groundcontrol.ui.h

采用gpio口来控制串口扩展芯片的驱动和测试程序

/****************************************************************************
** ui.h extension file, included from the uic-generated form implementation.
**
** If you wish to add, delete or rename functions or slots use
** Qt Designer which will update this file, preserving your code. Create an
** init() function in place of a constructor, and a destroy() function in
** place of a destructor.
*****************************************************************************/
#define STATE_IDLE			0x00
#define STATE_HEAD0_GOT			0x01
#define STATE_HEAD1_GOT 		0x02
#define STATE_CHECKSUM_OK		0x03

#define CMD_HEAD0			0xeb
#define CMD_HEAD1			0x90

#define PLANFORM_LEFT ( planform_disp_left->x() )
#define PLANFORM_RIGHT ( planform_disp_right->x() )
#define PLANFORM_TOP ( planform_disp_top->y() )
#define PLANFORM_BOTTOM ( planform_disp_bottom->y() )

#define COLLECTFORM_TOP ( CollectFormTop->y() )
#define COLLECTFORM_BOTTOM ( CollectFormBottom->y()+1 )

#define THROTTLEFORM_TOP ( CollectFormTop->y() )
#define THROTTLEFORM_BOTTOM ( CollectFormBottom->y()+1 )

unsigned int count;	//the frame number counter

int32_t GroundControl::initCOM(char* sDevice, int32_t* hdl, int baudrate)
{
    struct termios options;
    int32_t fSuccess;
    
    *hdl = open( sDevice,  O_RDWR | O_NOCTTY | O_NDELAY);
    if ( *hdl == -1 ) return -1;
    {
	fcntl( *hdl, F_SETFL, 0 );
	tcgetattr( *hdl, &options );
	tcflush (*hdl, TCIOFLUSH );
	cfsetispeed ( &options, baudrate );	//Set Baud
	cfsetospeed ( &options, baudrate );	//Set Baud
	//options.c_cflag |= (CLOCAL | CREAD );	// Enable receiver and set local mode
	options.c_cflag &= ~PARENB;		// No parity	
	options.c_cflag &= ~CSTOPB;		// 1 stop bit
	options.c_cflag &= ~CSIZE;		// Mask the character size bit
	options.c_cflag |= CS8;			// Select 8 data bits
	options.c_cflag &= ~CRTSCTS;		// Disable hardware flow control
	
	options.c_iflag = ( INPCK );		// Enable parity check
	options.c_iflag &= ~ INPCK ;		// Enable parity check
	options.c_iflag &= ~(IXON |IXOFF |IXANY);	//Disable software flow control
	options.c_lflag &= ~ (ICANON | ECHO |ECHOE | ISIG ); //Choosing Raw input
	
	options.c_oflag &= ~OPOST;		// Raw Output
	
	options.c_cc[VMIN]=0;			// Disable read blocking
	
	tcflush (*hdl, TCIOFLUSH );
	fSuccess = tcsetattr( *hdl, TCSANOW, &options );  // Set the attribute and all changes occur immediately
    }
    return 0;
}

//Initialize function
void GroundControl::init()
{
    timer_id = startTimer(20);	//Set timer 20ms
    
    if ( GroundControl::initCOM( "/dev/ttyS1", &mhCom, B115200) == -1 ) 		// Open COM2
	StatusLabel->setText( QString::fromLocal8Bit( "-1" , 2 ) );   
    
    Courseslider->setRange(0,256);			    
    Courseslider->setValue(128 );   
    timercounter=0;
	
	//初始状态
	NavLabel->setText("IDLE");
	NavLabel->setBackgroundColor(Qt::yellow);
	PlatformLabel->setText("unvalid");
}

void GroundControl::destroy()
{
    killTimer(timer_id);
    
    //    close( mhCom );
}


void GroundControl::timerEvent( QTimerEvent * )
{
    unsigned char BufferIn[60]; //Buffer size : 60   
    unsigned char j,cmd_state;
    unsigned char m_pitch,m_roll,m_course,m_throttle,m_collect;    
    short int nread ;
    unsigned char SWHeight,SWRoll,SWCourse,SWPitch,SWRotate,SWON,SWOFF0,SWOFF1;
    unsigned char SWMainFu,SWStation;
    unsigned char  CheckSum,Sum;
    
    unsigned char m_nav;	//navigator command value
    unsigned int m_height; //height  set command value
    unsigned char m_platform; //platform set command value
    double m_number;//LCD display number
    
    cmd_state=STATE_IDLE;
    CheckSum=0;
    Sum=0;
    
	
	
    nread=read(mhCom,BufferIn,60);
    //the begin of the serial buffer data number check
    if(nread==60)
    {	
	//the begin of frame head check
	if((BufferIn[0]==0xeb)&&(BufferIn[1]==0x90))
	{
	    //get the checksum
	    for(j=0;j<28;j++)
		CheckSum+=BufferIn[j];	
	    CheckLabel->setText(QString::number(CheckSum));	//debug:
	    Sum=BufferIn[28];
	    SumLabel->setText(QString::number(Sum));	//debug:
	    //the begin of the checksum	
	    if(CheckSum==Sum){
		//check the frame data update
		if(count!=BufferIn[2])//数据更新了
		{			    
		    m_pitch=BufferIn[3];
		    m_roll=BufferIn[4];
		    m_course=BufferIn[5];
		    m_collect=BufferIn[6];
		    m_throttle=BufferIn[7];			    
		    PitchLabel->setText(QString::number(m_pitch));
		    RollLabel->setText(QString::number(m_roll));
		    CourseLabel->setText(QString::number(m_course));
		    ColLabel->setText(QString::number(m_collect));
		    ThrLabel->setText(QString::number(m_throttle));
		    
