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mainwindow.cpp
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mainwindow.cpp
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/*
Copyright 2012-2015 Benjamin Vedder benjamin@vedder.se
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QDebug>
#include <QFileDialog>
#include <QFile>
#include <string.h>
#include <cmath>
#include <QMessageBox>
#include <QSerialPortInfo>
#include "digitalfiltering.h"
namespace {
void stepTowards(double &value, double goal, double step) {
if (value < goal) {
if ((value + step) < goal) {
value += step;
} else {
value = goal;
}
} else if (value > goal) {
if ((value - step) > goal) {
value -= step;
} else {
value = goal;
}
}
}
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
refreshSerialDevices();
ui->udpIpEdit->setText("192.168.1.118");
// Compatible firmwares
mFwVersionReceived = false;
mFwRetries = 0;
mCompatibleFws.append(qMakePair(2, 17));
mCompatibleFws.append(qMakePair(2, 18));
QString supportedFWs;
for (int i = 0;i < mCompatibleFws.size();i++) {
QString tmp;
tmp.sprintf("%d.%d", mCompatibleFws.at(i).first, mCompatibleFws.at(i).second);
if (i < (mCompatibleFws.size() - 1)) {
tmp.append("\n");
}
supportedFWs.append(tmp);
}
ui->firmwareSupportedLabel->setText(supportedFWs);
mSerialPort = new QSerialPort(this);
mTimer = new QTimer(this);
mTimer->setInterval(20);
mTimer->start();
mStatusLabel = new QLabel(this);
ui->statusBar->addPermanentWidget(mStatusLabel);
mSampleInt = 0;
mDoReplot = false;
mDoReplotPos = false;
mDoRescale = true;
mDoFilterReplot = true;
mPacketInterface = new PacketInterface(this);
mRealtimeGraphsAdded = false;
keyLeft = false;
keyRight = false;
mMcconfLoaded = false;
mAppconfLoaded = false;
mStatusInfoTime = 0;
mDetectRes.updated = false;
connect(mSerialPort, SIGNAL(readyRead()),
this, SLOT(serialDataAvailable()));
connect(mSerialPort, SIGNAL(error(QSerialPort::SerialPortError)),
this, SLOT(serialPortError(QSerialPort::SerialPortError)));
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
connect(mPacketInterface, SIGNAL(dataToSend(QByteArray&)),
this, SLOT(packetDataToSend(QByteArray&)));
connect(mPacketInterface, SIGNAL(fwVersionReceived(int,int)),
this, SLOT(fwVersionReceived(int,int)));
connect(mPacketInterface, SIGNAL(ackReceived(QString)),
this, SLOT(ackReceived(QString)));
connect(mPacketInterface, SIGNAL(valuesReceived(MC_VALUES)),
this, SLOT(mcValuesReceived(MC_VALUES)));
connect(mPacketInterface, SIGNAL(printReceived(QString)),
this, SLOT(printReceived(QString)));
connect(mPacketInterface, SIGNAL(samplesReceived(QByteArray)),
this, SLOT(samplesReceived(QByteArray)));
connect(mPacketInterface, SIGNAL(rotorPosReceived(double)),
this, SLOT(rotorPosReceived(double)));
connect(mPacketInterface, SIGNAL(experimentSamplesReceived(QVector<double>)),
this, SLOT(experimentSamplesReceived(QVector<double>)));
connect(mPacketInterface, SIGNAL(mcconfReceived(mc_configuration)),
this, SLOT(mcconfReceived(mc_configuration)));
connect(mPacketInterface, SIGNAL(motorParamReceived(double,double,QVector<int>,int)),
this, SLOT(motorParamReceived(double,double,QVector<int>,int)));
connect(mPacketInterface, SIGNAL(motorRLReceived(double,double)),
this, SLOT(motorRLReceived(double,double)));
connect(mPacketInterface, SIGNAL(motorLinkageReceived(double)),
this, SLOT(motorLinkageReceived(double)));
connect(mPacketInterface, SIGNAL(encoderParamReceived(double,double,bool)),
this, SLOT(encoderParamReceived(double,double,bool)));
connect(mPacketInterface, SIGNAL(focHallTableReceived(QVector<int>,int)),
this, SLOT(focHallTableReceived(QVector<int>,int)));
connect(mPacketInterface, SIGNAL(appconfReceived(app_configuration)),
this, SLOT(appconfReceived(app_configuration)));
connect(mPacketInterface, SIGNAL(decodedPpmReceived(double,double)),
this, SLOT(decodedPpmReceived(double,double)));
connect(mPacketInterface, SIGNAL(decodedAdcReceived(double,double,double,double)),
this, SLOT(decodedAdcReceived(double,double,double,double)));
connect(mPacketInterface, SIGNAL(decodedChukReceived(double)),
