void PacketInterface::processPacket(const unsigned char *data, int len)
{
int32_t ind = 0;
MC_VALUES values;
QByteArray bytes;
QByteArray tmpArray;
QVector<double> samples;
mc_configuration mcconf;
app_configuration appconf;
double detect_cycle_int_limit;
double detect_coupling_k;
QVector<int> detect_hall_table;
int detect_hall_res;
double dec_ppm;
double ppm_last_len;
double dec_adc;
double dec_adc_voltage;
int fw_major;
int fw_minor;
unsigned char id = data[0];
data++;
len--;
switch (id) {
case COMM_FW_VERSION:
if (len == 2) {
ind = 0;
fw_major = data[ind++];
fw_minor = data[ind++];
} else {
fw_major = -1;
fw_minor = -1;
}
emit fwVersionReceived(fw_major, fw_minor);
break;
case COMM_ERASE_NEW_APP:
case COMM_WRITE_NEW_APP_DATA:
firmwareUploadUpdate(!data[0]);
break;
case COMM_GET_VALUES:
ind = 0;
values.temp_mos1 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_mos2 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_mos3 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_mos4 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_mos5 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_mos6 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_pcb = utility::buffer_get_double16(data, 10.0, &ind);
values.current_motor = utility::buffer_get_double32(data, 100.0, &ind);
values.current_in = utility::buffer_get_double32(data, 100.0, &ind);
values.duty_now = utility::buffer_get_double16(data, 1000.0, &ind);
values.rpm = utility::buffer_get_double32(data, 1.0, &ind);
values.v_in = utility::buffer_get_double16(data, 10.0, &ind);
values.amp_hours = utility::buffer_get_double32(data, 10000.0, &ind);
values.amp_hours_charged = utility::buffer_get_double32(data, 10000.0, &ind);
values.watt_hours = utility::buffer_get_double32(data, 10000.0, &ind);
values.watt_hours_charged = utility::buffer_get_double32(data, 10000.0, &ind);
values.tachometer = utility::buffer_get_int32(data, &ind);
values.tachometer_abs = utility::buffer_get_int32(data, &ind);
values.fault_code = (mc_fault_code)data[ind++];
values.fault_str = faultToStr(values.fault_code);
emit valuesReceived(values);
break;
case COMM_PRINT:
tmpArray = QByteArray::fromRawData((char*)data, len);
tmpArray[len] = '\0';
emit printReceived(QString::fromLatin1(tmpArray));
break;
case COMM_SAMPLE_PRINT:
for (int i = 0;i < len;i++) {
bytes.append(data[i]);
}
emit samplesReceived(bytes);
break;
case COMM_ROTOR_POSITION:
ind = 0;
emit rotorPosReceived(utility::buffer_get_double32(data, 100000.0, &ind));
break;
case COMM_EXPERIMENT_SAMPLE:
samples.clear();
ind = 0;
while (ind < len) {
samples.append(utility::buffer_get_double32(data, 10000.0, &ind));
}
emit experimentSamplesReceived(samples);
break;
case COMM_GET_MCCONF:
ind = 0;
mcconf.pwm_mode = (mc_pwm_mode)data[ind++];
mcconf.comm_mode = (mc_comm_mode)data[ind++];
mcconf.motor_type = (mc_motor_type)data[ind++];
mcconf.sensor_mode = (mc_sensor_mode)data[ind++];
mcconf.l_current_max = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_current_min = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_in_current_max = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_in_current_min = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_abs_current_max = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_min_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_max_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_max_erpm_fbrake = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_max_erpm_fbrake_cc = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_min_vin = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_max_vin = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_battery_cut_start = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_battery_cut_end = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_slow_abs_current = data[ind++];
mcconf.l_rpm_lim_neg_torque = data[ind++];
