//////////////////////////////////////////////////////////////////////////// // // This file is part of RTIMULib // // Copyright (c) 2014-2015, richards-tech, LLC // // Permission is hereby granted, free of charge, to any person obtaining a copy of // this software and associated documentation files (the "Software"), to deal in // the Software without restriction, including without limitation the rights to use, // copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the // Software, and to permit persons to whom the Software is furnished to do so, // subject to the following conditions: // // The above copyright notice and this permission notice shall be included in all // copies or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, // INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A // PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT // HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION // OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. #include "SelectIMUDlg.h" #include "RTIMUSettings.h" #include "IMUDrivers/RTIMUDefs.h" #include #include SelectIMUDlg::SelectIMUDlg(RTIMUSettings *settings, QWidget *parent) : QDialog(parent, Qt::WindowCloseButtonHint | Qt::WindowTitleHint) { m_settings = settings; layoutWindow(); setWindowTitle("Select IMU"); connect(m_buttons, SIGNAL(accepted()), this, SLOT(onOk())); connect(m_buttons, SIGNAL(rejected()), this, SLOT(onCancel())); connect(m_selectIMU, SIGNAL(currentIndexChanged(int)), this, SLOT(setSelectAddress(int))); connect(m_selectBus, SIGNAL(currentIndexChanged(int)), this, SLOT(setSelectAddress(int))); } SelectIMUDlg::~SelectIMUDlg() { } void SelectIMUDlg::onOk() { if (m_selectBus->currentIndex() < 8) { // I2C m_settings->m_busIsI2C = true; m_settings->m_I2CBus = m_selectBus->currentIndex(); m_settings->m_I2CSlaveAddress = m_selectAddress->itemData(m_selectAddress->currentIndex()).toInt(); } else { // SPI m_settings->m_busIsI2C = false; m_settings->m_SPIBus = m_selectBus->currentIndex() - 8; } m_settings->m_imuType = m_selectIMU->currentIndex(); m_settings->saveSettings(); accept(); } void SelectIMUDlg::onCancel() { reject(); } void SelectIMUDlg::layoutWindow() { QVBoxLayout *mainLayout; QFormLayout *form; setModal(true); mainLayout = new QVBoxLayout(this); mainLayout->setSpacing(20); mainLayout->setContentsMargins(11, 11, 11, 11); form = new QFormLayout(); mainLayout->addLayout(form); m_selectBus = new QComboBox(); m_selectBus->addItem("I2C bus 0"); m_selectBus->addItem("I2C bus 1"); m_selectBus->addItem("I2C bus 2"); m_selectBus->addItem("I2C bus 3"); m_selectBus->addItem("I2C bus 4"); m_selectBus->addItem("I2C bus 5"); m_selectBus->addItem("I2C bus 6"); m_selectBus->addItem("I2C bus 7"); m_selectBus->addItem("SPI bus 0"); m_selectBus->addItem("SPI bus 1"); m_selectBus->addItem("SPI bus 2"); m_selectBus->addItem("SPI bus 3"); m_selectBus->addItem("SPI bus 4"); m_selectBus->addItem("SPI bus 5"); m_selectBus->addItem("SPI bus 6"); m_selectBus->addItem("SPI bus 7"); if (m_settings->m_busIsI2C) m_selectBus->setCurrentIndex(m_settings->m_I2CBus); else m_selectBus->setCurrentIndex(m_settings->m_SPIBus + 8); form->addRow("select bus type: ", m_selectBus); m_selectIMU = new QComboBox(); m_selectIMU->addItem("Auto detect IMU"); m_selectIMU->addItem("Null IMU"); m_selectIMU->addItem("InvenSense MPU9150"); m_selectIMU->addItem("STM L3GD20H/LSM303D"); m_selectIMU->addItem("STM L3GD20/LSM303DLHC"); m_selectIMU->addItem("STM LSM9DS0"); m_selectIMU->addItem("STM LSM9DS1"); m_selectIMU->addItem("InvenSense MPU9250"); m_selectIMU->addItem("STM L3GD20H/LSM303DLHC"); m_selectIMU->addItem("Bosch