Support for motor disable/enable

commands.cpp

@@ -284,6 +284,7 @@ void Commands::processPacket(QByteArray data)
                 quint8 status = vb.vbPopFrontUint8();
                 values.has_timeout = status & 1;
                 values.kill_sw_active = (status >> 1) & 1;
+                values.motor_disabled = (status >> 2) & 1;
             }
         }
 
@@ -1509,6 +1510,14 @@ void Commands::shutdown()
     emitData(vb);
 }
 
+void Commands::disableMotor(bool disable)
+{
+    VByteArray vb;
+    vb.vbAppendInt8(COMM_DISABLE);
+    vb.vbAppendInt8(disable ? 1 : 0);
+    emitData(vb);
+}
+
 void Commands::sendAlive()
 {
     VByteArray vb;

commands.h

@@ -204,6 +204,7 @@ public slots:
     void detectMotorParam(double current, double min_rpm, double low_duty);
     void reboot();
     void shutdown();
+    void disableMotor(bool disable);
     void sendAlive();
     void getDecodedPpm();
     void getDecodedAdc();

datatypes.h

@@ -188,6 +188,7 @@ struct MC_VALUES {
     Q_PROPERTY(double vq MEMBER vq)
     Q_PROPERTY(bool has_timeout MEMBER has_timeout)
     Q_PROPERTY(bool kill_sw_active MEMBER kill_sw_active)
+    Q_PROPERTY(bool motor_disabled MEMBER motor_disabled)
 
 public:
     MC_VALUES() {
@@ -216,6 +217,7 @@ struct MC_VALUES {
         vq = 0.0;
         has_timeout = false;
         kill_sw_active = false;
+        motor_disabled = false;
     }
 
     bool operator==(const MC_VALUES &other) const {
@@ -254,6 +256,7 @@ struct MC_VALUES {
     double vq;
     bool has_timeout;
     bool kill_sw_active;
+    bool motor_disabled;
 };
 
 Q_DECLARE_METATYPE(MC_VALUES)
@@ -1038,6 +1041,8 @@ typedef enum {
     COMM_CAN_UPDATE_BAUD_ALL				= 158,
 
     COMM_MOTOR_ESTOP						= 159,
+
+    COMM_DISABLE							= 160,
 } COMM_PACKET_ID;
 
 // CAN commands

mainwindow.cpp

@@ -220,6 +220,7 @@ MainWindow::MainWindow(QWidget *parent) :
     mPreferences->setVesc(mVesc);
 
     mStatusInfoTime = 0;
+    mMotorDisabledNow = false;
     mStatusLabel = new QLabel(this);
     ui->statusBar->addPermanentWidget(mStatusLabel);
     mDebugTimer = new QTimer(this);
@@ -796,8 +797,11 @@ void MainWindow::timerSlot()
         }
     } else {
         QString str = mVesc->getConnectedPortName();
+        if (mMotorDisabledNow && mVesc->isPortConnected()) {
+            str += tr(" | MOTOR DISABLED");
+        }
         if (str != mStatusLabel->text()) {
-            mStatusLabel->setText(mVesc->getConnectedPortName());
+            mStatusLabel->setText(str);
             static QString statusLast = "";
             if (str != statusLast) {
                 mPageDebugPrint->printConsole("Status: " + str + "<br>");
@@ -1075,6 +1079,7 @@ void MainWindow::valuesReceived(MC_VALUES values, unsigned int mask)
     (void)mask;
     ui->dispCurrent->setVal(values.current_motor);
     ui->dispDuty->setVal(values.duty_now * 100.0);
+    mMotorDisabledNow = values.motor_disabled;
 }
 
 void MainWindow::paramChangedDouble(QObject *src, QString name, double newParam)
@@ -1118,6 +1123,25 @@ void MainWindow::on_actionShutdown_triggered()
     mVesc->commands()->shutdown();
 }
 