this, SLOT(decodedChukReceived(double)));
mSerialization = new Serialization(this);
ui->currentPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->voltagePlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->filterPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->filterResponsePlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->filterPlot2->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->filterResponsePlot2->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->realtimePlotTemperature->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->realtimePlotRest->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->realtimePlotRpm->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->realtimePlotPosition->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
QFont legendFont = font();
legendFont.setPointSize(9);
ui->realtimePlotPosition->addGraph();
ui->realtimePlotPosition->graph(0)->setPen(QPen(Qt::blue));
ui->realtimePlotPosition->graph(0)->setName("Position");
ui->realtimePlotPosition->legend->setVisible(true);
ui->realtimePlotPosition->legend->setFont(legendFont);
ui->realtimePlotPosition->axisRect()->insetLayout()->setInsetAlignment(0, Qt::AlignRight|Qt::AlignBottom);
ui->realtimePlotPosition->legend->setBrush(QBrush(QColor(255,255,255,230)));
ui->realtimePlotPosition->xAxis->setLabel("Sample");
ui->realtimePlotPosition->yAxis->setLabel("Deg");
qApp->installEventFilter(this);
}
MainWindow::~MainWindow()
{
delete ui;
}
bool MainWindow::eventFilter(QObject *object, QEvent *e)
{
Q_UNUSED(object);
if (!(mSerialPort->isOpen() || mPacketInterface->isUdpConnected()) || !ui->overrideKbBox->isChecked()) {
return false;
}
if (e->type() == QEvent::KeyPress || e->type() == QEvent::KeyRelease) {
QKeyEvent *keyEvent = static_cast<QKeyEvent *>(e);
bool isPress = e->type() == QEvent::KeyPress;
switch(keyEvent->key()) {
case Qt::Key_Up:
case Qt::Key_Down:
case Qt::Key_Left:
case Qt::Key_Right:
case Qt::Key_PageDown:
case Qt::Key_Escape:
break;
default:
return false;
}
if(keyEvent->isAutoRepeat()) {
return true;
}
switch(keyEvent->key()) {
case Qt::Key_Up:
if (isPress) {
mPacketInterface->setCurrent(ui->arrowCurrentBox->value());
} else {
mPacketInterface->setCurrent(0.0);
}
break;
case Qt::Key_Down:
if (isPress) {
mPacketInterface->setCurrent(-ui->arrowCurrentBox->value());
} else {
mPacketInterface->setCurrent(0.0);
}
break;
case Qt::Key_Left:
if (isPress) {
keyLeft = true;
} else {
keyLeft = false;
}
break;
case Qt::Key_Right:
if (isPress) {
keyRight = true;
} else {
keyRight = false;
}
break;
case Qt::Key_PageDown:
if (isPress) {
mPacketInterface->setCurrentBrake(-ui->arrowCurrentBox->value());
} else {
mPacketInterface->setCurrentBrake(0.0);
}
break;
case Qt::Key_Escape:
on_offButton_clicked();
break;
default:
break;
}
return true;
}
return false;
}
mc_configuration MainWindow::getMcconfGui()
{
mc_configuration mcconf;
if (ui->mcconfPwmModeSyncButton->isChecked()) {
mcconf.pwm_mode = PWM_MODE_SYNCHRONOUS;
} else if (ui->mcconfPwmModeBipolarButton->isChecked()) {
mcconf.pwm_mode = PWM_MODE_BIPOLAR;
} else if (ui->mcconfPwmModeNonsyncHiswButton->isChecked()) {
mcconf.pwm_mode = PWM_MODE_NONSYNCHRONOUS_HISW;
}
if (ui->mcconfCommIntButton->isChecked()) {
mcconf.comm_mode = COMM_MODE_INTEGRATE;
} else if (ui->mcconfCommDelayButton->isChecked()) {
mcconf.comm_mode = COMM_MODE_DELAY;
}
if (ui->mcconfTypeBldcButton->isChecked()) {
mcconf.motor_type = MOTOR_TYPE_BLDC;
} else if (ui->mcconfTypeDcButton->isChecked()) {
mcconf.motor_type = MOTOR_TYPE_DC;
} else if (ui->mcconfTypeFocButton->isChecked()) {
mcconf.motor_type = MOTOR_TYPE_FOC;
}
if (ui->mcconfSensorModeSensorlessButton->isChecked()) {
mcconf.sensor_mode = SENSOR_MODE_SENSORLESS;
} else if (ui->mcconfSensorModeSensoredButton->isChecked()) {
mcconf.sensor_mode = SENSOR_MODE_SENSORED;
} else if (ui->mcconfSensorModeHybridButton->isChecked()) {
mcconf.sensor_mode = SENSOR_MODE_HYBRID;
}
mcconf.l_current_max = ui->mcconfLimCurrentMaxBox->value();
mcconf.l_current_min = ui->mcconfLimCurrentMinBox->value();
