diff --git a/GroundStation/App.config b/GroundStation/App.config
index e7dc8b7..c893f7b 100644
--- a/GroundStation/App.config
+++ b/GroundStation/App.config
@@ -1,84 +1,39 @@
-
+
-
-
+
+
-
+
-
+
-
+
-
+
-
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
0
-
+
+
+
+
-
\ No newline at end of file
+
diff --git a/GroundStation/FileWrite.cs b/GroundStation/FileWrite.cs
new file mode 100644
index 0000000..7f51b23
--- /dev/null
+++ b/GroundStation/FileWrite.cs
@@ -0,0 +1,41 @@
+using System;
+using System.IO;
+using System.Text;
+using System.Windows.Forms;
+
+namespace GroundStation
+{
+ class FileWrite
+ {
+ private readonly FileStream fs;
+ public FileWrite()
+ {
+ if (fs == null)
+ fs = new FileStream("data.dat", FileMode.OpenOrCreate, FileAccess.Write);
+ }
+ public void Write_Double_Pair_Data(double a, double b)
+ {
+ string stra = a.ToString("#0.0000");
+ string strb = b.ToString("#0.0000");
+ string str = stra + " " + strb + "\r\n";
+ byte[] data = Encoding.UTF8.GetBytes(str);
+ try
+ {
+ fs.Write(data, 0, data.Length);
+ }
+ catch (Exception) { }
+ }
+ public void Write_File()
+ {
+ try
+ {
+ fs.Flush();
+ fs.Close();
+ }
+ catch (Exception ex)
+ {
+ MessageBox.Show(ex.Message);
+ }
+ }
+ }
+}
diff --git a/GroundStation/Filter.cs b/GroundStation/Filter.cs
new file mode 100644
index 0000000..828d34d
--- /dev/null
+++ b/GroundStation/Filter.cs
@@ -0,0 +1,34 @@
+namespace GroundStation
+{
+ class Filter
+ {
+ private readonly double[] IIRdelay = new double[2];
+ private readonly double[] MoveSave = new double[8];
+ private double UnitDelay;
+ public double IIR_LowPassFilter(double DataIn)
+ {
+ IIRdelay[0] = DataIn + 0.76295 * IIRdelay[1] - 0.283438 * IIRdelay[2];
+ double DataOut = 0.129 * IIRdelay[0] + 0.258 * IIRdelay[1] + 0.129 * IIRdelay[2];
+ IIRdelay[2] = IIRdelay[1];
+ IIRdelay[1] = IIRdelay[0];
+ return DataOut;
+ }
+ public double Moving_Average(double DataIn)
+ {
+ double sum = DataIn;
+ for (int i = 0; i < 7; i++)
+ {
+ MoveSave[i] = MoveSave[i + 1];
+ sum += MoveSave[i];
+ }
+ MoveSave[7] = DataIn;
+ return sum / 8.0;
+ }
+ public double OneOrder_Filter(double DataIn)
+ {
+ double DataOut = DataIn + 0.25 * UnitDelay;
+ UnitDelay = DataOut;
+ return DataOut * 0.75;
+ }
+ }
+}
diff --git a/GroundStation/Form1.Designer.cs b/GroundStation/Form1.Designer.cs
index e46a2f6..f971025 100644
--- a/GroundStation/Form1.Designer.cs
+++ b/GroundStation/Form1.Designer.cs
@@ -63,7 +63,6 @@ private void InitializeComponent()
this.lblCtrlPit = new System.Windows.Forms.Label();
this.lblCtrlRol = new System.Windows.Forms.Label();
this.lblCtrlYaw = new System.Windows.Forms.Label();
- this.btnOpen2 = new System.Windows.Forms.Button();
this.cbxMotor = new System.Windows.Forms.CheckBox();
this.label14 = new System.Windows.Forms.Label();
this.cbxBaudRate2 = new System.Windows.Forms.ComboBox();
@@ -110,8 +109,11 @@ private void InitializeComponent()
this.vScrollThr = new System.Windows.Forms.VScrollBar();
this.hScrollRol = new System.Windows.Forms.HScrollBar();
this.hScrollYaw = new System.Windows.Forms.HScrollBar();
+ this.btnOpen2 = new System.Windows.Forms.Button();
this.btnCtrl = new System.Windows.Forms.Button();
this.tabPage3 = new System.Windows.Forms.TabPage();
+ this.tbxNotepad = new System.Windows.Forms.TextBox();
+ this.cbxFileWrite = new System.Windows.Forms.CheckBox();
this.label17 = new System.Windows.Forms.Label();
this.label9 = new System.Windows.Forms.Label();
this.label8 = new System.Windows.Forms.Label();
@@ -134,6 +136,7 @@ private void InitializeComponent()
this.tbxRolParam3 = new System.Windows.Forms.TextBox();
this.tbxRolParam1 = new System.Windows.Forms.TextBox();
this.tabPage4 = new System.Windows.Forms.TabPage();
+ this.cbxDisplay = new System.Windows.Forms.CheckBox();
this.chart1 = new System.Windows.Forms.DataVisualization.Charting.Chart();
this.tmrSendUser = new System.Windows.Forms.Timer(this.components);
this.lblVersion = new System.Windows.Forms.Label();
@@ -142,22 +145,20 @@ private void InitializeComponent()
this.btnClearBuf = new System.Windows.Forms.Button();
this.btnReCnt = new System.Windows.Forms.Button();
this.tmrCtrl = new System.Windows.Forms.Timer(this.components);
- this.btnOpen1 = new System.Windows.Forms.Button();
this.tmrPortRcv = new System.Windows.Forms.Timer(this.components);
this.serialPort2 = new System.IO.Ports.SerialPort(this.components);
+ this.imgBitErr = new System.Windows.Forms.PictureBox();
+ this.btnOpen1 = new System.Windows.Forms.Button();
+ this.label7 = new System.Windows.Forms.Label();
this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout();
this.tabPage2.SuspendLayout();
this.tabPage3.SuspendLayout();
this.tabPage4.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.chart1)).BeginInit();
+ ((System.ComponentModel.ISupportInitialize)(this.imgBitErr)).BeginInit();
this.SuspendLayout();
//
- // serialPort1
- //
- this.serialPort1.ReadBufferSize = 1024;
- this.serialPort1.WriteBufferSize = 128;
- //
// cbxPort1
//
this.cbxPort1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
@@ -242,7 +243,7 @@ private void InitializeComponent()
this.tbxInterval.Size = new System.Drawing.Size(92, 25);
this.tbxInterval.TabIndex = 7;
this.tbxInterval.Text = "1000";
- this.tbxInterval.TextChanged += new System.EventHandler(this.textBox4_TextChanged);
+ this.tbxInterval.TextChanged += new System.EventHandler(this.tbxInterval_TextChanged);
//
// btnSend1
//
@@ -252,7 +253,7 @@ private void InitializeComponent()
this.btnSend1.TabIndex = 11;
this.btnSend1.Text = "发送";
this.btnSend1.UseVisualStyleBackColor = true;
- this.btnSend1.Click += new System.EventHandler(this.btnSend1_Click);
+ this.btnSend1.Click += new System.EventHandler(this.btnSend_Click);
//
// btnSend3
//
@@ -262,7 +263,7 @@ private void InitializeComponent()
this.btnSend3.TabIndex = 11;
this.btnSend3.Text = "发送";
this.btnSend3.UseVisualStyleBackColor = true;
- this.btnSend3.Click += new System.EventHandler(this.btnSend3_Click);
+ this.btnSend3.Click += new System.EventHandler(this.btnSend_Click);
//
// tmrPortChk
//
@@ -378,7 +379,7 @@ private void InitializeComponent()
this.btnSend2.TabIndex = 11;
this.btnSend2.Text = "发送";
this.btnSend2.UseVisualStyleBackColor = true;
- this.btnSend2.Click += new System.EventHandler(this.btnSend2_Click);
+ this.btnSend2.Click += new System.EventHandler(this.btnSend_Click);