mcconf.l_temp_fet_start = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_temp_fet_end = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_temp_motor_start = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_temp_motor_end = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_min_duty = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.l_max_duty = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.sl_min_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_min_erpm_cycle_int_limit = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_max_fullbreak_current_dir_change = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_cycle_int_limit = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_phase_advance_at_br = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_cycle_int_rpm_br = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_bemf_coupling_k = utility::buffer_get_double32(data, 1000.0, &ind);
memcpy(mcconf.hall_table, data + ind, 8);
ind += 8;
mcconf.hall_sl_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.s_pid_kp = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.s_pid_ki = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.s_pid_kd = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.s_pid_min_rpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.p_pid_kp = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.p_pid_ki = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.p_pid_kd = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.cc_startup_boost_duty = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.cc_min_current = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.cc_gain = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.cc_ramp_step_max = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.m_fault_stop_time_ms = utility::buffer_get_int32(data, &ind);
mcconf.m_duty_ramp_step = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.m_duty_ramp_step_rpm_lim = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.m_current_backoff_gain = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.meta_description = "Configuration loaded from the motor controller.";
emit mcconfReceived(mcconf);
break;
case COMM_GET_APPCONF:
ind = 0;
appconf.controller_id = data[ind++];
appconf.timeout_msec = utility::buffer_get_uint32(data, &ind);
appconf.timeout_brake_current = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.send_can_status = data[ind++];
appconf.send_can_status_rate_hz = utility::buffer_get_uint16(data, &ind);
appconf.app_to_use = (app_use)data[ind++];
appconf.app_ppm_conf.ctrl_type = (ppm_control_type)data[ind++];
appconf.app_ppm_conf.pid_max_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.hyst = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.pulse_start = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.pulse_end = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.median_filter = data[ind++];
appconf.app_ppm_conf.safe_start = data[ind++];
appconf.app_ppm_conf.rpm_lim_start = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.rpm_lim_end = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.multi_esc = data[ind++];
appconf.app_ppm_conf.tc = data[ind++];
appconf.app_ppm_conf.tc_max_diff = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.ctrl_type = (adc_control_type)data[ind++];
appconf.app_adc_conf.hyst = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.voltage_start = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.voltage_end = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.use_filter = data[ind++];
appconf.app_adc_conf.safe_start = data[ind++];
appconf.app_adc_conf.cc_button_inverted = data[ind++];
appconf.app_adc_conf.rev_button_inverted = data[ind++];
appconf.app_adc_conf.voltage_inverted = data[ind++];
appconf.app_adc_conf.rpm_lim_start = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.rpm_lim_end = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.multi_esc = data[ind++];
appconf.app_adc_conf.tc = data[ind++];
appconf.app_adc_conf.tc_max_diff = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.update_rate_hz = utility::buffer_get_uint16(data, &ind);
appconf.app_uart_baudrate = utility::buffer_get_uint32(data, &ind);
appconf.app_chuk_conf.ctrl_type = (chuk_control_type)data[ind++];
