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Shutdown command in menu, update COMM_xx enums to match bldc #345

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merged 2 commits into from
Jan 17, 2024
Merged

Shutdown command in menu, update COMM_xx enums to match bldc #345

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d1cafe3
datatypes.h: add new commands to COMM_PACKET_ID enum
surfdado Jan 14, 2024
00d3bf7
Added Shutdown command to Terminal menu
surfdado Jan 14, 2024
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9 changes: 9 additions & 0 deletions commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1432,6 +1432,15 @@ void Commands::reboot()
emitData(vb);
}

void Commands::shutdown()
{
VByteArray vb;
vb.vbAppendInt8(COMM_SHUTDOWN);
vb.vbAppendInt8(0);
vb.vbAppendInt8(0);
emitData(vb);
}

void Commands::sendAlive()
{
VByteArray vb;
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1 change: 1 addition & 0 deletions commands.h
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Expand Up @@ -192,6 +192,7 @@ public slots:
void setAppConfNoStore();
void detectMotorParam(double current, double min_rpm, double low_duty);
void reboot();
void shutdown();
void sendAlive();
void getDecodedPpm();
void getDecodedAdc();
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355 changes: 182 additions & 173 deletions datatypes.h
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Expand Up @@ -883,179 +883,188 @@ typedef enum {
} debug_sampling_mode;

typedef enum {
COMM_FW_VERSION = 0,
COMM_JUMP_TO_BOOTLOADER,
COMM_ERASE_NEW_APP,
COMM_WRITE_NEW_APP_DATA,
COMM_GET_VALUES,
COMM_SET_DUTY,
COMM_SET_CURRENT,
COMM_SET_CURRENT_BRAKE,
COMM_SET_RPM,
COMM_SET_POS,
COMM_SET_HANDBRAKE,
COMM_SET_DETECT,
COMM_SET_SERVO_POS,
COMM_SET_MCCONF,
COMM_GET_MCCONF,
COMM_GET_MCCONF_DEFAULT,
COMM_SET_APPCONF,
COMM_GET_APPCONF,
COMM_GET_APPCONF_DEFAULT,
COMM_SAMPLE_PRINT,
COMM_TERMINAL_CMD,
COMM_PRINT,
COMM_ROTOR_POSITION,
COMM_EXPERIMENT_SAMPLE,
COMM_DETECT_MOTOR_PARAM,
COMM_DETECT_MOTOR_R_L,
COMM_DETECT_MOTOR_FLUX_LINKAGE,
COMM_DETECT_ENCODER,
COMM_DETECT_HALL_FOC,
COMM_REBOOT,
COMM_ALIVE,
COMM_GET_DECODED_PPM,
COMM_GET_DECODED_ADC,
COMM_GET_DECODED_CHUK,
COMM_FORWARD_CAN,
COMM_SET_CHUCK_DATA,
COMM_CUSTOM_APP_DATA,
COMM_NRF_START_PAIRING,
COMM_GPD_SET_FSW,
COMM_GPD_BUFFER_NOTIFY,
COMM_GPD_BUFFER_SIZE_LEFT,
COMM_GPD_FILL_BUFFER,
COMM_GPD_OUTPUT_SAMPLE,
COMM_GPD_SET_MODE,
COMM_GPD_FILL_BUFFER_INT8,
COMM_GPD_FILL_BUFFER_INT16,
COMM_GPD_SET_BUFFER_INT_SCALE,
COMM_GET_VALUES_SETUP,
COMM_SET_MCCONF_TEMP,
COMM_SET_MCCONF_TEMP_SETUP,
COMM_GET_VALUES_SELECTIVE,
COMM_GET_VALUES_SETUP_SELECTIVE,
COMM_EXT_NRF_PRESENT,
COMM_EXT_NRF_ESB_SET_CH_ADDR,
COMM_EXT_NRF_ESB_SEND_DATA,
COMM_EXT_NRF_ESB_RX_DATA,
COMM_EXT_NRF_SET_ENABLED,
COMM_DETECT_MOTOR_FLUX_LINKAGE_OPENLOOP,
COMM_DETECT_APPLY_ALL_FOC,
COMM_JUMP_TO_BOOTLOADER_ALL_CAN,
COMM_ERASE_NEW_APP_ALL_CAN,
COMM_WRITE_NEW_APP_DATA_ALL_CAN,
COMM_PING_CAN,
COMM_APP_DISABLE_OUTPUT,
COMM_TERMINAL_CMD_SYNC,
COMM_GET_IMU_DATA,
COMM_BM_CONNECT,
COMM_BM_ERASE_FLASH_ALL,
COMM_BM_WRITE_FLASH,
COMM_BM_REBOOT,
COMM_BM_DISCONNECT,
COMM_BM_MAP_PINS_DEFAULT,
COMM_BM_MAP_PINS_NRF5X,
COMM_ERASE_BOOTLOADER,
COMM_ERASE_BOOTLOADER_ALL_CAN,
COMM_PLOT_INIT,
COMM_PLOT_DATA,
COMM_PLOT_ADD_GRAPH,
COMM_PLOT_SET_GRAPH,
COMM_GET_DECODED_BALANCE,
COMM_BM_MEM_READ,
COMM_WRITE_NEW_APP_DATA_LZO,
COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO,
COMM_BM_WRITE_FLASH_LZO,
COMM_SET_CURRENT_REL,
COMM_CAN_FWD_FRAME,
COMM_SET_BATTERY_CUT,
COMM_SET_BLE_NAME,
COMM_SET_BLE_PIN,
COMM_SET_CAN_MODE,
COMM_GET_IMU_CALIBRATION,
COMM_GET_MCCONF_TEMP,

