/**
* @function WavStop
* @brief stop the WAV playback
* @param none
* @return none
*/
void WavStop(void) {
if(state != WAV_STOPPED) {
state = WAV_STOPPED;
TmrStop(WAV_TIMER); /*disable the callback*/
f_close(&pFile);
pOut(0x8000); /*clear the DAC*/
}
}
/**
* @function TmrSetCallback
* @brief associate a callback function to a given timer
* @param tmr_t tmr_id: timer id
* @param *ptrCallback: pointer to a void function(void)
* @return none
*/
void TmrSetCallback(tmr_t tmr_id, void (*ptrCallback) (void)) {
switch(tmr_id) {
case TMR_1:
TmrStop(TMR_1);
tmr1PtrCallback = ptrCallback;
break;
case TMR_4:
TmrStop(TMR_4);
tmr4PtrCallback = ptrCallback;
break;
case TMR_5:
TmrStop(TMR_5);
tmr5PtrCallback = ptrCallback;
break;
default:
break;
}
}
/**
* @function ARB_Stop
* @brief stop the arbitrary handler (stop timer, clear current sample #id)
* @param arb_st *arb: pointer to the arbitrary waveform handler
* @return none
*/
void ARB_Stop(arb_st *arb) {
if(arb != NULL) {
arb->run = 0;
arb->currentSample = 0;
/*stop the timer first, then the DDS*/
TmrStop(ARB_TIMER);
AD9834_Stop(0);
/*kill the wav playback if any*/
if(arb->waveformType == ARB_WAVE_WAV) {
WavStop();
}
}
}
TestHarness::TestHarness(QWidget *parent)
: QWidget(parent)
{
QGroupBox *ecu_box = new QGroupBox("Engine Control Unit");
QGroupBox *gps_box = new QGroupBox("GPS");
QGroupBox *imu_box = new QGroupBox("Inertial Measurement Unit");
QGroupBox *lts_box = new QGroupBox("Lighting System");
QGroupBox *wls_box = new QGroupBox("Wireless Radio");
QGroupBox *tmr_box = new QGroupBox("Timer/Logger");
QGridLayout *ecu_layout = new QGridLayout();
QGridLayout *gps_layout = new QGridLayout();
QGridLayout *imu_layout = new QGridLayout();
QGridLayout *lts_layout = new QGridLayout();
QGridLayout *wls_layout = new QGridLayout();
QGridLayout *tmr_layout = new QGridLayout();
QGridLayout *layout = new QGridLayout();
// ecu box
ecu_rpm_label = new QLabel("RPM:");
ecu_rpm_edit = new QLineEdit("2000");
ecu_spark_label = new QLabel("Spark Advance:");
ecu_spark_edit = new QLineEdit("15.0");
ecu_cranking_label = new QLabel("Cranking:");
ecu_cranking_edit = new QCheckBox("Yes");
ecu_map_label = new QLabel("Manifold Air Pres:");
ecu_map_edit = new QLineEdit("1500.0");
ecu_mat_label = new QLabel("Manifold Air Temp:");
ecu_mat_edit = new QLineEdit("15.0");
ecu_clt_label = new QLabel("Coolant Temp:");
ecu_clt_edit = new QLineEdit("90.0");
ecu_tps_label = new QLabel("Throttle Position:");
ecu_tps_edit = new QLineEdit("50.0");
ecu_batt_label = new QLabel("Battery:");
ecu_batt_edit = new QLineEdit("11.9");
ecu_maf_label = new QLabel("Mass Airflow:");
ecu_maf_edit = new QLineEdit("900.0");
ecu_tc_label = new QLabel("Tach Count:");
ecu_tc_edit = new QLineEdit("100");
ecu_update_button = new QPushButton("Update");
ecu_layout->addWidget(ecu_rpm_label, 0, 0);
ecu_layout->addWidget(ecu_rpm_edit, 0, 1);
ecu_layout->addWidget(ecu_spark_label, 1, 0);
