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motorcontrollerconfigwindow.cpp
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motorcontrollerconfigwindow.cpp
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#include "motorcontrollerconfigwindow.h"
#include "ui_motorcontrollerconfigwindow.h"
#include "mainwindow.h"
#include <QDebug>
/*
* Nothing to see here, these are not the droids you're looking for. Go away
*
*
*
* You didn't go away, did you... This is a screen that allows for setting EEPROM configuration for a
* custom motor controller project I was working on. It's hidden by default. You could re-enable it and play around
* with it if you're bored. It might be a good basis for how to set a list of parameters on a device. But, it could be broken
* these days too. It is not maintained any longer as the project it was meant for is abandoned. YMMV.
*/
MotorControllerConfigWindow::MotorControllerConfigWindow(const QVector<CANFrame> *frames, QWidget *parent) :
QDialog(parent),
ui(new Ui::MotorControllerConfigWindow)
{
ui->setupUi(this);
setWindowFlags(Qt::Window);
modelFrames = frames;
timer.setInterval(40);
transmitStep = 0;
doingRequest = false;
QStringList headers;
headers << "Param" << "Value";
ui->tableParams->setColumnCount(2);
ui->tableParams->setColumnWidth(0, 350);
ui->tableParams->setColumnWidth(1, 150);
ui->tableParams->setHorizontalHeaderLabels(headers);
connect(MainWindow::getReference(), SIGNAL(framesUpdated(int)), this, SLOT(updatedFrames(int)));
connect(ui->btnRefresh, SIGNAL(clicked(bool)), this, SLOT(refreshData()));
connect(ui->btnSave, SIGNAL(clicked(bool)), this, SLOT(saveData()));
connect(&timer, SIGNAL(timeout()), this, SLOT(timerTick()));
connect(ui->btnLoadFile, SIGNAL(clicked(bool)), this, SLOT(loadFile()));
}
MotorControllerConfigWindow::~MotorControllerConfigWindow()
{
delete ui;
}
void MotorControllerConfigWindow::updatedFrames(int numFrames)
{
CANFrame thisFrame;
uint32_t id;
QTableWidgetItem *item = nullptr;
if (numFrames == -1) //all frames deleted
{
}
else if (numFrames == -2) //all new set of frames. Reset
{
}
else //just got some new frames. See if they are relevant.
{
if (numFrames > modelFrames->count()) return;
for (int i = modelFrames->count() - numFrames; i < modelFrames->count(); i++)
{
thisFrame = modelFrames->at(i);
id = thisFrame.frameId();
if (id == 0xC2) //response to a query we made
{
if ((char)thisFrame.payload()[2] == 0)
{
uint32_t paramID = static_cast<uint32_t>(thisFrame.payload()[0] + (thisFrame.payload()[1] * 256));
for (int i = 0; i < params.length(); i++)
{
if (params[i].paramID == paramID)
{
params[i].value = static_cast<uint16_t>(thisFrame.payload()[4] + (thisFrame.payload()[5] * 256));
if (params[i].paramType == ASCII) item = new QTableWidgetItem(); //QString::fromUtf8((char *)params[i].value, 2));
if (params[i].paramType == HEX) item = new QTableWidgetItem(Utility::formatHexNum(params[i].value));
if (params[i].paramType == DEC)
{
if (params[i].signedType == UNSIGNED) item = new QTableWidgetItem(QString::number(params[i].value));
if (params[i].signedType == SIGNED)
{
if (params[i].value < 0x8000) item = new QTableWidgetItem(QString::number(params[i].value));
else item = new QTableWidgetItem(QString::number(params[i].value - 0x10000));
}
if (params[i].signedType == Q15) item = new QTableWidgetItem(QString::number(params[i].value / 32768.0));
}
ui->tableParams->setItem(i, 1, item);
break;
}
}
}
}
}
}
}
