407 lines
15 KiB
C++
407 lines
15 KiB
C++
#include "motorcontrollerconfigwindow.h"
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#include "ui_motorcontrollerconfigwindow.h"
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#include "mainwindow.h"
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#include <QDebug>
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MotorControllerConfigWindow::MotorControllerConfigWindow(const QVector<CANFrame> *frames, QWidget *parent) :
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QDialog(parent),
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ui(new Ui::MotorControllerConfigWindow)
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{
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ui->setupUi(this);
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modelFrames = frames;
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timer.setInterval(40);
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transmitStep = 0;
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doingRequest = false;
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connect(MainWindow::getReference(), SIGNAL(framesUpdated(int)), this, SLOT(updatedFrames(int)));
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connect(ui->btnRefresh, SIGNAL(clicked(bool)), this, SLOT(refreshData()));
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connect(ui->btnSave, SIGNAL(clicked(bool)), this, SLOT(saveData()));
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connect(&timer, SIGNAL(timeout()), this, SLOT(timerTick()));
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}
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MotorControllerConfigWindow::~MotorControllerConfigWindow()
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{
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delete ui;
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}
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void MotorControllerConfigWindow::updatedFrames(int numFrames)
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{
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CANFrame thisFrame;
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int id;
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int param;
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float valu;
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uint8_t eightval;
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uint16_t sixteenval;
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uint32_t thirtytwoval;
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if (numFrames == -1) //all frames deleted
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{
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}
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else if (numFrames == -2) //all new set of frames. Reset
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{
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}
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else //just got some new frames. See if they are relevant.
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{
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if (numFrames > modelFrames->count()) return;
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for (int i = modelFrames->count() - numFrames; i < modelFrames->count(); i++)
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{
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thisFrame = modelFrames->at(i);
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id = thisFrame.ID;
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if (id == 0x420)
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{
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param = thisFrame.data[0];
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eightval = thisFrame.data[1];
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sixteenval = thisFrame.data[1] + (thisFrame.data[2] * 256ul);
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thirtytwoval = sixteenval + (thisFrame.data[3] * 65536ul) + (thisFrame.data[4] * 256ul * 65536ul);
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switch (param)
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{
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case 0: //voltage scale (*65536)
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valu = thirtytwoval / 65536.0f;
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ui->editVoltageScale->setText(QString::number(valu, 'g', 4));
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break;
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case 1: //voltage bias
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ui->editVoltageOffset->setText(QString::number(sixteenval));
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break;
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case 2: //current 1 scale (*65536)
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valu = thirtytwoval / 65536.0f;
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ui->editCurrent1Scale->setText(QString::number(valu, 'g', 4));
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break;
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case 3: //current 1 bias
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ui->editCurrent1Offset->setText(QString::number(sixteenval));
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break;
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case 4: //current 2 scale (*65536)
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valu = thirtytwoval / 65536.0f;
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ui->editCurrent2Scale->setText(QString::number(valu, 'g', 4));
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break;
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case 5: //current 2 bias
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ui->editCurrent2Offset->setText(QString::number(sixteenval));
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break;
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case 6: //Inverter temp 1 scale (*65536)
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valu = thirtytwoval / 65536.0f;
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ui->editInvTemp1Scale->setText(QString::number(valu, 'g', 4));
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break;
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case 7: //Inverter temp 1 bias
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ui->editInvTemp1Offset->setText(QString::number(sixteenval));
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break;
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case 8: //Inverter temp 2 scale (*65536)
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valu = thirtytwoval / 65536.0f;
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ui->editInvTemp2Scale->setText(QString::number(valu, 'g', 4));
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break;
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case 9: //Inverter temp 2 bias
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ui->editInvTemp2Offset->setText(QString::number(sixteenval));
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break;
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case 10: //Motor temp 1 scale (*65536)
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valu = thirtytwoval / 65536.0f;
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ui->editMotorTemp1Scale->setText(QString::number(valu, 'g', 4));
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break;
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case 11: //Motor temp 1 bias
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ui->editMotorTemp1Offset->setText(QString::number(sixteenval));
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break;
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case 12: //Motor temp 2 scale (*65536)
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valu = thirtytwoval / 65536.0f;
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ui->editMotorTemp2Scale->setText(QString::number(valu, 'g', 4));
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break;
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case 13: //Motor temp 2 bias
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ui->editMotorTemp2Offset->setText(QString::number(sixteenval));
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break;
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case 14: //motor type (inductive, pmac, bldc)
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ui->editMotorType->setText(QString::number(eightval));
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break;
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case 15: //control type (vhz, foc)
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ui->editControlType->setText(QString::number(eightval));
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break;
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case 16: //encoder count