ecu_layout->addWidget(ecu_spark_edit, 1, 1);
ecu_layout->addWidget(ecu_cranking_label, 2, 0);
ecu_layout->addWidget(ecu_cranking_edit, 2, 1);
ecu_layout->addWidget(ecu_map_label, 3, 0);
ecu_layout->addWidget(ecu_map_edit, 3, 1);
ecu_layout->addWidget(ecu_mat_label, 4, 0);
ecu_layout->addWidget(ecu_mat_edit, 4, 1);
ecu_layout->addWidget(ecu_clt_label, 5, 0);
ecu_layout->addWidget(ecu_clt_edit, 5, 1);
ecu_layout->addWidget(ecu_tps_label, 6, 0);
ecu_layout->addWidget(ecu_tps_edit, 6, 1);
ecu_layout->addWidget(ecu_batt_label, 7, 0);
ecu_layout->addWidget(ecu_batt_edit, 7, 1);
ecu_layout->addWidget(ecu_maf_label, 8, 0);
ecu_layout->addWidget(ecu_maf_edit, 8, 1);
ecu_layout->addWidget(ecu_tc_label, 9, 0);
ecu_layout->addWidget(ecu_tc_edit, 9, 1);
ecu_layout->addWidget(ecu_update_button, 10, 0, 1, 2);
ecu_layout->setRowStretch(11, 1);
// gps box
gps_time_label = new QLabel("UTC Time:");
gps_colon1_label = new QLabel(":");
gps_colon2_label = new QLabel(":");
gps_hrs_edit = new QLineEdit("12");
gps_mins_edit = new QLineEdit("01");
gps_secs_edit = new QLineEdit("01.001");
gps_lat_label = new QLabel("Latitude:");
gps_deg1_label = new QLabel("deg");
gps_min1_label = new QLabel("min");
gps_latdeg_edit = new QLineEdit("35");
gps_latmin_edit = new QLineEdit("15.653229");
gps_latdir_edit = new QLineEdit("N");
gps_long_label = new QLabel("Longitude:");
gps_deg2_label = new QLabel("deg");
gps_min2_label = new QLabel("min");
gps_longdeg_edit = new QLineEdit("120");
gps_longmin_edit = new QLineEdit("39.2362974");
gps_longdir_edit = new QLineEdit("W");
gps_alt_label = new QLabel("Altitude:");
gps_alt_edit = new QLineEdit("500.0");
gps_speed_label = new QLabel("Speed:");
gps_speed_edit = new QLineEdit("25.0");
gps_heading_label = new QLabel("Heading:");
gps_heading_edit = new QLineEdit("187.5");
gps_update_button = new QPushButton("Update");
gps_layout->addWidget(gps_time_label, 0, 0);
gps_layout->addWidget(gps_hrs_edit, 0, 1);
gps_layout->addWidget(gps_colon1_label, 0, 2);
gps_layout->addWidget(gps_mins_edit, 0, 3);
gps_layout->addWidget(gps_colon2_label, 0, 4);
gps_layout->addWidget(gps_secs_edit, 0, 5);
gps_layout->addWidget(gps_lat_label, 1, 0);
gps_layout->addWidget(gps_latdeg_edit, 1, 1);
gps_layout->addWidget(gps_deg1_label, 1, 2);
gps_layout->addWidget(gps_latmin_edit, 1, 3);
gps_layout->addWidget(gps_min1_label, 1, 4);
gps_layout->addWidget(gps_latdir_edit, 1, 5);
gps_layout->addWidget(gps_long_label, 2, 0);
gps_layout->addWidget(gps_longdeg_edit, 2, 1);
gps_layout->addWidget(gps_deg2_label, 2, 2);
gps_layout->addWidget(gps_longmin_edit, 2, 3);
gps_layout->addWidget(gps_min2_label, 2, 4);
gps_layout->addWidget(gps_longdir_edit, 2, 5);
gps_layout->addWidget(gps_alt_label, 3, 0);
gps_layout->addWidget(gps_alt_edit, 3, 1, 1, 5);
gps_layout->addWidget(gps_speed_label, 4, 0);
gps_layout->addWidget(gps_speed_edit, 4, 1, 1, 5);
gps_layout->addWidget(gps_heading_label, 5, 0);
