Changed motor controller config window to target Rinehart Motion controllers instead of my custom controller.

Yes, I still need to move it into dynamic library and out of the main program.

motorcontrollerconfigwindow.cpp

@@ -16,10 +16,19 @@ MotorControllerConfigWindow::MotorControllerConfigWindow(const QVector<CANFrame>
     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()
@@ -32,10 +41,7 @@ void MotorControllerConfigWindow::updatedFrames(int numFrames)
     CANFrame thisFrame;
     int id;
     int param;
-    float valu;
-    uint8_t eightval;
-    uint16_t sixteenval;
-    uint32_t thirtytwoval;
+    QTableWidgetItem *item;
     if (numFrames == -1) //all frames deleted
     {
 
@@ -52,125 +58,32 @@ void MotorControllerConfigWindow::updatedFrames(int numFrames)
             thisFrame = modelFrames->at(i);
             id = thisFrame.ID;
 
-            if (id == 0x420)
+            if (id == 0xC2) //response to a query we made
             {
-                param = thisFrame.data[0];
-                eightval = thisFrame.data[1];
-                sixteenval = thisFrame.data[1] + (thisFrame.data[2] * 256ul);
-                thirtytwoval = sixteenval + (thisFrame.data[3] * 65536ul) + (thisFrame.data[4] * 256ul * 65536ul);
-
-                switch (param)
+                if (thisFrame.data[2] == 0)
                 {
-                case 0: //voltage scale (*65536)
-                    valu = thirtytwoval / 65536.0f;
-                    ui->editVoltageScale->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 1: //voltage bias
-                    ui->editVoltageOffset->setText(QString::number(sixteenval));
-                    break;
-                case 2: //current 1 scale (*65536)
-                    valu = thirtytwoval / 65536.0f;
-                    ui->editCurrent1Scale->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 3: //current 1 bias
-                    ui->editCurrent1Offset->setText(QString::number(sixteenval));
-                    break;
-                case 4: //current 2 scale (*65536)
-                    valu = thirtytwoval / 65536.0f;
-                    ui->editCurrent2Scale->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 5: //current 2 bias
-                    ui->editCurrent2Offset->setText(QString::number(sixteenval));
-                    break;
-                case 6: //Inverter temp 1 scale (*65536)
-                    valu = thirtytwoval / 65536.0f;
-                    ui->editInvTemp1Scale->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 7: //Inverter temp 1 bias
-                    ui->editInvTemp1Offset->setText(QString::number(sixteenval));
-                    break;
-                case 8: //Inverter temp 2 scale (*65536)
-                    valu = thirtytwoval / 65536.0f;
-                    ui->editInvTemp2Scale->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 9: //Inverter temp 2 bias
-                    ui->editInvTemp2Offset->setText(QString::number(sixteenval));
-                    break;
-                case 10: //Motor temp 1 scale (*65536)
-                    valu = thirtytwoval / 65536.0f;
-                    ui->editMotorTemp1Scale->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 11: //Motor temp 1 bias
-                    ui->editMotorTemp1Offset->setText(QString::number(sixteenval));
-                    break;
-                case 12: //Motor temp 2 scale (*65536)
-                    valu = thirtytwoval / 65536.0f;
-                    ui->editMotorTemp2Scale->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 13: //Motor temp 2 bias
-                    ui->editMotorTemp2Offset->setText(QString::number(sixteenval));
-                    break;
-                case 14: //motor type (inductive, pmac, bldc)
-                    ui->editMotorType->setText(QString::number(eightval));
-                    break;
-                case 15: //control type (vhz, foc)
-                    ui->editControlType->setText(QString::number(eightval));
-                    break;
-                case 16: //encoder count
-                    ui->editEncoderCount->setText(QString::number(sixteenval));
-                    break;
-                case 17: //encoder direction (0 = normal, 1 = reversed)
-                    ui->editEncoderDir->setText(QString::number(eightval));
-                    break;
-                case 18:
-                    ui->editPolePairs->setText(QString::number(eightval));
-                    break;
-                case 19: //rotor time const (*65536)
-                    valu = thirtytwoval / 65536.0f;
-                    ui->editRotorTime->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 20: //Torque KP (*4096)
-                    valu = thirtytwoval / 4096.0f;
-                    ui->editTorqueKP->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 21: //Torque KI (*4096)
-                    valu = thirtytwoval / 4096.0f;
-                    ui->editTorqueKI->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 22: //Torque KD (*4096)
-                    valu = thirtytwoval / 4096.0f;
-                    ui->editTorqueKD->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 23: //Max RPM
-                    ui->editMaxRPM->setText(QString::number(sixteenval));
-                    break;
-                case 24: //Max Torque
-                    valu = sixteenval / 10.0f;
-                    ui->editMaxTorque->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 25: //Max Amps in Drive
-                    valu = sixteenval / 10.0f;
-                    ui->editMaxAmpsDrive->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 26: //Max Amps in Regen
-                    valu = sixteenval / 10.0f;
-                    ui->editMaxAmpsRegen->setText(QString::number(valu, 'g', 4));
-                    break;
-                case 27: //VHz Full Speed
-                    ui->editVHZFull->setText(QString::number(sixteenval));
-                    break;
-                case 28: //Theta offset
-                    ui->editThetaOffset->setText(QString::number(sixteenval));
-                    break;
-                case 29: //Hall AB
-                    ui->editHallAB->setText(QString::number(eightval));
-                    break;
-                case 30: //Hall BC
-                    ui->editHallBC->setText(QString::number(eightval));
-                    break;
-                case 31: //Hall CA
-                    ui->editHallCA->setText(QString::number(eightval));
-                    break;
+                    int paramID = thisFrame.data[0] + (thisFrame.data[1] * 256);
+                    for (int i = 0; i < params.length(); i++)
+                    {
+                        if (params[i].paramID == paramID)
+                        {
+                            params[i].value = thisFrame.data[4] + (thisFrame.data[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));
+                            }
+
+                            break;
+                        }
+                    }
                 }
             }
         }
@@ -184,6 +97,72 @@ void MotorControllerConfigWindow::refreshData()
     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;
@@ -193,17 +172,27 @@ void MotorControllerConfigWindow::saveData()
 