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ui->editEncoderCount->setText(QString::number(sixteenval));
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break;
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case 17: //encoder direction (0 = normal, 1 = reversed)
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ui->editEncoderDir->setText(QString::number(eightval));
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break;
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case 18:
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ui->editPolePairs->setText(QString::number(eightval));
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break;
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case 19: //rotor time const (*65536)
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valu = thirtytwoval / 65536.0f;
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ui->editRotorTime->setText(QString::number(valu, 'g', 4));
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break;
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case 20: //Torque KP (*4096)
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valu = thirtytwoval / 4096.0f;
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ui->editTorqueKP->setText(QString::number(valu, 'g', 4));
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break;
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case 21: //Torque KI (*4096)
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valu = thirtytwoval / 4096.0f;
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ui->editTorqueKI->setText(QString::number(valu, 'g', 4));
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break;
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case 22: //Torque KD (*4096)
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valu = thirtytwoval / 4096.0f;
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ui->editTorqueKD->setText(QString::number(valu, 'g', 4));
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break;
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case 23: //Max RPM
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ui->editMaxRPM->setText(QString::number(sixteenval));
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break;
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case 24: //Max Torque
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valu = sixteenval / 10.0f;
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ui->editMaxTorque->setText(QString::number(valu, 'g', 4));
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break;
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case 25: //Max Amps in Drive
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valu = sixteenval / 10.0f;
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ui->editMaxAmpsDrive->setText(QString::number(valu, 'g', 4));
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break;
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case 26: //Max Amps in Regen
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valu = sixteenval / 10.0f;
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ui->editMaxAmpsRegen->setText(QString::number(valu, 'g', 4));
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break;
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case 27: //VHz Full Speed
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ui->editVHZFull->setText(QString::number(sixteenval));
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break;
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case 28: //Theta offset
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ui->editThetaOffset->setText(QString::number(sixteenval));
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break;
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case 29: //Hall AB
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ui->editHallAB->setText(QString::number(eightval));
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break;
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case 30: //Hall BC
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ui->editHallBC->setText(QString::number(eightval));
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break;
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case 31: //Hall CA
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ui->editHallCA->setText(QString::number(eightval));
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break;
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}
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}
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}
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}
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}
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void MotorControllerConfigWindow::refreshData()
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{
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doingRequest = true;
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transmitStep = 0;
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timer.start();
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}
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void MotorControllerConfigWindow::saveData()
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{
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doingRequest = false;
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transmitStep = 0;
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timer.start();
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}
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void MotorControllerConfigWindow::timerTick()
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{
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float valu;
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uint32_t intval32;
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uint16_t intval16;
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uint8_t intval8;
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if (doingRequest) //send requests for data
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{
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//qDebug() << "Request: " << QString::number(transmitStep);
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send8BitParam(transmitStep, 0);
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transmitStep++;
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if (transmitStep == 32)
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{
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timer.stop();
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return;
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}
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}
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else //save current value of all data items
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{
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//qDebug() << "Transmission: " << QString::number(transmitStep);
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switch (transmitStep)
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{
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case 0:
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valu = ui->editVoltageScale->text().toFloat();
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intval32 = valu * 65536;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 1:
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intval16 = ui->editVoltageOffset->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 2:
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valu = ui->editCurrent1Scale->text().toFloat();
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intval32 = valu * 65536;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 3:
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intval16 = ui->editCurrent1Offset->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 4:
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valu = ui->editCurrent2Scale->text().toFloat();
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intval32 = valu * 65536;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 5:
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intval16 = ui->editCurrent2Offset->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 6: //Inverter temp 1 scale (*65536)
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valu = ui->editInvTemp1Scale->text().toFloat();
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intval32 = valu * 65536;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 7: //Inverter temp 1 bias
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intval16 = ui->editInvTemp1Offset->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 8: //Inverter temp 2 scale (*65536)
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valu = ui->editInvTemp2Scale->text().toFloat();
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intval32 = valu * 65536;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 9: //Inverter temp 2 bias
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intval16 = ui->editInvTemp2Offset->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 10: //Motor temp 1 scale (*65536)