// Custom configuration for hardware
COMM_GET_CUSTOM_CONFIG_XML,
COMM_GET_CUSTOM_CONFIG,
COMM_GET_CUSTOM_CONFIG_DEFAULT,
COMM_SET_CUSTOM_CONFIG,

// BMS commands
COMM_BMS_GET_VALUES,
COMM_BMS_SET_CHARGE_ALLOWED,
COMM_BMS_SET_BALANCE_OVERRIDE,
COMM_BMS_RESET_COUNTERS,
COMM_BMS_FORCE_BALANCE,
COMM_BMS_ZERO_CURRENT_OFFSET,

// FW updates commands for different HW types
COMM_JUMP_TO_BOOTLOADER_HW,
COMM_ERASE_NEW_APP_HW,
COMM_WRITE_NEW_APP_DATA_HW,
COMM_ERASE_BOOTLOADER_HW,
COMM_JUMP_TO_BOOTLOADER_ALL_CAN_HW,
COMM_ERASE_NEW_APP_ALL_CAN_HW,
COMM_WRITE_NEW_APP_DATA_ALL_CAN_HW,
COMM_ERASE_BOOTLOADER_ALL_CAN_HW,

COMM_SET_ODOMETER,

// Power switch commands
COMM_PSW_GET_STATUS,
COMM_PSW_SWITCH,

COMM_BMS_FWD_CAN_RX,
COMM_BMS_HW_DATA,
COMM_GET_BATTERY_CUT,
COMM_BM_HALT_REQ,
COMM_GET_QML_UI_HW,
COMM_GET_QML_UI_APP,
COMM_CUSTOM_HW_DATA,
COMM_QMLUI_ERASE,
COMM_QMLUI_WRITE,

// IO Board
COMM_IO_BOARD_GET_ALL,
COMM_IO_BOARD_SET_PWM,
COMM_IO_BOARD_SET_DIGITAL,

COMM_BM_MEM_WRITE,
COMM_BMS_BLNC_SELFTEST,
COMM_GET_EXT_HUM_TMP,
COMM_GET_STATS,
COMM_RESET_STATS,

// Lisp
COMM_LISP_READ_CODE,
COMM_LISP_WRITE_CODE,
COMM_LISP_ERASE_CODE,
COMM_LISP_SET_RUNNING,
COMM_LISP_GET_STATS,
COMM_LISP_PRINT,