appconf.app_chuk_conf.hyst = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.rpm_lim_start = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.rpm_lim_end = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.ramp_time_pos = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.ramp_time_neg = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.multi_esc = data[ind++];
appconf.app_chuk_conf.tc = data[ind++];
appconf.app_chuk_conf.tc_max_diff = utility::buffer_get_double32(data, 1000.0, &ind);
emit appconfReceived(appconf);
break;
case COMM_DETECT_MOTOR_PARAM:
ind = 0;
detect_cycle_int_limit = utility::buffer_get_double32(data, 1000.0, &ind);
detect_coupling_k = utility::buffer_get_double32(data, 1000.0, &ind);
for (int i = 0;i < 8;i++) {
detect_hall_table.append((const signed char)(data[ind++]));
}
detect_hall_res = (const signed char)(data[ind++]);
emit motorParamReceived(detect_cycle_int_limit, detect_coupling_k, detect_hall_table, detect_hall_res);
break;
case COMM_GET_DECODED_PPM:
ind = 0;
dec_ppm = utility::buffer_get_double32(data, 1000000.0, &ind);
ppm_last_len = utility::buffer_get_double32(data, 1000000.0, &ind);
emit decodedPpmReceived(dec_ppm, ppm_last_len);
break;
case COMM_GET_DECODED_ADC:
ind = 0;
dec_adc = utility::buffer_get_double32(data, 1000000.0, &ind);
dec_adc_voltage = utility::buffer_get_double32(data, 1000000.0, &ind);
emit decodedAdcReceived(dec_adc, dec_adc_voltage);
break;
case COMM_GET_DECODED_CHUK:
ind = 0;
dec_ppm = utility::buffer_get_double32(data, 1000000.0, &ind);
emit decodedChukReceived(dec_ppm);
break;
case COMM_SET_MCCONF:
emit ackReceived("MCCONF Write OK");
break;
case COMM_SET_APPCONF:
emit ackReceived("APPCONF Write OK");
break;
default:
break;
}
}
Logger::Logger(QObject *parent) :
QObject(parent)
{
mPort = new SerialPort(this);
mPacketInterface = new PacketInterface(this);
mValueFile = new QFile("Data/BLDC_Values");
mPrintFile = new QFile("Data/BLDC_Print");
mValueFile->open(QIODevice::WriteOnly | QIODevice::Text);
mPrintFile->open(QIODevice::WriteOnly | QIODevice::Text);
mValueStream = new QTextStream(mValueFile);
mPrintStream = new QTextStream(mPrintFile);
mPort->openPort("/dev/ttyACM0");
// Video
mVidW = 1280;
mVidH = 720;
mVidFps = 25.0;
mFAudioSamp = 44100;
mFrameGrabber = new FrameGrabber(mVidW, mVidH, mVidFps, 0, this);
mFrameGrabber->start(QThread::InheritPriority);
mPlotter = new FramePlotter(this);
mPlotter->start(QThread::InheritPriority);
mCoder = new VideoCoder(mVidW, mVidH, mVidFps, "Data/v_video.avi", this);
mCoder->start(QThread::InheritPriority);
// Audio recording
mTimer = 0;
mAudio = 0;
if (QAudioDeviceInfo::availableDevices(QAudio::AudioInput).size() > 0) {
mAudioFile.setFileName("Data/v_audio.raw");
mAudioFile.open(QIODevice::WriteOnly | QIODevice::Truncate);
QAudioFormat format;
// Set up the desired format, for example:
format.setSampleRate(mFAudioSamp);
format.setChannelCount(1);
format.setSampleSize(8);
format.setCodec("audio/pcm");
format.setByteOrder(QAudioFormat::LittleEndian);
format.setSampleType(QAudioFormat::UnSignedInt);
QAudioDeviceInfo info = QAudioDeviceInfo::defaultInputDevice();
if (!info.isFormatSupported(format)) {
qWarning() << "Default format not supported, trying to use the nearest.";
format = info.nearestFormat(format);
}
mAudio = new QAudioInput(format, this);
mAudio->setNotifyInterval(1000 / mVidFps);
mAudio->start(&mAudioFile);
} else {
mTimer = new QTimer(this);
mTimer->setInterval(1000 / mVidFps);
mTimer->start();
}
mConsoleReader = new ConsoleReader(this);
connect(mConsoleReader, SIGNAL(textReceived(QString)),
this, SLOT(consoleLineReceived(QString)));
connect(mPort, SIGNAL(serial_data_available()),
this, SLOT(serialDataAvailable()));
if (mTimer != 0) {
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
if (mAudio != 0) {
connect(mAudio, SIGNAL(notify()),
this, SLOT(audioNotify()));
// Lower the volume to avoid clipping. This seems to be passed to
// pulseaudio.
mAudio->setVolume(0.1);
}
connect(mPacketInterface, SIGNAL(dataToSend(QByteArray&)),
this, SLOT(packetDataToSend(QByteArray&)));
connect(mPacketInterface, SIGNAL(valuesReceived(PacketInterface::MC_VALUES)),
this, SLOT(mcValuesReceived(PacketInterface::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(mPlotter, SIGNAL(frameReady(QImage)),
mCoder, SLOT(setNextFrame(QImage)));
}
