Merge branch 'master' of github.com:collin80/SavvyCAN into WIP2

SavvyCAN.pro

@@ -58,7 +58,9 @@ SOURCES += main.cpp\
     connections/canconmanager.cpp \
     re/sniffer/snifferitem.cpp \
     re/sniffer/sniffermodel.cpp \
-    re/sniffer/snifferwindow.cpp
+    re/sniffer/snifferwindow.cpp \
+    motorcontrollerconfigwindow.cpp
+    motorcontrollerconfigwindow.cpp
 
 HEADERS  += mainwindow.h \
     can_structs.h \
@@ -105,7 +107,9 @@ HEADERS  += mainwindow.h \
     connections/canconmanager.h \
     re/sniffer/snifferitem.h \
     re/sniffer/sniffermodel.h \
-    re/sniffer/snifferwindow.h
+    re/sniffer/snifferwindow.h \
+    motorcontrollerconfigwindow.h
+    motorcontrollerconfigwindow.h
 
 FORMS    += mainwindow.ui \
     graphingwindow.ui \
@@ -128,7 +132,8 @@ FORMS    += mainwindow.ui \
     fuzzingwindow.ui \
     udsscanwindow.ui \
     isotp_interpreterwindow.ui \
-    snifferwindow.ui
+    snifferwindow.ui \
+    motorcontrollerconfigwindow.ui
 
 DISTFILES +=
 

canframemodel.cpp

@@ -197,6 +197,7 @@ void CANFrameModel::recalcOverwrite()
 
 QVariant CANFrameModel::data(const QModelIndex &index, int role) const
 {
+    int dLen;
     QString tempString;
     if (!index.isValid())
         return QVariant();
@@ -229,7 +230,10 @@ QVariant CANFrameModel::data(const QModelIndex &index, int role) const
             return QString::number(thisFrame.len);
             break;
         case 6: //data
-            for (unsigned int i = 0; i < thisFrame.len; i++)
+            dLen = thisFrame.len;
+            if (dLen < 0) dLen = 0;
+            if (dLen > 8) dLen = 8;
+            for (int i = 0; i < dLen; i++)
             {
                 tempString.append(Utility::formatNumber(thisFrame.data[i]));
                 tempString.append(" ");

config.h

@@ -1,7 +1,7 @@
 #ifndef CONFIG
 #define CONFIG
 
-#define VERSION             160
+#define VERSION             161
 
 //try to keep this in sync.
 //SavvyCAN will complain if you connect a GVRET board with a revision

dbc_classes.h

@@ -91,10 +91,10 @@ class DBC_MESSAGE
 public:
     DBC_MESSAGE();
 
-    int ID;
+    uint32_t ID;
     QString name;
     QString comment;
-    int len;
+    unsigned int len;
     DBC_NODE *sender;
     QList<DBC_ATTRIBUTE> attributes;
     DBCSignalHandler *sigHandler;

dbchandler.cpp

@@ -289,7 +289,7 @@ void DBCFile::loadFile(QString fileName)
             if (match.hasMatch())
             {
                 DBC_MESSAGE msg;
-                msg.ID = match.captured(1).toInt(); //the ID is always stored in decimal format
+                msg.ID = match.captured(1).toULong() & 0x7FFFFFFFul; //the ID is always stored in decimal format
                 msg.name = match.captured(2);
                 msg.len = match.captured(3).toInt();
                 msg.sender = findNodeByName(match.captured(4));
@@ -310,7 +310,7 @@ void DBCFile::loadFile(QString fileName)
             sig.isMultiplexor = false;
 
             qDebug() << "Found a SG line";
-            regex.setPattern("^SG\\_ *(\\w+) *M *: *(\\d+)\\|(\\d+)@(\\d+)([\\+|\\-]) \\(([0-9.+\\-eE]+),([0-9.+\\-eE]+)\\) \\[([0-9.+\\-eE]+)\\|([0-9.+\\-eE]+)\\] \\\"(.*)\\\" (.*)");
+            regex.setPattern("^SG\\_ *(\\w+)^ *M *: *(\\d+)\\|(\\d+)@(\\d+)([\\+|\\-]) \\(([0-9.+\\-eE]+),([0-9.+\\-eE]+)\\) \\[([0-9.+\\-eE]+)\\|([0-9.+\\-eE]+)\\] \\\"(.*)\\\" (.*)");
 
