构建新的cmakelist工程

修改了  delay_tc函数
修返回频率为20hz
修改波特率修改后先重新设置通讯波特率在保存

project/CMakeLists.txt

@@ -0,0 +1,42 @@
+# cmake_minimum_required(VERSION <specify CMake version here>)
+cmake_minimum_required(VERSION 3.3)
+project(Wintmotion)
+SET(CMAKE_INSTALL_PREFIX < /home/pi/bin >)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_CXX_STANDARD 11)
+
+
+set(CMAKE_CXX_STANDARD 14)
+
+
+
+IF (WIN32)
+    include_directories(../../third/GpsSynchComputerTime)
+    include_directories(C:/Qt/Qt5.12.7/5.12.7/mingw73_64/include C:/Qt/Qt5.12.7/5.12.7/mingw73_64/include/QtCore C:/Qt/Qt5.12.7/5.12.7/mingw73_64/include/QtNetwork C:/Qt/Qt5.12.7/5.12.7/mingw73_64/include/QtNetwork/QtSerialPort )
+    include_directories(C:/Qt/Qt5.12.7/5.12.7/mingw73_64/include/QtWebSockets)
+
+ENDIF ()
+set(QT Core Network Gui WebSockets SerialPort)
+set(TEMPLATE app)
+set(TARGET Wintmotion)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+#find_package(Qt5 REQUIRED ${QT})
+IF (WIN32)
+
+    MESSAGE(STATUS "Now is windows")
+    set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} C:/Qt/Qt5.12.7/5.12.7/mingw73_64/  )
+ENDIF ()
+find_package(Qt5 REQUIRED ${QT})
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
+include_directories(../source)
+add_executable(Wintmotion
+        ../source/commandlineparser.cpp
+        ../source/main.cpp
+        ../source/qtserialport.cpp
+        ../source/witmotionDll.pro
+        ../source/witmotiondll.cpp
+
+)
+qt5_use_modules(Wintmotion ${QT})

source/commandlineparser.cpp

@@ -501,6 +501,9 @@ CommandLineParseResult parseCommandLine2(QCommandLineParser &parser, TcQuery *qu
         query->modelForInterface_D3 = PWM;
         query->pulseWidth_D3 = 1500;
         query->period_D3 = 20000;
+
+        query->isSetReturnRate= true;
+        query->returnRate=RRATE_20HZ;
     }
 
 

source/main.cpp

@@ -8,7 +8,7 @@
 
 void delay_tc(uint32_t millisecond)
 {
-    QThread::sleep(millisecond/1000);
+    QThread::msleep(millisecond);
 //    std::cout<<"This is delay_tc!!!!!!!!!!"<<std::endl;
 }
 
@@ -56,7 +56,8 @@ int main(int argc, char *argv[])
     WitmotionDll * witmotion = new WitmotionDll(serialPort);
     witmotion->delayMsRegister(delay_tc);
     witmotion->printfRegister(printf_tc);
-    witmotion->setDelayTimeMs(1000);
+    witmotion->setDelayTimeMs(200);
+
 
     if(query.isSetAlgorithm)
     {
@@ -119,14 +120,22 @@ int main(int argc, char *argv[])
         witmotion->setD3HighLevelPulseWidth(query.pulseWidth_D3);
         witmotion->setD3Period(query.period_D3);
     }
-
+    if(query.isSetReturnRate)//设置witMotion的通讯速率要放在最后，它后面的设置都会失败
+    {
+        witmotion->SetReturnRate(query.returnRate);
+    }
     if(query.isSetBaudrate)//设置witMotion的通讯速率要放在最后，它后面的设置都会失败
     {
         witmotion->SetBaudrate(query.baudrate);
+       // serialPort->CloseSerialPort();//设置完波特率 已经无法通讯 需要重新简历连接
+        serialPort->SetBaudrate(115200);
+        //ret = serialPort->OpenSerialPort(query.serialPort.toStdString(), query.baudrate);//重新建立连接
+        witmotion->saveInstruction();
     }
 
-//    witmotion->recordData();
 
+//    witmotion->recordData();
+    std::cout<<"Set IMU OK"<<std::flush;
     serialPort->CloseSerialPort();
 
 //    return a.exec();

source/qtserialport.cpp

@@ -70,7 +70,7 @@ int QtSerialport::SendData1(const char *data, const unsigned int len)
     //QIODevice::write(const char *data, qint64 maxSize)
     int num = m_serial->write(tmp);
 
-    bool re = m_serial->waitForBytesWritten();
+    bool re = m_serial->waitForBytesWritten(1000);
 
     if(re)
     {
@@ -97,7 +97,7 @@ int QtSerialport::ReadData(char * receivedData)
     while (true)
     {
         //std::cout<<"SbgRecorder::startRecordSbg--------------:"<<std::endl;
-        if(m_serial->waitForReadyRead())
+        if(m_serial->waitForReadyRead(1000))
         {
             //requestData.resize(m_serial->size());
             requestData = m_serial->readAll();

source/witmotiondll.cpp

@@ -233,7 +233,7 @@ int WitmotionDll::SetBaudrate(BAUD_ENUM baudrate)
     int numOfSend = constructAndSendInstruction(BAUD, baudrate);
     m_witPrintf("WitmotionDll::SetBaudrate: \n");
 
-    saveInstruction();
+  //  saveInstruction(); //设置完波特率 已经无法通讯 需要重新简历连接
 
     return 0;
 }