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

Browse Source
This commit is contained in:
Collin Kidder
2016-12-08 20:50:35 -05:00
parent ddfac100d2 ef8b6ca755
commit 9e592d916c
16 changed files with 970 additions and 27 deletions
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SavvyCAN.pro
+8 -3
View File
@@ -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
+5 -1
View File
@@ -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 -1
View File
@@ -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
+2 -2
View File
@@ -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
+3 -3
View File
@@ -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
+13 -11
View File
@@ -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[1] = 0xDE;
output->data[2] = 0xFA;
output->data[3] = 0xDE;
sendCANFrame(output);
output->data[3] = 0xC0;
output->data[2] = 0xDE;
output->data[1] = 0xFA;
output->data[0] = 0xDE;
//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[2] = 0xBE;
output->data[3] = 0xEF;
output->data[0] = 0xEF;
output->data[1] = 0xBE;
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
+66
View File
@@ -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
+1
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@@ -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
+22 -2
View File
@@ -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
+7 -2
View File
@@ -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
+14 -2
View File
@@ -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
+3
View File
@@ -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
+12
View File
@@ -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
+406
View File
@@ -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
+44
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#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
+363
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@@ -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>