             match = regex.match(line);
             if (match.hasMatch())
@@ -321,7 +321,7 @@ void DBCFile::loadFile(QString fileName)
             }
             else
             {
-                regex.setPattern("^SG\\_ *(\\w+) *m(\\d+) *: *(\\d+)\\|(\\d+)@(\\d+)([\\+|\\-]) \\(([0-9.+\\-eE]+),([0-9.+\\-eE]+)\\) \\[([0-9.+\\-eE]+)\\|([0-9.+\\-eE]+)\\] \\\"(.*)\\\" (.*)");
+                regex.setPattern("^SG\\_ *(\\w+)^ *m(\\d+) *: *(\\d+)\\|(\\d+)@(\\d+)([\\+|\\-]) \\(([0-9.+\\-eE]+),([0-9.+\\-eE]+)\\) \\[([0-9.+\\-eE]+)\\|([0-9.+\\-eE]+)\\] \\\"(.*)\\\" (.*)");
                 match = regex.match(line);
                 if (match.hasMatch())
                 {

firmwareuploaderwindow.cpp

@@ -71,10 +71,11 @@ void FirmwareUploaderWindow::gotTargettedFrame(int frameLoc)
     const CANFrame &frame = modelFrames->at(frameLoc);
     if (frame.ID == (baseAddress + 0x10)) {
         qDebug() << "Start firmware reply";
-        if ((frame.data[0] == 0xDE) && (frame.data[1] == 0xAF))
+        if ((frame.data[0] == 0xAD) && (frame.data[1] == 0xDE))
         {
-            if ((frame.data[2] == 0xDE) && (frame.data[3] == 0xED))
+            if ((frame.data[2] == 0xAF) && (frame.data[3] == 0xDE))
             {
+                qDebug() << "THere's dead beef here";
                 if ((frame.data[4] == (token & 0xFF)) && (frame.data[5] == ((token >> 8) & 0xFF)))
                 {
                     if ((frame.data[6] == ((token >> 16) & 0xFF)) && (frame.data[7] == ((token >> 24) & 0xFF)))
@@ -146,11 +147,11 @@ void FirmwareUploaderWindow::sendFirmwareEnding()
     output->bus = bus;
     output->len = 4;
     output->ID = baseAddress + 0x30;
-    output->data[0] = 0xC0;
+    output->data[3] = 0xC0;
-    output->data[1] = 0xDE;
+    output->data[2] = 0xDE;
-    output->data[2] = 0xFA;
+    output->data[1] = 0xFA;
-    output->data[3] = 0xDE;
+    output->data[0] = 0xDE;
-    sendCANFrame(output);
+    //sendCANFrame(output, bus);
 }
 
 void FirmwareUploaderWindow::handleStartStopTransfer()
@@ -171,10 +172,11 @@ void FirmwareUploaderWindow::handleStartStopTransfer()
         output->len = 8;
         output->bus = bus;
         output->ID = baseAddress;
-        output->data[0] = 0xDE;
+
-        output->data[1] = 0xAD;
+        output->data[0] = 0xEF;
-        output->data[2] = 0xBE;
+        output->data[1] = 0xBE;
-        output->data[3] = 0xEF;
+        output->data[2] = 0xAD;
+        output->data[3] = 0xDE;
         output->data[4] = token & 0xFF;
         output->data[5] = (token >> 8) & 0xFF;
         output->data[6] = (token >> 16) & 0xFF;

