WebSVN - Projects - Diff - Rev 2250 and 2254 - /MKLiveView/Source/MainForm.cs


﻿///============================================================================
/// MKLiveView 
/// Copyright © 2016 Steph
/// 
///This file is part of MKLiveView.
///
///MKLiveView is free software: you can redistribute it and/or modify
///it under the terms of the GNU General Public License as published by
///the Free Software Foundation, either version 3 of the License, or
///(at your option) any later version.
///
///MKLiveView is distributed in the hope that it will be useful,
///but WITHOUT ANY WARRANTY; without even the implied warranty of
///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
///GNU General Public License for more details.
///
///You should have received a copy of the GNU General Public License
///along with cssRcon.  If not, see <http://www.gnu.org/licenses/>.
///
///============================================================================
///Credits:
///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737)
///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls)
///I used some of his code for displaying the compass 
///
///Tom Pyke (http://tom.pycke.be)
///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon)
///Great job!
///
/// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
/// and the sourcode (http://hdl.lib.byu.edu/1877/2748)
/// By his work I finally managed to get the communication with the Mikrokopter controllers to run
/// Some of his code was used in this programm like the SimpelSerialPort class (with some changes)
/// and the FilghtControllerMessage class
/// 
///============================================================================
 
using System;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO;
using System.Threading;
using System.Diagnostics;
using System.Runtime.InteropServices;
 
namespace MKLiveView
{
    public partial class MainForm : Form
    {
        String[] NC_Error = new string[44]
        {
            "No Error",
            "FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
            "MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
            "no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
            "no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
            "no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
            "bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
            "RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
            "FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
            "ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
            "ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
            "ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
            "ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
            "ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
            "ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
            "ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
            "ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
            "ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
            "ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
            "Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
            "FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
            "ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
            "ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
            "Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
            "BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
            "Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
            "ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
            "ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
            "ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
            "ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
            "No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
            "compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
            "ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
            "no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
            "compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
            "FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
            "ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
            "Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
            "GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
            "ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
            "ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
            "ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
            "ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
            "ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
        };
 
        [FlagsAttribute]
        enum NC_HWError0 : short
        {
            None = 0,
            SPI_RX = 1,
            COMPASS_RX = 2,
            FC_INCOMPATIBLE = 4,
            COMPASS_INCOMPATIBLE = 8,
            GPS_RX = 16,
            COMPASS_VALUE = 32
        };
        [FlagsAttribute]
        enum FC_HWError0 : short
        {
            None = 0,
            GYRO_NICK = 1,
            GYRO_ROLL = 2,
            GYRO_YAW = 4,
            ACC_NICK = 8,
            ACC_ROLL = 16,
            ACC_TOP = 32,
            PRESSURE = 64,
            CAREFREE = 128
        };
        [FlagsAttribute]
        enum FC_HWError1 : short
        {
            None = 0,
            I2C = 1,
            BL_MISSING = 2,
            SPI_RX = 4,
            PPM = 8,
            MIXER = 16,
            RC_VOLTAGE = 32,
            ACC_NOT_CAL = 64,
            RES3 = 128
        };
        public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
        // Various colors for logging info
        private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };
 
        string[] sAnalogLabel = new string[32];
        string[] sAnalogData = new string[32];
        bool bReadContinously = false;
        bool check_HWError = false;
        bool _bCBInit = true;
        bool _init = true;
        bool _debugDataAutorefresh = true;
        bool _navCtrlDataAutorefresh = true;
        bool _blctrlDataAutorefresh = true;
        bool _OSDAutorefresh = true;
        bool _bErrorLog = false;
        int crcError = 0;
        int iLableIndex = 0;
        string filePath = Directory.GetCurrentDirectory();
        string fileName = "NCLabelTexts.txt";
        int _iCtrlAct = 0;
        int _iLifeCounter = 0;
        int iOSDPage = 0;
        int iOSDMax = 0;
        /// <summary>
        /// interval for sending debugdata (multiplied by 10ms)
        /// </summary>
        byte debugInterval = 25; //(=> 250ms)
        /// <summary>
        /// interval for sending BL-CTRL status (multiplied by 10ms)
        /// </summary>
        byte blctrlInterval = 45;
        /// <summary>
        /// interval for sending NAV-CTRL status (multiplied by 10ms)
        /// </summary>
        byte navctrlInterval = 80;
        /// <summary>
        /// interval for sending OSD page update (multiplied by 10ms)
        /// </summary>
        byte OSDInterval = 85;
        /// <summary>
        /// datatable for the debug data array - displayed on settings tabpage in datagridview
        /// </summary>
        DataTable dtAnalog = new DataTable();
 
