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Merge pull request vedderb#738 from lukash/vesc-interface
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Add config items to package interface
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@vedderb
vedderb authored Jul 5, 2024
2 parents dd3b97b + dc51a0c commit 07912e9
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Showing 2 changed files with 71 additions and 5 deletions.
19 changes: 19 additions & 0 deletions lispBM/c_libs/vesc_c_if.h
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Original file line number Diff line number Diff line change
Expand Up @@ -278,6 +278,25 @@ typedef enum {
CFG_PARAM_IMU_rot_roll,
CFG_PARAM_IMU_rot_pitch,
CFG_PARAM_IMU_rot_yaw,
CFG_PARAM_IMU_ahrs_mode,
CFG_PARAM_IMU_sample_rate,
CFG_PARAM_IMU_accel_offset_x,
CFG_PARAM_IMU_accel_offset_y,
CFG_PARAM_IMU_accel_offset_z,
CFG_PARAM_IMU_gyro_offset_x,
CFG_PARAM_IMU_gyro_offset_y,
CFG_PARAM_IMU_gyro_offset_z,

CFG_PARAM_app_shutdown_mode,

// Motor Additional Info
CFG_PARAM_si_motor_poles,
CFG_PARAM_si_gear_ratio,
CFG_PARAM_si_wheel_diameter,
CFG_PARAM_si_battery_type,
CFG_PARAM_si_battery_cells,
CFG_PARAM_si_battery_ah,
CFG_PARAM_si_motor_nl_current,
} CFG_PARAM;

typedef struct {
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57 changes: 52 additions & 5 deletions lispBM/lispif_c_lib.c
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Original file line number Diff line number Diff line change
Expand Up @@ -451,6 +451,18 @@ static float lib_get_cfg_float(CFG_PARAM p) {
case CFG_PARAM_IMU_rot_roll: res = appconf->imu_conf.rot_roll; break;
case CFG_PARAM_IMU_rot_pitch: res = appconf->imu_conf.rot_pitch; break;
case CFG_PARAM_IMU_rot_yaw: res = appconf->imu_conf.rot_yaw; break;
case CFG_PARAM_IMU_accel_offset_x: res = appconf->imu_conf.accel_offsets[0]; break;
case CFG_PARAM_IMU_accel_offset_y: res = appconf->imu_conf.accel_offsets[1]; break;
case CFG_PARAM_IMU_accel_offset_z: res = appconf->imu_conf.accel_offsets[2]; break;
case CFG_PARAM_IMU_gyro_offset_x: res = appconf->imu_conf.gyro_offsets[0]; break;
case CFG_PARAM_IMU_gyro_offset_y: res = appconf->imu_conf.gyro_offsets[1]; break;
case CFG_PARAM_IMU_gyro_offset_z: res = appconf->imu_conf.gyro_offsets[2]; break;

case CFG_PARAM_si_gear_ratio: res = mcconf->si_gear_ratio; break;
case CFG_PARAM_si_wheel_diameter: res = mcconf->si_wheel_diameter; break;
case CFG_PARAM_si_battery_ah: res = mcconf->si_battery_ah; break;
case CFG_PARAM_si_motor_nl_current: res = mcconf->si_motor_nl_current; break;

default: break;
}

Expand All @@ -460,10 +472,19 @@ static float lib_get_cfg_float(CFG_PARAM p) {
static int lib_get_cfg_int(CFG_PARAM p) {
int res = 0.0;

const app_configuration *conf = app_get_configuration();
const volatile mc_configuration *mcconf = mc_interface_get_configuration();
const app_configuration *appconf = app_get_configuration();

switch (p) {
case CFG_PARAM_app_can_mode: res = conf->can_mode; break;
case CFG_PARAM_app_can_mode: res = appconf->can_mode; break;
case CFG_PARAM_app_can_baud_rate: res = appconf->can_baud_rate; break;
case CFG_PARAM_IMU_ahrs_mode: res = appconf->imu_conf.mode; break;
case CFG_PARAM_IMU_sample_rate: res = appconf->imu_conf.sample_rate_hz; break;
case CFG_PARAM_app_shutdown_mode: res = appconf->shutdown_mode; break;

case CFG_PARAM_si_motor_poles: res = mcconf->si_motor_poles; break;
case CFG_PARAM_si_battery_type: res = mcconf->si_battery_type; break;
case CFG_PARAM_si_battery_cells: res = mcconf->si_battery_cells; break;
default: break;
}

Expand Down Expand Up @@ -513,6 +534,17 @@ static bool lib_set_cfg_float(CFG_PARAM p, float value) {
case CFG_PARAM_IMU_rot_roll: appconf->imu_conf.rot_roll = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_rot_pitch: appconf->imu_conf.rot_pitch = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_rot_yaw: appconf->imu_conf.rot_yaw = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_accel_offset_x: appconf->imu_conf.accel_offsets[0] = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_accel_offset_y: appconf->imu_conf.accel_offsets[1] = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_accel_offset_z: appconf->imu_conf.accel_offsets[2] = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_gyro_offset_x: appconf->imu_conf.gyro_offsets[0] = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_gyro_offset_y: appconf->imu_conf.gyro_offsets[1] = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_gyro_offset_z: appconf->imu_conf.gyro_offsets[2] = value; changed_app = 1; res = true; break;

case CFG_PARAM_si_gear_ratio: mcconf->si_gear_ratio = value; changed_mc = 1; res = true; break;
case CFG_PARAM_si_wheel_diameter: mcconf->si_wheel_diameter = value; changed_mc = 1; res = true; break;
case CFG_PARAM_si_battery_ah: mcconf->si_battery_ah = value; changed_mc = 1; res = true; break;
case CFG_PARAM_si_motor_nl_current: mcconf->si_motor_nl_current = value; changed_mc = 1; res = true; break;
default: break;
}

Expand All @@ -532,16 +564,31 @@ static bool lib_set_cfg_float(CFG_PARAM p, float value) {
static bool lib_set_cfg_int(CFG_PARAM p, int value) {
bool res = false;

mc_configuration *mcconf = (mc_configuration*)mc_interface_get_configuration();
int changed_mc = 0;

app_configuration *appconf = mempools_alloc_appconf();
*appconf = *app_get_configuration();
int changed_app = 0;

switch (p) {
case CFG_PARAM_app_can_mode: appconf->can_mode = value; res = true; break;
case CFG_PARAM_app_can_baud_rate: appconf->can_baud_rate = value; res = true; break;
case CFG_PARAM_app_can_mode: appconf->can_mode = value; changed_app = 1; res = true; break;
case CFG_PARAM_app_can_baud_rate: appconf->can_baud_rate = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_ahrs_mode: appconf->imu_conf.mode = value; changed_app = 1; res = true; break;
case CFG_PARAM_IMU_sample_rate: appconf->imu_conf.sample_rate_hz = value; changed_app = 1; res = true; break;
case CFG_PARAM_app_shutdown_mode: appconf->shutdown_mode = value; changed_app = 1; res = true; break;

case CFG_PARAM_si_motor_poles: mcconf->si_motor_poles = value; changed_mc = 1; res = true; break;
case CFG_PARAM_si_battery_type: mcconf->si_battery_type = value; changed_mc = 1; res = true; break;
case CFG_PARAM_si_battery_cells: mcconf->si_battery_cells = value; changed_mc = 1; res = true; break;
default: break;
}

if (res) {
if (changed_mc > 0) {
commands_apply_mcconf_hw_limits(mcconf);
}

if (changed_app > 0) {
app_set_configuration(appconf);
}

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