//
// tabPage2
//
@@ -389,7 +390,6 @@ private void InitializeComponent()
this.tabPage2.Controls.Add(this.lblCtrlPit);
this.tabPage2.Controls.Add(this.lblCtrlRol);
this.tabPage2.Controls.Add(this.lblCtrlYaw);
- this.tabPage2.Controls.Add(this.btnOpen2);
this.tabPage2.Controls.Add(this.cbxMotor);
this.tabPage2.Controls.Add(this.label14);
this.tabPage2.Controls.Add(this.cbxBaudRate2);
@@ -436,11 +436,12 @@ private void InitializeComponent()
this.tabPage2.Controls.Add(this.vScrollThr);
this.tabPage2.Controls.Add(this.hScrollRol);
this.tabPage2.Controls.Add(this.hScrollYaw);
+ this.tabPage2.Controls.Add(this.btnOpen2);
this.tabPage2.Controls.Add(this.btnCtrl);
this.tabPage2.Location = new System.Drawing.Point(4, 25);
this.tabPage2.Name = "tabPage2";
this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
- this.tabPage2.Size = new System.Drawing.Size(1071, 622);
+ this.tabPage2.Size = new System.Drawing.Size(1230, 622);
this.tabPage2.TabIndex = 1;
this.tabPage2.Text = "飞行控制";
this.tabPage2.UseVisualStyleBackColor = true;
@@ -511,19 +512,6 @@ private void InitializeComponent()
this.lblCtrlYaw.TabIndex = 21;
this.lblCtrlYaw.Text = "500";
//
- // btnOpen2
- //
- this.btnOpen2.Image = global::GroundStation.Properties.Resources.ledoff;
- this.btnOpen2.ImageAlign = System.Drawing.ContentAlignment.MiddleLeft;
- this.btnOpen2.Location = new System.Drawing.Point(1065, 174);
- this.btnOpen2.Name = "btnOpen2";
- this.btnOpen2.Size = new System.Drawing.Size(140, 40);
- this.btnOpen2.TabIndex = 2;
- this.btnOpen2.Text = "打开连接";
- this.btnOpen2.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
- this.btnOpen2.UseVisualStyleBackColor = true;
- this.btnOpen2.Click += new System.EventHandler(this.btnOpen2_Click);
- //
// cbxMotor
//
this.cbxMotor.AutoSize = true;
@@ -1006,6 +994,19 @@ private void InitializeComponent()
this.hScrollYaw.TabIndex = 2;
this.hScrollYaw.Value = 50;
//
+ // btnOpen2
+ //
+ this.btnOpen2.Image = global::GroundStation.Properties.Resources.ledoff;
+ this.btnOpen2.ImageAlign = System.Drawing.ContentAlignment.MiddleLeft;
+ this.btnOpen2.Location = new System.Drawing.Point(1065, 174);
+ this.btnOpen2.Name = "btnOpen2";
+ this.btnOpen2.Size = new System.Drawing.Size(140, 40);
+ this.btnOpen2.TabIndex = 2;
+ this.btnOpen2.Text = "打开连接";
+ this.btnOpen2.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+ this.btnOpen2.UseVisualStyleBackColor = true;
+ this.btnOpen2.Click += new System.EventHandler(this.btnOpen2_Click);
+ //
// btnCtrl
//
this.btnCtrl.Image = global::GroundStation.Properties.Resources.ledoff;
@@ -1022,6 +1023,8 @@ private void InitializeComponent()
// tabPage3
//
this.tabPage3.BackgroundImageLayout = System.Windows.Forms.ImageLayout.None;
+ this.tabPage3.Controls.Add(this.tbxNotepad);
+ this.tabPage3.Controls.Add(this.cbxFileWrite);
this.tabPage3.Controls.Add(this.label17);
this.tabPage3.Controls.Add(this.label9);
this.tabPage3.Controls.Add(this.label8);
@@ -1045,11 +1048,31 @@ private void InitializeComponent()
this.tabPage3.Controls.Add(this.tbxRolParam1);
this.tabPage3.Location = new System.Drawing.Point(4, 25);
this.tabPage3.Name = "tabPage3";
- this.tabPage3.Size = new System.Drawing.Size(1071, 622);
+ this.tabPage3.Size = new System.Drawing.Size(1230, 622);
this.tabPage3.TabIndex = 2;
this.tabPage3.Text = "参数设置";
this.tabPage3.UseVisualStyleBackColor = true;
//
+ // tbxNotepad
+ //
+ this.tbxNotepad.Location = new System.Drawing.Point(652, 3);
+ this.tbxNotepad.Multiline = true;
+ this.tbxNotepad.Name = "tbxNotepad";
+ this.tbxNotepad.Size = new System.Drawing.Size(565, 599);
+ this.tbxNotepad.TabIndex = 19;
+ //
+ // cbxFileWrite
+ //
+ this.cbxFileWrite.AutoSize = true;
+ this.cbxFileWrite.Font = new System.Drawing.Font("宋体", 13.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+ this.cbxFileWrite.Location = new System.Drawing.Point(7, 591);
+ this.cbxFileWrite.Name = "cbxFileWrite";
+ this.cbxFileWrite.Size = new System.Drawing.Size(128, 28);
+ this.cbxFileWrite.TabIndex = 18;
+ this.cbxFileWrite.Text = "写入数据";
+ this.cbxFileWrite.UseVisualStyleBackColor = true;
+ this.cbxFileWrite.CheckedChanged += new System.EventHandler(this.cbxFileWrite_CheckedChanged);
+ //
// label17
//
this.label17.AutoSize = true;
@@ -1085,7 +1108,7 @@ private void InitializeComponent()
this.btnReadYaw.Location = new System.Drawing.Point(179, 364);
this.btnReadYaw.Name = "btnReadYaw";
this.btnReadYaw.Size = new System.Drawing.Size(123, 41);
- this.btnReadYaw.TabIndex = 9;
+ this.btnReadYaw.TabIndex = 16;
this.btnReadYaw.Text = "读取参数";
this.btnReadYaw.UseVisualStyleBackColor = true;
this.btnReadYaw.Click += new System.EventHandler(this.btnRead_Click);
@@ -1095,7 +1118,7 @@ private void InitializeComponent()
this.btnReadPit.Location = new System.Drawing.Point(179, 188);
this.btnReadPit.Name = "btnReadPit";
this.btnReadPit.Size = new System.Drawing.Size(123, 41);
- this.btnReadPit.TabIndex = 9;
+ this.btnReadPit.TabIndex = 10;
this.btnReadPit.Text = "读取参数";
this.btnReadPit.UseVisualStyleBackColor = true;
this.btnReadPit.Click += new System.EventHandler(this.btnRead_Click);
@@ -1105,7 +1128,7 @@ private void InitializeComponent()
this.btnReadRol.Location = new System.Drawing.Point(179, 25);
this.btnReadRol.Name = "btnReadRol";
this.btnReadRol.Size = new System.Drawing.Size(123, 41);
- this.btnReadRol.TabIndex = 7;
+ this.btnReadRol.TabIndex = 4;
this.btnReadRol.Text = "读取参数";
this.btnReadRol.UseVisualStyleBackColor = true;
this.btnReadRol.Click += new System.EventHandler(this.btnRead_Click);
@@ -1115,7 +1138,7 @@ private void InitializeComponent()
this.btnWriteYaw.Location = new System.Drawing.Point(179, 411);
this.btnWriteYaw.Name = "btnWriteYaw";
this.btnWriteYaw.Size = new System.Drawing.Size(123, 41);
- this.btnWriteYaw.TabIndex = 8;
+ this.btnWriteYaw.TabIndex = 17;
this.btnWriteYaw.Text = "写入参数";
this.btnWriteYaw.UseVisualStyleBackColor = true;
this.btnWriteYaw.Click += new System.EventHandler(this.btnWrite_Click);
@@ -1125,7 +1148,7 @@ private void InitializeComponent()
this.btnWritePit.Location = new System.Drawing.Point(179, 235);
this.btnWritePit.Name = "btnWritePit";
this.btnWritePit.Size = new System.Drawing.Size(123, 41);
- this.btnWritePit.TabIndex = 8;
+ this.btnWritePit.TabIndex = 11;
this.btnWritePit.Text = "写入参数";
this.btnWritePit.UseVisualStyleBackColor = true;
