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Ignore whitespace Rev 156 → Rev 157

/QMK-Groundstation/tags/V0.5.0/Forms/mktool.cpp
0,0 → 1,1722
/***************************************************************************
* Copyright (C) 2008 by Manuel Schrape *
* manuel.schrape@gmx.de *
* *
* 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 2 of the License. *
* *
* 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, write to the *
* Free Software Foundation, Inc., *
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
***************************************************************************/
 
#include <QtGui>
 
#include <QLineEdit>
#include <QString>
#include <QTimer>
#include <QIcon>
#include <QToolButton>
#include <QSpinBox>
 
#include "mktool.h"
#include "dlg_Config.h"
#include "../global.h"
 
#include <stdlib.h>
 
MKTool::MKTool()
{
setupUi(this);
 
Settings = new cSettings;
Settings->read_Settings();
 
init_Arrays();
init_Icons();
init_GUI();
 
init_Objects();
init_Connections();
 
init_Plot();
}
 
void MKTool::init_GUI()
{
setWindowTitle(QA_NAME + " v" + QA_VERSION);
 
#ifdef _EEEPC_
toolBar->hide();
#endif
 
resize(Settings->GUI.Size);
move(Settings->GUI.Point);
 
if (Settings->GUI.isMax)
{
showMaximized();
}
 
for (int a = 0; a < MaxAnalog; a++)
{
lb_Analog[a]->setText(Settings->Analog[a].Name);
}
 
le_Port->setText(Settings->TTY.Port);
}
 
void MKTool::init_Objects()
{
// QTimer-Instanzen
timer = new QTimer(this);
Poll = new QTimer(this);
 
// Seriell-Port
serialPort = new ManageSerialPort;
// serialPort=serialPort = new ManageSerialPort;
 
// QFile-Instanz (Log-Datei)
CSVFile = new QFile("");
}
 
void MKTool::init_Connections()
{
// Seriel-Port Empfang
connect(serialPort, SIGNAL(newDataReceived(const QByteArray &)), this, SLOT(slot_newDataReceived(const QByteArray &)));
 
// Buttons und Menüpunkte / Toolbar
 
connect(pb_Load, SIGNAL(clicked()), this, SLOT(slot_LoadParameter()));
connect(pb_Save, SIGNAL(clicked()), this, SLOT(slot_SaveParameter()));
connect(pb_Read, SIGNAL(clicked()), this, SLOT(slot_GetParameter()));
connect(pb_Write, SIGNAL(clicked()), this, SLOT(slot_SetParameter()));
 
connect(ac_Config, SIGNAL(triggered()), this, SLOT(slot_ac_Config()));
connect(ac_StartPlotter, SIGNAL(triggered()), this, SLOT(slot_ac_StartPlotter()));
 
connect(sl_Left, SIGNAL(valueChanged(int)), this, SLOT(slot_SliderMotorTest(int)));
connect(sl_Right, SIGNAL(valueChanged(int)), this, SLOT(slot_SliderMotorTest(int)));
connect(sl_Front, SIGNAL(valueChanged(int)), this, SLOT(slot_SliderMotorTest(int)));
connect(sl_Back, SIGNAL(valueChanged(int)), this, SLOT(slot_SliderMotorTest(int)));
connect(sl_All, SIGNAL(valueChanged(int)), this, SLOT(slot_SliderMotorTest(int)));
 
connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort()));
connect(ac_Quit, SIGNAL(triggered()), this, SLOT(slot_Quit()));
connect(ac_RecordCSV, SIGNAL(triggered()), this, SLOT(slot_RecordCSV()));
 
connect(ac_LogDir, SIGNAL(triggered()), this, SLOT(slot_SetLogDir()));
connect(ac_About, SIGNAL(triggered()), this, SLOT(slot_About()));
connect(ac_ParameterDir, SIGNAL(triggered()), this, SLOT(slot_SetParDir()));
 
// Timer-Events
connect(timer, SIGNAL(timeout()), SLOT(slot_Timer()));
connect(Poll, SIGNAL(timeout()), SLOT(slot_Poll()));
 
// Seitenwechsel :)
connect(tab_Main, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));
connect(tab_Par, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));
 
// Parameterevents
connect(tb_9_6, SIGNAL(clicked()), this, SLOT(slot_tbUp()));
connect(tb_9_7, SIGNAL(clicked()), this, SLOT(slot_tbDown()));
connect(tb_9_8, SIGNAL(clicked()), this, SLOT(slot_tbLeft()));
connect(tb_9_9, SIGNAL(clicked()), this, SLOT(slot_tbRight()));
 
connect(J16_0, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_1, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_2, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_3, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_4, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_5, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_6, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_7, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
 
connect(J17_0, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_1, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_2, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_3, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_4, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_5, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_6, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_7, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
 
connect(sb_11_1, SIGNAL(valueChanged(int)), this, SLOT(slot_ValuetoLED16(int)));
connect(sb_11_3, SIGNAL(valueChanged(int)), this, SLOT(slot_ValuetoLED17(int)));
 
// Plotter
connect(scroll_plot, SIGNAL(valueChanged(int)), this, SLOT(slot_ScrollPlot(int)));
 
// About-QT Dialog einfügen
menu_Help->addAction(trUtf8("Über &Qt"), qApp, SLOT(aboutQt()));
}
 
void MKTool::init_Arrays()
{
lb_Analog[0] = lb_A_0;
lb_Analog[1] = lb_A_1;
lb_Analog[2] = lb_A_2;
lb_Analog[3] = lb_A_3;
lb_Analog[4] = lb_A_4;
lb_Analog[5] = lb_A_5;
lb_Analog[6] = lb_A_6;
lb_Analog[7] = lb_A_7;
lb_Analog[8] = lb_A_8;
lb_Analog[9] = lb_A_9;
lb_Analog[10] = lb_A_10;
lb_Analog[11] = lb_A_11;
lb_Analog[12] = lb_A_12;
lb_Analog[13] = lb_A_13;
lb_Analog[14] = lb_A_14;
lb_Analog[15] = lb_A_15;
lb_Analog[16] = lb_A_16;
lb_Analog[17] = lb_A_17;
lb_Analog[18] = lb_A_18;
lb_Analog[19] = lb_A_19;
lb_Analog[20] = lb_A_20;
lb_Analog[21] = lb_A_21;
lb_Analog[22] = lb_A_22;
lb_Analog[23] = lb_A_23;
lb_Analog[24] = lb_A_24;
lb_Analog[25] = lb_A_25;
lb_Analog[26] = lb_A_26;
lb_Analog[27] = lb_A_27;
lb_Analog[28] = lb_A_28;
lb_Analog[29] = lb_A_29;
lb_Analog[30] = lb_A_30;
lb_Analog[31] = lb_A_31;
}
 
void MKTool::init_Plot()
{
NextPlot = 0;
 
qwtPlot->setCanvasBackground(QColor(QRgb(0x00000000)));
 
qwtPlot->insertLegend(new QwtLegend(), QwtPlot::RightLegend);
 
QwtPlotGrid *Grid = new QwtPlotGrid();
Grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine));
 
 
Grid->attach(qwtPlot);
 
qwtPlot->setAxisScale(QwtPlot::xBottom,0,PlotWide,0);
 
for (int a = 0; a < MaxAnalog; a++)
{
Plot[a] = new QwtPlotCurve(Settings->Analog[a].Name);
Plot[a]->setPen(QPen(QColor(Settings->Analog[a].Color)));
// Plot[a]->setRenderHint(QwtPlotItem::RenderAntialiased);
 
if (Settings->Analog[a].Plot)
Plot[a]->attach(qwtPlot);
}
qwtPlot->replot();
}
 
void MKTool::init_Icons()
{
Icons[0].addPixmap(QPixmap(QString::fromUtf8(":/LED/Images/16X16/ledred.png")), QIcon::Normal, QIcon::Off);
Icons[1].addPixmap(QPixmap(QString::fromUtf8(":/LED/Images/16X16/ledyellow.png")), QIcon::Normal, QIcon::Off);
Icons[3].addPixmap(QPixmap(QString::fromUtf8(":/LED/Images/16X16/ledyellow.png")), QIcon::Normal, QIcon::Off);
Icons[4].addPixmap(QPixmap(QString::fromUtf8(":/LED/Images/16X16/ledoff.png")), QIcon::Normal, QIcon::Off);
 