framefileio.cpp

@@ -126,6 +126,7 @@ bool FrameFileIO::loadFrameFile(QString &fileName, QVector<CANFrame>* frameCache
     filters.append(QString(tr("CAN-DO Log (*.avc *.can *.evc *.qcc *.AVC *.CAN *.EVC *.QCC)")));
     filters.append(QString(tr("Vehicle Spy (*.csv *.CSV)")));
     filters.append(QString(tr("Candump/Kayak (*.log *.LOG)")));
+    filters.append(QString(tr("PCAN Viewer (*.txt *.TXT)")));
 
     dialog.setFileMode(QFileDialog::ExistingFile);
     dialog.setNameFilters(filters);
@@ -155,6 +156,7 @@ bool FrameFileIO::loadFrameFile(QString &fileName, QVector<CANFrame>* frameCache
         if (dialog.selectedNameFilter() == filters[7]) result = loadCANDOFile(filename, frameCache);
         if (dialog.selectedNameFilter() == filters[8]) result = loadVehicleSpyFile(filename, frameCache);
         if (dialog.selectedNameFilter() == filters[9]) result = loadCanDumpFile(filename, frameCache);
+        if (dialog.selectedNameFilter() == filters[10]) result = loadPCANFile(filename, frameCache);
 
         progress.cancel();
 
@@ -393,6 +395,70 @@ bool FrameFileIO::saveCRTDFile(QString filename, const QVector<CANFrame>* frames
     return true;
 }
 
+
+//;   Message Number
+//;   |         Time Offset (ms)
+//;   |         |        Type
+//;   |         |        |        ID (hex)
+//;   |         |        |        |     Data Length Code
+//;   |         |        |        |     |   Data Bytes (hex) ...
+//;   |         |        |        |     |   |
+//;---+--   ----+----  --+--  ----+---  +  -+ -- -- -- -- -- -- --
+// 0-6         10-18    21-25  28-35    38  41-?
+//Fixed length lines
+bool FrameFileIO::loadPCANFile(QString filename, QVector<CANFrame>* frames)
+{
+    QFile *inFile = new QFile(filename);
+    CANFrame thisFrame;
+    QByteArray line;
+    int lineCounter = 0;
+    bool foundErrors = false;
+
+    if (!inFile->open(QIODevice::ReadOnly | QIODevice::Text))
+    {
+        delete inFile;
+        return false;
+    }
+
+    while (!inFile->atEnd()) {
+        lineCounter++;
+        if (lineCounter > 100)
+        {
+            qApp->processEvents();
+            lineCounter = 0;
+        }
+        line = inFile->readLine();
+        if (line.startsWith(';')) continue;
+        if (line.length() > 2)
+        {
+            thisFrame.timestamp = line.mid(10, 8).simplified().toFloat() * 1000ull;
+            thisFrame.ID = line.mid(28, 8).simplified().toUInt(NULL, 16);
+            if (thisFrame.ID < 0x1FFFFFFF)
+            {
+                thisFrame.len = line.mid(38,1).toInt();
+                thisFrame.isReceived = true;
+                thisFrame.bus = 0;
+                thisFrame.extended = false;
+                QList<QByteArray> tokens = line.mid(41, thisFrame.len * 3).split(' ');
+                for (int d = 0; d < thisFrame.len; d++)
+                {
+                    if (tokens[d] != "")
+                    {
+                        thisFrame.data[d] = tokens[d].toInt(NULL, 16);
+                    }
+                    else thisFrame.data[d] = 0;
+                }
+                frames->append(thisFrame);
+            }
+        }
+        //else foundErrors = true;
+    }
+    inFile->close();
+    delete inFile;
+    return !foundErrors;
+}
+
+
 //The "native" file format for this program
 bool FrameFileIO::loadNativeCSVFile(QString filename, QVector<CANFrame>* frames)
 {

framefileio.h

@@ -43,6 +43,7 @@ public:
     static bool loadFrameFile(QString &, QVector<CANFrame>*);
     static bool saveFrameFile(QString &, const QVector<CANFrame>*);
     static bool loadCanDumpFile(QString, QVector<CANFrame>*);
+    static bool loadPCANFile(QString, QVector<CANFrame>*);
 
 private:
     static QString unQuote(QString);