this.btnWritePit.Click += new System.EventHandler(this.btnWrite_Click);
@@ -1135,14 +1158,14 @@ private void InitializeComponent()
this.tbxYawParam2.Location = new System.Drawing.Point(50, 383);
this.tbxYawParam2.Name = "tbxYawParam2";
this.tbxYawParam2.Size = new System.Drawing.Size(100, 25);
- this.tbxYawParam2.TabIndex = 5;
+ this.tbxYawParam2.TabIndex = 13;
//
// btnWriteRol
//
this.btnWriteRol.Location = new System.Drawing.Point(179, 72);
this.btnWriteRol.Name = "btnWriteRol";
this.btnWriteRol.Size = new System.Drawing.Size(123, 41);
- this.btnWriteRol.TabIndex = 6;
+ this.btnWriteRol.TabIndex = 5;
this.btnWriteRol.Text = "写入参数";
this.btnWriteRol.UseVisualStyleBackColor = true;
this.btnWriteRol.Click += new System.EventHandler(this.btnWrite_Click);
@@ -1152,42 +1175,42 @@ private void InitializeComponent()
this.tbxYawParam4.Location = new System.Drawing.Point(50, 445);
this.tbxYawParam4.Name = "tbxYawParam4";
this.tbxYawParam4.Size = new System.Drawing.Size(100, 25);
- this.tbxYawParam4.TabIndex = 7;
+ this.tbxYawParam4.TabIndex = 15;
//
// tbxPitParam2
//
this.tbxPitParam2.Location = new System.Drawing.Point(50, 207);
this.tbxPitParam2.Name = "tbxPitParam2";
this.tbxPitParam2.Size = new System.Drawing.Size(100, 25);
- this.tbxPitParam2.TabIndex = 5;
+ this.tbxPitParam2.TabIndex = 7;
//
// tbxYawParam3
//
this.tbxYawParam3.Location = new System.Drawing.Point(50, 414);
this.tbxYawParam3.Name = "tbxYawParam3";
this.tbxYawParam3.Size = new System.Drawing.Size(100, 25);
- this.tbxYawParam3.TabIndex = 6;
+ this.tbxYawParam3.TabIndex = 14;
//
// tbxPitParam4
//
this.tbxPitParam4.Location = new System.Drawing.Point(50, 269);
this.tbxPitParam4.Name = "tbxPitParam4";
this.tbxPitParam4.Size = new System.Drawing.Size(100, 25);
- this.tbxPitParam4.TabIndex = 7;
+ this.tbxPitParam4.TabIndex = 9;
//
// tbxPitParam3
//
this.tbxPitParam3.Location = new System.Drawing.Point(50, 238);
this.tbxPitParam3.Name = "tbxPitParam3";
this.tbxPitParam3.Size = new System.Drawing.Size(100, 25);
- this.tbxPitParam3.TabIndex = 6;
+ this.tbxPitParam3.TabIndex = 8;
//
// tbxYawParam1
//
this.tbxYawParam1.Location = new System.Drawing.Point(50, 352);
this.tbxYawParam1.Name = "tbxYawParam1";
this.tbxYawParam1.Size = new System.Drawing.Size(100, 25);
- this.tbxYawParam1.TabIndex = 4;
+ this.tbxYawParam1.TabIndex = 12;
//
// tbxRolParam2
//
@@ -1201,7 +1224,7 @@ private void InitializeComponent()
this.tbxPitParam1.Location = new System.Drawing.Point(50, 176);
this.tbxPitParam1.Name = "tbxPitParam1";
this.tbxPitParam1.Size = new System.Drawing.Size(100, 25);
- this.tbxPitParam1.TabIndex = 4;
+ this.tbxPitParam1.TabIndex = 6;
//
// tbxRolParam4
//
@@ -1226,6 +1249,7 @@ private void InitializeComponent()
//
// tabPage4
//
+ this.tabPage4.Controls.Add(this.cbxDisplay);
this.tabPage4.Controls.Add(this.chart1);
this.tabPage4.Location = new System.Drawing.Point(4, 25);
this.tabPage4.Name = "tabPage4";
@@ -1234,8 +1258,23 @@ private void InitializeComponent()
this.tabPage4.Text = "波形显示";
this.tabPage4.UseVisualStyleBackColor = true;
//
+ // cbxDisplay
+ //
+ this.cbxDisplay.AutoSize = true;
+ this.cbxDisplay.Location = new System.Drawing.Point(1138, 600);
+ this.cbxDisplay.Name = "cbxDisplay";
+ this.cbxDisplay.Size = new System.Drawing.Size(89, 19);
+ this.cbxDisplay.TabIndex = 1;
+ this.cbxDisplay.Text = "开始显示";
+ this.cbxDisplay.UseVisualStyleBackColor = true;
+ //
// chart1
//
+ chartArea1.AxisX.Interval = 25D;
+ chartArea1.AxisX.MajorGrid.LineColor = System.Drawing.Color.Gainsboro;
+ chartArea1.AxisX.Maximum = 500D;
+ chartArea1.AxisX.Minimum = 0D;
+ chartArea1.AxisY.MajorGrid.LineColor = System.Drawing.Color.Gainsboro;
chartArea1.Name = "ChartArea1";
this.chart1.ChartAreas.Add(chartArea1);
legend1.Name = "Legend1";
@@ -1267,7 +1306,7 @@ private void InitializeComponent()
// labelTxCnt
//
this.labelTxCnt.AutoSize = true;
- this.labelTxCnt.Location = new System.Drawing.Point(598, 669);
+ this.labelTxCnt.Location = new System.Drawing.Point(553, 669);
this.labelTxCnt.Name = "labelTxCnt";
this.labelTxCnt.Size = new System.Drawing.Size(39, 15);
this.labelTxCnt.TabIndex = 14;
@@ -1276,7 +1315,7 @@ private void InitializeComponent()
// labelRxCnt
//
this.labelRxCnt.AutoSize = true;
- this.labelRxCnt.Location = new System.Drawing.Point(598, 694);
+ this.labelRxCnt.Location = new System.Drawing.Point(553, 694);
this.labelRxCnt.Name = "labelRxCnt";
this.labelRxCnt.Size = new System.Drawing.Size(39, 15);
this.labelRxCnt.TabIndex = 14;
@@ -1284,7 +1323,7 @@ private void InitializeComponent()
//
// btnClearBuf
//
- this.btnClearBuf.Location = new System.Drawing.Point(370, 669);
+ this.btnClearBuf.Location = new System.Drawing.Point(325, 669);
this.btnClearBuf.Name = "btnClearBuf";
this.btnClearBuf.Size = new System.Drawing.Size(115, 40);
this.btnClearBuf.TabIndex = 3;
@@ -1294,7 +1333,7 @@ private void InitializeComponent()
//
// btnReCnt
//
- this.btnReCnt.Location = new System.Drawing.Point(491, 669);
+ this.btnReCnt.Location = new System.Drawing.Point(446, 669);
this.btnReCnt.Name = "btnReCnt";
this.btnReCnt.Size = new System.Drawing.Size(101, 40);
this.btnReCnt.TabIndex = 4;
@@ -1307,6 +1346,20 @@ private void InitializeComponent()
this.tmrCtrl.Enabled = true;
this.tmrCtrl.Tick += new System.EventHandler(this.tmrCtrl_Tick);
//
+ // tmrPortRcv
+ //
+ this.tmrPortRcv.Interval = 10;
+ this.tmrPortRcv.Tick += new System.EventHandler(this.tmrPortRcv_Tick);
+ //
+ // imgBitErr
+ //
+ this.imgBitErr.Image = global::GroundStation.Properties.Resources.error;
+ this.imgBitErr.Location = new System.Drawing.Point(662, 670);
+ this.imgBitErr.Name = "imgBitErr";
+ this.imgBitErr.Size = new System.Drawing.Size(40, 40);
+ this.imgBitErr.TabIndex = 15;
+ this.imgBitErr.TabStop = false;
+ //
// btnOpen1
//
this.btnOpen1.Image = global::GroundStation.Properties.Resources.ledoff;
@@ -1320,16 +1373,23 @@ private void InitializeComponent()
this.btnOpen1.UseVisualStyleBackColor = true;
this.btnOpen1.Click += new System.EventHandler(this.btnOpen1_Click);
//
- // tmrPortRcv
+ // label7
//
- this.tmrPortRcv.Interval = 10;
- this.tmrPortRcv.Tick += new System.EventHandler(this.tmrPortRcv_Tick);
+ this.label7.AutoSize = true;
+ this.label7.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+ this.label7.Location = new System.Drawing.Point(712, 682);