mcconf.l_in_current_max = ui->mcconfLimCurrentInMaxBox->value();
mcconf.l_in_current_min = ui->mcconfLimCurrentInMinBox->value();
mcconf.l_abs_current_max = ui->mcconfLimCurrentAbsMaxBox->value();
mcconf.l_slow_abs_current = ui->mcconfLimCurrentSlowAbsMaxBox->isChecked();
mcconf.l_max_erpm = ui->mcconfLimMaxErpmBox->value();
mcconf.l_min_erpm = ui->mcconfLimMinErpmBox->value();
mcconf.l_max_erpm_fbrake = ui->mcconfLimMaxErpmFbrakeBox->value();
mcconf.l_max_erpm_fbrake_cc = ui->mcconfLimMaxErpmFbrakeCcBox->value();
mcconf.l_rpm_lim_neg_torque = ui->mcconfLimErpmLimitNegTorqueBox->isChecked();
mcconf.l_min_vin = ui->mcconfLimMinVinBox->value();
mcconf.l_max_vin = ui->mcconfLimMaxVinBox->value();
mcconf.l_battery_cut_start = ui->mcconfLimBatteryCutStartBox->value();
mcconf.l_battery_cut_end = ui->mcconfLimBatteryCutEndBox->value();
mcconf.l_temp_fet_start = ui->mcconfLimTempFetStartBox->value();
mcconf.l_temp_fet_end = ui->mcconfLimTempFetEndBox->value();
mcconf.l_temp_motor_start = ui->mcconfLimTempMotorStartBox->value();
mcconf.l_temp_motor_end = ui->mcconfLimTempMotorEndBox->value();
mcconf.l_min_duty = ui->mcconfLimMinDutyBox->value();
mcconf.l_max_duty = ui->mcconfLimMaxDutyBox->value();
mcconf.sl_min_erpm = ui->mcconfSlMinErpmBox->value();
mcconf.sl_max_fullbreak_current_dir_change = ui->mcconfSlMaxFbCurrBox->value();
mcconf.sl_min_erpm_cycle_int_limit = ui->mcconfSlMinErpmIlBox->value();
mcconf.sl_cycle_int_limit = ui->mcconfSlIntLimBox->value();
mcconf.sl_phase_advance_at_br = ui->mcconfSlIntLimScaleBrBox->value();
mcconf.sl_cycle_int_rpm_br = ui->mcconfSlBrErpmBox->value();
mcconf.sl_bemf_coupling_k = ui->mcconfSlBemfKBox->value();
mcconf.hall_table[0] = ui->mcconfHallTab0Box->value();
mcconf.hall_table[1] = ui->mcconfHallTab1Box->value();
mcconf.hall_table[2] = ui->mcconfHallTab2Box->value();
mcconf.hall_table[3] = ui->mcconfHallTab3Box->value();
mcconf.hall_table[4] = ui->mcconfHallTab4Box->value();
mcconf.hall_table[5] = ui->mcconfHallTab5Box->value();
mcconf.hall_table[6] = ui->mcconfHallTab6Box->value();
mcconf.hall_table[7] = ui->mcconfHallTab7Box->value();
mcconf.hall_sl_erpm = ui->mcconfHallSlErpmBox->value();
mcconf.foc_current_kp = ui->mcconfFocCurrKpBox->value();
mcconf.foc_current_ki = ui->mcconfFocCurrKiBox->value();
mcconf.foc_f_sw = ui->mcconfFocFSwBox->value();
mcconf.foc_dt_us = ui->mcconfFocDtCompBox->value();
mcconf.foc_encoder_inverted = ui->mcconfFocEncoderInvertedBox->isChecked();
mcconf.foc_encoder_offset = ui->mcconfFocEncoderOffsetBox->value();
mcconf.foc_encoder_ratio = ui->mcconfFocEncoderRatioBox->value();
mcconf.foc_duty_dowmramp_kp = ui->mcconfFocDutyDownrampKpBox->value();
mcconf.foc_duty_dowmramp_ki = ui->mcconfFocDutyDownrampKiBox->value();
mcconf.foc_openloop_rpm = ui->mcconfFocOpenloopRpmBox->value();
mcconf.foc_sl_openloop_hyst = ui->mcconfFocSlOpenloopHystBox->value();
mcconf.foc_sl_openloop_time = ui->mcconfFocSlOpenloopTimeBox->value();
mcconf.foc_sl_d_current_duty = ui->mcconfFocDCurrentDutyBox->value();
mcconf.foc_sl_d_current_factor = ui->mcconfFocDCurrentFactorBox->value();
if (ui->mcconfFocModeEncoderButton->isChecked()) {
mcconf.foc_sensor_mode = FOC_SENSOR_MODE_ENCODER;
} else if (ui->mcconfFocModeHallButton->isChecked()) {
mcconf.foc_sensor_mode = FOC_SENSOR_MODE_HALL;
} else if (ui->mcconfFocModeSensorlessButton->isChecked()) {
mcconf.foc_sensor_mode = FOC_SENSOR_MODE_SENSORLESS;
}
mcconf.foc_pll_kp = ui->mcconfFocPllKpBox->value();
mcconf.foc_pll_ki = ui->mcconfFocPllKiBox->value();
mcconf.foc_motor_l = ui->mcconfFocMotorLBox->value() / 1000000.0;
mcconf.foc_motor_r = ui->mcconfFocMotorRBox->value();
mcconf.foc_motor_flux_linkage = ui->mcconfFocMotorLinkageBox->value();
mcconf.foc_observer_gain = ui->mcconfFocObserverGainBox->value() * 1000000.0;
mcconf.foc_hall_table[0] = ui->mcconfFocHallTab0Box->value();
mcconf.foc_hall_table[1] = ui->mcconfFocHallTab1Box->value();
mcconf.foc_hall_table[2] = ui->mcconfFocHallTab2Box->value();
mcconf.foc_hall_table[3] = ui->mcconfFocHallTab3Box->value();
mcconf.foc_hall_table[4] = ui->mcconfFocHallTab4Box->value();