gps_layout->addWidget(gps_heading_edit, 5, 1, 1, 5);
gps_layout->addWidget(gps_update_button, 6, 0, 1, 6);
gps_layout->setRowStretch(7, 1);
// imu box
imu_ax_label = new QLabel("Accel X:");
imu_ax_edit = new QLineEdit("0.0");
imu_ay_label = new QLabel("Accel Y:");
imu_ay_edit = new QLineEdit("1.0");
imu_az_label = new QLabel("Accel Z:");
imu_az_edit = new QLineEdit("0.0");
imu_gx_label = new QLabel("Gyro X:");
imu_gx_edit = new QLineEdit("0.0");
imu_gy_label = new QLabel("Gyro Y:");
imu_gy_edit = new QLineEdit("0.0");
imu_gz_label = new QLabel("Gyro Z:");
imu_gz_edit = new QLineEdit("0.0");
imu_update_button = new QPushButton("Update");
imu_layout->addWidget(imu_ax_label, 0, 0);
imu_layout->addWidget(imu_ax_edit, 0, 1);
imu_layout->addWidget(imu_ay_label, 1, 0);
imu_layout->addWidget(imu_ay_edit, 1, 1);
imu_layout->addWidget(imu_az_label, 2, 0);
imu_layout->addWidget(imu_az_edit, 2, 1);
imu_layout->addWidget(imu_gx_label, 3, 0);
imu_layout->addWidget(imu_gx_edit, 3, 1);
imu_layout->addWidget(imu_gy_label, 4, 0);
imu_layout->addWidget(imu_gy_edit, 4, 1);
imu_layout->addWidget(imu_gz_label, 5, 0);
imu_layout->addWidget(imu_gz_edit, 5, 1);
imu_layout->addWidget(imu_update_button, 6, 0, 1, 2);
imu_layout->setRowStretch(7, 1);
// lights box
lts_head_label = new QLabel("Headlights:");
lts_head_edit = new QCheckBox("On");
lts_brake_label = new QLabel("Brakelights:");
lts_brake_edit = new QCheckBox("On");
lts_left_label = new QLabel("Left Turn Signal:");
lts_left_edit = new QCheckBox("On");
lts_right_label = new QLabel("Right Turn Signal:");
lts_right_edit = new QCheckBox("On");
lts_hazards_label = new QLabel("Hazards:");
lts_hazards_edit = new QCheckBox("On");
lts_update_button = new QPushButton("Update");
lts_layout->addWidget(lts_head_label, 0, 0);
lts_layout->addWidget(lts_head_edit, 0, 1);
lts_layout->addWidget(lts_brake_label, 1, 0);
lts_layout->addWidget(lts_brake_edit, 1, 1);
lts_layout->addWidget(lts_left_label, 2, 0);
lts_layout->addWidget(lts_left_edit, 2, 1);
lts_layout->addWidget(lts_right_label, 3, 0);
lts_layout->addWidget(lts_right_edit, 3, 1);
lts_layout->addWidget(lts_hazards_label, 4, 0);
lts_layout->addWidget(lts_hazards_edit, 4, 1);
lts_layout->addWidget(lts_update_button, 5, 0, 1, 2);
lts_layout->setRowStretch(6, 1);
// wireless box
wls_rx_label = new QLabel("Received from the radio:");
wls_rx_edit = new QTextEdit();
wls_tx_label = new QLabel("Transmit to the radio:");
wls_tx_edit = new QTextEdit();
wls_update_button = new QPushButton("Update");
wls_layout->addWidget(wls_rx_label, 0, 0);
wls_layout->addWidget(wls_rx_edit, 1, 0);
wls_layout->addWidget(wls_tx_label, 2, 0);
wls_layout->addWidget(wls_tx_edit, 3, 0);
wls_layout->addWidget(wls_update_button, 4, 0);
wls_layout->setRowStretch(5, 1);
// timer box
tmr_time_display = new QLCDNumber(8);
tmr_time_display->setSegmentStyle(QLCDNumber::Flat);
tmr_start_button = new QPushButton("Start Timer");
tmr_stop_button = new QPushButton("Stop Timer");