+ this.label7.Name = "label7";
+ this.label7.Size = new System.Drawing.Size(37, 15);
+ this.label7.TabIndex = 16;
+ this.label7.Text = "误码";
//
// Form1
//
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(1262, 721);
+ this.Controls.Add(this.label7);
+ this.Controls.Add(this.imgBitErr);
this.Controls.Add(this.btnReCnt);
this.Controls.Add(this.btnClearBuf);
this.Controls.Add(this.labelRxCnt);
@@ -1359,7 +1419,9 @@ private void InitializeComponent()
this.tabPage3.ResumeLayout(false);
this.tabPage3.PerformLayout();
this.tabPage4.ResumeLayout(false);
+ this.tabPage4.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.chart1)).EndInit();
+ ((System.ComponentModel.ISupportInitialize)(this.imgBitErr)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();
@@ -1479,6 +1541,11 @@ private void InitializeComponent()
private System.Windows.Forms.TextBox tbxYawParam1;
private System.Windows.Forms.Button btnAccCali;
private System.Windows.Forms.Button btnGyroCali;
+ private System.Windows.Forms.CheckBox cbxDisplay;
+ private System.Windows.Forms.CheckBox cbxFileWrite;
+ private System.Windows.Forms.TextBox tbxNotepad;
+ private System.Windows.Forms.PictureBox imgBitErr;
+ private System.Windows.Forms.Label label7;
}
}
diff --git a/GroundStation/Form1.base.cs b/GroundStation/Form1.base.cs
index c9c36f4..a261345 100644
--- a/GroundStation/Form1.base.cs
+++ b/GroundStation/Form1.base.cs
@@ -2,6 +2,14 @@
using System.Windows.Forms;
/**************文件说明**********************
基本收发
+事件:
+btnSend_Click
+textBox4_TextChanged
+tmrSendUser_Tick
+cbxAutoSend_CheckedChanged
+函数:
+Base_Text_Receive
+Tab0_Text_Send
********************************************/
namespace GroundStation
@@ -9,20 +17,16 @@ namespace GroundStation
partial class Form1
{
/*发送按钮*/
- private void btnSend1_Click(object sender, EventArgs e)
+ private void btnSend_Click(object sender, EventArgs e)
{
- if (serialPort1.IsOpen)
- Tab0_Text_Send(tbxTx1, cbxHexSend1);
- }
- private void btnSend2_Click(object sender, EventArgs e)
- {
- if (serialPort1.IsOpen)
- Tab0_Text_Send(tbxTx2, cbxHexSend2);
- }
- private void btnSend3_Click(object sender, EventArgs e)
- {
- if (serialPort1.IsOpen)
- Tab0_Text_Send(tbxTx3, cbxHexSend3);
+ if (!serialPort1.IsOpen) return;
+ switch (((Button)sender).Name)
+ {
+ case "btnSend1": Tab0_Text_Send(tbxTx1, cbxHexSend1); break;
+ case "btnSend2": Tab0_Text_Send(tbxTx2, cbxHexSend2); break;
+ case "btnSend3": Tab0_Text_Send(tbxTx3, cbxHexSend3); break;
+ default: break;
+ }
}
private void Base_Text_Receive()
{
@@ -104,14 +108,17 @@ private void Tab0_Text_Send(TextBox box, CheckBox cbxHex)
labelTxCnt.Text = $"Tx:{TxCount}";
}
/*定时发送复选框*/
- private void textBox4_TextChanged(object sender, EventArgs e)
+ private void tbxInterval_TextChanged(object sender, EventArgs e)
{
cbxAutoSend.Checked = false;
}
/*定时发送*/
private void tmrSendUser_Tick(object sender, EventArgs e)
{
- Tab0_Text_Send(tbxTx1, cbxHexSend1);
+ if (tabControl1.SelectedIndex == 0)
+ Tab0_Text_Send(tbxTx1, cbxHexSend1);
+ else
+ cbxAutoSend.Checked = false;
}
/*发送间隔设置文本框*/
private void cbxAutoSend_CheckedChanged(object sender, EventArgs e)
@@ -119,7 +126,11 @@ private void cbxAutoSend_CheckedChanged(object sender, EventArgs e)
if (cbxAutoSend.Checked)
{
tmrSendUser.Enabled = true;
- tmrSendUser.Interval = Convert.ToInt32(tbxInterval.Text);
+ try
+ {
+ tmrSendUser.Interval = Convert.ToInt32(tbxInterval.Text);
+ }
+ catch (Exception) { }
}
else
tmrSendUser.Enabled = false;
diff --git a/GroundStation/Form1.chart.cs b/GroundStation/Form1.chart.cs
index fc93f7d..5531cb7 100644
--- a/GroundStation/Form1.chart.cs
+++ b/GroundStation/Form1.chart.cs
@@ -6,86 +6,88 @@
using System.Windows.Forms.DataVisualization.Charting;
/**************文件说明**********************
波形显示
+事件:
+cbxData_CheckedChanged
+函数:
ChartInit
Chart_Update
Chart_Display
Chart_Clear
-cbxData_CheckedChanged
********************************************/
namespace GroundStation
{
partial class Form1
{
- private byte DataLen = 100;
- private Queue[] DataQueue = new Queue[8];
- CheckBox[] cbxData = new CheckBox[8];
+ private const int DataLen = 500;
+ private readonly Queue[] DataQueue = new Queue[8];
+ private readonly CheckBox[] cbxChart = new CheckBox[8];
- /***********************
- 图表初始化
- **********************/
+ /*图表初始化*/
private void ChartInit()
{
Color[] DataColor = new Color[]
- {Color.Red,Color.Blue,Color.Green,Color.Orange,Color.Purple,Color.Silver,Color.Pink,Color.Cyan};
+ {Color.Red,Color.Blue,Color.Green,Color.Orange,Color.Purple,Color.Black,Color.Pink,Color.Cyan};
chart1.Series.Clear();
- stat.ChartFirst = true;
- chart1.ChartAreas[0].AxisX.Interval = 5;
- chart1.ChartAreas[0].AxisX.MajorGrid.LineColor = Color.Silver;
- chart1.ChartAreas[0].AxisY.MajorGrid.LineColor = Color.Silver;
Series[] series = new Series[8];
for (int i = 0; i < 8; i++)
{
- cbxData[i] = new CheckBox();
- cbxData[i].Location = new Point(6 + i * 70, 475);
- cbxData[i].Name = $"cbxData{i}";
- cbxData[i].Text = $"DATA{i}";
- cbxData[i].Size = new Size(65, 20);
- cbxData[i].ForeColor = DataColor[i];
- cbxData[i].TabIndex = i;
- cbxData[i].CheckedChanged += cbxData_CheckedChanged;
- tabPage4.Controls.Add(cbxData[i]);
+ cbxChart[i] = new CheckBox();
+ cbxChart[i].Location = new Point(6 + i * 70, 475);
+ cbxChart[i].Name = $"cbxData{i}";
+ cbxChart[i].Text = $"DATA{i}";
+ cbxChart[i].Size = new Size(65, 20);
+ cbxChart[i].ForeColor = DataColor[i];
+ cbxChart[i].TabIndex = i;
+ tabPage4.Controls.Add(cbxChart[i]);
DataQueue[i] = new Queue(DataLen);
chart1.Series.Add(new Series());
chart1.Series[i].Color = DataColor[i];
chart1.Series[i].ChartType = SeriesChartType.Line;
}
}
- private void cbxData_CheckedChanged(object sender, EventArgs e)
- {
- Chart_Clear();
- }
- /***********************
- 图表更新
- **********************/
- private void Chart_Update(double data, int LineLabel)
+
+ /*向图表的队列中添加数据*/
+ private void Chart_AddPoints(double data, int LineLabel)
{
+ if (!cbxDisplay.Checked) return;
if (DataQueue[LineLabel].Count >= DataLen)
DataQueue[LineLabel].Dequeue();
DataQueue[LineLabel].Enqueue(data);
- chart1.Series[LineLabel].Points.Clear();
- for (int i = 0; i < DataQueue[LineLabel].Count; i++)
- {
- if (stat.ChartFirst)
- {
- chart1.ChartAreas[0].AxisY.Maximum = data;
- chart1.ChartAreas[0].AxisY.Minimum = data - 0.01;