frameinfowindow.cpp

@@ -114,6 +114,9 @@ void FrameInfoWindow::updateDetailsWindow(QString newID)
     int targettedID;
     int minLen, maxLen, thisLen;
     int avgInterval;
+    int minInterval;
+    int maxInterval;
+    int thisInterval;
     int minData[8];
     int maxData[8];
     int dataHistogram[256][8];
@@ -195,6 +198,8 @@ void FrameInfoWindow::updateDetailsWindow(QString newID)
         //clear out all the counters and accumulators
         minLen = 8;
         maxLen = 0;
+        minInterval = 0x7FFFFFFF;
+        maxInterval = 0;
         for (int i = 0; i < 8; i++)
         {
             minData[i] = 256;
@@ -213,7 +218,13 @@ void FrameInfoWindow::updateDetailsWindow(QString newID)
         //then find all data points
         for (int j = 0; j < frameCache.count(); j++)
         {
-            if (j != 0) avgInterval += (frameCache[j].timestamp - frameCache[j-1].timestamp);
+            if (j != 0)
+            {
+                thisInterval = (frameCache[j].timestamp - frameCache[j-1].timestamp);
+                if (thisInterval > maxInterval) maxInterval = thisInterval;
+                if (thisInterval < minInterval) minInterval = thisInterval;
+                avgInterval += thisInterval;
+            }
             thisLen = frameCache.at(j).len;
             if (thisLen > maxLen) maxLen = thisLen;
             if (thisLen < minLen) minLen = thisLen;
@@ -249,7 +260,16 @@ void FrameInfoWindow::updateDetailsWindow(QString newID)
         baseNode->addChild(tempItem);
 
         tempItem = new QTreeWidgetItem();
-        tempItem->setText(0, tr("Average inter-frame interval: ") + QString::number(avgInterval) + "us");
+        tempItem->setText(0, tr("Average inter-frame interval: ") + QString::number(avgInterval / 1000.0f) + "ms");
+        baseNode->addChild(tempItem);
+        tempItem = new QTreeWidgetItem();
+        tempItem->setText(0, tr("Minimum inter-frame interval: ") + QString::number(minInterval / 1000.0f) + "ms");
+        baseNode->addChild(tempItem);
+        tempItem = new QTreeWidgetItem();
+        tempItem->setText(0, tr("Maximum inter-frame interval: ") + QString::number(maxInterval / 1000.0f) + "ms");
+        baseNode->addChild(tempItem);
+        tempItem = new QTreeWidgetItem();
+        tempItem->setText(0, tr("Inter-frame interval variation: ") + QString::number((maxInterval - minInterval) / 1000.0f) + "ms");
         baseNode->addChild(tempItem);
 
         for (int c = 0; c < maxLen; c++)

graphingwindow.cpp

@@ -197,12 +197,16 @@ void GraphingWindow::titleDoubleClick(QMouseEvent* event, QCPPlotTitle* title)
   Q_UNUSED(event)
   // Set the plot title by double clicking on it
   bool ok;
+
+  /*
   QString newTitle = QInputDialog::getText(this, "SavvyCAN Graphing", "New plot title:", QLineEdit::Normal, title->text(), &ok);
   if (ok)
   {
     title->setText(newTitle);
     ui->graphingView->replot();
   }
+  */
+  editSelectedGraph();
 }
 
 void GraphingWindow::axisLabelDoubleClick(QCPAxis *axis, QCPAxis::SelectablePart part)
@@ -225,7 +229,7 @@ void GraphingWindow::legendDoubleClick(QCPLegend *legend, QCPAbstractLegendItem
   // Rename a graph by double clicking on its legend item
   Q_UNUSED(legend)
   if (item) // only react if item was clicked (user could have clicked on border padding of legend where there is no item, then item is 0)
-  {
+  {/*
     QCPPlottableLegendItem *plItem = qobject_cast<QCPPlottableLegendItem*>(item);
     bool ok;
     QString newName = QInputDialog::getText(this, "SavvyCAN Graphing", "New graph name:", QLineEdit::Normal, plItem->plottable()->name(), &ok);
@@ -246,7 +250,8 @@ void GraphingWindow::legendDoubleClick(QCPLegend *legend, QCPAbstractLegendItem
       }
 