        /// <summary>
        /// datatable for motordata (current,temp)
        /// </summary>
        DataTable dtMotors1 = new DataTable();
        DataTable dtMotors2 = new DataTable();
 
        public MainForm()
        {
            InitializeComponent();
            _readIni();
            dtAnalog.Columns.Add("ID");
            dtAnalog.Columns.Add("Value");
            dataGridView1.DataSource = dtAnalog;
            dtMotors1.Columns.Add("#");
            dtMotors1.Columns.Add("Current");
            dtMotors1.Columns.Add("Temp");
            dtMotors2.Columns.Add("#");
            dtMotors2.Columns.Add("Current");
            dtMotors2.Columns.Add("Temp");
            dgvMotors1.DataSource = dtMotors1;
            dgvMotors2.DataSource = dtMotors2;
            _initDTMotors();
            dgvMotors1.Columns[0].Width = 24;
            dgvMotors1.Columns[1].Width = 74;
            dgvMotors1.Columns[2].Width = 74;
            dgvMotors2.Columns[0].Width = 24;
            dgvMotors2.Columns[1].Width = 74;
            dgvMotors2.Columns[2].Width = 74;
            simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
            simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
            simpleSerialPort.DataReceived += processMessage;
            chkbAutoBL.Checked = _blctrlDataAutorefresh;
            chkbAutoDbg.Checked = _debugDataAutorefresh;
            chkbAutoNav.Checked = _navCtrlDataAutorefresh;
            chkbAutoOSD.Checked = _OSDAutorefresh;
            labelTimingDebug.Text = (debugInterval * 10).ToString();
            labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
            labelTimingNAV.Text = (navctrlInterval * 10).ToString();
            labelTimingOSD.Text = (OSDInterval * 10).ToString();
            tabControl1.TabPages.Remove(tabPageTesting);
        }
        #region events
        private void MainForm_Shown(object sender, EventArgs e)
        {
            _loadLabelNames();
            _init = false;
            splitContainer1.SplitterDistance = 514;
        }
        private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
        {
            _writeIni();
        }
        private void SimpleSerialPort_PortOpened()
        {
            btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
            btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
            _getVersion();
            Thread.Sleep(100);
            _OSDMenue(0);
           // _readCont(true);
        }
        private void SimpleSerialPort_PortClosed()
        {
            btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
            btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
            _readCont(false);
        }
        /// <summary>
        /// timer for refreshing subscription of subscribed data
        /// query lifecounter for connection failure
        /// </summary>
        private void timer1_Tick(object sender, EventArgs e)
        {
            if(bReadContinously)
            {
                if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
 
                if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
               
                if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
                check_HWError = true;
                _getVersion();
                Thread.Sleep(10);
                if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
                if (_iLifeCounter > 0)
                {
                    lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
                    _iLifeCounter = 0;
                }
                else
                {
                    Log(LogMsgType.Error, "No communication to NC/FC!");
                    lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
                }
            }
        }
        private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (!_bCBInit && cbOSD.SelectedIndex > -1)
                _OSDMenue(cbOSD.SelectedIndex);
        }
        private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
        {
            if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
        }
        private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
        {
            if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
        }
        private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
        {
            if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
        }
        private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
        {
            if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
        }
        private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cbTimingDebug.SelectedIndex > -1)
            {
                debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
                labelTimingDebug.Text = (debugInterval * 10).ToString();
            }
        }
        private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cbTimingNAV.SelectedIndex > -1)
            {
                navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
                labelTimingNAV.Text = (navctrlInterval * 10).ToString();
            }
        }
        private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cbTimingBLCTRL.SelectedIndex > -1)
            {
                blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
                labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
            }
        }
        private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cbTimingOSD.SelectedIndex > -1)
            {
                OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
                labelTimingOSD.Text = (OSDInterval * 10).ToString();
            }
        }
        private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
        {
            System.Diagnostics.Process.Start(e.LinkText);
        }
        #endregion events
 