- stat.ChartFirst = false;
- }
- if (data > chart1.ChartAreas[0].AxisY.Maximum)
- chart1.ChartAreas[0].AxisY.Maximum = data;
- else if (data < chart1.ChartAreas[0].AxisY.Minimum)
- chart1.ChartAreas[0].AxisY.Minimum = data;
- chart1.Series[LineLabel].Points.AddXY(i + 1, DataQueue[LineLabel].ElementAt(i));
- }
}
- private void Chart_Display()
+
+ /*向下位机发送显示指令并更新图表*/
+ private void Chart_Update()
{
if (!serialPort1.IsOpen) return;
+ if (!cbxDisplay.Checked) return;
byte channel = 0;
+ double temp, max = -1e6, min = 1e6;
for (int i = 0; i < 8; i++)
- if (cbxData[i].Checked)
+ {
+ //通知下位机获取哪个通道的数据
+ if (cbxChart[i].Checked)
channel |= (byte)(1 << i);
+ else continue;
+ //获取图表的最大值和最小值
+ if (DataQueue[i].Count == 0) continue;
+ temp = DataQueue[i].Max();
+ max = temp > max ? temp : max;
+ temp = DataQueue[i].Min();
+ min = temp < min ? temp : min;
+ }
+ chart1.ChartAreas[0].AxisY.Maximum = max + 0.001;
+ chart1.ChartAreas[0].AxisY.Minimum = min - 0.001;
+ //更新图表
+ for (int i = 0; i < 8; i++)
+ {
+ chart1.Series[i].Points.Clear();
+ if (!cbxChart[i].Checked) continue;
+ if (DataQueue[i].Count == 0) continue;
+ for (int j = 0; j < DataQueue[i].Count; j++)
+ chart1.Series[i].Points.AddXY(j + 1, DataQueue[i].ElementAt(j));
+ }
+ //发送指令
if (channel != 0)
{
byte DataAdd = ptcl1.Send_Req(0xC3, channel, SerialPort1_Send);
@@ -93,9 +95,8 @@ private void Chart_Display()
labelTxCnt.Text = $"Tx:{TxCount}";
}
}
- /***********************
- 清除缓存
- **********************/
+
+ /*清除缓存*/
private void Chart_Clear()
{
int cnt;
@@ -106,7 +107,6 @@ private void Chart_Clear()
DataQueue[i].Dequeue();
chart1.Series[i].Points.Clear();
}
- stat.ChartFirst = true;
}
}
}
diff --git a/GroundStation/Form1.cs b/GroundStation/Form1.cs
index 8a519ac..f97193c 100644
--- a/GroundStation/Form1.cs
+++ b/GroundStation/Form1.cs
@@ -10,7 +10,6 @@
btnOpen1_Click
btnOpen2_Click
tmrPortChk_Tick
-tabControl1_SelectedIndexChanged
btnClearBuf_Click
btnReCnt_Click
函数:
@@ -24,12 +23,12 @@ namespace GroundStation
{
public partial class Form1 : Form
{
- string[] LastPorts = { };
- const string version = "Ground Station V1.01";
- long TxCount = 0, RxCount = 0;
- Protocol ptcl1 = new Protocol();
- Protocol ptcl2 = new Protocol();
- bool sp1Open, sp2Open;
+ private string[] LastPorts = { };
+ private const string version = "Ground Station V1.04";
+ private long TxCount = 0, RxCount = 0;
+ private readonly Protocol ptcl1 = new Protocol();
+ private readonly Protocol ptcl2 = new Protocol();
+ private bool sp1Open, sp2Open;
public Form1()
{
InitializeComponent();
@@ -39,6 +38,10 @@ private void Form1_Load(object sender, EventArgs e)
lblVersion.Text = version;
ChartInit();
Form1_Init();
+ rc[0] = new Filter();
+ rc[1] = new Filter();
+ rc[2] = new Filter();
+ rc[3] = new Filter();
}
/*开闭主串口按钮*/
private void btnOpen1_Click(object sender, EventArgs e)
@@ -60,7 +63,7 @@ private void btnOpen1_Click(object sender, EventArgs e)
}
catch (Exception ex)
{
- lblVersion.Text = "串口打开失败! " + ex.Message;
+ lblVersion.Text = "串口打开失败!" + ex.Message;
}
}
/*开闭外部输入串口按钮*/
@@ -83,7 +86,7 @@ private void btnOpen2_Click(object sender, EventArgs e)
}
catch (Exception ex)
{
- lblVersion.Text = "串口打开失败! " + ex.Message;
+ lblVersion.Text = "串口打开失败!" + ex.Message;
}
}
/*定时每秒检测端口状况*/
diff --git a/GroundStation/Form1.ctrl.cs b/GroundStation/Form1.ctrl.cs
index ee34252..33f59ef 100644
--- a/GroundStation/Form1.ctrl.cs
+++ b/GroundStation/Form1.ctrl.cs
@@ -5,7 +5,7 @@
飞行控制,包括接收并处理下位机消息,向下位机发送指令
事件:
btnCtrl_Click
-btnPassword_Click
+btnFlightMode_Click
函数:
CtrlPanel_Update
CtrlMsg_Send
@@ -15,9 +15,9 @@ namespace GroundStation
{
partial class Form1
{
- private byte ErrCnt = 20, ErrRcvCnt = 0;
- GlobalStatus stat;
- private int[] RCdata = { 500, 500, 0, 500 };
+ private byte ErrCnt = 20, ErrRcvCnt = 10;
+ private GlobalStatus stat;
+ private readonly int[] RCdata = { 500, 500, 0, 500 };
/*发送遥控信号按钮,按下后开始发送控制信号*/
private void btnCtrl_Click(object sender, EventArgs e)
@@ -39,6 +39,7 @@ private void btnCtrl_Click(object sender, EventArgs e)
/*飞行模式相关按钮:锁定解锁,模式切换*/
private void btnFlightMode_Click(object sender, EventArgs e)
{
+ if (!serialPort1.IsOpen) return;
switch (((Button)sender).Name)
{
case "btnUnLock":
@@ -98,7 +99,7 @@ private void CtrlPanel_Update()
else
{
RCdata[0] = 10 * (100 - hScrollRol.Value);
- RCdata[1] = 10 * vScrollPit.Value;
+ RCdata[1] = 10 * (100 - vScrollPit.Value);
RCdata[2] = 10 * (100 - vScrollThr.Value);
RCdata[3] = 10 * (100 - hScrollYaw.Value);
lblCtrlRol.Text = (10 * (100 - hScrollRol.Value)).ToString();
@@ -111,7 +112,6 @@ private void CtrlPanel_Update()
/*定时发送任务*/
private void CtrlMsg_Send()
{
- Key_Change(); //控制按键检测
if (!serialPort1.IsOpen) return;
//显示下位机状态信息
byte SendByte = 0;
diff --git a/GroundStation/Form1.init.cs b/GroundStation/Form1.init.cs
index e6586fa..670a964 100644
--- a/GroundStation/Form1.init.cs
+++ b/GroundStation/Form1.init.cs
@@ -23,6 +23,7 @@ private void Form1_Init()
cbxBaudRate1.Text = Properties.Settings.Default.cbxBaudRateStr;
cbxBaudRate2.Text = Properties.Settings.Default.cbxBaudRate2Str;
tbxInterval.Text = Properties.Settings.Default.tbxIntervalStr;
+ tbxNotepad.Text = Properties.Settings.Default.tbxNotepadstr;
}
/*窗口关闭保存软件设置*/
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
@@ -34,7 +35,8 @@ private void Form1_FormClosing(object sender, FormClosingEventArgs e)
Properties.Settings.Default.cbxBaudRateStr = cbxBaudRate1.Text;
Properties.Settings.Default.cbxBaudRate2Str = cbxBaudRate2.Text;
Properties.Settings.Default.tbxIntervalStr = tbxInterval.Text;
- Properties.Settings.Default.Save();
+ Properties.Settings.Default.tbxNotepadstr = tbxNotepad.Text;
+ Properties.Settings.Default.Save();
}
}
}
diff --git a/GroundStation/Form1.key.cs b/GroundStation/Form1.key.cs
index c56bd61..6fba73e 100644
--- a/GroundStation/Form1.key.cs
+++ b/GroundStation/Form1.key.cs
@@ -1,6 +1,11 @@
using System.Windows.Forms;
/**************ļ˵**********************
пƽؼ̿
+¼:
+Form1_KeyUp
+Form1_KeyDown
+:
+Key_Change
********************************************/
namespace GroundStation
@@ -32,7 +37,6 @@ private void Key_Change()
}
private void Form1_KeyUp(object sender, KeyEventArgs e)
{
- if (tabControl1.SelectedIndex != 1) return;
Keys CtrlKey = e.KeyCode;
if (CtrlKey == Keys.J)
KeyState &= 0xFE;
@@ -53,7 +57,6 @@ private void Form1_KeyUp(object sender, KeyEventArgs e)