COMM_BMS_SET_BATT_TYPE,
COMM_BMS_GET_BATT_TYPE,

COMM_LISP_REPL_CMD,
COMM_LISP_STREAM_CODE,

COMM_FILE_LIST,
COMM_FILE_READ,
COMM_FILE_WRITE,
COMM_FILE_MKDIR,
COMM_FILE_REMOVE,

COMM_LOG_START,
COMM_LOG_STOP,
COMM_LOG_CONFIG_FIELD,
COMM_LOG_DATA_F32,

COMM_SET_APPCONF_NO_STORE,
COMM_GET_GNSS,

COMM_LOG_DATA_F64,
COMM_FW_VERSION = 0,
COMM_JUMP_TO_BOOTLOADER = 1,
COMM_ERASE_NEW_APP = 2,
COMM_WRITE_NEW_APP_DATA = 3,
COMM_GET_VALUES = 4,
COMM_SET_DUTY = 5,
COMM_SET_CURRENT = 6,
COMM_SET_CURRENT_BRAKE = 7,
COMM_SET_RPM = 8,
COMM_SET_POS = 9,
COMM_SET_HANDBRAKE = 10,
COMM_SET_DETECT = 11,
COMM_SET_SERVO_POS = 12,
COMM_SET_MCCONF = 13,
COMM_GET_MCCONF = 14,
COMM_GET_MCCONF_DEFAULT = 15,
COMM_SET_APPCONF = 16,
COMM_GET_APPCONF = 17,
COMM_GET_APPCONF_DEFAULT = 18,
COMM_SAMPLE_PRINT = 19,
COMM_TERMINAL_CMD = 20,
COMM_PRINT = 21,
COMM_ROTOR_POSITION = 22,
COMM_EXPERIMENT_SAMPLE = 23,
COMM_DETECT_MOTOR_PARAM = 24,
COMM_DETECT_MOTOR_R_L = 25,
COMM_DETECT_MOTOR_FLUX_LINKAGE = 26,
COMM_DETECT_ENCODER = 27,
COMM_DETECT_HALL_FOC = 28,
COMM_REBOOT = 29,
COMM_ALIVE = 30,
COMM_GET_DECODED_PPM = 31,
COMM_GET_DECODED_ADC = 32,
COMM_GET_DECODED_CHUK = 33,
COMM_FORWARD_CAN = 34,
COMM_SET_CHUCK_DATA = 35,
COMM_CUSTOM_APP_DATA = 36,
COMM_NRF_START_PAIRING = 37,
COMM_GPD_SET_FSW = 38,
COMM_GPD_BUFFER_NOTIFY = 39,
COMM_GPD_BUFFER_SIZE_LEFT = 40,
COMM_GPD_FILL_BUFFER = 41,
COMM_GPD_OUTPUT_SAMPLE = 42,
COMM_GPD_SET_MODE = 43,
COMM_GPD_FILL_BUFFER_INT8 = 44,
COMM_GPD_FILL_BUFFER_INT16 = 45,
COMM_GPD_SET_BUFFER_INT_SCALE = 46,
COMM_GET_VALUES_SETUP = 47,
COMM_SET_MCCONF_TEMP = 48,
COMM_SET_MCCONF_TEMP_SETUP = 49,
COMM_GET_VALUES_SELECTIVE = 50,
COMM_GET_VALUES_SETUP_SELECTIVE = 51,
COMM_EXT_NRF_PRESENT = 52,
COMM_EXT_NRF_ESB_SET_CH_ADDR = 53,
COMM_EXT_NRF_ESB_SEND_DATA = 54,
COMM_EXT_NRF_ESB_RX_DATA = 55,
COMM_EXT_NRF_SET_ENABLED = 56,
COMM_DETECT_MOTOR_FLUX_LINKAGE_OPENLOOP = 57,
COMM_DETECT_APPLY_ALL_FOC = 58,
COMM_JUMP_TO_BOOTLOADER_ALL_CAN = 59,
COMM_ERASE_NEW_APP_ALL_CAN = 60,
COMM_WRITE_NEW_APP_DATA_ALL_CAN = 61,
COMM_PING_CAN = 62,
COMM_APP_DISABLE_OUTPUT = 63,
COMM_TERMINAL_CMD_SYNC = 64,
COMM_GET_IMU_DATA = 65,
COMM_BM_CONNECT = 66,
COMM_BM_ERASE_FLASH_ALL = 67,
COMM_BM_WRITE_FLASH = 68,
COMM_BM_REBOOT = 69,
COMM_BM_DISCONNECT = 70,
COMM_BM_MAP_PINS_DEFAULT = 71,
COMM_BM_MAP_PINS_NRF5X = 72,
COMM_ERASE_BOOTLOADER = 73,
COMM_ERASE_BOOTLOADER_ALL_CAN = 74,
COMM_PLOT_INIT = 75,
COMM_PLOT_DATA = 76,
COMM_PLOT_ADD_GRAPH = 77,
COMM_PLOT_SET_GRAPH = 78,
COMM_GET_DECODED_BALANCE = 79,
COMM_BM_MEM_READ = 80,
COMM_WRITE_NEW_APP_DATA_LZO = 81,
COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO = 82,
COMM_BM_WRITE_FLASH_LZO = 83,
COMM_SET_CURRENT_REL = 84,
COMM_CAN_FWD_FRAME = 85,
COMM_SET_BATTERY_CUT = 86,
COMM_SET_BLE_NAME = 87,
COMM_SET_BLE_PIN = 88,
COMM_SET_CAN_MODE = 89,
COMM_GET_IMU_CALIBRATION = 90,
COMM_GET_MCCONF_TEMP = 91,