        /// <summary> Log data to the terminal window. </summary>
        /// <param name="msgtype"> The type of message to be written. </param>
        /// <param name="msg"> The string containing the message to be shown. </param>
        private void Log(LogMsgType msgtype, string msg)
        {
            rtfTerminal.Invoke(new EventHandler(delegate
            {
                if (rtfTerminal.Lines.Length >= 1000)   //Wenn Terminal mehr als 1000 Zeilen hat
                    rtfTerminal.Select(42, (500 * 129));     //500 löschen
                rtfTerminal.Select(rtfTerminal.Text.Length, 0);
                rtfTerminal.SelectedText = string.Empty;
                rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
                rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
                rtfTerminal.AppendText(msg + Environment.NewLine);
                rtfTerminal.ScrollToCaret();
            }));
        }
        /// <summary> display the OSD text in 4 lines à 20 chars </summary>
        /// <param name="msgtype"> The type of message to be written. </param>
        /// <param name="msg"> The string containing the message to be shown. </param>
        private void OSD(LogMsgType msgtype, string msg)
        {
            rtfOSD.Invoke(new EventHandler(delegate
            {
                if (rtfOSD.Lines.Length > 4)
                    rtfOSD.Clear();
                rtfOSD.Select(rtfOSD.Text.Length,0);
                rtfOSD.SelectedText = string.Empty;
                rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
                rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
                rtfOSD.AppendText(msg + Environment.NewLine);
                if (rtfOSD.Text.IndexOf("ERR") > 0)
                {
                    rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
                    rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
                }
            }));
        }
        private void ErrorLog(LogMsgType msgtype, string msg)
        {
            rtfError.Invoke(new EventHandler(delegate
            {
                if (rtfError.Lines.Length > 4)
                    rtfError.Clear();
                rtfError.Focus();
                rtfError.Select(rtfError.Text.Length, 0);
                rtfError.SelectedText = string.Empty;
                rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
                rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
                rtfError.AppendText(msg + Environment.NewLine);
               
            }));
            _bErrorLog = true;
        }
 
        #region functions        
 
        #region processing received data
        /// <summary> Processing the messages and displaying them in the according form controls 
        /// function called by simpleSerialPort.DataReceived event
        /// </summary>
        /// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>
        private void processMessage(byte[] message)
        {
            if (message.Length > 0)
            {
                _iLifeCounter++;
                //Log(LogMsgType.Incoming, BitConverter.ToString(message));
                //Log(LogMsgType.Incoming, message.Length.ToString());
                string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
                char cmdID;
                byte adr;
                byte[] data;
                if (message[0] != '#')
                    Log(LogMsgType.Normal, s.Trim('\0', '\n','\r'));
                //Debug.Print(s);
                else
                {
                    FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
 
                    if (adr == 255) { crcError++; }
                    else crcError = 0;
                    lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));
                    //display the active controller (FC / NC) 
                    if (adr > 0 && adr < 3 && adr != _iCtrlAct) //adr < 3: temporary workaround cause when I've connected the FC alone it always switches between mk3mag & FC every second...???
                    {
                        _iCtrlAct = adr;
                        switch (adr)
                        {
                            case 1:
                                lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));
                                lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));
                                _setFieldsNA(); //display fields NA for FC 
                                break;
                            case 2:
                                lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));
                                lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));
                                break;
                            case 3:
                                lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
                                break;
                            case 4:
                                lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
                                break;
                            default:
                                lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
                                break;
                        }
                        _loadLabelNames();
                    }
                   // else
                   //     Debug.Print("Address == 0?");
 
                    if (data != null && data.Length > 0)
                    {
                        s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
                        s = s.Trim('\0', '\n');
 
                        switch (cmdID)
                        {
                            case 'A': //Label names
                                _processLabelNames(s);
                                break;
 
                            case 'D': //Debug data
                                _processDebugVals(adr,data);
                                break;
 
                            case 'V': //Version
                                _processVersion(adr, data);
                                break;
 
                            case 'K'://BL-CTRL data
                                _processBLCtrl(data);
                                break;
 
                            case 'O': //NC Data
                                _processNCData(data);
                                break;
 