 
Icons[5].addPixmap(QPixmap(QString::fromUtf8(":/Actions/Images/22X22/application-exit.png")), QIcon::Normal, QIcon::Off);
Icons[6].addPixmap(QPixmap(QString::fromUtf8(":/Actions/Images/22X22/media-playback-stop.png")), QIcon::Normal, QIcon::Off);
Icons[7].addPixmap(QPixmap(QString::fromUtf8(":/Actions/Images/22X22/media-record.png")), QIcon::Normal, QIcon::Off);
Icons[8].addPixmap(QPixmap(QString::fromUtf8(":/Actions/Images/22X22/network-connect.png")), QIcon::Normal, QIcon::Off);
Icons[9].addPixmap(QPixmap(QString::fromUtf8(":/Actions/Images/22X22/network-disconnect.png")), QIcon::Normal, QIcon::Off);
Icons[10].addPixmap(QPixmap(QString::fromUtf8(":/Actions/Images/22X22/utilities-system-monitor.png")), QIcon::Normal, QIcon::Off);
 
Icons[20].addPixmap(QPixmap(QString::fromUtf8(":/Arrows/Images/32X32/arrow-up-double.png")), QIcon::Normal, QIcon::Off);
Icons[21].addPixmap(QPixmap(QString::fromUtf8(":/Arrows/Images/32X32/arrow-up.png")), QIcon::Normal, QIcon::Off);
Icons[22].addPixmap(QPixmap(QString::fromUtf8(":/Arrows/Images/32X32/arrow-down-double.png")), QIcon::Normal, QIcon::Off);
Icons[23].addPixmap(QPixmap(QString::fromUtf8(":/Arrows/Images/32X32/arrow-down.png")), QIcon::Normal, QIcon::Off);
Icons[24].addPixmap(QPixmap(QString::fromUtf8(":/Arrows/Images/32X32/arrow-left-double.png")), QIcon::Normal, QIcon::Off);
Icons[25].addPixmap(QPixmap(QString::fromUtf8(":/Arrows/Images/32X32/arrow-left.png")), QIcon::Normal, QIcon::Off);
Icons[26].addPixmap(QPixmap(QString::fromUtf8(":/Arrows/Images/32X32/arrow-right-double.png")), QIcon::Normal, QIcon::Off);
Icons[27].addPixmap(QPixmap(QString::fromUtf8(":/Arrows/Images/32X32/arrow-right.png")), QIcon::Normal, QIcon::Off);
}
 
void MKTool::update_Plot()
{
for (int a = 0; a < MaxAnalog; a++)
{
Plot[a]->setData(aID,aData[a],NextPlot - 1);
}
 
if ((NextPlot > PlotWide))
{
scroll_plot->setMaximum(NextPlot - PlotWide);
}
 
if ((scroll_plot->value() == NextPlot - (PlotWide + 1)))
{
qwtPlot->setAxisScale(QwtPlot::xBottom,NextPlot - PlotWide,NextPlot,0);
scroll_plot->setValue(NextPlot - PlotWide);
}
 
qwtPlot->replot();
}
 
void MKTool::config_Plot()
{
for (int a = 0; a < MaxAnalog; a++)
{
Plot[a]->detach();
Plot[a]->setPen(QPen(QColor(Settings->Analog[a].Color)));
 
if (Settings->Analog[a].Plot)
Plot[a]->attach(qwtPlot);
}
}
 
void MKTool::slot_ac_Config()
{
set_Analog Old_Analog[MaxAnalog];
memcpy(Old_Analog, Settings->Analog, sizeof(Settings->Analog));
 
dlg_Config *f_Config = new dlg_Config(this);
f_Config->set_Settings(Settings);
 
if (f_Config->exec()==QDialog::Accepted)
{
Settings = f_Config->get_Settings();
Settings->write_Settings();
 
for (int a = 0; a < MaxAnalog; a++)
{
if (Old_Analog[a].Plot == Settings->Analog[a].Plot)
continue;
else
{
config_Plot();
break;
}
}
 
if (CSVFile->isOpen())
{
for (int a = 0; a < MaxAnalog; a++)
{
if (Old_Analog[a].Log == Settings->Analog[a].Log)
continue;
else
{
slot_RecordCSV();
slot_RecordCSV();
break;
}
}
}
 
}
}
 
void MKTool::slot_ac_StartPlotter()
{
if (ac_StartPlotter->isChecked())
{
ac_StartPlotter->setText("Stop Plotter");
pb_StartPlotter->setText("Stop Plotter");
}
else
{
ac_StartPlotter->setText("Start Plotter");
pb_StartPlotter->setText("Start Plotter");
}
}
 
 
 
void MKTool::slot_ScrollPlot(int Pos)
{
qwtPlot->setAxisScale(QwtPlot::xBottom,Pos,Pos + PlotWide,0);
qwtPlot->replot();
}
 
void MKTool::slot_About()
{
QMessageBox::about(this, trUtf8(("Über ")) + QA_NAME, QA_ABOUT);
}
 
void MKTool::slot_SetLogDir()
{
QString directory = QFileDialog::getExistingDirectory(this, "Verzeichniss für CSV-Logdateien", Settings->DIR.Logging, QFileDialog::DontResolveSymlinks | QFileDialog::ShowDirsOnly);
 
if ((!directory.isEmpty()) && (Settings->DIR.Logging != directory))
{
Settings->DIR.Logging = directory;
Settings->write_Settings();
}
}
 
void MKTool::slot_SetParDir()
{
QString directory = QFileDialog::getExistingDirectory(this, "Verzeichniss für Parameter-Dateien", Settings->DIR.Parameter, QFileDialog::DontResolveSymlinks | QFileDialog::ShowDirsOnly);
 
if ((!directory.isEmpty()) && (Settings->DIR.Parameter != directory))
{
Settings->DIR.Parameter = directory;
Settings->write_Settings();
}
 
}
 
void MKTool::slot_RecordCSV()
{
if (!CSVFile->isOpen())
{
QString Filename = Settings->DIR.Logging + QDate::currentDate().toString(("yyyy-MM-dd")) + " -- " + QTime::currentTime().toString("hh-mm") + ".csv";
 
CSVFile = new QFile(Filename);
if (!CSVFile->exists())
{
CSVFile->open(QIODevice::Append | QIODevice::Text);
 
QTextStream Out(CSVFile);
 
for (int a = 0; a < MaxAnalog; a++)
{
if (Settings->Analog[a].Log)
{
Out << Settings->Analog[a].Name;
 
if (a < MaxAnalog - 1)
Out << ';';
}
}
Out << "\n";
}
else
{
CSVFile->open(QIODevice::Append | QIODevice::Text);
}
 
// QIcon icon;
// icon.addPixmap(QPixmap(QString::fromUtf8(":/Actions/Images/media-playback-stop.png")), QIcon::Normal, QIcon::Off);
pb_Record->setIcon(Icons[6]);
pb_Record->setText("CSV Stop");
ac_RecordCSV->setIcon(Icons[6]);
ac_RecordCSV->setText("CSV Stop");
}
else
{
CSVFile->close();
// QIcon icon;
// icon.addPixmap(QPixmap(QString::fromUtf8(":/Actions/Images/media-record.png")), QIcon::Normal, QIcon::Off);
pb_Record->setIcon(Icons[7]);
pb_Record->setText("CSV Aufzeichnen");
ac_RecordCSV->setIcon(Icons[7]);
ac_RecordCSV->setText("CSV Aufzeichnen");
}
}
 
void MKTool::slot_LEDtoValue()
{
QToolButton *ToolButton = (QToolButton*)sender();
if (ToolButton->text() == QString("0"))
{
set_LED(ToolButton, true);
sb_11_1->setValue(sb_11_1->value() + ToolButton->toolTip().toInt());
}
else if (ToolButton->text() == QString("1"))
{
set_LED(ToolButton);
sb_11_1->setValue(sb_11_1->value() - ToolButton->toolTip().toInt());
}
else if (ToolButton->text() == QString("00"))
{
set_LED(ToolButton, true);
sb_11_3->setValue(sb_11_3->value() + ToolButton->toolTip().toInt());
}
else if (ToolButton->text() == QString("11"))
{
set_LED(ToolButton);
sb_11_3->setValue(sb_11_3->value() - ToolButton->toolTip().toInt());
}
}
 
void MKTool::slot_ValuetoLED16(int Wert)
{
// QSpinBox *SpinBox = (QSpinBox*)sender();
 