       ui->graphingView->replot();
-    }
+    } */
+     editSelectedGraph();
   }
 }
 

mainwindow.cpp

@@ -79,6 +79,7 @@ MainWindow::MainWindow(QWidget *parent) :
     dbcFileWindow = NULL;
     fuzzingWindow = NULL;
     udsScanWindow = NULL;
+    motorctrlConfigWindow = NULL;
     isoWindow = NULL;
     snifferWindow = NULL;
     dbcHandler = new DBCHandler;
@@ -119,12 +120,13 @@ MainWindow::MainWindow(QWidget *parent) :
     connect(ui->listFilters, &QListWidget::itemChanged, this, &MainWindow::filterListItemChanged);
     connect(ui->btnFilterAll, &QAbstractButton::clicked, this, &MainWindow::filterSetAll);
     connect(ui->btnFilterNone, &QAbstractButton::clicked, this, &MainWindow::filterClearAll);
-    connect(ui->actionFirmware_Uploader, &QAction::triggered, this, &MainWindow::showFirmwareUploaderWindow);
+    connect(ui->actionFirmware_Update, &QAction::triggered, this, &MainWindow::showFirmwareUploaderWindow);
     connect(ui->actionDBC_File_Manager, &QAction::triggered, this, &MainWindow::showDBCFileWindow);
     connect(ui->actionFuzzing, &QAction::triggered, this, &MainWindow::showFuzzingWindow);
     connect(ui->actionUDS_Scanner, &QAction::triggered, this, &MainWindow::showUDSScanWindow);
     connect(ui->actionISO_TP_Decoder, &QAction::triggered, this, &MainWindow::showISOInterpreterWindow);
     connect(ui->actionSniffer, &QAction::triggered, this, &MainWindow::showSnifferWindow);
+    connect(ui->actionMotorControlConfig, &QAction::triggered, this, &MainWindow::showMCConfigWindow);
 
     connect(CANConManager::getInstance(), &CANConManager::framesReceived, model, &CANFrameModel::addFrames);
 
@@ -273,7 +275,6 @@ MainWindow::~MainWindow()
         snifferWindow = NULL;
     }
 
-
     delete model;
     delete elapsedTime;
     delete dbcHandler;
@@ -917,6 +918,17 @@ void MainWindow::showFuzzingWindow()
     fuzzingWindow->show();
 }
 
+void MainWindow::showMCConfigWindow()
+{
+    if (!motorctrlConfigWindow)
+    {
+        motorctrlConfigWindow = new MotorControllerConfigWindow(model->getListReference());
+        //connect(motorctrlConfigWindow, SIGNAL(sendCANFrame(const CANFrame*,int)), worker, SLOT(sendFrame(const CANFrame*,int)));
+        //connect(motorctrlConfigWindow, SIGNAL(sendFrameBatch(const QList<CANFrame>*)), worker, SLOT(sendFrameBatch(const QList<CANFrame>*)));
+    }
+    motorctrlConfigWindow->show();
+}
+
 void MainWindow::showUDSScanWindow()
 {
     if (!udsScanWindow)

mainwindow.h

@@ -27,6 +27,7 @@
 #include "udsscanwindow.h"
 #include "re/sniffer/snifferwindow.h"
 #include "isotp_interpreterwindow.h"
+#include "motorcontrollerconfigwindow.h"
 
 class ConnectionWindow;
 
@@ -66,6 +67,7 @@ private slots:
     void showScriptingWindow();
     void showDBCFileWindow();
     void showFuzzingWindow();
+    void showMCConfigWindow();
     void showUDSScanWindow();
     void showISOInterpreterWindow();
     void showSnifferWindow();
@@ -140,6 +142,7 @@ private:
     UDSScanWindow *udsScanWindow;
     ISOTP_InterpreterWindow *isoWindow;
     SnifferWindow* snifferWindow;
+    MotorControllerConfigWindow *motorctrlConfigWindow;
 