mcconf.foc_hall_table[5] = ui->mcconfFocHallTab5Box->value();
mcconf.foc_hall_table[6] = ui->mcconfFocHallTab6Box->value();
mcconf.foc_hall_table[7] = ui->mcconfFocHallTab7Box->value();
mcconf.foc_sl_erpm = ui->mcconfFocSlErpmBox->value();
mcconf.s_pid_kp = ui->mcconfSpidKpBox->value();
mcconf.s_pid_ki = ui->mcconfSpidKiBox->value();
mcconf.s_pid_kd = ui->mcconfSpidKdBox->value();
mcconf.s_pid_min_erpm = ui->mcconfSpidMinRpmBox->value();
mcconf.p_pid_kp = ui->mcconfPpidKpBox->value();
mcconf.p_pid_ki = ui->mcconfPpidKiBox->value();
mcconf.p_pid_kd = ui->mcconfPpidKdBox->value();
mcconf.p_pid_ang_div = ui->mcconfPpidAngDivBox->value();
mcconf.cc_startup_boost_duty = ui->mcconfCcBoostBox->value();
mcconf.cc_min_current = ui->mcconfCcMinBox->value();
mcconf.cc_gain = ui->mcconfCcGainBox->value();
mcconf.cc_ramp_step_max = ui->mcconfCcMaxRampStepBox->value();
mcconf.m_fault_stop_time_ms = ui->mcconfMFaultStopTimeBox->value();
mcconf.m_duty_ramp_step = ui->mcconfMDutyRampStepBox->value();
mcconf.m_duty_ramp_step_rpm_lim = ui->mcconfMDutyRampStepSpeedLimBox->value();
mcconf.m_current_backoff_gain = ui->mcconfMCurrentBackoffGainBox->value();
mcconf.m_encoder_counts = ui->mcconfMEncoderCountBox->value();
if (ui->mcconfMSensorHallButton->isChecked()) {
mcconf.m_sensor_port_mode = SENSOR_PORT_MODE_HALL;
} else if (ui->mcconfMSensorAbiButton->isChecked()) {
mcconf.m_sensor_port_mode = SENSOR_PORT_MODE_ABI;
} else if (ui->mcconfMSensorAsSpiButton->isChecked()) {
mcconf.m_sensor_port_mode = SENSOR_PORT_MODE_AS5047_SPI;
}
mcconf.meta_description = ui->mcconfDescEdit->toHtml();
return mcconf;
}
void MainWindow::setMcconfGui(const mc_configuration &mcconf)
{
switch (mcconf.pwm_mode) {
case PWM_MODE_SYNCHRONOUS:
ui->mcconfPwmModeSyncButton->setChecked(true);
break;
case PWM_MODE_BIPOLAR:
ui->mcconfPwmModeBipolarButton->setChecked(true);
break;
case PWM_MODE_NONSYNCHRONOUS_HISW:
ui->mcconfPwmModeNonsyncHiswButton->setChecked(true);
break;
default:
break;
}
switch (mcconf.comm_mode) {
case COMM_MODE_INTEGRATE:
ui->mcconfCommIntButton->setChecked(true);
break;
case COMM_MODE_DELAY:
ui->mcconfCommDelayButton->setChecked(true);
break;
default:
break;
}
switch (mcconf.motor_type) {
case MOTOR_TYPE_BLDC:
ui->mcconfTypeBldcButton->setChecked(true);
break;
case MOTOR_TYPE_DC:
ui->mcconfTypeDcButton->setChecked(true);
break;
case MOTOR_TYPE_FOC:
ui->mcconfTypeFocButton->setChecked(true);
break;
default:
break;
}
switch (mcconf.sensor_mode) {
case SENSOR_MODE_SENSORLESS:
ui->mcconfSensorModeSensorlessButton->setChecked(true);
break;
case SENSOR_MODE_SENSORED:
ui->mcconfSensorModeSensoredButton->setChecked(true);
break;
case SENSOR_MODE_HYBRID:
ui->mcconfSensorModeHybridButton->setChecked(true);
break;
default:
break;
}
ui->mcconfLimCurrentMaxBox->setValue(mcconf.l_current_max);
ui->mcconfLimCurrentMinBox->setValue(mcconf.l_current_min);
ui->mcconfLimCurrentInMaxBox->setValue(mcconf.l_in_current_max);
ui->mcconfLimCurrentInMinBox->setValue(mcconf.l_in_current_min);
ui->mcconfLimCurrentAbsMaxBox->setValue(mcconf.l_abs_current_max);
ui->mcconfLimCurrentSlowAbsMaxBox->setChecked(mcconf.l_slow_abs_current);
ui->mcconfLimMaxErpmBox->setValue(mcconf.l_max_erpm);
ui->mcconfLimMinErpmBox->setValue(mcconf.l_min_erpm);
ui->mcconfLimMaxErpmFbrakeBox->setValue(mcconf.l_max_erpm_fbrake);
ui->mcconfLimMaxErpmFbrakeCcBox->setValue(mcconf.l_max_erpm_fbrake_cc);
ui->mcconfLimErpmLimitNegTorqueBox->setChecked(mcconf.l_rpm_lim_neg_torque);
ui->mcconfLimMinVinBox->setValue(mcconf.l_min_vin);
ui->mcconfLimMaxVinBox->setValue(mcconf.l_max_vin);
ui->mcconfLimBatteryCutStartBox->setValue(mcconf.l_battery_cut_start);
ui->mcconfLimBatteryCutEndBox->setValue(mcconf.l_battery_cut_end);
ui->mcconfLimTempFetStartBox->setValue(mcconf.l_temp_fet_start);
ui->mcconfLimTempFetEndBox->setValue(mcconf.l_temp_fet_end);
ui->mcconfLimTempMotorStartBox->setValue(mcconf.l_temp_motor_start);
ui->mcconfLimTempMotorEndBox->setValue(mcconf.l_temp_motor_end);
ui->mcconfLimMinDutyBox->setValue(mcconf.l_min_duty);
ui->mcconfLimMaxDutyBox->setValue(mcconf.l_max_duty);