log_start_button = new QPushButton("Start Data Logger");
log_stop_button = new QPushButton("Stop Data Logger");
tmr_layout->addWidget(tmr_time_display, 0, 0);
tmr_layout->addWidget(tmr_start_button, 1, 0);
tmr_layout->addWidget(tmr_stop_button, 2, 0);
tmr_layout->addWidget(log_start_button, 3, 0);
tmr_layout->addWidget(log_stop_button, 4, 0);
tmr_layout->setRowStretch(5, 1);
// master layout
ecu_box->setLayout(ecu_layout);
gps_box->setLayout(gps_layout);
imu_box->setLayout(imu_layout);
lts_box->setLayout(lts_layout);
wls_box->setLayout(wls_layout);
tmr_box->setLayout(tmr_layout);
layout->addWidget(ecu_box, 0, 0);
layout->addWidget(gps_box, 0, 1);
layout->addWidget(imu_box, 0, 2);
layout->addWidget(lts_box, 1, 0);
layout->addWidget(wls_box, 1, 1);
layout->addWidget(tmr_box, 1, 2);
setLayout(layout);
setWindowTitle("Hardware Interface Test Harness");
// connect up the ui to internal slots
connect(tmr_start_button, SIGNAL(clicked()), this, SLOT(TmrStart()));
connect(tmr_stop_button, SIGNAL(clicked()), this, SLOT(TmrStop()));
connect(this, SIGNAL(TmrTick(int)), tmr_time_display, SLOT(display(int)));
connect(ecu_update_button, SIGNAL(clicked()), this, SLOT(UpdateEcu()));
connect(gps_update_button, SIGNAL(clicked()), this, SLOT(UpdateGps()));
connect(imu_update_button, SIGNAL(clicked()), this, SLOT(UpdateImu()));
connect(lts_update_button, SIGNAL(clicked()), this, SLOT(UpdateLts()));
connect(wls_update_button, SIGNAL(clicked()), this, SLOT(UpdateWls()));
// done initializing ui, set up some internal stuff
timer_running = false;
time = new QTime();
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(TimerTick()));
// debug
logger = new DataLogger();
dashboard = new Dashboard();
dashboard->show();
// connect up the test harness to the data logger
connect(log_start_button, SIGNAL(clicked()), logger, SLOT(LogStart()));
connect(log_stop_button, SIGNAL(clicked()), logger, SLOT(LogStop()));
connect(this, SIGNAL(EcuStateChanged(ecustate_t)), logger, SLOT(EcuUpdate(ecustate_t)));
connect(this, SIGNAL(GpsStateChanged(gpsstate_t)), logger, SLOT(GpsUpdate(gpsstate_t)));
connect(this, SIGNAL(ImuStateChanged(imustate_t)), logger, SLOT(ImuUpdate(imustate_t)));
connect(this, SIGNAL(LtsStateChanged(ltsstate_t)), logger, SLOT(LtsUpdate(ltsstate_t)));
connect(this, SIGNAL(TmrTick(int)), logger, SLOT(TmrUpdate(int)));
// connect up the test harness to the dashboard
connect(this, SIGNAL(TmrTick(int)), dashboard, SLOT(TmrUpdate(int)));
connect(this, SIGNAL(EcuStateChanged(ecustate_t)), dashboard, SLOT(EcuUpdate(ecustate_t)));
connect(this, SIGNAL(GpsStateChanged(gpsstate_t)), dashboard, SLOT(GpsUpdate(gpsstate_t)));
connect(this, SIGNAL(ImuStateChanged(imustate_t)), dashboard, SLOT(ImuUpdate(imustate_t)));
connect(this, SIGNAL(LtsStateChanged(ltsstate_t)), dashboard, SLOT(LtsUpdate(ltsstate_t)));
}
/**
* @function TicksSetExternalCallback
* @brief enable a external function, which will be called every ticks