+void MainWindow::on_actionMotorDisable_triggered()
+{
+    QMessageBox::StandardButton answer = QMessageBox::question(
+                this,
+                tr("Disable Motor"),
+                tr("This will disable the motor until it is enabled again. Continue?"),
+                QMessageBox::Yes | QMessageBox::Cancel
+                );
+
+    if (answer == QMessageBox::Yes) {
+        mVesc->commands()->disableMotor(true);
+    }
+}
+
+void MainWindow::on_actionMotorEnable_triggered()
+{
+    mVesc->commands()->disableMotor(false);
+}
+
 void MainWindow::on_stopButton_clicked()
 {
     mVesc->commands()->setCurrent(0);

mainwindow.h

@@ -104,6 +104,8 @@ private slots:
     void on_actionDisconnect_triggered();
     void on_actionReboot_triggered();
     void on_actionShutdown_triggered();
+    void on_actionMotorDisable_triggered();
+    void on_actionMotorEnable_triggered();
     void on_stopButton_clicked();
     void on_fullBrakeButton_clicked();
     void on_actionReadMcconf_triggered();
@@ -177,6 +179,7 @@ private slots:
     QTimer *mTimer;
     QLabel *mStatusLabel;
     int mStatusInfoTime;
+    bool mMotorDisabledNow;
     bool mKeyLeft;
     bool mKeyRight;
     bool mMcConfRead;

mainwindow.ui

@@ -673,6 +673,10 @@
     <addaction name="separator"/>
     <addaction name="actionReboot"/>
     <addaction name="actionShutdown"/>
+    <addaction name="separator"/>
+    <addaction name="actionMotorDisable"/>
+    <addaction name="actionMotorEnable"/>
+    <addaction name="separator"/>
     <addaction name="actionRestartLispBM"/>
    </widget>
    <widget class="QMenu" name="menuCommands">
@@ -771,6 +775,22 @@
     <string>Shutdown (for controllers with auto-shutdown support only)</string>
    </property>
   </action>
+  <action name="actionMotorDisable">
+   <property name="text">
+    <string>Disable Motor</string>
+   </property>
+   <property name="toolTip">
+    <string>Disable the motor persistently (survives reboots). Only works while the motor is stationary.</string>
+   </property>
+  </action>
+  <action name="actionMotorEnable">
+   <property name="text">
+    <string>Enable Motor</string>
+   </property>
+   <property name="toolTip">
+    <string>Re-enable the motor after Disable Motor</string>
+   </property>
+  </action>
   <action name="actionCanFwd">
    <property name="checkable">
     <bool>true</bool>

mobile/RtData.qml

@@ -226,7 +226,8 @@ Item {
                     "Wh Draw    : " + parseFloat(values.watt_hours).toFixed(2) + " Wh\n" +
                     "Wh Charge  : " + parseFloat(values.watt_hours_charged).toFixed(2) + " Wh\n" +
                     "ABS Tacho  : " + values.tachometer_abs + " Counts\n" +
-                    "Fault      : " + values.fault_str
+                    "Fault      : " + values.fault_str +
+                    (values.motor_disabled ? "\nDisabled   : TRUE" : "")
         }
     }
 }

mobile/Terminal.qml

@@ -118,13 +118,57 @@ Item {
                             mCommands.shutdown()
                         }
                     }
+                    MenuItem {
+                        text: "Disable Motor"
+                        onTriggered: {
+                            motorDisableDialog.open()
+                        }
+                    }
+                    MenuItem {
+                        text: "Enable Motor"
+                        onTriggered: {
+                            mCommands.disableMotor(false)
+                        }
+                    }
                     MenuItem {
                         text: "Restart LispBM"
                         onTriggered: {
                             mCommands.lispSetRunning(1)
                         }
                     }
                 }
+
+                Dialog {
+                    id: motorDisableDialog
+                    standardButtons: Dialog.Yes | Dialog.Cancel
+                    modal: true
+                    focus: true
+                    width: parent.width - 20
+                    height: 200
+                    closePolicy: Popup.CloseOnEscape
+                    title: "Disable Motor"
+                    x: 10
+                    y: 10 + parent.height / 2 - height / 2
+                    parent: terminalPageItem
+
+                    Overlay.modal: Rectangle {
+                        color: "#AA000000"
+                    }
+
+                    Text {
+                        color: Utility.getAppHexColor("lightText")
+                        verticalAlignment: Text.AlignVCenter
+                        anchors.fill: parent
+                        wrapMode: Text.WordWrap
+                        text: "This is going to disable the motor until it is enabled again, " +
+                              "even after reboot. The command is ignored while the motor is " +
+                              "spinning. Are you sure?"
+                    }
+
+                    onAccepted: {
+                        mCommands.disableMotor(true)
+                    }
+                }
             }
         }
 