 void MotorControllerConfigWindow::timerTick()
 {
-    float valu;
-    uint32_t intval32;
-    uint16_t intval16;
-    uint8_t intval8;
-
     if (doingRequest) //send requests for data
     {
-        //qDebug() << "Request: " << QString::number(transmitStep);
-        send8BitParam(transmitStep, 0);
+        qDebug() << "Request: " << QString::number(transmitStep);
+
+        outFrame.ID = 0xC1;
+        outFrame.len = 8;
+        outFrame.bus = 0;
+        outFrame.extended = false;
+        outFrame.data[0] = params[transmitStep].paramID & 0xFF;
+        outFrame.data[1] = (params[transmitStep].paramID >> 8) & 0xFF;
+        outFrame.data[2] = 0; //0 = read, 1 = write
+        outFrame.data[3] = 0; //reserved
+        outFrame.data[4] = 0; //value goes in bytes 4,5 when writing
+        outFrame.data[5] = 0;
+        outFrame.data[6] = 0; //reserved
+        outFrame.data[7] = 0; //reserved
+
+        emit sendCANFrame(&outFrame, 0);
+
         transmitStep++;
-        if (transmitStep == 32)
+        if (transmitStep == params.length())
         {
             timer.stop();
             return;
@@ -214,193 +203,8 @@ void MotorControllerConfigWindow::timerTick()
         //qDebug() << "Transmission: " << QString::number(transmitStep);
         switch (transmitStep)
         {
-        case 0:
-            valu = ui->editVoltageScale->text().toFloat();
-            intval32 = valu * 65536;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 1:
-            intval16 = ui->editVoltageOffset->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 2:
-            valu = ui->editCurrent1Scale->text().toFloat();
-            intval32 = valu * 65536;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 3:
-            intval16 = ui->editCurrent1Offset->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 4:
-            valu = ui->editCurrent2Scale->text().toFloat();
-            intval32 = valu * 65536;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 5:
-            intval16 = ui->editCurrent2Offset->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 6: //Inverter temp 1 scale (*65536)
-            valu = ui->editInvTemp1Scale->text().toFloat();
-            intval32 = valu * 65536;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 7: //Inverter temp 1 bias
-            intval16 = ui->editInvTemp1Offset->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 8: //Inverter temp 2 scale (*65536)
-            valu = ui->editInvTemp2Scale->text().toFloat();
-            intval32 = valu * 65536;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 9: //Inverter temp 2 bias
-            intval16 = ui->editInvTemp2Offset->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 10: //Motor temp 1 scale (*65536)
-            valu = ui->editMotorTemp1Scale->text().toFloat();
-            intval32 = valu * 65536;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 11: //Motor temp 1 bias
-            intval16 = ui->editMotorTemp1Offset->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 12: //Motor temp 2 scale (*65536)
-            valu = ui->editMotorTemp2Scale->text().toFloat();
-            intval32 = valu * 65536;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 13: //Motor temp 2 bias
-            intval16 = ui->editMotorTemp2Offset->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 14: //motor type (inductive, pmac, bldc)
-            intval8 = ui->editMotorType->text().toInt();
-            send8BitParam(0x80 + transmitStep, intval8);
-            break;
-        case 15: //control type (vhz, foc)
-            intval8 = ui->editControlType->text().toInt();
-            send8BitParam(0x80 + transmitStep, intval8);
-            break;
-        case 16: //encoder count