ui->mcconfSlMinErpmBox->setValue(mcconf.sl_min_erpm);
ui->mcconfSlMaxFbCurrBox->setValue(mcconf.sl_max_fullbreak_current_dir_change);
ui->mcconfSlMinErpmIlBox->setValue(mcconf.sl_min_erpm_cycle_int_limit);
ui->mcconfSlIntLimBox->setValue(mcconf.sl_cycle_int_limit);
ui->mcconfSlIntLimScaleBrBox->setValue(mcconf.sl_phase_advance_at_br);
ui->mcconfSlBrErpmBox->setValue(mcconf.sl_cycle_int_rpm_br);
ui->mcconfSlBemfKBox->setValue(mcconf.sl_bemf_coupling_k);
ui->mcconfHallTab0Box->setValue(mcconf.hall_table[0]);
ui->mcconfHallTab1Box->setValue(mcconf.hall_table[1]);
ui->mcconfHallTab2Box->setValue(mcconf.hall_table[2]);
ui->mcconfHallTab3Box->setValue(mcconf.hall_table[3]);
ui->mcconfHallTab4Box->setValue(mcconf.hall_table[4]);
ui->mcconfHallTab5Box->setValue(mcconf.hall_table[5]);
ui->mcconfHallTab6Box->setValue(mcconf.hall_table[6]);
ui->mcconfHallTab7Box->setValue(mcconf.hall_table[7]);
ui->mcconfHallSlErpmBox->setValue(mcconf.hall_sl_erpm);
ui->mcconfFocCurrKpBox->setValue(mcconf.foc_current_kp);
ui->mcconfFocCurrKiBox->setValue(mcconf.foc_current_ki);
ui->mcconfFocFSwBox->setValue(mcconf.foc_f_sw);
ui->mcconfFocDtCompBox->setValue(mcconf.foc_dt_us);
ui->mcconfFocEncoderInvertedBox->setChecked(mcconf.foc_encoder_inverted);
ui->mcconfFocEncoderOffsetBox->setValue(mcconf.foc_encoder_offset);
ui->mcconfFocEncoderRatioBox->setValue(mcconf.foc_encoder_ratio);
switch (mcconf.foc_sensor_mode) {
case FOC_SENSOR_MODE_ENCODER:
ui->mcconfFocModeEncoderButton->setChecked(true);
break;
case FOC_SENSOR_MODE_HALL:
ui->mcconfFocModeHallButton->setChecked(true);
break;
case FOC_SENSOR_MODE_SENSORLESS:
ui->mcconfFocModeSensorlessButton->setChecked(true);
break;
default:
break;
}
ui->mcconfFocPllKpBox->setValue(mcconf.foc_pll_kp);
ui->mcconfFocPllKiBox->setValue(mcconf.foc_pll_ki);
ui->mcconfFocMotorLBox->setValue(mcconf.foc_motor_l * 1000000.0);
ui->mcconfFocMotorRBox->setValue(mcconf.foc_motor_r);
ui->mcconfFocMotorLinkageBox->setValue(mcconf.foc_motor_flux_linkage);
ui->mcconfFocObserverGainBox->setValue(mcconf.foc_observer_gain / 1000000.0);
ui->mcconfFocDutyDownrampKpBox->setValue(mcconf.foc_duty_dowmramp_kp);
ui->mcconfFocDutyDownrampKiBox->setValue(mcconf.foc_duty_dowmramp_ki);
ui->mcconfFocOpenloopRpmBox->setValue(mcconf.foc_openloop_rpm);
ui->mcconfFocSlOpenloopHystBox->setValue(mcconf.foc_sl_openloop_hyst);
ui->mcconfFocSlOpenloopTimeBox->setValue(mcconf.foc_sl_openloop_time);
ui->mcconfFocDCurrentDutyBox->setValue(mcconf.foc_sl_d_current_duty);
ui->mcconfFocDCurrentFactorBox->setValue(mcconf.foc_sl_d_current_factor);
ui->mcconfFocHallTab0Box->setValue(mcconf.foc_hall_table[0]);
ui->mcconfFocHallTab1Box->setValue(mcconf.foc_hall_table[1]);
ui->mcconfFocHallTab2Box->setValue(mcconf.foc_hall_table[2]);
ui->mcconfFocHallTab3Box->setValue(mcconf.foc_hall_table[3]);
ui->mcconfFocHallTab4Box->setValue(mcconf.foc_hall_table[4]);
ui->mcconfFocHallTab5Box->setValue(mcconf.foc_hall_table[5]);
ui->mcconfFocHallTab6Box->setValue(mcconf.foc_hall_table[6]);
ui->mcconfFocHallTab7Box->setValue(mcconf.foc_hall_table[7]);
ui->mcconfFocSlErpmBox->setValue(mcconf.foc_sl_erpm);
ui->mcconfSpidKpBox->setValue(mcconf.s_pid_kp);
ui->mcconfSpidKiBox->setValue(mcconf.s_pid_ki);
ui->mcconfSpidKdBox->setValue(mcconf.s_pid_kd);
ui->mcconfSpidMinRpmBox->setValue(mcconf.s_pid_min_erpm);
ui->mcconfPpidKpBox->setValue(mcconf.p_pid_kp);
ui->mcconfPpidKiBox->setValue(mcconf.p_pid_ki);
ui->mcconfPpidKdBox->setValue(mcconf.p_pid_kd);
ui->mcconfPpidAngDivBox->setValue(mcconf.p_pid_ang_div);
ui->mcconfCcBoostBox->setValue(mcconf.cc_startup_boost_duty);
ui->mcconfCcMinBox->setValue(mcconf.cc_min_current);
ui->mcconfCcGainBox->setValue(mcconf.cc_gain);
ui->mcconfCcMaxRampStepBox->setValue(mcconf.cc_ramp_step_max);
ui->mcconfMFaultStopTimeBox->setValue(mcconf.m_fault_stop_time_ms);
ui->mcconfMDutyRampStepBox->setValue(mcconf.m_duty_ramp_step);
ui->mcconfMDutyRampStepSpeedLimBox->setValue(mcconf.m_duty_ramp_step_rpm_lim);
ui->mcconfMCurrentBackoffGainBox->setValue(mcconf.m_current_backoff_gain);
ui->mcconfMEncoderCountBox->setValue(mcconf.m_encoder_counts);