// int Wert = SpinBox->value();
 
set_LED(J16_0);
set_LED(J16_1);
set_LED(J16_2);
set_LED(J16_3);
set_LED(J16_4);
set_LED(J16_5);
set_LED(J16_6);
set_LED(J16_7);
 
for (int a = 0; a < 8; a++)
{
if (Wert > 127)
{
set_LED(J16_0, true);
Wert = Wert - 128;
}
if (Wert > 63)
{
set_LED(J16_1, true);
Wert = Wert - 64;
}
if (Wert > 31)
{
set_LED(J16_2, true);
Wert = Wert - 32;
}
if (Wert > 15)
{
set_LED(J16_3, true);
Wert = Wert - 16;
}
if (Wert > 7)
{
set_LED(J16_4, true);
Wert = Wert - 8;
}
if (Wert > 3)
{
set_LED(J16_5, true);
Wert = Wert - 4;
}
if (Wert > 1)
{
set_LED(J16_6, true);
Wert = Wert - 2;
}
if (Wert > 0)
{
set_LED(J16_7, true);
Wert = Wert - 1;
}
}
}
 
void MKTool::slot_ValuetoLED17(int Wert)
{
// QSpinBox *SpinBox = (QSpinBox*)sender();
 
// int Wert = SpinBox->value();
 
set_LED(J17_0);
set_LED(J17_1);
set_LED(J17_2);
set_LED(J17_3);
set_LED(J17_4);
set_LED(J17_5);
set_LED(J17_6);
set_LED(J17_7);
 
for (int a = 0; a < 8; a++)
{
if (Wert > 127)
{
set_LED(J17_0, true);
Wert = Wert - 128;
}
if (Wert > 63)
{
set_LED(J17_1, true);
Wert = Wert - 64;
}
if (Wert > 31)
{
set_LED(J17_2, true);
Wert = Wert - 32;
}
if (Wert > 15)
{
set_LED(J17_3, true);
Wert = Wert - 16;
}
if (Wert > 7)
{
set_LED(J17_4, true);
Wert = Wert - 8;
}
if (Wert > 3)
{
set_LED(J17_5, true);
Wert = Wert - 4;
}
if (Wert > 1)
{
set_LED(J17_6, true);
Wert = Wert - 2;
}
if (Wert > 0)
{
set_LED(J17_7, true);
Wert = Wert - 1;
}
}
}
 
void MKTool::set_LED(QToolButton *ToolButton, bool On)
{
if (ToolButton->text() == QString("0") && On)
{
// QIcon Icon;
// Icon.addPixmap(QPixmap(QString::fromUtf8(":/LED/Images/ledred.png")), QIcon::Normal, QIcon::Off);
ToolButton->setIcon(Icons[0]);
ToolButton->setText("1");
}
else if (ToolButton->text() == QString("1") && !On)
{
// QIcon Icon;
// Icon.addPixmap(QPixmap(QString::fromUtf8(":/LED/Images/ledoff.png")), QIcon::Normal, QIcon::Off);
ToolButton->setIcon(Icons[4]);
ToolButton->setText("0");
}
else if (ToolButton->text() == QString("00") && On)
{
// QIcon Icon;
// Icon.addPixmap(QPixmap(QString::fromUtf8(":/LED/Images/ledred.png")), QIcon::Normal, QIcon::Off);
ToolButton->setIcon(Icons[0]);
ToolButton->setText("11");
}
else if (ToolButton->text() == QString("11") && !On)
{
// QIcon Icon;
// Icon.addPixmap(QPixmap(QString::fromUtf8(":/LED/Images/ledoff.png")), QIcon::Normal, QIcon::Off);
ToolButton->setIcon(Icons[4]);
ToolButton->setText("00");
}
}
 
void MKTool::slot_tbUp()
{
if (tb_9_6->text() == QString("0"))
{
tb_9_6->setIcon(Icons[20]);
tb_9_6->setText("1");
}
else
{
tb_9_6->setIcon(Icons[21]);
tb_9_6->setText("0");
}
}
 
void MKTool::slot_tbDown()
{
if (tb_9_7->text() == QString("0"))
{
tb_9_7->setIcon(Icons[22]);
tb_9_7->setText("1");
}
else
{
tb_9_7->setIcon(Icons[23]);
tb_9_7->setText("0");
}
}
 
void MKTool::slot_tbLeft()
{
if (tb_9_8->text() == QString("0"))
{
tb_9_8->setIcon(Icons[24]);
tb_9_8->setText("1");
}
else
{
tb_9_8->setIcon(Icons[25]);
tb_9_8->setText("0");
}
}
 
void MKTool::slot_tbRight()
{
if (tb_9_9->text() == QString("0"))
{
tb_9_9->setIcon(Icons[26]);
tb_9_9->setText("1");
}
else
{
tb_9_9->setIcon(Icons[27]);
tb_9_9->setText("0");
}
}
 
void MKTool::write_Settings()
{
QSettings Setting("KeyOz-Net", "QMK-Groundstation");
 
Setting.beginGroup("Port");
Setting.setValue("TTY", le_Port->text());
Setting.endGroup();
 
Setting.beginGroup("GUI");
Setting.setValue("IsMax", isMaximized());
Setting.setValue("Size", size());
Setting.setValue("Point", pos());
Setting.endGroup();
}
 
bool MKTool::Decode64(char *RxdBuffer, int len, bool Long)
{
unsigned char a,b,c,d;
unsigned char ptr = 0;
unsigned char x,y,z;
int ptrOut[150];
 
int ptrIn = 3;
int max = len;
int DecLen = 0;
 
if (RxdBuffer[ptrIn] == 0)
{
qDebug("QString to Char ERROR...!!!!");
return false;
}
 
while(len != 0)
{
a = RxdBuffer[ptrIn++] - '=';
b = RxdBuffer[ptrIn++] - '=';
c = RxdBuffer[ptrIn++] - '=';
d = RxdBuffer[ptrIn++] - '=';
 
if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden
 
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
 
if(len--) ptrOut[ptr++] = x; else break;
if(len--) ptrOut[ptr++] = y; else break;
if(len--) ptrOut[ptr++] = z; else break;
}
 
for (int a=0; a<ptr; a++)
{
if (Long == false)
{
int b1, b2, b3;
 
b1 = ptrOut[a++];
b2 = ptrOut[a];
 
b3 = (b2 << 8) | b1;
 
if (b3 > 32767)
b3 = b3 - 65536;
 
DecodeData[DecLen] = b3;
DecLen++;
}
else
{
DecodeData[DecLen] = ptrOut[a];
DecLen++;
}
}
return true;
}
 
QString MKTool::Encode64(char Data[150],unsigned int Length)
{
unsigned int pt = 0;
unsigned char a,b,c;
unsigned char ptr = 0;
 
char TX_Buff[150];
 
while(Length > 0)
{
if(Length) { a = Data[ptr++]; Length--;} else a = 0;
if(Length) { b = Data[ptr++]; Length--;} else b = 0;
if(Length) { c = Data[ptr++]; Length--;} else c = 0;
 
TX_Buff[pt++] = '=' + (a >> 2);
TX_Buff[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
TX_Buff[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
TX_Buff[pt++] = '=' + ( c & 0x3f);
}
TX_Buff[pt] = 0;
 
return QString(TX_Buff);
}
 
void MKTool::send_Data(char CMD, char Data[150],unsigned int Length, bool Resend)
{
if (serialPort->isOpen())
{
QString TX_Data = Encode64(Data, Length);
 
TX_Data = QString("#0") + QString(CMD) + TX_Data;
 
// qDebug(TX_Data.toLatin1().data());
 
TX_Data = add_CRC(TX_Data) + '\r';
 
// qDebug(TX_Data.toLatin1().data());
 