}
private void Form1_KeyDown(object sender, KeyEventArgs e)
{
- if (tabControl1.SelectedIndex != 1) return;
Keys CtrlKey = e.KeyCode;
if (CtrlKey == Keys.J)
KeyState |= 0x01;
diff --git a/GroundStation/Form1.param.cs b/GroundStation/Form1.param.cs
index 6b3c2ae..2c8fa11 100644
--- a/GroundStation/Form1.param.cs
+++ b/GroundStation/Form1.param.cs
@@ -11,6 +11,7 @@ namespace GroundStation
{
partial class Form1
{
+ private FileWrite dataFile;
/*读取控制器参数*/
private void btnRead_Click(object sender, EventArgs e)
{
@@ -60,5 +61,19 @@ private void btnWrite_Click(object sender, EventArgs e)
}
catch (Exception) { }
}
+ private void cbxFileWrite_CheckedChanged(object sender, EventArgs e)
+ {
+ if (cbxFileWrite.Checked)
+ {
+ dataFile = new FileWrite();
+ TxCount += ptcl1.Send_Req(0xC4, 0x03, SerialPort1_Send);
+ }
+ else
+ {
+ TxCount += ptcl1.Send_Req(0xC4, 0, SerialPort1_Send);
+ dataFile.Write_File();
+ }
+ labelTxCnt.Text = $"Tx:{TxCount}";
+ }
}
}
diff --git a/GroundStation/Form1.txrx.cs b/GroundStation/Form1.txrx.cs
index 39b0a0c..c0b71fa 100644
--- a/GroundStation/Form1.txrx.cs
+++ b/GroundStation/Form1.txrx.cs
@@ -15,34 +15,27 @@ namespace GroundStation
{
partial class Form1
{
- /***********************
- 为串口发送加上异常处理
- **********************/
+ private readonly Filter[] rc = new Filter[4];
+ /*为串口发送加上异常处理*/
private void SerialPort1_Send(byte[] buffer, int count)
{
try
{
serialPort1.Write(buffer, 0, count);
}
- catch (Exception)
+ catch (Exception ex)
{
SerialPort1_Close();
- };
+ lblVersion.Text = "串口发送失败!" + ex.Message;
+ }
}
/*定时100ms更新与发送任务*/
private void tmrCtrl_Tick(object sender, EventArgs e)
{
- switch (tabControl1.SelectedIndex)
- {
- case 1:
- CtrlPanel_Update();
- CtrlMsg_Send();
- break;
- case 3:
- Chart_Display();
- break;
- default: break;
- }
+ Key_Change(); //控制按键检测
+ CtrlPanel_Update();
+ CtrlMsg_Send();
+ Chart_Update();
}
/*定时10ms处理串口接收缓冲RxStr*/
private void tmrPortRcv_Tick(object sender, EventArgs e)
@@ -75,11 +68,15 @@ private void tmrPortRcv_Tick(object sender, EventArgs e)
}
DataAdd1++;
if (state == 0)
+ {
Data_Receive_Precess(ptcl1);
+ imgBitErr.Image = Properties.Resources.correct;
+ }
else if (state == 2)
{
lblCtrl.Text = "失控";
lblCtrl.ForeColor = Color.Red;
+ imgBitErr.Image = Properties.Resources.error;
}
}
RxCount += DataAdd1;
@@ -100,17 +97,20 @@ private void tmrPortRcv_Tick(object sender, EventArgs e)
}
DataAdd2++;
if (state == 0)
+ {
Data_Receive_Precess(ptcl2);
+ imgBitErr.Image = Properties.Resources.correct;
+ }
+ else if (state == 2)
+ imgBitErr.Image = Properties.Resources.error;
}
RxCount += DataAdd2;
labelRxCnt.Text = $"Rx:{RxCount}";
}
- /***********************
- 根据功能字进一步处理
- **********************/
+ /*根据功能字进一步处理*/
private void Data_Receive_Precess(Protocol pt)
{
- if (pt.FcnWord == FuncByte.ctrlOut)
+ if (pt.FcnByte == FuncByte.ctrlOut)
ErrRcvCnt = 0;
else
ErrCnt = 0;
@@ -123,7 +123,7 @@ private void Data_Receive_Precess(Protocol pt)
sdata[4] = (short)((RxTemp[8] << 8) | RxTemp[9]);
sdata[5] = (short)((RxTemp[10] << 8) | RxTemp[11]);
double[] ddata = new double[4];
- switch (pt.FcnWord)
+ switch (pt.FcnByte)
{
case FuncByte.stat:
if ((RxTemp[0] & 0x01) == 0x01)
@@ -182,16 +182,16 @@ private void Data_Receive_Precess(Protocol pt)
lblQ3.Text = ddata[3].ToString("#0.0000");
break;
case FuncByte.rolCtrl:
- tbxRolParam1.Text = sdata[0].ToString();
- tbxRolParam2.Text = sdata[1].ToString();
- tbxRolParam3.Text = sdata[2].ToString();
- tbxRolParam4.Text = sdata[3].ToString();
+ tbxRolParam1.Text = sdata[0].ToString();
+ tbxRolParam2.Text = sdata[1].ToString();
+ tbxRolParam3.Text = sdata[2].ToString();
+ tbxRolParam4.Text = sdata[3].ToString();
break;
case FuncByte.pitCtrl:
- tbxPitParam1.Text = sdata[0].ToString();
- tbxPitParam2.Text = sdata[1].ToString();
- tbxPitParam3.Text = sdata[2].ToString();
- tbxPitParam4.Text = sdata[3].ToString();
+ tbxPitParam1.Text = sdata[0].ToString();
+ tbxPitParam2.Text = sdata[1].ToString();
+ tbxPitParam3.Text = sdata[2].ToString();
+ tbxPitParam4.Text = sdata[3].ToString();
break;
case FuncByte.yawCtrl:
tbxYawParam1.Text = sdata[0].ToString();
@@ -205,8 +205,8 @@ private void Data_Receive_Precess(Protocol pt)
ddata[2] = sdata[2] / 100.0;
ddata[3] = sdata[3] / 100.0;
for (int i = 0; i < 4; i++)
- if (cbxData[i].Checked)
- Chart_Update(ddata[i], i);
+ if (cbxChart[i].Checked)
+ Chart_AddPoints(ddata[i], i);
break;
case FuncByte.chart2:
ddata[0] = sdata[0] / 100.0;
@@ -214,19 +214,25 @@ private void Data_Receive_Precess(Protocol pt)
ddata[2] = sdata[2] / 100.0;
ddata[3] = sdata[3] / 100.0;
for (int i = 4; i < 8; i++)
- if (cbxData[i].Checked)
- Chart_Update(ddata[i - 4], i);
+ if (cbxChart[i].Checked)
+ Chart_AddPoints(ddata[i - 4], i);
break;
case FuncByte.ctrlOut:
- RCdata[0] = Limit(sdata[0], 0, 1000);
- RCdata[1] = Limit(sdata[1], 0, 1000);
- RCdata[2] = Limit(sdata[2], 0, 1000);
- RCdata[3] = Limit(sdata[3], 0, 1000);
+ RCdata[0] = Limit((int)rc[0].OneOrder_Filter(sdata[0]), 0, 1000);
+ RCdata[1] = Limit((int)rc[1].OneOrder_Filter(sdata[1]), 0, 1000);
+ RCdata[2] = Limit((int)rc[2].OneOrder_Filter(sdata[2]), 0, 1000);
+ RCdata[3] = Limit((int)rc[3].OneOrder_Filter(sdata[3]), 0, 1000);
+ break;
+ case FuncByte.highspeed:
+ ddata[0] = sdata[0] * 0.0076293945;
+ ddata[1] = sdata[1] * 0.0076293945;
+ if (dataFile != null)
+ dataFile.Write_Double_Pair_Data(ddata[0], ddata[1]);
break;
default: break;
}
}
- private int Limit(int num, int min, int max)
+ private static int Limit(int num, int min, int max)
{
return num <= min ? (min) : (num >= max ? max : num);
}
diff --git a/GroundStation/GroundStation.csproj b/GroundStation/GroundStation.csproj
index ce07657..a0c21d0 100644
--- a/GroundStation/GroundStation.csproj
+++ b/GroundStation/GroundStation.csproj
@@ -9,10 +9,11 @@
Properties
GroundStation
GroundStation
- v4.5.2
+ v4.6
512
true
false
+
publish\
true
Disk
@@ -50,6 +51,7 @@
GroundStation.ico
+
true
@@ -69,6 +71,8 @@
+
+
Form
@@ -136,6 +140,8 @@
+
+
diff --git a/GroundStation/GroundStation.csproj.user b/GroundStation/GroundStation.csproj.user
new file mode 100644
index 0000000..95a1d1a
--- /dev/null
+++ b/GroundStation/GroundStation.csproj.user
@@ -0,0 +1,13 @@
+
+
+
+ publish\
+
+
+
+
+
+ zh-CN
+ false
+
+
\ No newline at end of file
diff --git a/GroundStation/Properties/AssemblyInfo.cs b/GroundStation/Properties/AssemblyInfo.cs