switch (mcconf.m_sensor_port_mode) {
case SENSOR_PORT_MODE_HALL:
ui->mcconfMSensorHallButton->setChecked(true);
break;
case SENSOR_PORT_MODE_ABI:
ui->mcconfMSensorAbiButton->setChecked(true);
break;
case SENSOR_PORT_MODE_AS5047_SPI:
ui->mcconfMSensorAsSpiButton->setChecked(true);
break;
default:
break;
}
ui->mcconfDescEdit->document()->setHtml(mcconf.meta_description);
mMcconfLoaded = true;
}
void MainWindow::showStatusInfo(QString info, bool isGood)
{
if (isGood) {
mStatusLabel->setStyleSheet("QLabel { background-color : lightgreen; color : black; }");
} else {
mStatusLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
}
mStatusInfoTime = 80;
mStatusLabel->setText(info);
}
void MainWindow::serialDataAvailable()
{
while (mSerialPort->bytesAvailable() > 0) {
QByteArray data = mSerialPort->readAll();
mPacketInterface->processData(data);
}
}
void MainWindow::serialPortError(QSerialPort::SerialPortError error)
{
QString message;
switch (error) {
case QSerialPort::NoError:
break;
case QSerialPort::DeviceNotFoundError:
message = tr("Device not found");
break;
case QSerialPort::OpenError:
message = tr("Can't open device");
break;
case QSerialPort::NotOpenError:
message = tr("Not open error");
break;
case QSerialPort::ResourceError:
message = tr("Port disconnected");
break;
case QSerialPort::UnknownError:
message = tr("Unknown error");
break;
default:
message = "Serial port error: " + QString::number(error);
break;
}
if(!message.isEmpty()) {
showStatusInfo(message, false);
if(mSerialPort->isOpen()) {
mSerialPort->close();
}
}
}
void MainWindow::timerSlot()
{
// Update CAN fwd function
mPacketInterface->setSendCan(ui->canFwdBox->isChecked(), ui->canIdBox->value());
// Read FW version if needed
static bool sendCanBefore = false;
static int canIdBefore = 0;
if (mSerialPort->isOpen() || mPacketInterface->isUdpConnected()) {
if (sendCanBefore != ui->canFwdBox->isChecked() ||
canIdBefore != ui->canIdBox->value()) {
mFwVersionReceived = false;
mFwRetries = 0;
}
if (!mFwVersionReceived) {
mPacketInterface->getFwVersion();
mFwRetries++;
// Timeout if the firmware cannot be read
if (mFwRetries >= 100) {
showStatusInfo("No firmware read response", false);
on_disconnectButton_clicked();
}
}
} else {
mFwVersionReceived = false;
mFwRetries = 0;
}
sendCanBefore = ui->canFwdBox->isChecked();
canIdBefore = ui->canIdBox->value();
// Update status label
if (mStatusInfoTime) {
mStatusInfoTime--;
if (!mStatusInfoTime) {
mStatusLabel->setStyleSheet(qApp->styleSheet());
}
} else {
if (mSerialPort->isOpen() || mPacketInterface->isUdpConnected()) {
if (mPacketInterface->isLimitedMode()) {
mStatusLabel->setText("Connected, limited");
} else {
mStatusLabel->setText("Connected");
}
} else {
mStatusLabel->setText("Not connected");
}
}
// Update fw upload bar and label
double fw_prog = mPacketInterface->getFirmwareUploadProgress();
if (fw_prog > -0.1) {
ui->firmwareBar->setValue(fw_prog * 1000);
ui->firmwareUploadButton->setEnabled(false);
ui->firmwareCancelButton->setEnabled(true);
} else {
// If the firmware upload just finished or failed
if (!ui->firmwareUploadButton->isEnabled()) {
mFwVersionReceived = false;
mFwRetries = 0;
if (mPacketInterface->getFirmwareUploadStatus().compare("FW Upload Done") == 0) {
ui->firmwareBar->setValue(1000);
} else {
ui->firmwareBar->setValue(0);
}
}
ui->firmwareUploadButton->setEnabled(true);
ui->firmwareCancelButton->setEnabled(false);
// Send alive command once every 10 iterations (only while not uploading firmware)
static int alive_cnt = 0;
alive_cnt++;
if (alive_cnt >= 10) {
alive_cnt = 0;
mPacketInterface->sendAlive();
}
}
ui->firmwareUploadStatusLabel->setText(mPacketInterface->getFirmwareUploadStatus());
// Update MC readings
if (ui->realtimeActivateBox->isChecked()) {
mPacketInterface->getValues();
}
// Update decoded servo value
if (ui->appconfUpdatePpmBox->isChecked()) {
mPacketInterface->getDecodedPpm();
}
// Update decoded adc value
if (ui->appconfAdcUpdateBox->isChecked()) {
mPacketInterface->getDecodedAdc();
}
// Update decoded nunchuk value
if (ui->appconfUpdateChukBox->isChecked()) {