		    //draw pitch and roll position in the platform
		    
		    //QPainter painter( this );
		    QPainter painter;
		    painter.begin(this);
		    //clear the old line by draw the old line with background color
		    painter.setPen( QColor (192,192,192));
		    painter.drawLine(PLANFORM_LEFT,(-m_pitch_last*96/256+PLANFORM_BOTTOM),PLANFORM_RIGHT,(-m_pitch_last*96/256+PLANFORM_BOTTOM));		    
		    painter.drawLine((m_roll_last*96/256+PLANFORM_LEFT),PLANFORM_TOP,(m_roll_last*96/256+PLANFORM_LEFT),PLANFORM_BOTTOM);
		    //draw the new line to show the updated value
		    painter.setPen( QColor (255, 0, 0));
		    painter.drawLine(PLANFORM_LEFT,(-m_pitch*96/256+PLANFORM_BOTTOM),PLANFORM_RIGHT,(-m_pitch*96/256+PLANFORM_BOTTOM));
		    painter.setPen( QColor (0,255,0));
		    painter.drawLine((m_roll*96/256+PLANFORM_LEFT),PLANFORM_TOP,(m_roll*96/256+PLANFORM_LEFT),PLANFORM_BOTTOM);
		    //save the present value
		    m_roll_last=m_roll;
		    m_pitch_last=m_pitch;
		    
		    //draw the collect rect
		    //clear the old line by draw the old line with background color
		    painter.setPen(Qt::lightGray);
		    painter.setBrush(Qt::lightGray);
		    painter.drawRect(5,(COLLECTFORM_BOTTOM-m_collect_last*96/256),11,(m_collect_last*96/256));
		    //draw new rect
		    painter.setBrush(Qt::blue);
		    painter.drawRect(5,(COLLECTFORM_BOTTOM-m_collect*96/256),11,(m_collect*96/256));
		    
		    //draw the throttle rect	
		    //clear the old rect
		    painter.setBrush(Qt::lightGray);
		    painter.drawRect(25,(THROTTLEFORM_BOTTOM-m_throttle_last*96/256),11,m_throttle_last*96/256);
		    //draw the new rect
		    painter.setBrush(Qt::blue);
		    painter.drawRect(25,(THROTTLEFORM_BOTTOM-m_throttle*96/256),11,m_throttle*96/256);
		    //save the present value
		    m_collect_last=m_collect;
		    m_throttle_last=m_throttle;
		    //painting done
		    painter.end();
		    
		    //draw course position 
		    Courseslider->setValue(m_course);			    
		    
		    //the begin of SWITCHER operation
		    SWHeight=BufferIn[8]&0x08;	//Height
		    switch(SWHeight)			
		    {	
			    case 0x00:	
				SWHightLabel->setText("AUTO");
				SWHightLabel->setBackgroundColor(Qt::yellow);
				break;
			    case 0x08:	
				SWHightLabel->setText("MAN");
				SWHightLabel->setBackgroundColor(Qt::green);
				break;
			    }
		    
		    SWRoll=BufferIn[8]&0x02;	//Roll
		    switch(SWRoll)
		    {	
			    case 0x00:	
				SWRollLabel->setText("AUTO");
				SWRollLabel->setBackgroundColor(Qt::yellow);
				break;
			    case 0x02:	
				SWRollLabel->setText("MAN");
				SWRollLabel->setBackgroundColor(Qt::green);
				break;
			    }
		    
		    SWCourse=BufferIn[8]&0x04;	//Course
		    switch(SWCourse)
		    {	
			    case 0x00:	
				SWCLabel->setText("AUTO");
				SWCLabel->setBackgroundColor(Qt::yellow);
				break;
			    case 0x04:	
				SWCLabel->setText("MAN");
				SWCLabel->setBackgroundColor(Qt::green);
				break;
			    }
		    
		    SWPitch=BufferIn[8]&0x01;	//Pitch
		    switch(SWPitch)
		    {	
			    case 0x00:	
				SWPitchLabel->setText("AUTO");
				SWPitchLabel->setBackgroundColor(Qt::yellow);
				break;
			    case 0x01:	
				SWPitchLabel->setText("MAN");
				SWPitchLabel->setBackgroundColor(Qt::green);
				break;
			    }
		    
		    SWRotate=BufferIn[8]&0x80;	//Rotate
		    switch(SWRotate)
		    {	
			    case 0x00:	
				SWROtLabel->setText("AUTO");
				SWROtLabel->setBackgroundColor(Qt::yellow);
				break;
			    case 0x80:	
				SWROtLabel->setText("MAN");
				SWROtLabel->setBackgroundColor(Qt::green);
				break;
			    }
		    
		    SWON=BufferIn[8]&0x40;	//ON
		    switch(SWON)
		    {	
			    case 0x00:	
				SWONLabel->setText("OPEN");
				SWONLabel->setBackgroundColor(Qt::yellow);
				break;
			    case 0x40:	
				SWONLabel->setText("CLOSE");
				SWONLabel->setBackgroundColor(Qt::green);
				break;
			    }