QByteArray Temp(TX_Data.toUtf8());
LastSend = TX_Data;
 
if (Resend)
timer->start(1000);
 
serialPort->sendData(Temp);
}
}
 
void MKTool::write_CSV()
{
QTextStream Out(CSVFile);
for (int a=0; a<MaxAnalog; a++)
{
if (Settings->Analog[a].Log)
{
Out << AnalogData[a];
if (a < MaxAnalog - 1)
Out << ';';
}
}
Out << "\n";
}
 
void MKTool::show_DebugData()
{
if (CSVFile->isOpen())
{
write_CSV();
}
 
if (ac_StartPlotter->isChecked())
{
aID[NextPlot] = NextPlot;
 
for (int a = 0; a < MaxAnalog; a++)
{
aData[a][NextPlot] = AnalogData[a];
}
NextPlot++;
 
update_Plot();
}
 
le_A_0->setText(QString("%1").arg(AnalogData[0]));
le_A_1->setText(QString("%1").arg(AnalogData[1]));
le_A_2->setText(QString("%1").arg(AnalogData[2]));
le_A_3->setText(QString("%1").arg(AnalogData[3]));
le_A_4->setText(QString("%1").arg(AnalogData[4]));
le_A_5->setText(QString("%1").arg(AnalogData[5]));
le_A_6->setText(QString("%1").arg(AnalogData[6]));
le_A_7->setText(QString("%1").arg(AnalogData[7]));
le_A_8->setText(QString("%1").arg(AnalogData[8]));
le_A_9->setText(QString("%1").arg(AnalogData[9]));
le_A_10->setText(QString("%1").arg(AnalogData[10]));
le_A_11->setText(QString("%1").arg(AnalogData[11]));
le_A_12->setText(QString("%1").arg(AnalogData[12]));
le_A_13->setText(QString("%1").arg(AnalogData[13]));
le_A_14->setText(QString("%1").arg(AnalogData[14]));
le_A_15->setText(QString("%1").arg(AnalogData[15]));
le_A_16->setText(QString("%1").arg(AnalogData[16]));
le_A_17->setText(QString("%1").arg(AnalogData[17]));
le_A_18->setText(QString("%1").arg(AnalogData[18]));
le_A_19->setText(QString("%1").arg(AnalogData[19]));
le_A_20->setText(QString("%1").arg(AnalogData[20]));
le_A_21->setText(QString("%1").arg(AnalogData[21]));
le_A_22->setText(QString("%1").arg(AnalogData[22]));
le_A_23->setText(QString("%1").arg(AnalogData[23]));
le_A_24->setText(QString("%1").arg(AnalogData[24]));
le_A_25->setText(QString("%1").arg(AnalogData[25]));
le_A_26->setText(QString("%1").arg(AnalogData[26]));
le_A_27->setText(QString("%1").arg(AnalogData[27]));
le_A_28->setText(QString("%1").arg(AnalogData[28]));
le_A_29->setText(QString("%1").arg(AnalogData[29]));
le_A_30->setText(QString("%1").arg(AnalogData[30]));
le_A_31->setText(QString("%1").arg(AnalogData[31]));
}
 
QComboBox *MKTool::setCombo(QComboBox *Combo, int Set, int Wert)
{
if (ParameterSet[Set][Wert] <= 250)
{
Combo->setItemText(4, QString("%1").arg(ParameterSet[Set][Wert]));
Combo->setCurrentIndex(4);
}
else
{
Combo->setCurrentIndex(ParameterSet[Set][Wert] - 251);
}
return Combo;
}
 
int MKTool::get_Value(QComboBox *Combo)
{
if (Combo->currentText() == QString("Poti 1"))
return 251;
if (Combo->currentText() == QString("Poti 2"))
return 252;
if (Combo->currentText() == QString("Poti 3"))
return 253;
if (Combo->currentText() == QString("Poti 4"))
return 254;
return Combo->currentText().toInt();
}
 
void MKTool::store_ParameterSet(int Set)
{
char *Name = le_SetName->text().toLatin1().data();
 
int a;
 
for (a = 0; a < le_SetName->text().length(); a++)
{
ParameterSet[Set][P_NAME+a] = Name[a];
}
 
while(a < 12)
{
ParameterSet[Set][P_NAME+a] = 0;
a++;
}
 
// Seite 1
ParameterSet[Set][P_GLOBAL_CONF] = 0;
 
if (cb_1_1->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x01;
if (cb_1_2->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x02;
if (cb_1_3->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x04;
if (cb_1_4->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x08;
if (cb_1_5->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x10;
if (cb_1_6->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x20;
if (cb_1_7->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x40;
if (cb_1_8->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x80;
 
// Seite 2
ParameterSet[Set][P_KANAL_NICK] = sb_2_1->value();
ParameterSet[Set][P_KANAL_ROLL] = sb_2_2->value();
ParameterSet[Set][P_KANAL_GAS] = sb_2_3->value();
ParameterSet[Set][P_KANAL_GIER] = sb_2_4->value();
ParameterSet[Set][P_KANAL_POTI1] = sb_2_5->value();
ParameterSet[Set][P_KANAL_POTI2] = sb_2_6->value();
ParameterSet[Set][P_KANAL_POTI3] = sb_2_7->value();
ParameterSet[Set][P_KANAL_POTI4] = sb_2_8->value();
 
// Seite 3
ParameterSet[Set][P_STICK_P] = sb_3_1->value();
ParameterSet[Set][P_STICK_D] = sb_3_2->value();
ParameterSet[Set][P_GIER_P] = get_Value(cb_3_3);
ParameterSet[Set][P_EXTERNAL] = get_Value(cb_3_4);
 
// Seite 4
ParameterSet[Set][P_MAXHOEHE] = get_Value(cb_4_1);
ParameterSet[Set][P_MIN_GAS] = sb_4_2->value();
ParameterSet[Set][P_HOEHE_P] = get_Value(cb_4_3);
ParameterSet[Set][P_DRUCK_D] = get_Value(cb_4_4);
ParameterSet[Set][P_HOEHE_ACC] = get_Value(cb_4_5);
ParameterSet[Set][P_HOEHE_GAIN] = sb_4_6->value();
 
// Seite 5
ParameterSet[Set][P_GYRO_P] = get_Value(cb_5_1);
ParameterSet[Set][P_GYRO_I] = get_Value(cb_5_2);
ParameterSet[Set][P_DYNAMIC_STAB] = get_Value(cb_5_3);
ParameterSet[Set][P_GYRO_ACC_FAKTOR] = sb_5_4->value();
ParameterSet[Set][P_GYRO_ACC_ABGL] = sb_5_5->value();
ParameterSet[Set][P_FAKTOR_I] = get_Value(cb_5_6);
ParameterSet[Set][P_DRIFT_KOMP] = sb_5_7->value();
 
// Seite 6
ParameterSet[Set][P_SERVO_NICK_CONT] = get_Value(cb_6_1);
ParameterSet[Set][P_SERVO_NICK_COMP] = sb_6_2->value();
ParameterSet[Set][P_SERVO_NICK_MIN] = sb_6_3->value();
ParameterSet[Set][P_SERVO_NICK_MAX] = sb_6_4->value();
ParameterSet[Set][P_SERVO_NICK_REFR] = sb_6_5->value();
ParameterSet[Set][P_SERVO_NICK_COMPI] = cb_6_6->isChecked();
 
// Seite 7
ParameterSet[Set][P_GAS_MIN] = sb_7_1->value();
ParameterSet[Set][P_GAS_MAX] = sb_7_2->value();
ParameterSet[Set][P_KOMPASS_WIRKUNG] = get_Value(cb_7_3);
ParameterSet[Set][P_UNTERSPANNUNG] = sb_7_4->value();
ParameterSet[Set][P_NOTGASZEIT] = sb_7_5->value();
ParameterSet[Set][P_NOTGAS] = sb_7_6->value();
 
// Seite 8
ParameterSet[Set][P_ACHS_KOPPLUNG] = get_Value(cb_8_1);
ParameterSet[Set][P_ACHS_GKOPPLUNG] = get_Value(cb_8_2);
 
// Seite 9
ParameterSet[Set][P_LOOP_CONFIG] = 0;
if (tb_9_6->text() == QString("1"))
ParameterSet[Set][P_LOOP_CONFIG] = ParameterSet[Set][P_LOOP_CONFIG] | 0x01;
if (tb_9_7->text() == QString("1"))
ParameterSet[Set][P_LOOP_CONFIG] = ParameterSet[Set][P_LOOP_CONFIG] | 0x02;
if (tb_9_8->text() == QString("1"))
ParameterSet[Set][P_LOOP_CONFIG] = ParameterSet[Set][P_LOOP_CONFIG] | 0x04;
if (tb_9_9->text() == QString("1"))
ParameterSet[Set][P_LOOP_CONFIG] = ParameterSet[Set][P_LOOP_CONFIG] | 0x08;
 
ParameterSet[Set][P_LOOP_GAS_LIMIT] = get_Value(cb_9_1);
ParameterSet[Set][P_LOOP_THRESHOLD] = sb_9_2->value();
ParameterSet[Set][P_WINKEL_NICK] = sb_9_3->value();
ParameterSet[Set][P_LOOP_HYSTERESE] = sb_9_4->value();
ParameterSet[Set][P_WINKEL_ROLL] = sb_9_5->value();
 