BMX055"); m_selectIMU->addItem("Bosch BNO055"); m_selectIMU->setCurrentIndex(m_settings->m_imuType); form->addRow("select IMU type: ", m_selectIMU); m_selectAddress = new QComboBox(); setSelectAddress(m_settings->m_imuType, m_settings->m_I2CSlaveAddress); form->addRow("select I2C address type: ", m_selectAddress); m_buttons = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel, Qt::Horizontal, this); m_buttons->setCenterButtons(true); mainLayout->addWidget(m_buttons); } void SelectIMUDlg::setSelectAddress(int) { int imuType = m_selectIMU->currentIndex(); if (imuType == m_settings->m_imuType) setSelectAddress(imuType, m_settings->m_I2CSlaveAddress); else setSelectAddress(imuType, -1); } void SelectIMUDlg::setSelectAddress(int imuType, int slaveAddress) { m_selectAddress->clear(); if (m_selectBus->currentIndex() < 8) { switch (imuType) { case RTIMU_TYPE_MPU9150: m_selectAddress->addItem("Standard (0x68)", MPU9150_ADDRESS0); m_selectAddress->addItem("Option (0x69)", MPU9150_ADDRESS1); if (slaveAddress == MPU9150_ADDRESS1) m_selectAddress->setCurrentIndex(1); else m_selectAddress->setCurrentIndex(0); break; case RTIMU_TYPE_MPU9250: m_selectAddress->addItem("Standard (0x68)", MPU9250_ADDRESS0); m_selectAddress->addItem("Option (0x69)", MPU9250_ADDRESS1); if (slaveAddress == MPU9250_ADDRESS1) m_selectAddress->setCurrentIndex(1); else m_selectAddress->setCurrentIndex(0); break; case RTIMU_TYPE_GD20HM303D: m_selectAddress->addItem("Standard (0x6a)", L3GD20H_ADDRESS0); m_selectAddress->addItem("Option (0x6b)", L3GD20H_ADDRESS1); if (slaveAddress == L3GD20H_ADDRESS1) m_selectAddress->setCurrentIndex(1); else m_selectAddress->setCurrentIndex(0); break; case RTIMU_TYPE_GD20M303DLHC: m_selectAddress->addItem("Standard (0x6a)", L3GD20_ADDRESS0); m_selectAddress->addItem("Option (0x6b)", L3GD20_ADDRESS1); if (slaveAddress == L3GD20_ADDRESS1) m_selectAddress->setCurrentIndex(1); else m_selectAddress->setCurrentIndex(0); break; case RTIMU_TYPE_LSM9DS0: m_selectAddress->addItem("Standard (0x6a)", LSM9DS0_GYRO_ADDRESS0); m_selectAddress->addItem("Option (0x6b)", LSM9DS0_GYRO_ADDRESS1); if (slaveAddress == LSM9DS0_GYRO_ADDRESS1) m_selectAddress->setCurrentIndex(1); else m_selectAddress->setCurrentIndex(0); break; case RTIMU_TYPE_LSM9DS1: m_selectAddress->addItem("Standard (0x6a)", LSM9DS1_ADDRESS0); m_selectAddress->addItem("Option (0x6b)", LSM9DS1_ADDRESS1); if (slaveAddress == LSM9DS1_ADDRESS1) m_selectAddress->setCurrentIndex(1); else m_selectAddress->setCurrentIndex(0); break; case RTIMU_TYPE_GD20HM303DLHC: m_selectAddress->addItem("Standard (0x6a)", L3GD20H_ADDRESS0); m_selectAddress->addItem("Option (0x6b)", L3GD20H_ADDRESS1); if (slaveAddress == L3GD20H_ADDRESS1) m_selectAddress->setCurrentIndex(1); else m_selectAddress->setCurrentIndex(0); break; case RTIMU_TYPE_BMX055: m_selectAddress->addItem("Standard (0x68)", BMX055_GYRO_ADDRESS0); m_selectAddress->addItem("Option (0x69)", BMX055_GYRO_ADDRESS1); if (slaveAddress == BMX055_GYRO_ADDRESS1) m_selectAddress->setCurrentIndex(1); else m_selectAddress->setCurrentIndex(0); break; case RTIMU_TYPE_BNO055: m_selectAddress->addItem("Standard (0x28)", BNO055_ADDRESS0); m_selectAddress->addItem("Option (0x29)", BNO055_ADDRESS1); if (slaveAddress == BNO055_ADDRESS1) m_selectAddress->setCurrentIndex(1); else m_selectAddress->setCurrentIndex(0); break; default: m_selectAddress->addItem("N/A", 0); break; } } else { switch (imuType) { case RTIMU_TYPE_MPU9250: m_selectAddress->addItem("Standard", MPU9250_ADDRESS0); m_selectAddress->setCurrentIndex(0); break; default: m_selectAddress->addItem("N/A", 0); break; } } }