t.mettler/giesCANne
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added a new window used to edit parameters for my motor inverter control board. Fixed firmware updater - tested to work now!

Browse Source
This commit is contained in:
Collin Kidder
2016-08-09 18:44:53 -04:00
parent 6529b89b45
commit f0e0a8d705
13 changed files with 863 additions and 119 deletions
Download Patch File Download Diff File Expand all files Collapse all files
SavvyCAN.pro
+4 -5
View File
@@ -49,8 +49,7 @@ SOURCES += main.cpp\
can_structs.cpp \
isotp_interpreterwindow.cpp \
isotp_handler.cpp \
deltawindow.cpp \
deltamodel.cpp
motorcontrollerconfigwindow.cpp
HEADERS += mainwindow.h \
can_structs.h \
@@ -86,8 +85,7 @@ HEADERS += mainwindow.h \
udsscanwindow.h \
isotp_interpreterwindow.h \
isotp_handler.h \
deltawindow.h \
deltamodel.h
motorcontrollerconfigwindow.h
FORMS += mainwindow.ui \
graphingwindow.ui \
@@ -110,7 +108,8 @@ FORMS += mainwindow.ui \
fuzzingwindow.ui \
udsscanwindow.ui \
isotp_interpreterwindow.ui \
deltawindow.ui
deltawindow.ui \
motorcontrollerconfigwindow.ui
DISTFILES +=
canframemodel.cpp
+5 -1
View File
@@ -188,6 +188,7 @@ void CANFrameModel::recalcOverwrite()
QVariant CANFrameModel::data(const QModelIndex &index, int role) const
{
int dLen;
QString tempString;
if (!index.isValid())
return QVariant();
@@ -220,7 +221,10 @@ QVariant CANFrameModel::data(const QModelIndex &index, int role) const
return QString::number(thisFrame.len);
break;
case 6: //data
for (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(" ");
deltamodel.cpp
-41
View File
@@ -1,41 +0,0 @@
#include "deltamodel.h"
DeltaModel::DeltaModel(QObject *parent)
: QAbstractTableModel(parent)
{
}
QVariant DeltaModel::headerData(int section, Qt::Orientation orientation, int role) const
{
// FIXME: Implement me!
return QVariant();
}
int DeltaModel::rowCount(const QModelIndex &parent) const
{
if (!parent.isValid())
return 0;
return 0;
// FIXME: Implement me!
}
int DeltaModel::columnCount(const QModelIndex &parent) const
{
if (!parent.isValid())
return 0;
return 0;
// FIXME: Implement me!
}
QVariant DeltaModel::data(const QModelIndex &index, int role) const
{
if (!index.isValid())
return QVariant();
// FIXME: Implement me!
return QVariant();
}
deltamodel.h
-25
View File
@@ -1,25 +0,0 @@
#ifndef DELTAMODEL_H
#define DELTAMODEL_H
#include <QAbstractTableModel>
class DeltaModel : public QAbstractTableModel
{
Q_OBJECT
public:
explicit DeltaModel(QObject *parent = 0);
// Header:
QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
// Basic functionality:
int rowCount(const QModelIndex &parent = QModelIndex()) const override;
int columnCount(const QModelIndex &parent = QModelIndex()) const override;
QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
private:
};
#endif // DELTAMODEL_H
deltawindow.cpp
-14
View File
@@ -1,14 +0,0 @@
#include "deltawindow.h"
#include "ui_deltawindow.h"
DeltaWindow::DeltaWindow(QWidget *parent) :
QDialog(parent),
ui(new Ui::DeltaWindow)
{
ui->setupUi(this);
}
DeltaWindow::~DeltaWindow()
{
delete ui;
}
deltawindow.h
-22
View File
@@ -1,22 +0,0 @@
#ifndef DELTAWINDOW_H
#define DELTAWINDOW_H
#include <QDialog>
namespace Ui {
class DeltaWindow;
}
class DeltaWindow : public QDialog
{
Q_OBJECT
public:
explicit DeltaWindow(QWidget *parent = 0);
~DeltaWindow();
private:
Ui::DeltaWindow *ui;
};
#endif // DELTAWINDOW_H
firmwareuploaderwindow.cpp
+12 -10
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)))
@@ -144,10 +145,10 @@ void FirmwareUploaderWindow::sendFirmwareEnding()
output->extended = false;
output->len = 4;
output->ID = baseAddress + 0x30;
output->data[0] = 0xC0;
output->data[1] = 0xDE;
output->data[2] = 0xFA;
output->data[3] = 0xDE;
output->data[3] = 0xC0;
output->data[2] = 0xDE;
output->data[1] = 0xFA;
output->data[0] = 0xDE;
sendCANFrame(output, bus);
}
@@ -168,10 +169,11 @@ void FirmwareUploaderWindow::handleStartStopTransfer()
output->extended = false;
output->len = 8;
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;
mainwindow.cpp
+14 -1
View File
@@ -98,6 +98,7 @@ MainWindow::MainWindow(QWidget *parent) :
dbcFileWindow = NULL;
fuzzingWindow = NULL;
udsScanWindow = NULL;
motorctrlConfigWindow = NULL;
isoWindow = NULL;
dbcHandler = new DBCHandler;
bDirty = false;
@@ -138,11 +139,12 @@ 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->actionMotorControlConfig, &QAction::triggered, this, &MainWindow::showMCConfigWindow);
lbStatusConnected.setText(tr("Not connected"));
updateFileStatus();
@@ -978,6 +980,17 @@ 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
@@ -26,6 +26,7 @@
#include "fuzzingwindow.h"
#include "udsscanwindow.h"
#include "isotp_interpreterwindow.h"
#include "motorcontrollerconfigwindow.h"
namespace Ui {
class MainWindow;
@@ -65,6 +66,7 @@ private slots:
void showScriptingWindow();
void showDBCFileWindow();
void showFuzzingWindow();
void showMCConfigWindow();
void showUDSScanWindow();
void showISOInterpreterWindow();
void exitApp();
@@ -144,6 +146,7 @@ private:
FuzzingWindow *fuzzingWindow;
UDSScanWindow *udsScanWindow;
ISOTP_InterpreterWindow *isoWindow;
MotorControllerConfigWindow *motorctrlConfigWindow;
//various private storage
QLabel lbStatusConnected;
mainwindow.ui
+12
View File
@@ -221,6 +221,8 @@
<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">
@@ -393,6 +395,16 @@
<string>ISO-TP Decoder</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
View File
@@ -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
+363
View File
@@ -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>