Send foc can detect result back to sender even if some other interfac…

…e communicates in-between

comm/commands.c

@@ -2229,7 +2229,7 @@ static THD_FUNCTION(blocking_thread, arg) {
 			float sl_erpm = buffer_get_float32(data, 1e3, &ind);
 
 			int res = conf_general_detect_apply_all_foc_can(detect_can, max_power_loss,
-					min_current_in, max_current_in, openloop_rpm, sl_erpm);
+					min_current_in, max_current_in, openloop_rpm, sl_erpm, send_func_blocking);
 
 			ind = 0;
 			send_buffer[ind++] = COMM_DETECT_APPLY_ALL_FOC;

conf_general.c

@@ -2002,13 +2002,19 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
  * @param sl_erpm
  * FOC ERPM above which sensorless should be used in sensored modes. 0 means leave it unchanged.
  *
+ * @param reply_func
+ * Send the motor and app config using this function pointer. If it is null the last function
+ * from commands will be used.
+ *
  * @return
  * Same as conf_general_detect_apply_all_foc, and
  * -50: CAN detection timed out
  * -51: CAN detection failed
  */
 int conf_general_detect_apply_all_foc_can(bool detect_can, float max_power_loss,
-										  float min_current_in, float max_current_in, float openloop_rpm, float sl_erpm) {
+										  float min_current_in, float max_current_in,
+										  float openloop_rpm, float sl_erpm,
+										  void(*reply_func)(unsigned char* data, unsigned int len)) {
 
 	int motor_last = mc_interface_get_motor_thread();
 	mc_interface_select_motor_thread(1);
@@ -2126,7 +2132,7 @@ 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, 0);
+			commands_send_appconf(COMM_GET_APPCONF, appconf, reply_func);
 			chThdSleepMilliseconds(1000);
 		}
 
@@ -2139,7 +2145,7 @@ 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, 0);
+		commands_send_mcconf(COMM_GET_MCCONF, mcconf, reply_func);
 		chThdSleepMilliseconds(1000);
 	}
 

conf_general.h

@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			6
 #define FW_VERSION_MINOR			00
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		81
+#define FW_TEST_VERSION_NUMBER		82
 
 #include "datatypes.h"
 
@@ -189,7 +189,9 @@ void conf_general_calc_apply_foc_cc_kp_ki_gain(mc_configuration *mcconf, float t
 int conf_general_detect_apply_all_foc(float max_power_loss,
 									  bool store_mcconf_on_success, bool send_mcconf_on_success);
 int conf_general_detect_apply_all_foc_can(bool detect_can, float max_power_loss,
-										  float min_current_in, float max_current_in, float openloop_rpm, float sl_erpm);
+										  float min_current_in, float max_current_in,
+										  float openloop_rpm, float sl_erpm,
+										  void(*reply_func)(unsigned char* data, unsigned int len));
 
 
 #endif /* CONF_GENERAL_H_ */

lispBM/lispif_vesc_extensions.c

@@ -3399,7 +3399,7 @@ typedef struct {
 static void detect_task(void *arg) {
 	detect_args *a = (detect_args*)arg;
 	int res = conf_general_detect_apply_all_foc_can(a->detect_can, a->max_power_loss,
-			a->min_current_in, a->max_current_in, a->openloop_rpm, a->sl_erpm);
+			a->min_current_in, a->max_current_in, a->openloop_rpm, a->sl_erpm, NULL);
 	lbm_unblock_ctx(a->id, lbm_enc_i(res));
 }
 

terminal.c

@@ -879,7 +879,7 @@ void terminal_process_string(char *str) {
 			commands_printf("Running detection...");
 			if (max_power_loss > 0.0) {
 
-				int res = conf_general_detect_apply_all_foc_can(true, max_power_loss, 0.0, 0.0, 0.0, 0.0);
+				int res = conf_general_detect_apply_all_foc_can(true, max_power_loss, 0.0, 0.0, 0.0, 0.0, NULL);
 
 				commands_printf("Res: %d", res);