将框架搭好

qtserialport.cpp

@@ -0,0 +1,59 @@
+#include "qtserialport.h"
+
+int QtSerialport::OpenSerialPort(string portName)
+{
+    QList<QSerialPortInfo> infos = QSerialPortInfo::availablePorts();
+
+    //std::cout<<"number of availablePorts:"<<infos.size()<<std::endl;
+
+    //如果在构造函数中创建m_serial就会出现错误:
+    //QObject: Cannot create children for a parent that is in a different thread.
+    //(Parent is QSerialPort(0x2e31b20), parent's thread is QThread(0x2e2f130), current thread is QThread(0x2e31110)
+    m_serial = new QSerialPort();
+
+    if(m_serial->isOpen())//如果串口已经打开了 先给他关闭了
+    {
+        m_serial->clear();
+        m_serial->close();
+    }
+
+    m_serial->setPortName(QString::fromStdString(portName));
+    m_serial->open(QIODevice::ReadWrite);
+
+
+    bool x=SetBaudrate(9600);
+    if(x)
+    {
+        std::cout<<"波特率被成功设置为:"<<m_serial->baudRate()<<std::endl;
+        return 0;
+    }
+    else
+    {
+        std::cout<<"波特率设置失败!"<<std::endl;
+        return 1;
+    }
+}
+
+int QtSerialport::CloseSerialPort()
+{
+    m_serial->close();
+    return 0;
+}
+
+int QtSerialport::SetBaudrate(int baudrate)
+{
+    bool x=m_serial->setBaudRate(baudrate);
+    return 0;
+}
+
+int QtSerialport::SendData(const char chrMessage[], const unsigned short usLen)
+{
+    //QIODevice::write(const char *data, qint64 maxSize)
+    m_serial->write(chrMessage, usLen);
+    return 0;
+}
+
+int QtSerialport::ReadData()
+{
+    return 0;
+}

qtserialport.h

@@ -0,0 +1,31 @@
+#ifndef QTSERIALPORT_H
+#define QTSERIALPORT_H
+
+#include "serialportbase.h"
+
+#include <QtSerialPort/QSerialPort>
+#include <QtSerialPort/QSerialPortInfo>
+
+
+class QtSerialport :public SerialPortBase
+{
+//    Q_OBJECT
+
+public:
+//    QtSerialport();
+//    ~QtSerialport();
+
+
+    int OpenSerialPort(string portName);
+    int CloseSerialPort();
+    int SetBaudrate(int baudrate);
+    int SendData(const char chrMessage[], const unsigned short usLen);
+    int ReadData();
+
+protected:
+private:
+    QSerialPort * m_serial;
+};
+
+
+#endif // QTSERIALPORT_H

qtserialport_copy.h

@@ -0,0 +1,34 @@
+#ifndef QTSERIALPORT_H
+#define QTSERIALPORT_H
+
+#include "serialportbase.h"
+
+#include <QtSerialPort/QSerialPort>
+#include <QtSerialPort/QSerialPortInfo>
+
+
+class QtSerialport :public SerialPortBase
+{
+//    Q_OBJECT
+
+public:
+    QtSerialport(double * nonlinearityCoeffs, int numberOfCoeffs);
+    ~QtSerialport();
+
+
+    int OpenSerialPort(string portName);
+    int CloseSerialPort();
+    int SetBaudrate(int baudrate);
+    int SendData(const char chrMessage[], const unsigned short usLen);
+    int ReadData();
+
+protected:
+private:
+    QSerialPort * m_serial;
+
+    QString m_qPortName;
+
+};
+
+
+#endif // QTSERIALPORT_H

question.txt

@@ -0,0 +1,3 @@
+wit_c_sdk问题
+1、WitWriteReg    WitReadReg是读寄存器，为啥代码中用的还是p_WitSerialWriteFunc？
+