// Custom configuration for hardware
COMM_GET_CUSTOM_CONFIG_XML = 92,
COMM_GET_CUSTOM_CONFIG = 93,
COMM_GET_CUSTOM_CONFIG_DEFAULT = 94,
COMM_SET_CUSTOM_CONFIG = 95,

// BMS commands
COMM_BMS_GET_VALUES = 96,
COMM_BMS_SET_CHARGE_ALLOWED = 97,
COMM_BMS_SET_BALANCE_OVERRIDE = 98,
COMM_BMS_RESET_COUNTERS = 99,
COMM_BMS_FORCE_BALANCE = 100,
COMM_BMS_ZERO_CURRENT_OFFSET = 101,

// FW updates commands for different HW types
COMM_JUMP_TO_BOOTLOADER_HW = 102,
COMM_ERASE_NEW_APP_HW = 103,
COMM_WRITE_NEW_APP_DATA_HW = 104,
COMM_ERASE_BOOTLOADER_HW = 105,
COMM_JUMP_TO_BOOTLOADER_ALL_CAN_HW = 106,
COMM_ERASE_NEW_APP_ALL_CAN_HW = 107,
COMM_WRITE_NEW_APP_DATA_ALL_CAN_HW = 108,
COMM_ERASE_BOOTLOADER_ALL_CAN_HW = 109,

COMM_SET_ODOMETER = 110,

// Power switch commands
COMM_PSW_GET_STATUS = 111,
COMM_PSW_SWITCH = 112,

COMM_BMS_FWD_CAN_RX = 113,
COMM_BMS_HW_DATA = 114,
COMM_GET_BATTERY_CUT = 115,
COMM_BM_HALT_REQ = 116,
COMM_GET_QML_UI_HW = 117,
COMM_GET_QML_UI_APP = 118,
COMM_CUSTOM_HW_DATA = 119,
COMM_QMLUI_ERASE = 120,
COMM_QMLUI_WRITE = 121,

// IO Board
COMM_IO_BOARD_GET_ALL = 122,
COMM_IO_BOARD_SET_PWM = 123,
COMM_IO_BOARD_SET_DIGITAL = 124,

COMM_BM_MEM_WRITE = 125,
COMM_BMS_BLNC_SELFTEST = 126,
COMM_GET_EXT_HUM_TMP = 127,
COMM_GET_STATS = 128,
COMM_RESET_STATS = 129,

// Lisp
COMM_LISP_READ_CODE = 130,
COMM_LISP_WRITE_CODE = 131,
COMM_LISP_ERASE_CODE = 132,
COMM_LISP_SET_RUNNING = 133,
COMM_LISP_GET_STATS = 134,
COMM_LISP_PRINT = 135,

COMM_BMS_SET_BATT_TYPE = 136,
COMM_BMS_GET_BATT_TYPE = 137,

COMM_LISP_REPL_CMD = 138,
COMM_LISP_STREAM_CODE = 139,

COMM_FILE_LIST = 140,
COMM_FILE_READ = 141,
COMM_FILE_WRITE = 142,
COMM_FILE_MKDIR = 143,
COMM_FILE_REMOVE = 144,

COMM_LOG_START = 145,
COMM_LOG_STOP = 146,
COMM_LOG_CONFIG_FIELD = 147,
COMM_LOG_DATA_F32 = 148,

COMM_SET_APPCONF_NO_STORE = 149,
COMM_GET_GNSS = 150,

COMM_LOG_DATA_F64 = 151,

COMM_LISP_RMSG = 152,

//Placeholders for pinlock commands
//COMM_PINLOCK1 = 153,
//COMM_PINLOCK2 = 154,
//COMM_PINLOCK3 = 155,

COMM_SHUTDOWN = 156,
} COMM_PACKET_ID;

// CAN commands
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