// Seite 10
ParameterSet[Set][P_USER_1] = get_Value(cb_10_1);
ParameterSet[Set][P_USER_2] = get_Value(cb_10_2);
ParameterSet[Set][P_USER_3] = get_Value(cb_10_3);
ParameterSet[Set][P_USER_4] = get_Value(cb_10_4);
ParameterSet[Set][P_USER_5] = get_Value(cb_10_5);
ParameterSet[Set][P_USER_6] = get_Value(cb_10_6);
ParameterSet[Set][P_USER_7] = get_Value(cb_10_7);
ParameterSet[Set][P_USER_8] = get_Value(cb_10_8);
 
// Seite 11
ParameterSet[Set][P_J16_BITMASK] = sb_11_1->value();
ParameterSet[Set][P_J16_TIMING] = get_Value(cb_11_2);
ParameterSet[Set][P_J17_BITMASK] = sb_11_3->value();
ParameterSet[Set][P_J17_TIMING] = get_Value(cb_11_4);
 
// Seite 12
ParameterSet[Set][P_NAV_GPS_MODE] = get_Value(cb_12_1);
ParameterSet[Set][P_NAV_GPS_GAIN] = get_Value(cb_12_2);
ParameterSet[Set][P_NAV_STICK_THRE] = sb_12_3->value();
ParameterSet[Set][P_NAV_GPS_MIN] = sb_12_4->value();
ParameterSet[Set][P_NAV_GPS_P] = get_Value(cb_12_5);
ParameterSet[Set][P_NAV_GPS_I] = get_Value(cb_12_6);
ParameterSet[Set][P_NAV_GPS_D] = get_Value(cb_12_7);
ParameterSet[Set][P_NAV_GPS_ACC] = get_Value(cb_12_8);
}
 
void MKTool::slot_SaveParameter()
{
int Set = sb_Set->value() + 5;
 
QString Filename = QFileDialog::getSaveFileName(this, "Mikrokopter Parameter speichern", Settings->DIR.Parameter + le_SetName->text(), "Mikrokopter Parameter(*.mkp);;Alle Dateien (*)");
 
if (!Filename.isEmpty())
{
if (!(Filename.endsWith(".mkp", Qt::CaseInsensitive)))
{
Filename = Filename + QString(".mkp");
}
store_ParameterSet(Set);
QSettings Setting(Filename, QSettings::IniFormat);
 
Setting.beginGroup("Setup");
Setting.setValue("Name", le_SetName->text());
Setting.setValue("GlobalConfig", ParameterSet[Set][P_GLOBAL_CONF]);
Setting.endGroup();
 
Setting.beginGroup("Channels");
Setting.setValue("Nick", ParameterSet[Set][P_KANAL_NICK]);
Setting.setValue("Roll", ParameterSet[Set][P_KANAL_ROLL]);
Setting.setValue("Gas", ParameterSet[Set][P_KANAL_GAS]);
Setting.setValue("Gier", ParameterSet[Set][P_KANAL_GIER]);
Setting.setValue("Poti_1", ParameterSet[Set][P_KANAL_POTI1]);
Setting.setValue("Poti_2", ParameterSet[Set][P_KANAL_POTI2]);
Setting.setValue("Poti_3", ParameterSet[Set][P_KANAL_POTI3]);
Setting.setValue("Poti_4", ParameterSet[Set][P_KANAL_POTI4]);
Setting.endGroup();
 
Setting.beginGroup("Stick");
Setting.setValue("Nick_Roll-P", ParameterSet[Set][P_STICK_P]);
Setting.setValue("Nick_Roll-D", ParameterSet[Set][P_STICK_D]);
Setting.setValue("Gier-P", ParameterSet[Set][P_GIER_P]);
Setting.setValue("ExternalControl", ParameterSet[Set][P_EXTERNAL]);
Setting.endGroup();
 
Setting.beginGroup("Altitude");
Setting.setValue("Setpoint", ParameterSet[Set][P_MAXHOEHE]);
Setting.setValue("MinGas", ParameterSet[Set][P_MIN_GAS]);
Setting.setValue("P", ParameterSet[Set][P_HOEHE_P]);
Setting.setValue("Barometric-D", ParameterSet[Set][P_DRUCK_D]);
Setting.setValue("Z-ACC-Effect", ParameterSet[Set][P_HOEHE_ACC]);
Setting.setValue("Gain", ParameterSet[Set][P_HOEHE_GAIN]);
Setting.endGroup();
 
Setting.beginGroup("Gyro");
Setting.setValue("P", ParameterSet[Set][P_GYRO_P]);
Setting.setValue("I", ParameterSet[Set][P_GYRO_I]);
Setting.setValue("DynamicStability", ParameterSet[Set][P_DYNAMIC_STAB]);
Setting.setValue("ACC_Gyro-Factor", ParameterSet[Set][P_GYRO_ACC_FAKTOR]);
Setting.setValue("ACC_Gyro-Compensation", ParameterSet[Set][P_GYRO_ACC_ABGL]);
Setting.setValue("DriftCompensation", ParameterSet[Set][P_DRIFT_KOMP]);
Setting.setValue("Main-I", ParameterSet[Set][P_FAKTOR_I]);
Setting.endGroup();
 
Setting.beginGroup("Camera");
Setting.setValue("ServoNickControl", ParameterSet[Set][P_SERVO_NICK_CONT]);
Setting.setValue("ServoNickCompensation", ParameterSet[Set][P_SERVO_NICK_COMP]);
Setting.setValue("ServoNickInvert", ParameterSet[Set][P_SERVO_NICK_COMPI]);
Setting.setValue("ServoNickMin", ParameterSet[Set][P_SERVO_NICK_MIN]);
Setting.setValue("ServoNickMax", ParameterSet[Set][P_SERVO_NICK_MAX]);
Setting.setValue("ServoNickRefreshRate", ParameterSet[Set][P_SERVO_NICK_REFR]);
Setting.endGroup();
 
Setting.beginGroup("Others");
Setting.setValue("MinGas", ParameterSet[Set][P_GAS_MIN]);
Setting.setValue("MaxGas", ParameterSet[Set][P_GAS_MAX]);
Setting.setValue("Compass-Effect", ParameterSet[Set][P_KOMPASS_WIRKUNG]);
Setting.setValue("UnderVoltage", ParameterSet[Set][P_UNTERSPANNUNG]);
Setting.setValue("NotGas", ParameterSet[Set][P_NOTGAS]);
Setting.setValue("NotGasTime", ParameterSet[Set][P_NOTGASZEIT]);
Setting.endGroup();
 
Setting.beginGroup("Coupling");
Setting.setValue("YawPosFeedback", ParameterSet[Set][P_ACHS_KOPPLUNG]);
Setting.setValue("YawNegFeedback", ParameterSet[Set][P_ACHS_GKOPPLUNG]);
Setting.endGroup();
 
Setting.beginGroup("Loop");
Setting.setValue("Config", ParameterSet[Set][P_LOOP_CONFIG]);
Setting.setValue("GasLimit", ParameterSet[Set][P_LOOP_GAS_LIMIT]);
Setting.setValue("StickThreshold", ParameterSet[Set][P_LOOP_THRESHOLD]);
Setting.setValue("LoopHysteresis", ParameterSet[Set][P_LOOP_HYSTERESE]);
Setting.setValue("TurnOverNick", ParameterSet[Set][P_WINKEL_NICK]);
Setting.setValue("TurnOverRoll", ParameterSet[Set][P_WINKEL_ROLL]);
Setting.endGroup();
 
Setting.beginGroup("User");
Setting.setValue("Parameter_1", ParameterSet[Set][P_USER_1]);
Setting.setValue("Parameter_2", ParameterSet[Set][P_USER_2]);
Setting.setValue("Parameter_3", ParameterSet[Set][P_USER_3]);
Setting.setValue("Parameter_4", ParameterSet[Set][P_USER_4]);
Setting.setValue("Parameter_5", ParameterSet[Set][P_USER_5]);
Setting.setValue("Parameter_6", ParameterSet[Set][P_USER_6]);
Setting.setValue("Parameter_7", ParameterSet[Set][P_USER_7]);
Setting.setValue("Parameter_8", ParameterSet[Set][P_USER_8]);
Setting.endGroup();
 