void MotorControllerConfigWindow::refreshData()
{
doingRequest = true;
transmitStep = 0;
timer.start();
}
void MotorControllerConfigWindow::loadFile()
{
QString filename;
QFileDialog dialog;
QFile *inFile;
QByteArray line;
PARAM param;
QStringList filters;
filters.append(QString(tr("RMS Definition File (*.txt *.TXT)")));
dialog.setFileMode(QFileDialog::ExistingFile);
dialog.setNameFilters(filters);
dialog.setViewMode(QFileDialog::Detail);
if (dialog.exec() == QDialog::Accepted)
{
filename = dialog.selectedFiles()[0];
inFile = new QFile(filename);
if (!inFile->open(QIODevice::ReadOnly | QIODevice::Text))
{
delete inFile;
return;
}
ui->tableParams->clear();
params.clear();
while (!inFile->atEnd())
{
line = inFile->readLine().simplified().toUpper();
if (!line.startsWith("#") && line.length() > 10)
{
QList<QByteArray> tokens = line.split(',');
//Serial_Number_EEPROM , 0x0113, uint, dec, 16, 6, spr, spr, spr
param.paramName = tokens[0].simplified();
param.paramID = Utility::ParseStringToNum(tokens[1].simplified());
QString signedStr = tokens[2].simplified().toUpper();
param.signedType = SIGNED;
if (signedStr.compare("UINT") == 0) param.signedType = UNSIGNED;
if (signedStr.compare("Q15") == 0) param.signedType = Q15;
QString typeStr = tokens[3].simplified().toUpper();
param.paramType = DEC;
if (typeStr.compare("HEX") == 0) param.paramType = HEX;
if (typeStr.compare("ASCII") == 0) param.paramType = ASCII;
int row = ui->tableParams->rowCount();
ui->tableParams->insertRow(row);
QTableWidgetItem *item = new QTableWidgetItem(param.paramName);
ui->tableParams->setItem(row, 0, item);
item = new QTableWidgetItem("");
ui->tableParams->setItem(row, 1, item);
params.append(param);
}
}
refreshData();
inFile->close();
delete inFile;
}
}
void MotorControllerConfigWindow::saveData()
{
doingRequest = false;
transmitStep = 0;
timer.start();
}
void MotorControllerConfigWindow::timerTick()
{
if (doingRequest) //send requests for data
{
qDebug() << "Request: " << QString::number(transmitStep);
outFrame.setFrameId(0xC1);
QByteArray bytes(8, 0);
outFrame.bus = 0;
outFrame.setExtendedFrameFormat(false);
bytes[0] = params[transmitStep].paramID & 0xFF;
bytes[1] = (params[transmitStep].paramID >> 8) & 0xFF;
bytes[2] = 0; //0 = read, 1 = write
bytes[3] = 0; //reserved
bytes[4] = 0; //value goes in bytes 4,5 when writing
bytes[5] = 0;
bytes[6] = 0; //reserved
bytes[7] = 0; //reserved
outFrame.setPayload(bytes);
CANConManager::getInstance()->sendFrame(outFrame);
transmitStep++;
if (transmitStep == params.length())
{
timer.stop();
return;
}
}
else //save current value of all data items
{
uint16_t thisValue;
qDebug() << "Transmission: " << QString::number(transmitStep);
QString cellVal = ui->tableParams->item(transmitStep, 1)->text();
if (params[transmitStep].paramType != HEX)
thisValue = (uint16_t)Utility::ParseStringToNum(cellVal);
else
thisValue = (uint16_t)Utility::ParseStringToNum(cellVal);
if (thisValue != params[transmitStep].value)
{
outFrame.setFrameId(0xC1);
QByteArray bytes(8, 0);
outFrame.bus = 0;
outFrame.setExtendedFrameFormat(false);
bytes[0] = params[transmitStep].paramID & 0xFF;
bytes[1] = (params[transmitStep].paramID >> 8) & 0xFF;
bytes[2] = 1; //0 = read, 1 = write
bytes[3] = 0; //reserved
bytes[4] = params[transmitStep].value & 0xFF;
bytes[5] = (params[transmitStep].value >> 8) & 0xFF;
bytes[6] = 0; //reserved
bytes[7] = 0; //reserved
CANConManager::getInstance()->sendFrame(outFrame);
}
transmitStep++;
}
}