                            case 'E': //NC error-string
                                ErrorLog(LogMsgType.Error, "NC Error: " + s);
                                break;
 
                            case 'L': //OSD Menue (called by pagenumber)
                                _processOSDSingle(data);
                                break;
 
                            case 'H': //OSD Menue (with autoupdate - called by Key)
                                _processOSDAuto(data);
                                break;
 
                            //default:
                            //    Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
                            //    Log(LogMsgType.Incoming, BitConverter.ToString(data));
                            //    break;
                        }
                    }
                    //else
                    //{
                    //    Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
                    //    Log(LogMsgType.Incoming, BitConverter.ToString(data));
                    //}
                }
            }
        }
        /// <summary>
        /// Analog label names 'A'
        /// each label name is returned as a single string 
        /// and added to string array sAnalogLabel[]
        /// and the datatable dtAnalog
        /// </summary>
        /// <param name="s">the label name</param>
        void _processLabelNames(string s)
        {
            if (iLableIndex < 32)
            {
                sAnalogLabel[iLableIndex] = s;
                if (dtAnalog.Rows.Count < 32)
                    dtAnalog.Rows.Add(s, "");
                else
                    dtAnalog.Rows[iLableIndex].SetField(0, s);
 
                _getAnalogLabels(iLableIndex + 1);
            }
            Debug.Print(s);
        }
        /// <summary>
        /// Debug values 'D'
        /// </summary>
        /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
        /// <param name="data">the received byte array to process</param>
        void _processDebugVals(byte adr,byte[] data)
        {
            if (data.Length == 66)
            {
                int[] iAnalogData = new int[32];
 
                int index = 0;
                Int16 i16 = 0;
                double dTemp = 0;
                for (int i = 2; i < 66; i += 2)
                {
                    i16 = data[i + 1];
                    i16 = (Int16)(i16 << 8);
                    iAnalogData[index] = data[i] + i16;
                    sAnalogData[index] = (data[i] + i16).ToString();
                    dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
 
                    if (adr == 2) //NC
                    {
                        switch (index)
                        {
                            case 0: //pitch (German: nick)
                                artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
                                lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
                                break;
                            case 1: //roll
                                artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
                                lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
                                break;
                            case 4: //altitude
                                lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
                                break;
                            case 7: //Voltage
                                lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
                                break;
                            case 8: // Current
                                lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
                                break;
                            case 10: //heading
                                lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
                                headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
                                break;
                            case 12: // SPI error
                                lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
                                break;
                            case 14: //i2c error
                                lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
                                break;
                            case 20: //Earthmagnet field
                                lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%"));
                                break;
                            case 21: //GroundSpeed
                                lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
                                break;
                            case 28: //Distance East from saved home position -> calculate distance with distance N + height
                                dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
                                dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
                                                                       //  lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
                                dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
                                dTemp = Math.Sqrt(dTemp) / (double)10;
                                lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 m")));
                                break;
                            case 31: //Sats used
                                lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index]));
                                break;
                        }
                    }
                    if (adr == 1) //FC
                    {
                        switch (index)
                        {
                            case 0: //pitch (German: nick)
                                artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
                                lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
                                break;
                            case 1: //roll
                                artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
                                lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
                                break;
                            case 5: //altitude
                                lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
                                break;
                            case 8: //heading
                                lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
                                headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
                                break;
                            case 9: //Voltage
                                lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
                                break;
                            case 10: //Receiver quality
                                lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
                                break;
                            case 22: // Current
                                lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
                                break;
                            case 23: //capacity used
                                lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
                                break;
                            case 27: // SPI error
                                lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
                                break;
                            case 28: //i2c error
                                lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
                                break;
                        }
                    }
                    index++;
                }
            }
            else
                Debug.Print("wrong data-length (66): " + data.Length.ToString());
        }
        /// <summary>
        /// Version string 'V'
        /// </summary>
        /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
        /// <param name="data">the received byte array to process</param>
        void _processVersion(byte adr,byte[] data)
        {
            if (data.Length == 12)
            {
                if (!check_HWError)
                {
                    string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
                    string sVersion = "";
                    //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
                    Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
                    sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
                    Log(LogMsgType.Incoming, sVersion);
                    sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
                    Log(LogMsgType.Incoming, sVersion);
                    Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
                }
                if (data[5] > 0) //error0 
                {
                    if (adr == 1)
                        ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
                    if (adr == 2)
                        ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
                }
                if (data[6] > 0) //error1 
                {
                    if (adr == 1)
                        ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
                    if (adr == 2)
                        ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
                }
                if((data[5] + data[6] == 0) && _bErrorLog)
                    _clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error");
 