Setting.beginGroup("Output");
Setting.setValue("J16_Bitmask", ParameterSet[Set][P_J16_BITMASK]);
Setting.setValue("J16_Timing", ParameterSet[Set][P_J16_TIMING]);
Setting.setValue("J17_Bitmask", ParameterSet[Set][P_J17_BITMASK]);
Setting.setValue("J17_Timing", ParameterSet[Set][P_J17_TIMING]);
Setting.endGroup();
 
Setting.beginGroup("NaviCtrl");
Setting.setValue("GPS_ModeControl", ParameterSet[Set][P_NAV_GPS_MODE]);
Setting.setValue("GPS_Gain", ParameterSet[Set][P_NAV_GPS_GAIN]);
Setting.setValue("GPS_P", ParameterSet[Set][P_NAV_GPS_P]);
Setting.setValue("GPS_I", ParameterSet[Set][P_NAV_GPS_I]);
Setting.setValue("GPS_D", ParameterSet[Set][P_NAV_GPS_D]);
Setting.setValue("GPS_Acc", ParameterSet[Set][P_NAV_GPS_ACC]);
Setting.setValue("GPS_MinSat", ParameterSet[Set][P_NAV_GPS_MIN]);
Setting.setValue("GPS_StickThreshold", ParameterSet[Set][P_NAV_STICK_THRE]);
Setting.endGroup();
}
}
 
void MKTool::slot_LoadParameter()
{
QString Filename = QFileDialog::getOpenFileName(this, "Mikrokopter Parameter laden", Settings->DIR.Parameter, "Mikrokopter Parameter(*.mkp);;Alle Dateien (*)");
 
if (!Filename.isEmpty())
{
int Set = sb_Set->value();
QSettings Setting(Filename, QSettings::IniFormat);
 
Setting.beginGroup("Setup");
QString Name = Setting.value("Name", QString("--noname--")).toString();
char *CName = Name.toLatin1().data();
int a;
 
for (a=0; a < Name.length(); a++)
{
ParameterSet[Set][P_NAME+a] = CName[a];
}
while (a < 12)
{
ParameterSet[Set][P_NAME+a] = 0;
a++;
}
 
ParameterSet[Set][P_GLOBAL_CONF] = Setting.value("GlobalConfig", 0).toInt();
Setting.endGroup();
 
Setting.beginGroup("Channels");
ParameterSet[Set][P_KANAL_NICK] = Setting.value("Nick", 1).toInt();
ParameterSet[Set][P_KANAL_ROLL] = Setting.value("Roll", 2).toInt();
ParameterSet[Set][P_KANAL_GAS] = Setting.value("Gas", 3).toInt();
ParameterSet[Set][P_KANAL_GIER] = Setting.value("Gier", 4).toInt();
ParameterSet[Set][P_KANAL_POTI1] = Setting.value("Poti_1", 5).toInt();
ParameterSet[Set][P_KANAL_POTI2] = Setting.value("Poti_2", 6).toInt();
ParameterSet[Set][P_KANAL_POTI3] = Setting.value("Poti_3", 7).toInt();
ParameterSet[Set][P_KANAL_POTI4] = Setting.value("Poti_4", 8).toInt();
Setting.endGroup();
 
Setting.beginGroup("Stick");
ParameterSet[Set][P_STICK_P] = Setting.value("Nick_Roll-P", 4).toInt();
ParameterSet[Set][P_STICK_D] = Setting.value("Nick_Roll-D", 8).toInt();
ParameterSet[Set][P_GIER_P] = Setting.value("Gier-P", 1).toInt();
ParameterSet[Set][P_EXTERNAL] = Setting.value("ExternalControl", 1).toInt();
Setting.endGroup();
 
Setting.beginGroup("Altitude");
ParameterSet[Set][P_MAXHOEHE] = Setting.value("Setpoint", 251).toInt();
ParameterSet[Set][P_MIN_GAS] = Setting.value("MinGas", 30).toInt();
ParameterSet[Set][P_HOEHE_P] = Setting.value("P", 10).toInt();
ParameterSet[Set][P_DRUCK_D] = Setting.value("Barometric-D", 30).toInt();
ParameterSet[Set][P_HOEHE_ACC] = Setting.value("Z-ACC-Effect", 30).toInt();
ParameterSet[Set][P_HOEHE_GAIN] = Setting.value("Gain", 3).toInt();
Setting.endGroup();
 
Setting.beginGroup("Gyro");
ParameterSet[Set][P_GYRO_P] = Setting.value("P", 80).toInt();
ParameterSet[Set][P_GYRO_I] = Setting.value("I", 120).toInt();
ParameterSet[Set][P_DYNAMIC_STAB] = Setting.value("DynamicStability", 75).toInt();
ParameterSet[Set][P_GYRO_ACC_FAKTOR] = Setting.value("ACC_Gyro-Factor", 30).toInt();
ParameterSet[Set][P_GYRO_ACC_ABGL] = Setting.value("ACC_Gyro-Compensation", 32).toInt();
ParameterSet[Set][P_DRIFT_KOMP] = Setting.value("DriftCompensation", 4).toInt();
ParameterSet[Set][P_FAKTOR_I] = Setting.value("Main-I", 32).toInt();
Setting.endGroup();
 
Setting.beginGroup("Camera");
ParameterSet[Set][P_SERVO_NICK_CONT] = Setting.value("ServoNickControl", 100).toInt();
ParameterSet[Set][P_SERVO_NICK_COMP] = Setting.value("ServoNickCompensation", 40).toInt();
ParameterSet[Set][P_SERVO_NICK_COMPI] = Setting.value("ServoNickInvert", 0).toInt();
ParameterSet[Set][P_SERVO_NICK_MIN] = Setting.value("ServoNickMin", 50).toInt();
ParameterSet[Set][P_SERVO_NICK_MAX] = Setting.value("ServoNickMax", 150).toInt();
ParameterSet[Set][P_SERVO_NICK_REFR] = Setting.value("ServoNickRefreshRate", 5).toInt();
Setting.endGroup();
 
Setting.beginGroup("Others");
ParameterSet[Set][P_GAS_MIN] = Setting.value("MinGas", 8).toInt();
ParameterSet[Set][P_GAS_MAX] = Setting.value("MaxGas", 230).toInt();
ParameterSet[Set][P_KOMPASS_WIRKUNG] = Setting.value("Compass-Effect", 128).toInt();
ParameterSet[Set][P_UNTERSPANNUNG] = Setting.value("UnderVoltage", 94).toInt();
ParameterSet[Set][P_NOTGAS] = Setting.value("NotGas", 35).toInt();
ParameterSet[Set][P_NOTGASZEIT] = Setting.value("NotGasTime", 30).toInt();
Setting.endGroup();
 
Setting.beginGroup("Coupling");
ParameterSet[Set][P_ACHS_KOPPLUNG] = Setting.value("YawPosFeedback", 90).toInt();
ParameterSet[Set][P_ACHS_GKOPPLUNG] = Setting.value("YawNegFeedback", 5).toInt();
Setting.endGroup();
 
Setting.beginGroup("Loop");
ParameterSet[Set][P_LOOP_CONFIG] = Setting.value("Config", 0).toInt();
ParameterSet[Set][P_LOOP_GAS_LIMIT] = Setting.value("GasLimit", 50).toInt();
ParameterSet[Set][P_LOOP_THRESHOLD] = Setting.value("StickThreshold", 90).toInt();
ParameterSet[Set][P_LOOP_HYSTERESE] = Setting.value("LoopHysteresis", 50).toInt();
ParameterSet[Set][P_WINKEL_NICK] = Setting.value("TurnOverNick", 85).toInt();
ParameterSet[Set][P_WINKEL_ROLL] = Setting.value("TurnOverRoll", 85).toInt();
Setting.endGroup();
 
Setting.beginGroup("User");
ParameterSet[Set][P_USER_1] = Setting.value("Parameter_1", 0).toInt();
ParameterSet[Set][P_USER_2] = Setting.value("Parameter_2", 0).toInt();
ParameterSet[Set][P_USER_3] = Setting.value("Parameter_3", 0).toInt();
ParameterSet[Set][P_USER_4] = Setting.value("Parameter_4", 0).toInt();
ParameterSet[Set][P_USER_5] = Setting.value("Parameter_5", 0).toInt();
ParameterSet[Set][P_USER_6] = Setting.value("Parameter_6", 0).toInt();
ParameterSet[Set][P_USER_7] = Setting.value("Parameter_7", 0).toInt();
ParameterSet[Set][P_USER_8] = Setting.value("Parameter_8", 0).toInt();
Setting.endGroup();
 