mPacketInterface->getDecodedChuk();
}
// Enable/disable fields in the configuration page
static int isSlIntBefore = true;
if (ui->mcconfCommIntButton->isChecked() != isSlIntBefore) {
if (ui->mcconfCommIntButton->isChecked()) {
ui->mcconfSlMinErpmBox->setEnabled(true);
ui->mcconfSlMaxFbCurrBox->setEnabled(true);
ui->mcconfSlBemfKBox->setEnabled(true);
ui->mcconfSlBrErpmBox->setEnabled(true);
ui->mcconfSlIntLimBox->setEnabled(true);
ui->mcconfSlIntLimScaleBrBox->setEnabled(true);
ui->mcconfSlMinErpmIlBox->setEnabled(true);
} else {
ui->mcconfSlMinErpmBox->setEnabled(true);
ui->mcconfSlMaxFbCurrBox->setEnabled(true);
ui->mcconfSlBemfKBox->setEnabled(false);
ui->mcconfSlBrErpmBox->setEnabled(true);
ui->mcconfSlIntLimBox->setEnabled(false);
ui->mcconfSlIntLimScaleBrBox->setEnabled(true);
ui->mcconfSlMinErpmIlBox->setEnabled(false);
}
}
isSlIntBefore = ui->mcconfCommIntButton->isChecked();
// Handle key events
static double keyPower = 0.0;
static double lastKeyPower = 0.0;
const double lowPower = 0.18;
const double lowPowerRev = 0.1;
const double highPower = 0.9;
const double highPowerRev = 0.3;
const double lowStep = 0.02;
const double highStep = 0.01;
if (keyRight && keyLeft) {
if (keyPower >= lowPower) {
stepTowards(keyPower, highPower, highStep);
} else if (keyPower <= -lowPower) {
stepTowards(keyPower, -highPowerRev, highStep);
} else if (keyPower >= 0) {
stepTowards(keyPower, highPower, lowStep);
} else {
stepTowards(keyPower, -highPowerRev, lowStep);
}
} else if (keyRight) {
if (fabs(keyPower) > lowPower) {
stepTowards(keyPower, lowPower, highStep);
} else {
stepTowards(keyPower, lowPower, lowStep);
}
} else if (keyLeft) {
if (fabs(keyPower) > lowPower) {
stepTowards(keyPower, -lowPowerRev, highStep);
} else {
stepTowards(keyPower, -lowPowerRev, lowStep);
}
} else {
stepTowards(keyPower, 0.0, lowStep * 3);
}
if (keyPower != lastKeyPower) {
lastKeyPower = keyPower;
mPacketInterface->setDutyCycle(keyPower);
}
// Update plots
static QVector<double> filter;
static QVector<double> filter2;
DigitalFiltering f;
QFont legendFont = font();
legendFont.setPointSize(9);
// Plot filters
if (mDoFilterReplot) {
if (ui->meanRadioButton->isChecked()) {
filter.clear();
int fLen = (1 << ui->currentFilterTapBox->value());
for (int i = 0;i < fLen;i++) {
filter.append(1.0 / (double)fLen);
}
} else {
filter = f.generateFirFilter(ui->currentFilterFreqBox->value(),
ui->currentFilterTapBox->value(), ui->hammingBox->isChecked());
}
if (ui->meanRadioButton2->isChecked()) {
filter2.clear();
int fLen2 = (1 << ui->currentFilterTapBox2->value());
for (int i = 0;i < fLen2;i++) {
filter2.append(1.0 / (double)fLen2);
}
} else {
filter2 = f.generateFirFilter(ui->currentFilterFreqBox2->value(),
ui->currentFilterTapBox2->value(), ui->hammingBox2->isChecked());
}
static int last_len = 0;
bool len_diff = last_len != ui->currentFilterTapBox->value();
last_len = ui->currentFilterTapBox->value();
static int last_len2 = 0;
bool len_diff2 = last_len2 != ui->currentFilterTapBox2->value();
last_len2 = ui->currentFilterTapBox2->value();
static int last_decimation = 0;
bool decimation_diff = last_decimation != ui->decimationSpinBox->value();
last_decimation = ui->decimationSpinBox->value();
// Plot filter
QVector<double> filterIndex;
for(int i = 0;i < filter.size();i++) {
filterIndex.append((double)i);
}
QVector<double> filterIndex2;
for(int i = 0;i < filter2.size();i++) {
filterIndex2.append((double)i);
}
ui->filterPlot->clearGraphs();
ui->filterResponsePlot->clearGraphs();
ui->filterPlot2->clearGraphs();
ui->filterResponsePlot2->clearGraphs();
ui->filterPlot->addGraph();
ui->filterPlot->graph(0)->setData(filterIndex, filter);
ui->filterPlot->graph(0)->setName("Filter");
ui->filterPlot2->addGraph();
ui->filterPlot2->graph(0)->setData(filterIndex2, filter2);
ui->filterPlot2->graph(0)->setName("Filter");
if (ui->filterScatterBox->isChecked()) {
ui->filterPlot->graph(0)->setLineStyle(QCPGraph::lsLine);
ui->filterPlot->graph(0)->setScatterStyle(QCPScatterStyle::ssCircle);
}
if (ui->filterScatterBox2->isChecked()) {
