update protocol for fw 2.4.0

Author: yconst

include/tinymovr/nvm.hpp

@@ -0,0 +1,23 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+
+class Nvm_ : Node
+{
+    public:
+
+        Nvm_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        uint8_t get_num_slots(void);
+        uint8_t get_current_slot(void);
+        uint32_t get_write_count(void);
+
+};

include/tinymovr/tinymovr.hpp

@@ -9,6 +9,7 @@
 #pragma once
 
 #include <helpers.hpp>
+#include <nvm.hpp>
 #include <scheduler.hpp>
 #include <controller.hpp>
 #include <comms.hpp>
@@ -18,7 +19,7 @@
 #include <homing.hpp>
 #include <watchdog.hpp>
 
-static uint32_t avlos_proto_hash = 641680925;
+static uint32_t avlos_proto_hash = 3999954334;
 
 enum errors_flags
 {
@@ -160,6 +161,7 @@ class Tinymovr : Node
 
         Tinymovr(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
             Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , nvm(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
             , scheduler(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
             , controller(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
             , comms(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
@@ -181,6 +183,7 @@ class Tinymovr : Node
         uint8_t get_warnings(void);
         void save_config();
         void erase_config();
+        Nvm_ nvm;
         void reset();
         void enter_dfu();
         uint32_t get_config_size(void);

src/tinymovr/can.cpp

@@ -11,8 +11,8 @@
 uint32_t Can_::get_rate(void)
 {
     uint32_t value = 0;
-    this->send(45, this->_data, 0, true);
-    if (this->recv(45, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(48, this->_data, 0, true);
+    if (this->recv(48, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ uint32_t Can_::get_rate(void)
 void Can_::set_rate(uint32_t value)
 {
     write_le(value, this->_data);
-    this->send(45, this->_data, sizeof(uint32_t), false);
+    this->send(48, this->_data, sizeof(uint32_t), false);
 }
 
 uint32_t Can_::get_id(void)
 {
     uint32_t value = 0;
-    this->send(46, this->_data, 0, true);
-    if (this->recv(46, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(49, this->_data, 0, true);
+    if (this->recv(49, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -39,14 +39,14 @@ uint32_t Can_::get_id(void)
 void Can_::set_id(uint32_t value)
 {
     write_le(value, this->_data);
-    this->send(46, this->_data, sizeof(uint32_t), false);
+    this->send(49, this->_data, sizeof(uint32_t), false);
 }
 
 bool Can_::get_heartbeat(void)
 {
     bool value = 0;
-    this->send(47, this->_data, 0, true);
-    if (this->recv(47, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(50, this->_data, 0, true);
+    if (this->recv(50, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -56,8 +56,6 @@ bool Can_::get_heartbeat(void)
 void Can_::set_heartbeat(bool value)
 {
     write_le(value, this->_data);
-    this->send(47, this->_data, sizeof(bool), false);
+    this->send(50, this->_data, sizeof(bool), false);
 }
 
-
-

src/tinymovr/comms.cpp

@@ -8,5 +8,3 @@
 
 #include <comms.hpp>
 
-
-

src/tinymovr/commutation_sensor.cpp

@@ -11,8 +11,8 @@
 uint8_t Commutation_sensor_::get_connection(void)
 {
     uint8_t value = 0;
-    this->send(72, this->_data, 0, true);
-    if (this->recv(72, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(75, this->_data, 0, true);
+    if (this->recv(75, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ uint8_t Commutation_sensor_::get_connection(void)
 void Commutation_sensor_::set_connection(uint8_t value)
 {
     write_le(value, this->_data);
-    this->send(72, this->_data, sizeof(uint8_t), false);
+    this->send(75, this->_data, sizeof(uint8_t), false);
 }
 
 float Commutation_sensor_::get_bandwidth(void)
 {
     float value = 0;
-    this->send(73, this->_data, 0, true);
-    if (this->recv(73, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(76, this->_data, 0, true);
+    if (this->recv(76, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -39,14 +39,14 @@ float Commutation_sensor_::get_bandwidth(void)
 void Commutation_sensor_::set_bandwidth(float value)
 {
     write_le(value, this->_data);
-    this->send(73, this->_data, sizeof(float), false);
+    this->send(76, this->_data, sizeof(float), false);
 }
 