            }
            check_HWError = false;
        }
        /// <summary>
        /// BL-Ctrl data 'K'
        /// for FC you have to use a customized firmware
        /// </summary>
        /// <param name="data">the received byte array to process</param>
        void _processBLCtrl(byte[] data)
        {
            if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
            {
                bool bAvailable = false;
                for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors
                {
 
                    if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
                        bAvailable = true;
                    else
                        bAvailable = false;
 
                    if (data[i] < 4)
                    {
                        if (bAvailable)
                        {
                            dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
                            dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
                        }
                        else
                        {
                            dtMotors1.Rows[data[i]].SetField(1, "NA");
                            dtMotors1.Rows[data[i]].SetField(2, "NA");
                        }
                    }
                    if (data[i] > 3 && data[i] < 8)
                    {
                        if (bAvailable)
                        {
                            dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
                            dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
                        }
                        else
                        {
                            dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
                            dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
                        }
                    }
                }
            }
 
        }
        /// <summary>
        /// Navi-Ctrl data 'O'
        /// GPS-Position, capacatiy, flying time...
        /// </summary>
        /// <param name="data">the received byte array to process</param>
        void _processNCData(byte[] data)
        {
            int i_32, i_16, iVal;
            double d;
            i_32 = data[4];
            iVal = i_32 << 24;
            i_32 = data[3];
            iVal += i_32 << 16;
            i_32 = data[2];
            iVal += i_32 << 8;
            iVal += data[1];
            d = (double)iVal / Math.Pow(10, 7);
            lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
            //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
 
            i_32 = data[8];
            iVal = i_32 << 24;
            i_32 = data[7];
            iVal += i_32 << 16;
            i_32 = data[6];
            iVal += i_32 << 8;
            iVal += data[5];
            d = (double)iVal / Math.Pow(10, 7);
            lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
                                                                                            //lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
 
            i_16 = data[28];
            i_16 = (Int16)(i_16 << 8);
            iVal = data[27] + i_16;
            lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
 
            i_16 = data[45];
            i_16 = (Int16)(i_16 << 8);
            iVal = data[44] + i_16;
            lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
 
            lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index
            lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count
 
            i_16 = data[81];
            i_16 = (Int16)(i_16 << 8);
            iVal = data[80] + i_16;
            lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used
 
            i_16 = data[56];
            i_16 = (Int16)(i_16 << 8);
            iVal = data[55] + i_16;
            TimeSpan t = TimeSpan.FromSeconds(iVal);
            string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
            lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time
 
            lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality
            lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString()));   //NC Errornumber
            //if (data[69] > 0)
            //    _readNCError();
            //break;
            if (data[69] > 0 & data[69] < 44)
                ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
            else
                if(_bErrorLog) _clearErrorLog("NC Error");
 
        }
        /// <summary>
        /// OSD Menue 'L'
        /// single page called by pagenumber
        /// no autoupdate
        /// </summary>
        /// <param name="data">the received byte array to process</param>
        void _processOSDSingle(byte[] data)
        {
            if (data.Length == 84)
            {
                string sMessage = "";
                iOSDPage = data[0];
                iOSDMax = data[1];
                if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
                sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
                OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
                lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
 
            }
            else
                OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
 
        }
        /// <summary>
        /// OSD Menue 'H'
        /// called by keys (0x01,0x02,0x03,0x04)
        /// autoupdate
        /// </summary>
        /// <param name="data">the received byte array to process</param>
        void _processOSDAuto(byte[] data)
        {
            if (data.Length == 81)
            {
                string sMessage = "";
                sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
                OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
                OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
 
            }
            else
                OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
        }
        #endregion processing received data
 
        /// <summary> send message to controller to request data
        /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
        /// </summary>
        /// <param name="CMDID"> the command ID </param>
        /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
        private void _sendControllerMessage(char CMDID, byte address)
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                Stream serialStream = simpleSerialPort.Port.BaseStream;
                byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
                serialStream.Write(bytes, 0, bytes.Length);
 
