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

SavvyCAN.pro

@@ -49,8 +49,7 @@ SOURCES += main.cpp\
     can_structs.cpp \
     isotp_interpreterwindow.cpp \
     isotp_handler.cpp \
-    deltawindow.cpp \
+    motorcontrollerconfigwindow.cpp
-    deltamodel.cpp
 
 HEADERS  += mainwindow.h \
     can_structs.h \
@@ -86,8 +85,7 @@ HEADERS  += mainwindow.h \
     udsscanwindow.h \
     isotp_interpreterwindow.h \
     isotp_handler.h \
-    deltawindow.h \
+    motorcontrollerconfigwindow.h
-    deltamodel.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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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[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, 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[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;

mainwindow.cpp

@@ -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

@@ -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

@@ -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

@@ -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>