index f947d6e..9280c4f 100644
--- a/GroundStation/Properties/AssemblyInfo.cs
+++ b/GroundStation/Properties/AssemblyInfo.cs
@@ -5,12 +5,12 @@
// 有关程序集的一般信息由以下
// 控制。更改这些特性值可修改
// 与程序集关联的信息。
-[assembly: AssemblyTitle("WindowsFormsApplication2")]
+[assembly: AssemblyTitle("GroundStation")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
-[assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("WindowsFormsApplication2")]
-[assembly: AssemblyCopyright("Copyright © 2020")]
+[assembly: AssemblyCompany("Zhang Hangning")]
+[assembly: AssemblyProduct("GroundStation")]
+[assembly: AssemblyCopyright("Copyright xd15zhn © 2020")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
diff --git a/GroundStation/Properties/Resources.Designer.cs b/GroundStation/Properties/Resources.Designer.cs
index 42d041d..9e2ee72 100644
--- a/GroundStation/Properties/Resources.Designer.cs
+++ b/GroundStation/Properties/Resources.Designer.cs
@@ -19,7 +19,7 @@ namespace GroundStation.Properties {
// 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
// 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
// (以 /str 作为命令选项)，或重新生成 VS 项目。
- [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
+ [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "16.0.0.0")]
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
internal class Resources {
@@ -47,7 +47,7 @@ internal Resources() {
}
///
- /// 使用此强类型资源类，为所有资源查找
+ /// 重写当前线程的 CurrentUICulture 属性
/// 重写当前线程的 CurrentUICulture 属性。
///
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
@@ -60,6 +60,26 @@ internal Resources() {
}
}
+ ///
+ /// 查找 System.Drawing.Bitmap 类型的本地化资源。
+ ///
+ internal static System.Drawing.Bitmap correct {
+ get {
+ object obj = ResourceManager.GetObject("correct", resourceCulture);
+ return ((System.Drawing.Bitmap)(obj));
+ }
+ }
+
+ ///
+ /// 查找 System.Drawing.Bitmap 类型的本地化资源。
+ ///
+ internal static System.Drawing.Bitmap error {
+ get {
+ object obj = ResourceManager.GetObject("error", resourceCulture);
+ return ((System.Drawing.Bitmap)(obj));
+ }
+ }
+
///
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
///
diff --git a/GroundStation/Properties/Resources.resx b/GroundStation/Properties/Resources.resx
index 69ee430..aa0b164 100644
--- a/GroundStation/Properties/Resources.resx
+++ b/GroundStation/Properties/Resources.resx
@@ -118,6 +118,12 @@
System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+
+ ..\Resources\correct.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a
+
+
+ ..\Resources\error.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a
+
..\Resources\ledoff.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a
diff --git a/GroundStation/Properties/Settings.Designer.cs b/GroundStation/Properties/Settings.Designer.cs
index 5835fa6..2db7133 100644
--- a/GroundStation/Properties/Settings.Designer.cs
+++ b/GroundStation/Properties/Settings.Designer.cs
@@ -12,7 +12,7 @@ namespace GroundStation.Properties {
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
- [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "16.5.0.0")]
+ [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "16.6.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
@@ -106,5 +106,17 @@ public string cbxBaudRate2Str {
this["cbxBaudRate2Str"] = value;
}
}
+
+ [global::System.Configuration.UserScopedSettingAttribute()]
+ [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+ [global::System.Configuration.DefaultSettingValueAttribute("")]
+ public string tbxNotepadstr {
+ get {
+ return ((string)(this["tbxNotepadstr"]));
+ }
+ set {
+ this["tbxNotepadstr"] = value;
+ }
+ }
}
}
diff --git a/GroundStation/Properties/Settings.settings b/GroundStation/Properties/Settings.settings
index fab4990..68ab237 100644
--- a/GroundStation/Properties/Settings.settings
+++ b/GroundStation/Properties/Settings.settings
@@ -23,5 +23,8 @@
+
+
+
\ No newline at end of file
diff --git a/GroundStation/Resources/correct.png b/GroundStation/Resources/correct.png
new file mode 100644
index 0000000..c9d59d7
Binary files /dev/null and b/GroundStation/Resources/correct.png differ
diff --git a/GroundStation/Resources/error.png b/GroundStation/Resources/error.png
new file mode 100644
index 0000000..f38f460
Binary files /dev/null and b/GroundStation/Resources/error.png differ
diff --git a/GroundStation/allStructs.cs b/GroundStation/allStructs.cs
index d13dc4e..66ac8a6 100644
--- a/GroundStation/allStructs.cs
+++ b/GroundStation/allStructs.cs
@@ -2,10 +2,9 @@
{
struct GlobalStatus
{
- public bool RmCtrl; //是否向下位机发送控制命令
- public bool inCtrl; //下位机控制中
+ public bool RmCtrl; //是否向下位机发送控制命令
+ public bool inCtrl; //下位机控制中
public bool CtrlRcving; //正在接收外部控制信号
- public bool ChartFirst; //接收的是第一个数,初始化Y轴最大值和最小值
}
struct FuncByte
{
@@ -21,5 +20,6 @@ struct FuncByte
public const byte ctrlOut = 0xAA;
public const byte chart1 = 0xB1;
public const byte chart2 = 0xB2;
+ public const byte highspeed = 0x40;
}
}
\ No newline at end of file
diff --git a/GroundStation/protocol.cs b/GroundStation/protocol.cs
index 5b27979..e818203 100644
--- a/GroundStation/protocol.cs
+++ b/GroundStation/protocol.cs
@@ -13,62 +13,74 @@ namespace GroundStation
class Protocol
{
public byte[] DataReceived = new byte[12]; //来自下位机的有效数据
- public byte FcnWord = 0, LenWord = 0;
- private byte[] DataToSend = new byte[12];
- private byte RxState = 0, sum = 0, p = 0;
- /***********************
- 对从串口收到的数据进行预处理并将有效数据保存至RxTemp
- **********************/
+ public byte FcnByte = 0;
+ private byte LenByte = 0;
+ private readonly byte[] DataToSend = new byte[12];
+ private byte RxState = 0, CheckSum = 0, cnt = 0;
+ /*对从串口收到的数据进行预处理并将有效数据保存至RxTemp*/
+ /*返回值:0,收到完整的数据帧;1,数据帧未接收完成;2,接收数据帧出错*/
public byte Byte_Receive(byte RxData)
{
switch (RxState)
{
- case 0:
+ case 0: //帧头校验
if (RxData == '>')
{
- sum = RxData;
+ CheckSum = RxData;
RxState = 1;
}
+ else if (RxData == '@')
+ {
+ FcnByte = CheckSum = RxData;
+ RxState = 0x11;
+ }
+ else
+ return 2; //数据帧出错
break;
- case 1:
- sum += RxData;
- FcnWord = RxData;
+ case 1: //功能字校验与保存
+ CheckSum += RxData;
+ FcnByte = RxData;
RxState = 2;
break;
- case 2:
+ case 2: //数据长度校验与保存
if (RxData <= 12)
{
- sum += RxData;
- LenWord = RxData;
+ CheckSum += RxData;
+ LenByte = RxData;
RxState = 3;
}
else
{
- sum = 0;
+ CheckSum = 0;
RxState = 0;
+ return 2; //数据帧出错
}