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
        }
        /// <summary> send message to controller to request data
        /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
        /// </summary>
        /// <param name="CMDID"> the command ID </param>
        /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
        /// <param name="data"> additional data for the request</param>
        private void _sendControllerMessage(char CMDID, byte address, byte[]data)
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                Stream serialStream = simpleSerialPort.Port.BaseStream;
                byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data);
                serialStream.Write(bytes, 0, bytes.Length);
 
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
        }
 
        /// <summary>
        /// read the analog-label names for the actual controller
        /// and load it into listbox
        /// </summary>
        void _loadLabelNames()
        {
            if (_iCtrlAct > 0 && _iCtrlAct < 3)
            {
                switch (_iCtrlAct)
                {
                    case 1:
                        sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
                        break;
                    case 2:
                        sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
                        break;
                }
                for (int i = 0; i < 32; i++)
                {
                    if (dtAnalog.Rows.Count < 32)
                        dtAnalog.Rows.Add(sAnalogLabel[i], "");
                    else
                        dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
                }
                dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh()));
            }
        }
        /// <summary>
        /// no longer used...
        /// read the analog-label textfile for the actual controller
        /// </summary>
         private void _loadLabelFile()
        {
            switch (_iCtrlAct)
            {
                case 1:
                    fileName = "FCLabelTexts.txt";
                    break;
                case 2:
                    fileName = "NCLabelTexts.txt";
                    break;
                //default:
                //    fileName = "NCLabelTexts.txt";
                //    break;
            }
 
            if (File.Exists(filePath + "\\" + fileName))
            {
                sAnalogLabel.Initialize();
                sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName);
                lbLabels.Invoke((Action)(() => lbLabels.Items.Clear()));
                lbLabels.Invoke((Action)(() => lbLabels.Update()));
                lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel)));
                Console.WriteLine("Names loaded from file");
                lblFileName.Invoke((Action)(() => lblFileName.Text = fileName));
            }
            else
            {
                _readCont(false);
                Log(LogMsgType.Error, "Label-file not found!");
                Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)");
                Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!");
            }
        }
        /// <summary>
        /// no longer used...
        /// assign the analog-label names from the textfile to the datatable
        /// 
        /// </summary>
        private void _assignLabelNames()
        {
            if (lbLabels.Items.Count == 32)
            {
                lbLabels.Items.CopyTo(sAnalogLabel, 0);
                for (int i = 0; i < 32; i++)
                {
                    if (dtAnalog.Rows.Count < 32)
                        dtAnalog.Rows.Add(sAnalogLabel[i], "");
                    else
                        dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
 
                }
            }
        }
        /// <summary>
        /// get the version struct of actual controller
        /// </summary>
        /// <summary>
        /// get the labeltexts for the analog values
        /// </summary>
        private void _getAnalogLabels()
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                iLableIndex = 0;
                for (int i = 0; i < 32; i++)
                {
                    Stream serialStream = simpleSerialPort.Port.BaseStream;
                    byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i });
                    serialStream.Write(bytes, 0, bytes.Length);
                    Thread.Sleep(10);
                }
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
        }
        /// <summary>
        /// get the labeltext for a single label
        /// </summary>
        /// <param name="iIndex">index of the label</param>
        private void _getAnalogLabels(int iIndex)
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                if (iIndex < 32)
                {
                    iLableIndex = iIndex;
                    _sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex });
                }
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
        }
        private void _getVersion()
        {
            _sendControllerMessage('v', 0);
        }
        /// <summary>
        /// get FC version struct via NC
        /// by sending '1' as data (not documented in wiki...)
        /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
        /// </summary>
        /// <param name="ctrl">controller number 1=FC</param> 
        private void _getVersion(byte ctrl)
        {
            _sendControllerMessage('v', 0, new byte[1] {ctrl});
        }
        /// <summary>
        /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
        /// </summary>
        private void _switchToNC()
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                Stream serialStream = simpleSerialPort.Port.BaseStream;
                byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 };
                serialStream.Write(bytes, 0, bytes.Length);
 