mobile/main.qml

@@ -32,6 +32,7 @@ import Vedder.vesc.vesc3ditem 1.0
 ApplicationWindow {
     id: appWindow
     property Commands mCommands: VescIf.commands()
+    property bool motorDisabledNow: false
     property ConfigParams mMcConf: VescIf.mcConfig()
     property ConfigParams mAppConf: VescIf.appConfig()
     property ConfigParams mInfoConf: VescIf.infoConfig()
@@ -820,8 +821,12 @@ ApplicationWindow {
         running: true
         repeat: true
         onTriggered: {
-            if (!statusTimer.running && connectedText.text !== VescIf.getConnectedPortName()) {
-                connectedText.text = VescIf.getConnectedPortName()
+            var statusStr = VescIf.getConnectedPortName()
+            if (appWindow.motorDisabledNow && VescIf.isPortConnected()) {
+                statusStr += " | MOTOR DISABLED"
+            }
+            if (!statusTimer.running && connectedText.text !== statusStr) {
+                connectedText.text = statusStr
             }
         }
     }
@@ -1183,6 +1188,10 @@ ApplicationWindow {
 
     Connections {
         target: mCommands
+        function onValuesReceived(values, mask) {
+            appWindow.motorDisabledNow = values.motor_disabled
+        }
+
         function onValuesImuReceived(values, mask) {
             if (tabBar.currentIndex == (1 + indexOffset()) && rtSwipeView.currentIndex == 2) {
                 vesc3dLoader.item.setRotation(values.roll, values.pitch,

widgets/rtdatatext.cpp

@@ -82,6 +82,7 @@ void RtDataText::paintEvent(QPaintEvent *event)
                                     "T\n"
                                     "T\n"
                                     "T\n"
+                                    "T\n"
                                     "T\n");
 
     int boxh_new = br.height();
@@ -125,25 +126,52 @@ void RtDataText::paintEvent(QPaintEvent *event)
                      Qt::AlignLeft, str);
 
     // Middle info box
+    bool fault_active = mValues.fault_code != FAULT_CODE_NONE;
+
+    // The fault value and the TRUE of the disabled row are left out here and
+    // drawn separately in red below.
     str = QString::asprintf("T FET   : %.2f \u00B0C\n"
                 "T Motor : %.2f \u00B0C\n"
                 "Fault   : %s\n"
+                "%s"
                 "Tac     : %i\n"
                 "Tac ABS : %i\n",
                 mValues.temp_mos,
                 mValues.temp_motor,
-                mValues.fault_str.toLocal8Bit().data(),
+                fault_active ? "" : mValues.fault_str.toLocal8Bit().data(),
+                mValues.motor_disabled ? "Disabled: \n" : "",
                 mValues.tachometer,
                 mValues.tachometer_abs);
 
     painter.setOpacity(0.7);
     painter.fillRect(vidw / 2.0 - bbox_w / 2.0, 0, bbox_w, bbow_h, Utility::getAppQColor("normalBackground"));
     painter.setOpacity(1.0);
 
+    const double xmid = vidw / 2.0 - bbox_w / 2.0 + mTxtOfs;
+
     painter.setPen(Utility::getAppQColor("normalText"));
-    painter.drawText(QRectF(vidw / 2.0 - bbox_w / 2.0 + mTxtOfs, mTxtOfs, mBoxW, mBoxH),
+    painter.drawText(QRectF(xmid, mTxtOfs, mBoxW, mBoxH),
                      Qt::AlignLeft, str);
 
+    if (fault_active || mValues.motor_disabled) {
+        QFontMetrics fm = painter.fontMetrics();
+        painter.setPen(Utility::getAppQColor("red"));
+
+        if (fault_active) {
+            painter.drawText(QRectF(xmid + fm.horizontalAdvance("Fault   : "),
+                                    mTxtOfs + 2 * fm.lineSpacing(), mBoxW, mBoxH),
+                             Qt::AlignLeft, mValues.fault_str);
+        }
+
+        if (mValues.motor_disabled) {
+            painter.drawText(QRectF(xmid + fm.horizontalAdvance("Disabled: "),
+                                    mTxtOfs + 3 * fm.lineSpacing(), mBoxW, mBoxH),
+                             Qt::AlignLeft, "TRUE");
+        }
+
+        painter.setPen(Utility::getAppQColor("normalText"));
+    }
+
     // Right info box
     str = QString::asprintf("Ah Draw   : %.1f mAh\n"
                 "Ah Charge : %.1f mAh\n"