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Merge pull request #493 from avlasic/get_config_fix 

Send back app and mc config to requester port
This commit is contained in:
Benjamin Vedder 2022-05-10 16:27:15 +02:00 committed by GitHub
parent e474102bec 710a2e9a6d
commit 558ccafdbe
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 22 additions and 12 deletions
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20
commands.c
View File

@ -573,7 +573,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
mcconf->foc_offsets_voltage_undriven[2] = mcconf_now->foc_offsets_voltage_undriven[2];
}
commands_send_mcconf(packet_id, mcconf);
commands_send_mcconf(packet_id, mcconf, reply_func);
mempools_free_mcconf(mcconf);
} break;
@ -623,7 +623,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
}
#endif
commands_send_appconf(packet_id, appconf);
commands_send_appconf(packet_id, appconf, reply_func);
mempools_free_appconf(appconf);
} break;
@ -1748,19 +1748,27 @@ void commands_send_gpd_buffer_notify(void) {
commands_send_packet(buffer, index);
}
void commands_send_mcconf(COMM_PACKET_ID packet_id, mc_configuration *mcconf) {
void commands_send_mcconf(COMM_PACKET_ID packet_id, mc_configuration* mcconf, void(*reply_func)(unsigned char* data, unsigned int len)) {
chMtxLock(&send_buffer_mutex);
send_buffer_global[0] = packet_id;
int32_t len = confgenerator_serialize_mcconf(send_buffer_global + 1, mcconf);
commands_send_packet(send_buffer_global, len + 1);
if (reply_func) {
reply_func(send_buffer_global, len + 1);
} else {
commands_send_packet(send_buffer_global, len + 1);
}
chMtxUnlock(&send_buffer_mutex);
}
void commands_send_appconf(COMM_PACKET_ID packet_id, app_configuration *appconf) {
void commands_send_appconf(COMM_PACKET_ID packet_id, app_configuration *appconf, void(*reply_func)(unsigned char* data, unsigned int len)) {
chMtxLock(&send_buffer_mutex);
send_buffer_global[0] = packet_id;
int32_t len = confgenerator_serialize_appconf(send_buffer_global + 1, appconf);
commands_send_packet(send_buffer_global, len + 1);
if (reply_func) {
reply_func(send_buffer_global, len + 1);
} else {
commands_send_packet(send_buffer_global, len + 1);
}
chMtxUnlock(&send_buffer_mutex);
}

6
commands.h
View File

@ -46,8 +46,10 @@ void commands_set_hw_data_handler(void(*func)(unsigned char *data, unsigned int
void commands_send_app_data(unsigned char *data, unsigned int len);
void commands_send_hw_data(unsigned char *data, unsigned int len);
void commands_send_gpd_buffer_notify(void);
void commands_send_mcconf(COMM_PACKET_ID packet_id, mc_configuration *mcconf);
void commands_send_appconf(COMM_PACKET_ID packet_id, app_configuration *appconf);
void commands_send_mcconf(COMM_PACKET_ID packet_id, mc_configuration* mcconf,
void(*reply_func)(unsigned char* data, unsigned int len));
void commands_send_appconf(COMM_PACKET_ID packet_id, app_configuration* appconf,
void(*reply_func)(unsigned char* data, unsigned int len));
void commands_apply_mcconf_hw_limits(mc_configuration *mcconf);
void commands_init_plot(char *namex, char *namey);
void commands_plot_add_graph(char *name);

6
conf_general.c
View File

@ -1314,7 +1314,7 @@ int conf_general_autodetect_apply_sensors_foc(float current,
}
if (send_mcconf_on_success) {
commands_send_mcconf(COMM_GET_MCCONF, mcconf_old);
commands_send_mcconf(COMM_GET_MCCONF, mcconf_old, 0);
}
}
@ -1959,7 +1959,7 @@ int conf_general_detect_apply_all_foc_can(bool detect_can, float max_power_loss,
appconf->can_status_msgs_r1 = 0b00001111;
conf_general_store_app_configuration(appconf);
app_set_configuration(appconf);
commands_send_appconf(COMM_GET_APPCONF, appconf);
commands_send_appconf(COMM_GET_APPCONF, appconf, 0);
chThdSleepMilliseconds(1000);
}
@ -1972,7 +1972,7 @@ int conf_general_detect_apply_all_foc_can(bool detect_can, float max_power_loss,
mc_interface_select_motor_thread(1);
*mcconf = *mc_interface_get_configuration();
#endif
commands_send_mcconf(COMM_GET_MCCONF, mcconf);
commands_send_mcconf(COMM_GET_MCCONF, mcconf, 0);
chThdSleepMilliseconds(1000);
}

2
nrf/nrf_driver.c
View File

@ -499,7 +499,7 @@ void nrf_driver_process_packet(unsigned char *buf, unsigned char len) {
conf_general_store_app_configuration(&appconf);
app_set_configuration(&appconf);
commands_send_appconf(COMM_GET_APPCONF, &appconf);
commands_send_appconf(COMM_GET_APPCONF, &appconf, 0);
unsigned char data[2];
data[0] = COMM_NRF_START_PAIRING;