register.h

@@ -0,0 +1,35 @@
+#ifndef REGISTER_H
+#define REGISTER_H
+
+#define SAVE 		0x00
+#define CALSW 		0x01
+#define RSW 		0x02
+#define RRATE		0x03
+#define BAUD 		0x04
+#define AXOFFSET	0x05
+#define AYOFFSET	0x06
+#define AZOFFSET	0x07
+#define GXOFFSET	0x08
+#define GYOFFSET	0x09
+#define GZOFFSET	0x0a
+#define HXOFFSET	0x0b
+#define HYOFFSET	0x0c
+#define HZOFFSET	0x0d
+#define D0MODE		0x0e
+#define D1MODE		0x0f
+#define D2MODE		0x10
+#define D3MODE		0x11
+#define D0PWMH		0x12
+#define D1PWMH		0x13
+#define D2PWMH		0x14
+#define D3PWMH		0x15
+#define D0PWMT		0x16
+#define D1PWMT		0x17
+#define D2PWMT		0x18
+#define D3PWMT		0x19
+#define IICADDR		0x1a
+#define LEDOFF 		0x1b
+#define MAGRANGX	0x1c
+
+
+#endif // REGISTER_H

serialportbase.h

@@ -0,0 +1,24 @@
+#ifndef SERIALPORTBASE_H
+#define SERIALPORTBASE_H
+
+#include <iostream>
+
+using namespace std;
+
+class SerialPortBase
+{
+
+public:
+//    SerialPortBase();
+//    ~SerialPortBase();
+
+    virtual int OpenSerialPort(string portName) = 0;
+    virtual int CloseSerialPort() = 0;
+    virtual int SetBaudrate(int baudrate) = 0;
+    virtual int SendData(const char chrMessage[], const unsigned short usLen) = 0;
+    virtual int ReadData() = 0;
+protected:
+private:
+};
+
+#endif // SERIALPORTBASE_H

witmotionDll.pro

@@ -0,0 +1,39 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2022-05-25T15:16:09
+#
+#-------------------------------------------------
+
+TARGET = witmotionDll
+TEMPLATE = lib
+
+QT += serialport
+
+DEFINES += WITMOTIONDLL_LIBRARY
+
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which as been marked as deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+    witmotiondll.cpp \
+    qtserialport.cpp
+
+HEADERS += \
+        witmotiondll.h \
+        witmotiondll_global.h \  
+    serialportbase.h \
+    qtserialport.h \
+    register.h
+
+unix {
+    target.path = /usr/lib
+    INSTALLS += target
+}

witmotiondll.cpp

@@ -0,0 +1,42 @@
+#include "witmotiondll.h"
+
+
+WitmotionDll::WitmotionDll(SerialPortBase * serialPort)
+{
+    m_SerialPort = serialPort;
+}
+
+int WitmotionDll::algorithm(int algorithm)
+{
+    return 0;
+}
+
+int WitmotionDll::installationDirection(int direction)
+{
+    return 0;
+}
+
+int WitmotionDll::instructStart()
+{
+    return 0;
+}
+
+int WitmotionDll::magneticCalibration()
+{
+    return 0;
+}
+
+int WitmotionDll::heightCalibration()
+{
+    return 0;
+}
+
+int WitmotionDll::zAxisAngleCalibration()
+{
+    return 0;
+}
+
+int WitmotionDll::setAngleReference()
+{
+    return 0;
+}

witmotiondll.h

@@ -0,0 +1,32 @@
+#ifndef WITMOTIONDLL_H
+#define WITMOTIONDLL_H
+
+#include "witmotiondll_global.h"
+
+#include <iostream>
+#include <string.h>
+
+#include "serialportbase.h"
+
+class WITMOTIONDLLSHARED_EXPORT WitmotionDll
+{
+
+public:
+    WitmotionDll(SerialPortBase * serialPort);
+
+    int algorithm(int algorithm);
+    int installationDirection(int direction);
+    int instructStart();//文档中的通讯协议没有相关的设置？？？？？？？？？？？？？
+
+
+    int magneticCalibration();
+    int heightCalibration();
+    int zAxisAngleCalibration();
+    int setAngleReference();
+
+private:
+    SerialPortBase * m_SerialPort;
+
+};
+
+#endif // WITMOTIONDLL_H

witmotiondll_global.h

@@ -0,0 +1,12 @@
+#ifndef WITMOTIONDLL_GLOBAL_H
+#define WITMOTIONDLL_GLOBAL_H
+
+#include <QtCore/qglobal.h>
+
+#if defined(WITMOTIONDLL_LIBRARY)
+#  define WITMOTIONDLLSHARED_EXPORT Q_DECL_EXPORT
+#else
+#  define WITMOTIONDLLSHARED_EXPORT Q_DECL_IMPORT
+#endif
+
+#endif // WITMOTIONDLL_GLOBAL_H