Setting.beginGroup("Output");
ParameterSet[Set][P_J16_BITMASK] = Setting.value("J16_Bitmask", 255).toInt();
ParameterSet[Set][P_J16_TIMING] = Setting.value("J16_Timing", 251).toInt();
ParameterSet[Set][P_J17_BITMASK] = Setting.value("J17_Bitmask", 255).toInt();
ParameterSet[Set][P_J17_TIMING] = Setting.value("J17_Timing", 251).toInt();
Setting.endGroup();
 
Setting.beginGroup("NaviCtrl");
ParameterSet[Set][P_NAV_GPS_MODE] = Setting.value("GPS_ModeControl", 253).toInt();
ParameterSet[Set][P_NAV_GPS_GAIN] = Setting.value("GPS_Gain", 100).toInt();
ParameterSet[Set][P_NAV_GPS_P] = Setting.value("GPS_P", 90).toInt();
ParameterSet[Set][P_NAV_GPS_I] = Setting.value("GPS_I", 90).toInt();
ParameterSet[Set][P_NAV_GPS_D] = Setting.value("GPS_D", 90).toInt();
ParameterSet[Set][P_NAV_GPS_ACC] = Setting.value("GPS_Acc", 0).toInt();
ParameterSet[Set][P_NAV_GPS_MIN] = Setting.value("GPS_MinSat", 6).toInt();
ParameterSet[Set][P_NAV_STICK_THRE] = Setting.value("GPS_StickThreshold", 8).toInt();
Setting.endGroup();
 
show_ParameterSet(Set);
}
}
 
void MKTool::show_ParameterSet(int Set)
{
char Name[12];
for (int a = 0; a < 12; a++)
{
Name[a] = ParameterSet[Set][P_NAME+a];
}
le_SetName->setText(QString(Name));
 
// Seite 1
{
cb_1_1->setChecked(ParameterSet[Set][P_GLOBAL_CONF] & 0x01);
cb_1_2->setChecked(ParameterSet[Set][P_GLOBAL_CONF] & 0x02);
cb_1_3->setChecked(ParameterSet[Set][P_GLOBAL_CONF] & 0x04);
cb_1_4->setChecked(ParameterSet[Set][P_GLOBAL_CONF] & 0x08);
cb_1_5->setChecked(ParameterSet[Set][P_GLOBAL_CONF] & 0x10);
cb_1_6->setChecked(ParameterSet[Set][P_GLOBAL_CONF] & 0x20);
cb_1_7->setChecked(ParameterSet[Set][P_GLOBAL_CONF] & 0x40);
cb_1_8->setChecked(ParameterSet[Set][P_GLOBAL_CONF] & 0x80);
}
// Seite 2
{
sb_2_1->setValue(ParameterSet[Set][P_KANAL_NICK]);
sb_2_2->setValue(ParameterSet[Set][P_KANAL_ROLL]);
sb_2_3->setValue(ParameterSet[Set][P_KANAL_GAS]);
sb_2_4->setValue(ParameterSet[Set][P_KANAL_GIER]);
sb_2_5->setValue(ParameterSet[Set][P_KANAL_POTI1]);
sb_2_6->setValue(ParameterSet[Set][P_KANAL_POTI2]);
sb_2_7->setValue(ParameterSet[Set][P_KANAL_POTI3]);
sb_2_8->setValue(ParameterSet[Set][P_KANAL_POTI4]);
}
// Seite 3
{
sb_3_1->setValue(ParameterSet[Set][P_STICK_P]);
sb_3_2->setValue(ParameterSet[Set][P_STICK_D]);
cb_3_3 = setCombo(cb_3_3, Set, P_GIER_P);
cb_3_4 = setCombo(cb_3_4, Set, P_EXTERNAL);
}
// Seite 4
{
cb_4_1 = setCombo(cb_4_1, Set, P_MAXHOEHE);
sb_4_2->setValue(ParameterSet[Set][P_MIN_GAS]);
cb_4_3 = setCombo(cb_4_3, Set, P_HOEHE_P);
cb_4_4 = setCombo(cb_4_4, Set, P_DRUCK_D);
cb_4_5 = setCombo(cb_4_5, Set, P_HOEHE_ACC);
sb_4_6->setValue(ParameterSet[Set][P_HOEHE_GAIN]);
}
// Seite 5
{
cb_5_1 = setCombo(cb_5_1, Set, P_GYRO_P);
cb_5_2 = setCombo(cb_5_2, Set, P_GYRO_I);
cb_5_3 = setCombo(cb_5_3, Set, P_DYNAMIC_STAB);
sb_5_4->setValue(ParameterSet[Set][P_GYRO_ACC_FAKTOR]);
sb_5_5->setValue(ParameterSet[Set][P_GYRO_ACC_ABGL]);
cb_5_6 = setCombo(cb_5_6, Set, P_FAKTOR_I);
sb_5_7->setValue(ParameterSet[Set][P_DRIFT_KOMP]);
}
// Seite 6
{
cb_6_1 = setCombo(cb_6_1, Set, P_SERVO_NICK_CONT);
sb_6_2->setValue(ParameterSet[Set][P_SERVO_NICK_COMP]);
sb_6_3->setValue(ParameterSet[Set][P_SERVO_NICK_MIN]);
sb_6_4->setValue(ParameterSet[Set][P_SERVO_NICK_MAX]);
sb_6_5->setValue(ParameterSet[Set][P_SERVO_NICK_REFR]);
cb_6_6->setChecked(ParameterSet[Set][P_SERVO_NICK_COMPI]);
}
// Seite 7
{
sb_7_1->setValue(ParameterSet[Set][P_GAS_MIN]);
sb_7_2->setValue(ParameterSet[Set][P_GAS_MAX]);
cb_7_3 = setCombo(cb_7_3, Set, P_KOMPASS_WIRKUNG);
sb_7_4->setValue(ParameterSet[Set][P_UNTERSPANNUNG]);
sb_7_5->setValue(ParameterSet[Set][P_NOTGASZEIT]);
sb_7_6->setValue(ParameterSet[Set][P_NOTGAS]);
}
// Seite 8
{
cb_8_1 = setCombo(cb_8_1, Set, P_ACHS_KOPPLUNG);
cb_8_2 = setCombo(cb_8_2, Set, P_ACHS_GKOPPLUNG);
}
// Seite 9
{
if (ParameterSet[Set][P_LOOP_CONFIG] & 0x01)
{
tb_9_6->setIcon(Icons[20]);
tb_9_6->setText("1");
}
else
{
tb_9_6->setIcon(Icons[21]);
tb_9_6->setText("0");
}
 
if (ParameterSet[Set][P_LOOP_CONFIG] & 0x02)
{
tb_9_7->setIcon(Icons[22]);
tb_9_7->setText("1");
}
else
{
tb_9_7->setIcon(Icons[23]);
tb_9_7->setText("0");
}
 
if (ParameterSet[Set][P_LOOP_CONFIG] & 0x04)
{
tb_9_8->setIcon(Icons[24]);
tb_9_8->setText("1");
}
else
{
tb_9_8->setIcon(Icons[25]);
tb_9_8->setText("0");
}
 
if (ParameterSet[Set][P_LOOP_CONFIG] & 0x08)
{
tb_9_9->setIcon(Icons[26]);
tb_9_9->setText("1");
}
else
{
tb_9_9->setIcon(Icons[27]);
tb_9_9->setText("0");
}
 