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valu = ui->editMotorTemp1Scale->text().toFloat();
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intval32 = valu * 65536;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 11: //Motor temp 1 bias
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intval16 = ui->editMotorTemp1Offset->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 12: //Motor temp 2 scale (*65536)
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valu = ui->editMotorTemp2Scale->text().toFloat();
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intval32 = valu * 65536;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 13: //Motor temp 2 bias
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intval16 = ui->editMotorTemp2Offset->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 14: //motor type (inductive, pmac, bldc)
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intval8 = ui->editMotorType->text().toInt();
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send8BitParam(0x80 + transmitStep, intval8);
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break;
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case 15: //control type (vhz, foc)
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intval8 = ui->editControlType->text().toInt();
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send8BitParam(0x80 + transmitStep, intval8);
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break;
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case 16: //encoder count
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intval16 = ui->editEncoderCount->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 17: //encoder direction (0 = normal, 1 = reversed)
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intval8 = ui->editEncoderDir->text().toInt();
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send8BitParam(0x80 + transmitStep, intval8);
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break;
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case 18:
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intval8 = ui->editPolePairs->text().toInt();
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send8BitParam(0x80 + transmitStep, intval8);
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break;
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case 19: //rotor time const (*65536)
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valu = ui->editRotorTime->text().toFloat();
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intval32 = valu * 65536;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 20: //Torque KP (*4096)
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valu = ui->editTorqueKP->text().toFloat();
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intval32 = valu * 4096;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 21: //Torque KI (*4096)
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valu = ui->editTorqueKI->text().toFloat();
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intval32 = valu * 4096;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 22: //Torque KD (*4096)
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valu = ui->editTorqueKD->text().toFloat();
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intval32 = valu * 4096;
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send32BitParam(0x80 + transmitStep, intval32);
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break;
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case 23: //Max RPM
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intval16 = ui->editMaxRPM->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 24: //Max Torque
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valu = ui->editMaxTorque->text().toFloat();
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intval16 = valu * 10;
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 25: //Max Amps in Drive
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valu = ui->editMaxAmpsDrive->text().toFloat();
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intval16 = valu * 10;
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 26: //Max Amps in Regen
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valu = ui->editMaxAmpsRegen->text().toFloat();
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intval16 = valu * 10;
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 27: //VHz Full Speed
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intval16 = ui->editVHZFull->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 28: //Theta offset
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intval16 = ui->editThetaOffset->text().toInt();
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send16BitParam(0x80 + transmitStep, intval16);
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break;
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case 29: //Hall AB
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intval8 = ui->editHallAB->text().toInt();
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send8BitParam(0x80 + transmitStep, intval8);
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break;
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case 30: //Hall BC
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intval8 = ui->editHallBC->text().toInt();
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send8BitParam(0x80 + transmitStep, intval8);
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break;
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case 31: //Hall CA
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intval8 = ui->editHallCA->text().toInt();
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send8BitParam(0x80 + transmitStep, intval8);
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break;
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case 32:
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timer.stop();
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return;
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break;
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}
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transmitStep++;
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}
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}
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void MotorControllerConfigWindow::send32BitParam(int param, uint32_t valu)
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{
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outFrame.ID = 0x230;
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outFrame.len = 5;
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outFrame.bus = 0;
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outFrame.extended = false;
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outFrame.data[0] = param & 0xFF;
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outFrame.data[1] = valu & 0xFF;
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outFrame.data[2] = (valu >> 8) & 0xFF;
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outFrame.data[3] = (valu >> 16) & 0xFF;
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outFrame.data[4] = (valu >> 24) & 0xFF;
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emit sendCANFrame(&outFrame, 0);
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}
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void MotorControllerConfigWindow::send16BitParam(int param, uint16_t valu)
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{
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outFrame.ID = 0x230;
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outFrame.len = 3;
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outFrame.bus = 0;
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outFrame.extended = false;
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outFrame.data[0] = param & 0xFF;
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outFrame.data[1] = valu & 0xFF;
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outFrame.data[2] = (valu >> 8) & 0xFF;
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emit sendCANFrame(&outFrame, 0);
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}
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void MotorControllerConfigWindow::send8BitParam(int param, uint8_t valu)
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{
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outFrame.ID = 0x230;
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outFrame.len = 2;
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outFrame.bus = 0;
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outFrame.extended = false;
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outFrame.data[0] = param & 0xFF;
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outFrame.data[1] = valu;
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emit sendCANFrame(&outFrame, 0);
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}
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