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Added canget-vin

This commit is contained in:
Benjamin Vedder 2023-02-28 18:35:50 +01:00
parent e296897186
commit f4bb885c90
2 changed files with 25 additions and 0 deletions
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14
lispBM/README.md
View File

@ -1621,6 +1621,20 @@ Get ADC channel ch from the VESC with id on the CAN-bus. Note that CAN status me
---
#### canget-vin
| Platforms | Firmware |
|---|---|
| ESC, Express | 6.02+ |
```clj
(canget-vin id)
```
Get input voltage on ESC with id on the CAN-bus.
---
#### can-list-devs
| Platforms | Firmware |

11
lispBM/lispif_vesc_extensions.c
View File

@ -1722,6 +1722,16 @@ static lbm_value ext_can_get_adc(lbm_value *args, lbm_uint argn) {
}
}
static lbm_value ext_can_get_vin(lbm_value *args, lbm_uint argn) {
LBM_CHECK_ARGN_NUMBER(1);
can_status_msg_5 *stat5 = comm_can_get_status_msg_5_id(lbm_dec_as_i32(args[0]));
if (stat5) {
return lbm_enc_float(stat5->v_in);
} else {
return lbm_enc_float(0.0);
}
}
static int cmp_int (const void * a, const void * b) {
return ( *(int*)a - *(int*)b );
}
@ -3839,6 +3849,7 @@ void lispif_load_vesc_extensions(void) {
lbm_add_extension("canget-dist", ext_can_get_dist);
lbm_add_extension("canget-ppm", ext_can_get_ppm);
lbm_add_extension("canget-adc", ext_can_get_adc);
lbm_add_extension("canget-vin", ext_can_get_vin);
lbm_add_extension("can-list-devs", ext_can_list_devs);
lbm_add_extension("can-scan", ext_can_scan);