* @param void (*function)(void): pointer to the extern function
* @return none
*/
void TicksSetExternalCallback(void (*function)(void)) {
TmrStop(TMR_1);
extFunc = function;
TmrLaunch(TMR_1);
}
/**
* @function TicksSetWatchdog
* @brief enable a watchdog function
* @param void (*function)(void): function to execute when reaching a delay
* @param ticks_t delay: dela, in ms
* @return none
*/
void TicksSetWatchdog(void (*function)(void), ticks_t delay) {
TmrStop(TMR_1);
wdtFunc = function;
u64wdtTimer = u64AbsoluteTicks + delay;
TmrLaunch(TMR_1);
}
/**
* @function ARB_Pause
* @brief suspend the arbitrary handler (timer pause)
* @param arb_st *arb: pointer to the arbitrary waveform handler
* @return none
*/
void ARB_Pause(arb_st *arb) {
if(arb != NULL) {
arb->run = 0;
TmrStop(ARB_TIMER);
}
}
/**
* @function TmrSetFrequency
* @brief configure a given timer with a desired frequency
* @param tmr_t tmr_id: timer id
* @param uint32_t desiredFrequency: desired frequency, in Hz
* @return int8_t: 0 sucess, otherwise error
*/
int8_t TmrSetFrequency(tmr_t tmr_id, uint32_t desiredFrequency) {
uint16_t tmrValue = 0xFFFF;
uint16_t prescale;
uint32_t cfg;
int8_t res = -1;
switch(tmr_id) {
case TMR_1:
if(SetTimerFrequency(TMR_TYPE_A, desiredFrequency, &tmrValue, &prescale) == 0) {
TmrStop(TMR_1);
mT1ClearIntFlag();
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_1 | T1_INT_SUB_PRIOR_1);
cfg = T1_SOURCE_INT | T1_IDLE_CON;
if(prescale == 1) cfg |= T1_PS_1_1;
else if(prescale == 8) cfg |= T1_PS_1_8;
else if(prescale == 64) cfg |= T1_PS_1_64;
else cfg |= T1_PS_1_256;
OpenTimer1(cfg, tmrValue);
timer1Configured = 1;
res = 0;
}
break;
case TMR_4:
if(SetTimerFrequency(TMR_TYPE_B, desiredFrequency, &tmrValue, &prescale) == 0) {
TmrStop(TMR_4);
mT4ClearIntFlag();
ConfigIntTimer4(T4_INT_ON | T4_INT_PRIOR_4 | T4_INT_SUB_PRIOR_1);
cfg = T4_SOURCE_INT | T4_IDLE_CON;
if(prescale == 1) cfg |= T4_PS_1_1;
else if(prescale == 2) cfg |= T4_PS_1_2;
else if(prescale == 4) cfg |= T4_PS_1_4;
else if(prescale == 8) cfg |= T4_PS_1_8;
else if(prescale == 16) cfg |= T4_PS_1_16;
else if(prescale == 32) cfg |= T4_PS_1_32;
else if(prescale == 64) cfg |= T4_PS_1_64;
else cfg |= T4_PS_1_256;
OpenTimer4(cfg, tmrValue);
timer4Configured = 1;
res = 0;
}
break;
case TMR_5:
if(SetTimerFrequency(TMR_TYPE_B, desiredFrequency, &tmrValue, &prescale) == 0) {
TmrStop(TMR_5);
mT5ClearIntFlag();
ConfigIntTimer5(T5_INT_ON | T5_INT_PRIOR_5 | T5_INT_SUB_PRIOR_1);
cfg = T5_SOURCE_INT | T5_IDLE_CON;
if(prescale == 1) cfg |= T5_PS_1_1;
else if(prescale == 2) cfg |= T5_PS_1_2;
else if(prescale == 4) cfg |= T5_PS_1_4;
else if(prescale == 8) cfg |= T5_PS_1_8;
else if(prescale == 16) cfg |= T5_PS_1_16;
else if(prescale == 32) cfg |= T5_PS_1_32;
else if(prescale == 64) cfg |= T5_PS_1_64;
else cfg |= T5_PS_1_256;
OpenTimer5(cfg, tmrValue);
timer5Configured = 1;
res = 0;
}
break;
default:
break;
}
return res;
}