration", settings.currentOffsetCalibration);
writeU32(sw, "current_scale_calibration", settings.currentScaleCalibration);
// Advanced settings
writeU32(sw, "min_pulse_period", settings.minPulsePeriod);
writeU32(sw, "max_pulse_period", settings.maxPulsePeriod);
writeU32(sw, "rc_timeout", settings.rcTimeout);
writeU32(sw, "consec_good_pulses", settings.consecGoodPulses);
writeS32(sw, "vin_scale_calibration", settings.vinScaleCalibration);
writeBool(sw, "temp_limit_gradual", settings.tempLimitGradual);
writeU32(sw, "over_temp_complete_shutoff_threshold", settings.overTempCompleteShutoffThreshold);
writeU32(sw, "over_temp_normal_operation_threshold", settings.overTempNormalOperationThreshold);
writeU32(sw, "low_vin_shutoff_timeout", settings.lowVinShutoffTimeout);
writeU32(sw, "low_vin_shutoff_mv", settings.lowVinShutoffMv);
writeU32(sw, "low_vin_startup_mv", settings.lowVinStartupMv);
writeU32(sw, "high_vin_shutoff_mv", settings.highVinShutoffMv);
writeBool(sw, "disable_safe_start", settings.disableSafeStart);
writeBool(sw, "ignore_pot_disconnect", settings.ignorePotDisconnect);
writeBool(sw, "ignore_err_line_high", settings.ignoreErrLineHigh);
writeBool(sw, "never_sleep", settings.neverSleep);
writeU32(sw, "command_timeout", settings.commandTimeout);
}
/// <summary>
/// Fixes certain things 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.</param>
/// <param name="firmwareVersion">The firmware version 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, UInt16 firmwareVersion)
{
if (productId == 0)
{
throw new Exception("Internal error: an invalid product ID was passed to fixSettings.");
}
if (newSettings.productId != productId)
{
throw new Exception(
"These settings are for a different device. " +
"The settings are for the " + Smc.productIdToShortModelString(newSettings.productId) + ", " +
"not the " + Smc.productIdToShortModelString(productId) + ".");
}
// TODO: change the messages here to use present tense and future tense (like the Tic and Jrk).
if (newSettings.overTempCompleteShutoffThreshold < newSettings.overTempNormalOperationThreshold)
{
warnings.Add(
"The over-temperature complete shutoff threshold was " +
"lower than the over-temperature normal operation threshold. " +
"Both settings will be set to " +
Smc.temperatureToString(newSettings.overTempCompleteShutoffThreshold) +
" so the motor will shut off at that temperature.");
newSettings.overTempNormalOperationThreshold = newSettings.overTempCompleteShutoffThreshold;
}
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.");
}
if (newSettings.vinScaleCalibration > 1500)
{
newSettings.vinScaleCalibration = 1500;
warnings.Add("The VIN scale calibration was too high. It will be changed to 1500.");
}
if (newSettings.currentScaleCalibration > 20000)
{
newSettings.currentScaleCalibration = 20000;
warnings.Add("The current scale calibration was too high. It will be changed to 20000.");
}
// 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);
}