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Add argument to get setting limits

This commit is contained in:
Benjamin Vedder 2022-05-06 18:41:50 +02:00
parent cf63e3c77b
commit 452254d73c
2 changed files with 61 additions and 4 deletions
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5
lispBM/README.md
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@ -1069,14 +1069,15 @@ Set param to value. This can be done while the motor is running and it will be a
#### conf-get
```clj
(conf-get param optDefault)
(conf-get param optDefLim)
```
Get the value of param. optDefault is an optional argument that can be set to 1 to get the default value of param instead of the current value. Example:
Get the value of param. optDefLim is an optional argument that can be set to 1 or 2; 1 means get the default value and 2 means get the limit value. Example:
```clj
(conf-get 'foc-motor-r) ; Get the motor resistance in milliOhm
(conf-get 'controller-id 1) ; Get the default CAN ID of this VESC
(conf-get 'l-current-max 2) ; Get the maximum allowed current on this hardware
```
#### conf-store

60
lispBM/lispif_vesc_extensions.c
View File

@ -2624,6 +2624,9 @@ static lbm_value ext_conf_set(lbm_value *args, lbm_uint argn) {
return res;
}
static inline float lim_max(float min, float max) { (void)min; return max; }
static inline float lim_min(float min, float max) { (void)max; return min; }
static lbm_value ext_conf_get(lbm_value *args, lbm_uint argn) {
lbm_value res = lbm_enc_sym(SYM_EERROR);
@ -2639,9 +2642,9 @@ static lbm_value ext_conf_get(lbm_value *args, lbm_uint argn) {
return res;
}
bool defaultcfg = false;
int defaultcfg = 0;
if (argn == 2) {
defaultcfg = lbm_dec_as_i32(args[1]) != 0;
defaultcfg = lbm_dec_as_i32(args[1]);
}
lbm_uint name = lbm_dec_sym(args[0]);
@ -2654,6 +2657,59 @@ static lbm_value ext_conf_get(lbm_value *args, lbm_uint argn) {
appconf = mempools_alloc_appconf();
confgenerator_set_defaults_mcconf(mcconf);
confgenerator_set_defaults_appconf(appconf);
if (defaultcfg == 2) {
#ifdef HW_LIM_CURRENT
mcconf->l_current_max = lim_max(HW_LIM_CURRENT);
mcconf->l_current_min = lim_min(HW_LIM_CURRENT);
#else
mcconf->l_current_max = 500.0;
mcconf->l_current_min = -500.0;
#endif
#ifdef HW_LIM_CURRENT_IN
mcconf->l_in_current_max = lim_max(HW_LIM_CURRENT_IN);
mcconf->l_in_current_min = lim_min(HW_LIM_CURRENT_IN);
#else
mcconf->l_in_current_max = 500.0;
mcconf->l_in_current_min = -500.0;
#endif
#ifdef HW_LIM_CURRENT_ABS
mcconf->l_abs_current_max = lim_max(HW_LIM_CURRENT_ABS);
#else
mcconf->l_abs_current_max = 500.0;
#endif
#ifdef HW_LIM_VIN
mcconf->l_max_vin = lim_max(HW_LIM_CURRENT_ABS);
mcconf->l_min_vin = lim_min(HW_LIM_CURRENT_ABS);
#else
mcconf->l_max_vin = 100.0;
mcconf->l_min_vin = 3.0;
#endif
#ifdef HW_LIM_ERPM
mcconf->l_max_erpm = lim_max(HW_LIM_ERPM);
mcconf->l_min_erpm = lim_min(HW_LIM_ERPM);
#else
mcconf->l_max_erpm = 500000.0;
mcconf->l_min_erpm = -500000.0;
#endif
#ifdef HW_LIM_DUTY_MIN
mcconf->l_min_duty = lim_max(HW_LIM_DUTY_MIN);
#else
mcconf->l_min_duty = 0.1;
#endif
#ifdef HW_LIM_DUTY_MAX
mcconf->l_max_duty = lim_max(HW_LIM_DUTY_MAX);
#else
mcconf->l_max_duty = 0.98;
#endif
#ifdef HW_LIM_TEMP_FET
mcconf->l_temp_fet_start = lim_max(HW_LIM_TEMP_FET);
mcconf->l_temp_fet_end = lim_max(HW_LIM_TEMP_FET);
#else
mcconf->l_temp_fet_start = 120.0;
mcconf->l_temp_fet_end = 120.0;
#endif
}
} else {
mcconf = (mc_configuration*)mc_interface_get_configuration();
appconf = (app_configuration*)app_get_configuration();