 int32_t Commutation_sensor_::get_raw_angle(void)
 {
     int32_t value = 0;
-    this->send(74, this->_data, 0, true);
-    if (this->recv(74, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(77, this->_data, 0, true);
+    if (this->recv(77, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -56,8 +56,8 @@ int32_t Commutation_sensor_::get_raw_angle(void)
 float Commutation_sensor_::get_position_estimate(void)
 {
     float value = 0;
-    this->send(75, this->_data, 0, true);
-    if (this->recv(75, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(78, this->_data, 0, true);
+    if (this->recv(78, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -67,13 +67,11 @@ float Commutation_sensor_::get_position_estimate(void)
 float Commutation_sensor_::get_velocity_estimate(void)
 {
     float value = 0;
-    this->send(76, this->_data, 0, true);
-    if (this->recv(76, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(79, this->_data, 0, true);
+    if (this->recv(79, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
     return value;
 }
 
-
-

src/tinymovr/controller.cpp

@@ -11,8 +11,8 @@
 uint8_t Controller_::get_state(void)
 {
     uint8_t value = 0;
-    this->send(18, this->_data, 0, true);
-    if (this->recv(18, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(21, this->_data, 0, true);
+    if (this->recv(21, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ uint8_t Controller_::get_state(void)
 void Controller_::set_state(uint8_t value)
 {
     write_le(value, this->_data);
-    this->send(18, this->_data, sizeof(uint8_t), false);
+    this->send(21, this->_data, sizeof(uint8_t), false);
 }
 
 uint8_t Controller_::get_mode(void)
 {
     uint8_t value = 0;
-    this->send(19, this->_data, 0, true);
-    if (this->recv(19, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(22, this->_data, 0, true);
+    if (this->recv(22, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -39,14 +39,14 @@ uint8_t Controller_::get_mode(void)
 void Controller_::set_mode(uint8_t value)
 {
     write_le(value, this->_data);
-    this->send(19, this->_data, sizeof(uint8_t), false);
+    this->send(22, this->_data, sizeof(uint8_t), false);
 }
 
 uint8_t Controller_::get_warnings(void)
 {
     uint8_t value = 0;
-    this->send(20, this->_data, 0, true);
-    if (this->recv(20, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(23, this->_data, 0, true);
+    if (this->recv(23, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -56,8 +56,8 @@ uint8_t Controller_::get_warnings(void)
 uint8_t Controller_::get_errors(void)
 {
     uint8_t value = 0;
-    this->send(21, this->_data, 0, true);
-    if (this->recv(21, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(24, this->_data, 0, true);
+    if (this->recv(24, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
@@ -67,27 +67,27 @@ uint8_t Controller_::get_errors(void)
 
 void Controller_::calibrate()
 {
-    this->send(39, this->_data, 0, true);
+    this->send(42, this->_data, 0, true);
 }
 
 void Controller_::idle()
 {
-    this->send(40, this->_data, 0, true);
+    this->send(43, this->_data, 0, true);
 }
 
 void Controller_::position_mode()
 {
-    this->send(41, this->_data, 0, true);
+    this->send(44, this->_data, 0, true);
 }
 
 void Controller_::velocity_mode()
 {
-    this->send(42, this->_data, 0, true);
+    this->send(45, this->_data, 0, true);
 }
 
 void Controller_::current_mode()
 {
-    this->send(43, this->_data, 0, true);
+    this->send(46, this->_data, 0, true);
 }
 
 float Controller_::set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint)
@@ -98,14 +98,12 @@ float Controller_::set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint)
     write_le(vel_setpoint, this->_data + data_len);
     data_len += sizeof(vel_setpoint);
 
-    this->send(44, this->_data, data_len, false);
+    this->send(47, this->_data, data_len, false);
     float value = 0;
     this->send(17, this->_data, 0, true);
-    if (this->recv(17, this->_data, &(this->_dlc), this->delay_us_value)) 
+    if (this->recv(17, this->_data, &(this->_dlc), this->delay_us_value))
     {
         read_le(&value, this->_data);
     }
     return value;
 }
-
-