ui->filterPlot2->graph(0)->setLineStyle(QCPGraph::lsLine);
ui->filterPlot2->graph(0)->setScatterStyle(QCPScatterStyle::ssCircle);
}
// Plot response
QVector<double> response = f.fftWithShift(filter, ui->currentFilterTapBox->value() + 4);
QVector<double> response2 = f.fftWithShift(filter2, ui->currentFilterTapBox2->value() + 4);
// Remove positive half
response.resize(response.size() / 2);
response2.resize(response2.size() / 2);
filterIndex.clear();
for(int i = 0;i < response.size();i++) {
filterIndex.append(((double)i / (double)response.size()) * (double)ui->sampleFreqBox->value() / 2);
}
filterIndex2.clear();
for(int i = 0;i < response2.size();i++) {
filterIndex2.append(((double)i / (double)response2.size()) * (double)ui->sampleFreqBox->value() / (double)(2 * ui->decimationSpinBox->value()));
}
ui->filterResponsePlot->addGraph();
ui->filterResponsePlot->graph(0)->setData(filterIndex, response);
ui->filterResponsePlot->graph(0)->setName("Filter Response");
ui->filterResponsePlot->graph(0)->setPen(QPen(Qt::red));
ui->filterResponsePlot2->addGraph();
ui->filterResponsePlot2->graph(0)->setData(filterIndex2, response2);
ui->filterResponsePlot2->graph(0)->setName("Filter Response");
ui->filterResponsePlot2->graph(0)->setPen(QPen(Qt::red));
ui->filterPlot->legend->setVisible(true);
ui->filterPlot->legend->setFont(legendFont);
ui->filterPlot->axisRect()->insetLayout()->setInsetAlignment(0, Qt::AlignRight|Qt::AlignBottom);
ui->filterPlot->legend->setBrush(QBrush(QColor(255,255,255,230)));
ui->filterPlot->xAxis->setLabel("Index");
ui->filterPlot->yAxis->setLabel("Value");
ui->filterPlot2->legend->setVisible(true);
ui->filterPlot2->legend->setFont(legendFont);
ui->filterPlot2->axisRect()->insetLayout()->setInsetAlignment(0, Qt::AlignRight|Qt::AlignBottom);
ui->filterPlot2->legend->setBrush(QBrush(QColor(255,255,255,230)));
ui->filterPlot2->xAxis->setLabel("Index");
ui->filterPlot2->yAxis->setLabel("Value");
ui->filterResponsePlot->legend->setVisible(true);
ui->filterResponsePlot->legend->setFont(legendFont);
ui->filterResponsePlot->axisRect()->insetLayout()->setInsetAlignment(0, Qt::AlignRight|Qt::AlignBottom);
ui->filterResponsePlot->legend->setBrush(QBrush(QColor(255,255,255,230)));
ui->filterResponsePlot->xAxis->setLabel("Frequency (Hz)");
ui->filterResponsePlot->yAxis->setLabel("Gain");
ui->filterResponsePlot2->legend->setVisible(true);
ui->filterResponsePlot2->legend->setFont(legendFont);
ui->filterResponsePlot2->axisRect()->insetLayout()->setInsetAlignment(0, Qt::AlignRight|Qt::AlignBottom);
ui->filterResponsePlot2->legend->setBrush(QBrush(QColor(255,255,255,230)));
ui->filterResponsePlot2->xAxis->setLabel("Frequency (Hz)");
ui->filterResponsePlot2->yAxis->setLabel("Gain");
if (len_diff) {
ui->filterPlot->rescaleAxes();
ui->filterResponsePlot->rescaleAxes();
}
if (len_diff2) {
ui->filterPlot2->rescaleAxes();
ui->filterResponsePlot2->rescaleAxes();
}
if (decimation_diff) {
ui->filterResponsePlot2->rescaleAxes();
}
ui->filterPlot->replot();
ui->filterResponsePlot->replot();
ui->filterPlot2->replot();
ui->filterResponsePlot2->replot();
mDoFilterReplot = false;
}
if (mDoReplot) {
const double f_samp = (ui->sampleFreqBox->value() / ui->sampleIntBox->value());
int size = curr1Array.size();
if(size > 0) {
QVector<double> curr1(size/2);
for (int i=0; i<(size); i+=2) {
curr1[i/2] = (double)((qint16)(((unsigned char)curr1Array[i] << 8) | (unsigned char)curr1Array[i + 1]));
}
QVector<double> curr2(size/2);
for (int i=0; i<(size); i+=2) {
curr2[i/2] = (double)((qint16)(((unsigned char)curr2Array[i] << 8) | (unsigned char)curr2Array[i + 1]));
}
QVector<double> ph1(size/2);
for (int i=0; i<(size); i+=2) {
ph1[i/2] = (double)((qint16)(((unsigned char)ph1Array[i] << 8) | (unsigned char)ph1Array[i + 1]));
}
QVector<double> ph2(size/2);
for (int i=0; i<(size); i+=2) {
ph2[i/2] = (double)((qint16)(((unsigned char)ph2Array[i] << 8) | (unsigned char)ph2Array[i + 1]));
}
QVector<double> ph3(size/2);
for (int i=0; i<(size); i+=2) {
ph3[i/2] = (double)((qint16)(((unsigned char)ph3Array[i] << 8) | (unsigned char)ph3Array[i + 1]));
}