break;
case 3: //临时保存待用数据
- sum += RxData;
- DataReceived[p++] = RxData;
- if (p >= LenWord)
- RxState = 4;
- else if (p >= 12)
- RxState = 5;
+ CheckSum += RxData;
+ DataReceived[cnt++] = RxData;
+ if (cnt >= LenByte)
+ RxState = 0x0A;
+ break;
+ case 0x11: //临时保存待用数据
+ CheckSum += RxData;
+ DataReceived[cnt++] = RxData;
+ if (cnt >= 4)
+ RxState = 0x0A;
break;
- case 4: //匹配校验和
+ case 0x0A:
RxState = 0;
- p = 0;
- if (sum == RxData) //收到了正确的数据帧
- return 0;
+ cnt = 0;
+ if (CheckSum == RxData)
+ return 0; //收到了正确的数据帧
else
- return 2;
+ return 2; //数据帧出错
default:
- p = 0;
+ cnt = 0;
RxState = 0;
- break;
+ return 2; //数据帧出错
}
- return 1;
+ return 1; //数据帧尚未接收完成
}
/***********************
发送解锁帧
@@ -90,7 +102,7 @@ public byte Send_Cmd(byte state, Action SerialWrite)
**********************/
public byte Send_S16_Data(int[] data, byte len, byte fcn, Action SerialWrite)
{
- byte i, cnt = 0, checksum = 0;
+ byte i, cnt = 0, sum = 0;
DataToSend[cnt++] = 0x3C;
DataToSend[cnt++] = fcn;
DataToSend[cnt++] = (byte)(len * 2);
@@ -100,8 +112,8 @@ public byte Send_S16_Data(int[] data, byte len, byte fcn, Action Se
DataToSend[cnt++] = (byte)(data[i] % 256);
}
for (i = 0; i < cnt; i++)
- checksum += DataToSend[i];
- DataToSend[cnt++] = checksum;
+ sum += DataToSend[i];
+ DataToSend[cnt++] = sum;
SerialWrite(DataToSend, cnt);
return cnt;
}
@@ -110,15 +122,15 @@ public byte Send_S16_Data(int[] data, byte len, byte fcn, Action Se
**********************/
public byte Send_U8_Data(byte[] data, byte len, byte fcn, Action SerialWrite)
{
- byte i, cnt = 0, checksum = 0;
+ byte i, cnt = 0, sum = 0;
DataToSend[cnt++] = 0x3C;
DataToSend[cnt++] = fcn;
DataToSend[cnt++] = len;
for (i = 0; i < len; i++)
DataToSend[cnt++] = data[i];
for (i = 0; i < cnt; i++)
- checksum += DataToSend[i];
- DataToSend[cnt++] = checksum;
+ sum += DataToSend[i];
+ DataToSend[cnt++] = sum;
SerialWrite(DataToSend, cnt);
return cnt;
}
diff --git a/image/GS_base.png b/image/GS_base.png
new file mode 100644
index 0000000..9fc1a4c
Binary files /dev/null and b/image/GS_base.png differ
diff --git a/image/GS_chart.png b/image/GS_chart.png
new file mode 100644
index 0000000..7bb627e
Binary files /dev/null and b/image/GS_chart.png differ
diff --git a/image/GS_ctrl.png b/image/GS_ctrl.png
new file mode 100644
index 0000000..44442e1
Binary files /dev/null and b/image/GS_ctrl.png differ
diff --git a/image/GS_param.png b/image/GS_param.png
new file mode 100644
index 0000000..edab82f
Binary files /dev/null and b/image/GS_param.png differ
diff --git a/logo.jpg b/logo.jpg
deleted file mode 100644
index a746c9d..0000000
Binary files a/logo.jpg and /dev/null differ
diff --git a/readme.md b/readme.md
index 4401aaf..b18d678 100644
--- a/readme.md
+++ b/readme.md
@@ -1,9 +1,7 @@
-# 西电航协微型四轴ADRC版本地面站
+# 西电航协地面站PC端
[](https://app.codacy.com/gh/xdu-aero-association/GroundStation?utm_source=github.com&utm_medium=referral&utm_content=xdu-aero-association/GroundStation&utm_campaign=Badge_Grade_Dashboard)
-
-
## Status
    
@@ -12,62 +10,71 @@
这是西电航协微型四轴飞行器ADRC版本飞控端的上位机源代码，该版本与PID版本串口通讯协议不同，因此不适用于PID版本的代码。
-这是一个[Visual Studio 2019](https://visualstudio.microsoft.com/zh-hans/vs/)工程，打开最新版Visual Studio 2019导入工程文件或双击sln工程文件即可打开该工程源码。
+这是一个[Visual Studio 2019](https://visualstudio.microsoft.com/zh-hans/vs/) 工程，打开最新版Visual Studio 2019导入工程文件或双击sln工程文件即可打开该工程源码。
-该项目目前出于待完成阶段，非制作人员勿克隆master分支源码
+该项目已经基本完成，正在持续维护中。
修改代码的时候，请在master分支下面新建一个特性分支，在该特性分支下进行代码的修改然后通过该分支执行pull request操作。确认无误后再合并至主分支。
bug相关和建议请移步至issue栏目
-## 使用说明
+# 使用说明
+
+c#上位机
+
+版本 v1.04
有基本收发、飞行控制、参数设置、波形显示4个标签。
可自动识别可用端口号。
-[飞行器控制示例](https://github.com/xdu-aero-association/Drone_Master_ADRC)
+部分内容关闭重启后不会丢失。
+
+[飞行器控制示例](https://github.com/xd15zhn/drone)
### 基本收发
+
+
3个发送窗口独立。第一个支持定时发送。前两个为多行，第三个为单行。
+3个发送窗口的内容在关闭重启后不会丢失。
+
### 飞行控制
-发送切换模式指令时同步发送锁定指令。
+
-有2种方法可以进行飞行控制。
+飞机解锁流程:
-第一种是在切换到'飞行控制'标签下用键盘WSAD和IKJL进行飞行控制；
+打开主串口->传感器校准(可选)->打开外部输入串口(可选)->将油门通道拨到底->点击"开始发送“->点击"解锁“
-第二种是符合协议的外部串口输入，可使用处理器将遥控器接收机的PWM信号转换成串口数据通过'飞行控制'标签下的串口输入。
+发送切换模式指令时同步发送锁定指令。
+有2种方法可以进行飞行控制。第一种是用键盘WSAD和IKJL进行飞行控制；
+第二种是符合协议的外部串口输入，可使用处理器将遥控器接收机的PWM信号转换成串口数据通过'飞行控制'标签下的串口输入。
第二种方法优先于第一种。
-点击"建立控制链路"按钮开始以100ms间隔发送遥控帧,如果收到正确的帧则飞行状态显示"控制中"。
+### 参数设置
-锁定/解锁与飞行模式切换均需要正确的密码。
+
-解锁前需要建立控制链路。
+一般地，控制器参数传输值是参数真实值的1000倍(一般为0.几至几)，状态参数传输值是参数真实值的100倍(一般为几至几十)。
-发送切换模式指令时同步发送锁定指令。
-
-### 参数设置
+右边为文本框，可自由输入，关闭重启后不会丢失。
-参数名称为自定义，重启软件所有名称不会丢失。
+写入参数后建议重新读取以检查是否成功写入。
-点击读取参数按钮会将从下位机收到的参数读取至文本框中，点击写入参数会将从下位机收到的参数展示到旁边。
-
-一般地，控制器参数传输值是参数真实值的1000倍(一般为0.几至几)，状态参数传输值是参数真实值的100倍(一般为几至几十)，
-其它参数保持原值。
+左下角写入文件用于接收高速数据并直接将数据写入文件。
### 波形显示
-波形显示的数据与'参数设置'标签中的状态参数相同。
+
+
+注意右下角"开始显示"复选框。
更改选择显示的数据会清空并重新显示。
-## 协议
+# 协议
协议说明:
@@ -93,6 +100,7 @@ SUM等于从该数据帧第一字节开始，也就是帧头开始，至该帧
|遥控命令|3E |AA |08 |s16×4 |SUM |遥控器4个通道的控制信号|
|波形1 |3E |B1 |08 |s16×4 |SUM |波形显示通道1~4|
|波形2 |3E |B2 |08 |s16×4 |SUM |波形显示通道5~8|
+|系统辨识|40 |- |- |s16×2 |SUM |系统辨识所用输入与输出数据|
|- |BIT7|BIT6|BIT5 |BIT4|BIT3|BIT2|BIT1|BIT0|
|- |- |- |- |- |- |- |- |- |
@@ -102,18 +110,21 @@ SUM等于从该数据帧第一字节开始，也就是帧头开始，至该帧
注:功能字AA为外部遥控信号输入，来自于与其它数据帧不同的串口。
+40数据帧用于发送高速高精度数据，没有功能和长度字节
+
### 地面站->飞控
|帧名称 |帧头|功能字|长度|数据 |校验|备注|
|- |- |- |- |- |- |- |
|状态 |3C |01 |01 |u8×1 |SUM |指令(stat)|
-|遥控 |3C |08 |08 |s16×4|SUM |遥控器4个通道的控制信号|
+|遥控 |3C |08 |08 |s16×4|SUM |发送遥控器4个通道的控制信号|
|ROL参数|3C |A1 |08 |s16×8|SUM |写入ROL通道控制器参数×1000|
|PIT参数|3C |A2 |08 |s16×8|SUM |写入PIT通道控制器参数×1000|
|YAW参数|3C |A3 |08 |s16×8|SUM |写入YAW和THR通道控制器参数×1000|
|读参数1|3C |C1 |01 |u8×1 |SUM |请求读取飞行参数(req1)|
|读参数2|3C |C2 |01 |u8×1 |SUM |请求校准传感器与读取控制器参数(req2)|
|读参数3|3C |C3 |01 |u8×1 |SUM |请求读取参数用于显示波形(req3)|
+|读参数4|3C |C4 |01 |u8×1 |SUM |请求读取系统辨识所用数据(reg4)|
|- |BIT7 |BIT6 |BIT5 |BIT4 |BIT3 |BIT2 |BIT1 |BIT0 |
|- |- |- |- |- |- |- |- |- |
@@ -121,23 +132,26 @@ SUM等于从该数据帧第一字节开始，也就是帧头开始，至该帧
|req1|- |- |四元数|油门 |遥控 |传感器|姿态 |状态 |
|req2|陀螺仪校准|加计校准|- |- |- |Y参数 |P参数|R参数|
|req3|- |- |- |- |- |- |- |- |
+|req4|- |- |- |- |- |- |位置1|位置0|
-示例: 3C 01 01 01 3F 表示请求解锁
+示例: 3C 01 01 41 7F 表示请求解锁并设置为姿态模式
-注:
+注:stat的BIT7和BIT6为10时设置为速度模式,为01时设置为姿态模式,其它情况无效。
-stat的BIT7和BIT6为10时设置为速度模式,为01时设置为姿态模式,其它情况无效。
+# 开发人员须知。
-req3用于波形显示。
+### 飞行控制
-## 地面站收发具体内容
+点击"开始发送"按钮开始以100ms间隔发送遥控帧。
-开发人员须知。
+### 版本更新
-## 其它注意事项
+* 更改波形显示颜色。
-* 使用蓝牙串口时存在部分延迟卡顿等问题
+* 更改图表刷新方法使数据更新与图表刷新异步，避免卡顿。
-## BUG
+# 其它注意事项
-* 使用蓝牙串口时存在部分延迟卡顿等问题
+* 使用蓝牙串口时存在部分延迟卡顿等问题，因此强烈建议在使用结束后，
+先断开串口或直接关闭地面站，然后再断开下位机电源。
+使用USB转TTL模块则不用考虑此问题。