cb_9_1 = setCombo(cb_9_1, Set, P_LOOP_GAS_LIMIT);
sb_9_2->setValue(ParameterSet[Set][P_LOOP_THRESHOLD]);
sb_9_3->setValue(ParameterSet[Set][P_WINKEL_NICK]);
sb_9_4->setValue(ParameterSet[Set][P_LOOP_HYSTERESE]);
sb_9_5->setValue(ParameterSet[Set][P_WINKEL_ROLL]);
}
// Seite 10
{
cb_10_1 = setCombo(cb_10_1, Set, P_USER_1);
cb_10_2 = setCombo(cb_10_2, Set, P_USER_2);
cb_10_3 = setCombo(cb_10_3, Set, P_USER_3);
cb_10_4 = setCombo(cb_10_4, Set, P_USER_4);
cb_10_5 = setCombo(cb_10_5, Set, P_USER_5);
cb_10_6 = setCombo(cb_10_6, Set, P_USER_6);
cb_10_7 = setCombo(cb_10_7, Set, P_USER_7);
cb_10_8 = setCombo(cb_10_8, Set, P_USER_8);
}
// Seite 11
{
sb_11_1->setValue(ParameterSet[Set][P_J16_BITMASK]);
cb_11_2 = setCombo(cb_11_2, Set, P_J16_TIMING);
sb_11_3->setValue(ParameterSet[Set][P_J17_BITMASK]);
cb_11_4 = setCombo(cb_11_4, Set, P_J17_TIMING);
}
// Seite 12
{
cb_12_1 = setCombo(cb_12_1, Set, P_NAV_GPS_MODE);
cb_12_2 = setCombo(cb_12_2, Set, P_NAV_GPS_GAIN);
sb_12_3->setValue(ParameterSet[Set][P_NAV_STICK_THRE]);
sb_12_4->setValue(ParameterSet[Set][P_NAV_GPS_MIN]);
cb_12_5 = setCombo(cb_12_5, Set, P_NAV_GPS_P);
cb_12_6 = setCombo(cb_12_6, Set, P_NAV_GPS_I);
cb_12_7 = setCombo(cb_12_7, Set, P_NAV_GPS_D);
cb_12_8 = setCombo(cb_12_8, Set, P_NAV_GPS_ACC);
 
}
}
 
void MKTool::new_RXData(QString RX_Data)
{
char *RX = RX_Data.toLatin1().data();
 
if (LastSend.length() > 2)
{
}
 
switch(RX[2])
{
case '4' :
if (Decode64(RX, RX_Data.length()))
{
pb_K1->setValue(DecodeData[1]);
pb_K2->setValue(DecodeData[2]);
pb_K3->setValue(DecodeData[3]);
pb_K4->setValue(DecodeData[4]);
pb_K5->setValue(DecodeData[5]);
pb_K6->setValue(DecodeData[6]);
pb_K7->setValue(DecodeData[7]);
pb_K8->setValue(DecodeData[8]);
}
break;
case 'D' :
if (Decode64(RX, RX_Data.length()))
{
for (int i = 0; i < MaxAnalog; i++)
{
AnalogData[i] = DecodeData[i + 1];
}
show_DebugData();
 
if (ac_MehrDaten->isChecked())
{
send_Data('c', TX_Data, 0);
}
}
break;
case 'L' :
case 'M' :
case 'N' :
case 'O' :
case 'P' :
timer->stop();
 
Decode64(RX, RX_Data.length(), true);
memcpy(ParameterSet[sb_Set->value()],DecodeData, sizeof(DecodeData));
show_ParameterSet(sb_Set->value());
break;
case 'V' :
timer->stop();
 
Decode64(RX, RX_Data.length(), true);
QString Version = QString("%1").arg(DecodeData[0]) + "." + QString("%1").arg(DecodeData[1]);
setWindowTitle(QA_NAME + " v" + QA_VERSION + " - FC Version: " + Version);
 
if (DecodeData[2] != FC_VERSION)
{
pb_Read->setDisabled(true);
pb_Write->setDisabled(true);
 
QMessageBox::warning(this, QA_NAME,
QA_NAME + " und Flight-Control inkompatibel.\nParameterbearbeitung nicht moeglich.", QMessageBox::Ok);
}
else
{
TX_Data[0] = 1;
TX_Data[1] = 0;
send_Data('q', TX_Data, 1);
}
break;
}
}
 
QString MKTool::add_CRC(QString TXString)
{
unsigned int tmpCRC = 0;
 
char *TXBuff;
char CRC[2];
 
TXBuff = TXString.toLatin1().data();
 
for(int i = 0; i < TXString.length(); i++)
{
tmpCRC += TXBuff[i];
}
 
tmpCRC %= 4096;
 
CRC[0] = '=' + tmpCRC / 64;
CRC[1] = '=' + tmpCRC % 64;
CRC[2] = '\0';
 
QString Return = TXString + QString(CRC);
 
return Return;
}
 
bool MKTool::check_CRC(QString RXString)
{
int CRC = 0;
char *RX;
 
int Length = RXString.length();
 
RX = RXString.toLatin1().data();
 
for(int i=0; i < Length-2; i++)
{
CRC+=RX[i];
}
 
CRC -= RX[1];
 
CRC = CRC % 4096;
 
if(RX[Length - 2] != ('=' + (CRC / 64)))
{
return false;
}
 
if(RX[Length - 1] != ('=' + CRC % 64))
{
return false;
}
 
return true;
}
 
void MKTool::slot_Timer()
{
QByteArray Temp(LastSend.toUtf8());
serialPort->sendData(Temp);
// qDebug("Re-Send");
}
 
void MKTool::slot_Poll()
{
TX_Data[0] = 255;
TX_Data[1] = 255;
send_Data('h', TX_Data, 2, false);
}
 
void MKTool::slot_SliderMotorTest(int Wert)
{
TX_Data[0] = sl_Front->value();
TX_Data[1] = sl_Back->value();
TX_Data[2] = sl_Right->value();
TX_Data[3] = sl_Left->value();
send_Data('t', TX_Data, 4, false);
}
 
void MKTool::slot_TabChanged(int Tab)
{
Tab = Tab;
 
if ((tab_Main->currentIndex() == 1) && (tab_Par->currentIndex() == 1))
{
Poll->start(500);
}
else if (Poll->isActive())
{
Poll->stop();
}
}
 
void MKTool::slot_OpenPort()
{
if (serialPort->isOpen())
{
TX_Data[0] = 0;
TX_Data[1] = 0;
TX_Data[2] = 0;
TX_Data[3] = 0;
send_Data('t', TX_Data, 4, false);
 
timer->stop();
serialPort->close();
pb_Open->setText("Verbinden");
ac_ConnectTTY->setText("Verbinden");
pb_Open->setIcon(Icons[9]);
ac_ConnectTTY->setIcon(Icons[9]);
}
else
{
serialPort->setPort(le_Port->text()); //Port
 
serialPort->setBaudRate(BAUD57600); //BaudRate
serialPort->setDataBits(DATA_8); //DataBits
serialPort->setParity(PAR_NONE); //Parity
serialPort->setStopBits(STOP_1); //StopBits
serialPort->setFlowControl(FLOW_OFF); //FlowControl
 
serialPort->setTimeout(0, 10);
serialPort->enableSending();
serialPort->enableReceiving();
 
serialPort->open();
if (serialPort->isOpen())
{
serialPort->receiveData();
 
send_Data('v', TX_Data, 0);
pb_Open->setText("Trennen");
ac_ConnectTTY->setText("Trennen");
pb_Open->setIcon(Icons[8]);
ac_ConnectTTY->setIcon(Icons[8]);
}
}
}
 
void MKTool::slot_newDataReceived(const QByteArray &dataReceived)
{
allDataReceived += dataReceived;
 
QTextStream in(dataReceived);
 
QString decodedStr = in.readAll();
 
const char *RXt;
RXt = dataReceived.data();
int a = 0;
 
while (RXt[a] != '\0')
{
if (RXt[a] == '\r')
{
while ((RXS.length() > 1) && (RXS.at(1) == '#'))
{
RXS.remove(0,1);
}
if (check_CRC(RXS))
{
te_RX->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor);
te_RX->insertPlainText(RXS + '\r');
new_RXData(RXS);
}
else
{
// qDebug(RXS.toLatin1().data());
// te_RX->insertPlainText(RXS + '\r');
}
 
RXS = QString("");
}
else
{
RXS = RXS + QString(RXt[a]);
}
a++;
}
}
 
void MKTool::slot_GetParameter()
{
TX_Data[0] = sb_Set->value();
TX_Data[1] = 0;
send_Data('q', TX_Data, 1);
}
 
void MKTool::slot_SetParameter()
{
store_ParameterSet(sb_Set->value());
 
for (int a = 0; a < 150; a++)
{
TX_Data[a] = ParameterSet[sb_Set->value()][a];
}
 
store_ParameterSet(sb_Set->value());
 
char Set = 'k' + sb_Set->value();
send_Data(Set, TX_Data, 83, false);
}
 
void MKTool::slot_Quit()
{
if (serialPort->isOpen())
{
serialPort->close();
}
 
write_Settings();
 
if (CSVFile->isOpen())
{
CSVFile->close();
}
 
close();
}
 
MKTool::~MKTool()
{
write_Settings();
qDebug("Ende");
}