-
Notifications
You must be signed in to change notification settings - Fork 288
/
motorcontrollerconfigwindow.cpp
245 lines (209 loc) · 8.41 KB
/
motorcontrollerconfigwindow.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
#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++;
}
}