-            intval16 = ui->editEncoderCount->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 17: //encoder direction (0 = normal, 1 = reversed)
-            intval8 = ui->editEncoderDir->text().toInt();
-            send8BitParam(0x80 + transmitStep, intval8);
-            break;
-        case 18:
-            intval8 = ui->editPolePairs->text().toInt();
-            send8BitParam(0x80 + transmitStep, intval8);
-            break;
-        case 19: //rotor time const (*65536)
-            valu = ui->editRotorTime->text().toFloat();
-            intval32 = valu * 65536;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 20: //Torque KP (*4096)
-            valu = ui->editTorqueKP->text().toFloat();
-            intval32 = valu * 4096;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 21: //Torque KI (*4096)
-            valu = ui->editTorqueKI->text().toFloat();
-            intval32 = valu * 4096;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 22: //Torque KD (*4096)
-            valu = ui->editTorqueKD->text().toFloat();
-            intval32 = valu * 4096;
-            send32BitParam(0x80 + transmitStep, intval32);
-            break;
-        case 23: //Max RPM
-            intval16 = ui->editMaxRPM->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 24: //Max Torque
-            valu = ui->editMaxTorque->text().toFloat();
-            intval16 =  valu * 10;
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 25: //Max Amps in Drive
-            valu = ui->editMaxAmpsDrive->text().toFloat();
-            intval16 =  valu * 10;
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 26: //Max Amps in Regen
-            valu = ui->editMaxAmpsRegen->text().toFloat();
-            intval16 =  valu * 10;
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 27: //VHz Full Speed
-            intval16 = ui->editVHZFull->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 28: //Theta offset
-            intval16 = ui->editThetaOffset->text().toInt();
-            send16BitParam(0x80 + transmitStep, intval16);
-            break;
-        case 29: //Hall AB
-            intval8 = ui->editHallAB->text().toInt();
-            send8BitParam(0x80 + transmitStep, intval8);
-            break;
-        case 30: //Hall BC
-            intval8 = ui->editHallBC->text().toInt();
-            send8BitParam(0x80 + transmitStep, intval8);
-            break;
-        case 31: //Hall CA
-            intval8 = ui->editHallCA->text().toInt();
-            send8BitParam(0x80 + transmitStep, intval8);
-            break;
-        case 32:
-            timer.stop();
-            return;
-            break;
+
         }
         transmitStep++;
     }
 }
-
-void MotorControllerConfigWindow::send32BitParam(int param, uint32_t valu)
-{
-    outFrame.ID = 0x230;
-    outFrame.len = 5;
-    outFrame.bus = 0;
-    outFrame.extended = false;
-    outFrame.data[0] = param & 0xFF;
-    outFrame.data[1] = valu & 0xFF;
-    outFrame.data[2] = (valu >> 8) & 0xFF;
-    outFrame.data[3] = (valu >> 16) & 0xFF;
-    outFrame.data[4] = (valu >> 24) & 0xFF;
-
-    emit sendCANFrame(&outFrame, 0);
-}
-
-void MotorControllerConfigWindow::send16BitParam(int param, uint16_t valu)
-{
-    outFrame.ID = 0x230;
-    outFrame.len = 3;
-    outFrame.bus = 0;
-    outFrame.extended = false;
-    outFrame.data[0] = param & 0xFF;
-    outFrame.data[1] = valu & 0xFF;
-    outFrame.data[2] = (valu >> 8) & 0xFF;
-
-    emit sendCANFrame(&outFrame, 0);
-}
-
-void MotorControllerConfigWindow::send8BitParam(int param, uint8_t valu)
-{
-    outFrame.ID = 0x230;
-    outFrame.len = 2;
-    outFrame.bus = 0;
-    outFrame.extended = false;
-    outFrame.data[0] = param & 0xFF;
-    outFrame.data[1] = valu;
-
-    emit sendCANFrame(&outFrame, 0);
-}