     //various private storage
     QLabel lbStatusConnected;

mainwindow.ui

@@ -225,6 +225,8 @@
     <addaction name="actionScripting_INterface"/>
     <addaction name="actionFuzzing"/>
     <addaction name="actionUDS_Scanner"/>
+    <addaction name="actionFirmware_Update"/>
+    <addaction name="actionMotorControlConfig"/>
    </widget>
    <widget class="QMenu" name="menuFile">
     <property name="title">
@@ -401,6 +403,16 @@
     <string>Sniffer</string>
    </property>
   </action>
+  <action name="actionFirmware_Update">
+   <property name="text">
+    <string>Firmware Update</string>
+   </property>
+  </action>
+  <action name="actionMotorControlConfig">
+   <property name="text">
+    <string>MotorControlConfig</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources/>

motorcontrollerconfigwindow.cpp

@@ -0,0 +1,406 @@
+#include "motorcontrollerconfigwindow.h"
+#include "ui_motorcontrollerconfigwindow.h"
+
+#include "mainwindow.h"
+#include <QDebug>
+
+MotorControllerConfigWindow::MotorControllerConfigWindow(const QVector<CANFrame> *frames, QWidget *parent) :
+    QDialog(parent),
+    ui(new Ui::MotorControllerConfigWindow)
+{
+    ui->setupUi(this);
+
+    modelFrames = frames;
+
+    timer.setInterval(40);
+    transmitStep = 0;
+    doingRequest = false;
+
+    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()));
+}
+
+MotorControllerConfigWindow::~MotorControllerConfigWindow()
+{
+    delete ui;
+}
+
+void MotorControllerConfigWindow::updatedFrames(int numFrames)
+{
+    CANFrame thisFrame;
+    int id;
+    int param;
+    float valu;
+    uint8_t eightval;
+    uint16_t sixteenval;
+    uint32_t thirtytwoval;
+    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.ID;
+
+            if (id == 0x420)
+            {
+                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)
+                {
+                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;
+                }
+            }
+        }
+    }
+}
+
+void MotorControllerConfigWindow::refreshData()
+{
+    doingRequest = true;
+    transmitStep = 0;
+    timer.start();
+}
+
+void MotorControllerConfigWindow::saveData()
+{
+    doingRequest = false;
+    transmitStep = 0;
+    timer.start();
+}
+
+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);
+        transmitStep++;
+        if (transmitStep == 32)
+        {
+            timer.stop();
+            return;
+        }
+    }
+    else //save current value of all data items
+    {
+        //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);
+}

motorcontrollerconfigwindow.h

@@ -0,0 +1,44 @@
+#ifndef MOTORCONTROLLERCONFIGWINDOW_H
+#define MOTORCONTROLLERCONFIGWINDOW_H
+
+#include <QDialog>
+#include <QTimer>
+#include "can_structs.h"
+
+namespace Ui {
+class MotorControllerConfigWindow;
+}
+
+class MotorControllerConfigWindow : public QDialog
+{
+    Q_OBJECT
+
+public:
+    explicit MotorControllerConfigWindow(const QVector<CANFrame> *frames, QWidget *parent = 0);
+    ~MotorControllerConfigWindow();
+
+signals:
+    void sendCANFrame(const CANFrame *, int);
+    void sendFrameBatch(const QList<CANFrame> *);
+
+private slots:
+    void updatedFrames(int numFrames);
+    void refreshData();
+    void saveData();
+    void timerTick();
+
+private:
+    Ui::MotorControllerConfigWindow *ui;
+    const QVector<CANFrame> *modelFrames;
+    QTimer timer;
+    CANFrame outFrame;
+    bool doingRequest;
+    int transmitStep;
+
+    void send32BitParam(int param, uint32_t valu);
+    void send16BitParam(int param, uint16_t valu);
+    void send8BitParam(int param, uint8_t valu);
+
+};
+
+#endif // MOTORCONTROLLERCONFIGWINDOW_H

motorcontrollerconfigwindow.ui

@@ -0,0 +1,363 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MotorControllerConfigWindow</class>
+ <widget class="QDialog" name="MotorControllerConfigWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>902</width>
+    <height>328</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Controller Configuration</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="2" column="7">
+      <widget class="QLineEdit" name="editMotorTemp1Offset"/>
+     </item>
+     <item row="2" column="2">
+      <widget class="QLabel" name="label_13">
+       <property name="text">
+        <string>Inv Temp 2 Offset</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="6">
+      <widget class="QLabel" name="label_4">
+       <property name="text">
+        <string>Current 1 Offset</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="4">
+      <widget class="QLabel" name="label_23">
+       <property name="text">
+        <string>Motor Type</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="7">
+      <widget class="QLineEdit" name="editCurrent1Offset"/>
+     </item>
+     <item row="2" column="4">
+      <widget class="QLabel" name="label_15">
+       <property name="text">
+        <string>Motor Temp 1 Scale</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="4">
+      <widget class="QLabel" name="label_14">
+       <property name="text">
+        <string>Inv Temp 1 Scale</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="2">
+      <widget class="QLabel" name="label_18">
+       <property name="text">
+        <string>Motor Temp 2 Offset</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="0">
+      <widget class="QLabel" name="label_8">
+       <property name="text">
+        <string>Encoder Count</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="4">
+      <widget class="QLabel" name="label_25">
+       <property name="text">
+        <string>Pole Pairs</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="1">
+      <widget class="QLineEdit" name="editEncoderCount"/>
+     </item>
+     <item row="0" column="5">
+      <widget class="QLineEdit" name="editCurrent1Scale"/>
+     </item>
+     <item row="4" column="3">
+      <widget class="QLineEdit" name="editEncoderDir"/>
+     </item>
+     <item row="4" column="7">
+      <widget class="QLineEdit" name="editRotorTime"/>
+     </item>
+     <item row="1" column="1">
+      <widget class="QLineEdit" name="editCurrent2Scale"/>
+     </item>
+     <item row="6" column="0">
+      <widget class="QLabel" name="label_10">
+       <property name="text">
+        <string>Max Torque</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="6">
+      <widget class="QLabel" name="label_17">
+       <property name="text">
+        <string>Motor Temp 1 Offset</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="2">
+      <widget class="QLabel" name="label_19">
+       <property name="text">
+        <string>Encoder Direction</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="0">
+      <widget class="QLabel" name="label">
+       <property name="text">
+        <string>Voltage Scale</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="6">
+      <widget class="QLabel" name="label_24">
+       <property name="text">
+        <string>Control Type</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="3">
+      <widget class="QLineEdit" name="editVoltageOffset"/>
+     </item>
+     <item row="1" column="3">
+      <widget class="QLineEdit" name="editCurrent2Offset"/>
+     </item>
+     <item row="1" column="5">
+      <widget class="QLineEdit" name="editInvTemp1Scale"/>
+     </item>
+     <item row="1" column="7">
+      <widget class="QLineEdit" name="editInvTemp1Offset"/>
+     </item>
+     <item row="2" column="3">
+      <widget class="QLineEdit" name="editInvTemp2Offset"/>
+     </item>
+     <item row="5" column="0">
+      <widget class="QLabel" name="label_9">
+       <property name="text">
+        <string>Torque KP</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="0">
+      <widget class="QLabel" name="label_7">
+       <property name="text">
+        <string>Motor Temp 2 Scale</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="4">
+      <widget class="QLabel" name="label_3">
+       <property name="text">
+        <string>Current 1 Scale</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="0">
+      <widget class="QLabel" name="label_6">
+       <property name="text">
+        <string>Inv Temp 2 Scale</string>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="6">
+      <widget class="QLabel" name="label_30">
+       <property name="text">
+        <string>VHz Full RPM</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="3">
+      <widget class="QLineEdit" name="editMotorTemp2Offset"/>
+     </item>
+     <item row="3" column="5">
+      <widget class="QLineEdit" name="editMotorType"/>
+     </item>
+     <item row="0" column="1">
+      <widget class="QLineEdit" name="editVoltageScale"/>
+     </item>
+     <item row="5" column="2">
+      <widget class="QLabel" name="label_20">
+       <property name="text">
+        <string>Torque KI</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="1">
+      <widget class="QLineEdit" name="editInvTemp2Scale"/>
+     </item>
+     <item row="1" column="2">
+      <widget class="QLabel" name="label_12">
+       <property name="text">
+        <string>Current 2 Offset</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <widget class="QLabel" name="label_2">
+       <property name="text">
+        <string>Voltage Offset</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_5">
+       <property name="text">
+        <string>Current 2 Scale</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="6">
+      <widget class="QLabel" name="label_26">
+       <property name="text">
+        <string>Rotor Time Const</string>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="4">
+      <widget class="QLabel" name="label_27">
+       <property name="text">
+        <string>Torque KD</string>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="2">
+      <widget class="QLabel" name="label_21">
+       <property name="text">
+        <string>Max Amps Drive</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="6">
+      <widget class="QLabel" name="label_16">
+       <property name="text">
+        <string>Inv Temp 1 Offset</string>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="4">
+      <widget class="QLabel" name="label_29">
+       <property name="text">
+        <string>Max Amps Regen</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="1">
+      <widget class="QLineEdit" name="editMotorTemp2Scale"/>
+     </item>
+     <item row="7" column="2">
+      <widget class="QLabel" name="label_22">
+       <property name="text">
+        <string>Hall AB</string>
+       </property>
+      </widget>
+     </item>
+     <item row="7" column="0">
+      <widget class="QLabel" name="label_11">
+       <property name="text">
+        <string>Theta Offset</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="5">
+      <widget class="QLineEdit" name="editMotorTemp1Scale"/>
+     </item>
+     <item row="7" column="6">
+      <widget class="QLabel" name="label_32">
+       <property name="text">
+        <string>Hall CA</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="5">
+      <widget class="QLineEdit" name="editPolePairs"/>
+     </item>
+     <item row="5" column="6">
+      <widget class="QLabel" name="label_28">
+       <property name="text">
+        <string>Max RPM</string>
+       </property>
+      </widget>
+     </item>
+     <item row="7" column="4">
+      <widget class="QLabel" name="label_31">
+       <property name="text">
+        <string>Hall BC</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="7">
+      <widget class="QLineEdit" name="editControlType"/>
+     </item>
+     <item row="5" column="1">
+      <widget class="QLineEdit" name="editTorqueKP"/>
+     </item>
+     <item row="5" column="3">
+      <widget class="QLineEdit" name="editTorqueKI"/>
+     </item>
+     <item row="5" column="5">
+      <widget class="QLineEdit" name="editTorqueKD"/>
+     </item>
+     <item row="5" column="7">
+      <widget class="QLineEdit" name="editMaxRPM"/>
+     </item>
+     <item row="6" column="1">
+      <widget class="QLineEdit" name="editMaxTorque"/>
+     </item>
+     <item row="6" column="3">
+      <widget class="QLineEdit" name="editMaxAmpsDrive"/>
+     </item>
+     <item row="6" column="5">
+      <widget class="QLineEdit" name="editMaxAmpsRegen"/>
+     </item>
+     <item row="6" column="7">
+      <widget class="QLineEdit" name="editVHZFull"/>
+     </item>
+     <item row="7" column="1">
+      <widget class="QLineEdit" name="editThetaOffset"/>
+     </item>
+     <item row="7" column="3">
+      <widget class="QLineEdit" name="editHallAB"/>
+     </item>
+     <item row="7" column="5">
+      <widget class="QLineEdit" name="editHallBC"/>
+     </item>
+     <item row="7" column="7">
+      <widget class="QLineEdit" name="editHallCA"/>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QPushButton" name="btnRefresh">
+       <property name="text">
+        <string>Refresh</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="btnSave">
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>