                Thread.Sleep(100);
                _getVersion();
                Thread.Sleep(100);
                _OSDMenue(0);
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
        }
        /// <summary>
        /// switch to FC
        /// </summary>
        private void _switchToFC()
        {
            _sendControllerMessage('u', 2, new byte[1] { (byte)0 });
            Thread.Sleep(100);
            _getVersion();
            Thread.Sleep(100);
            _OSDMenue(0);
        }
        /// <summary>
        /// send RESET signal to FC
        /// </summary>
        private void _resetCtrl()
        {
            _sendControllerMessage('R', 1);
        }
        /// <summary>
        /// poll the debug data (4sec subscription)
        /// </summary>
        /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
        private void _readDebugData(bool auto)
        {
            byte interval = auto ? debugInterval : (byte)0;
            _sendControllerMessage('d', 0, new byte[1] { debugInterval });
        }
        /// <summary>
        /// poll the BL-CTRL status via NC (4sec subscription)
        /// </summary>
        /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
        private void _readBLCtrl(bool auto)
        {
            byte interval = auto ? blctrlInterval : (byte)0;
            _sendControllerMessage('k', 0, new byte[1] { interval });
        }
        /// <summary>
        /// poll the NC data struct (4sec subscription)
        /// </summary>
        /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
        private void _readNavData(bool auto)
        {
            byte interval = auto ? navctrlInterval : (byte)0;
            _sendControllerMessage('o', 2, new byte[1] { interval });
        }
        /// <summary>
        /// get the errortext for pending NC error
        /// </summary>
        private void _readNCError()
        {
            _sendControllerMessage('e', 2);
        }
        /// <summary>
        /// start/stop continous polling of controller values
        /// </summary>
        /// <param name="b">start/stop switch</param>
        void _readCont(bool b)
        {
            bReadContinously = b;
            btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh"));
            btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
            if (bReadContinously)
            {
                if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
                if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
                if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
                if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);}
                lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0)));
            }
            else
                lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224)));
            _iLifeCounter = 0;
        }
        /// <summary>
        /// set values to "NA" when not available with FC
        /// </summary>
        void _setFieldsNA()
        {
            Thread.Sleep(100);
            _initDTMotors();
            lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA"));    //FlightTime
            lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA"));  //NC ErrorNr
            lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA"));            //earth magnet field
            lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA"));    //GroundSpeed
            lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA"));    //Distance to HP
            lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA"));          //Sats used
            lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA"));  //GPS position - longitude
            lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA"));    //GPS position - latitude
            lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA"));    //next WP distance
            lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA"));  //index of actual WP
            lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA"));  //count of items in WP list
        }
        /// <summary>
        /// one time query of the OSD Menue with pagenumber
        /// </summary>
        /// <param name="iMenue">Menue page</param>
        void _OSDMenue(int iMenue)
        {
            if (simpleSerialPort.Port.IsOpen)
            {
                if (iMenue > iOSDMax)
                    iMenue = 0;
                Stream serialStream = simpleSerialPort.Port.BaseStream;
                byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
                serialStream.Write(bytes, 0, bytes.Length);
            }
            else
                Log(LogMsgType.Error, "NOT CONNECTED!");
 
        }
        /// <summary>
        /// call the OSDMenue and start autorefresh
        ///  usually by sending a menuekey
        /// a bit tricky - but by sending inverted value of 32 (32 = 0010 0000) you can start the OSD menue with autoupdate (abo) without switching the page with the keyvalues (0x1, 0x2)
        /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
        /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
        /// </summary>
        void _OSDMenueAutoRefresh()
        {
            _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval });
        }
        void _OSDMenueAutoRefresh(byte key)
        {
            _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
        }
        /// <summary>
        /// initialize the OSD menue combobox
        /// combox is filled by numbers from 0 to max pagenumber
        /// </summary>
        void _initOSDCB()
        {
            _bCBInit = true;
            if(iOSDMax == 0)
            {
                _OSDMenue(0);
                Thread.Sleep(10);
            }
            cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear()));
            for(int i = 0; i <= iOSDMax;i++)
            {
                cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i)));
            }
            cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
            _bCBInit = false;
        }
        void _readIni()
        {
            if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
                _writeIni();
            IniFile ini = new IniFile("MKLiveViewSettings.ini");
            ini.path = filePath + "\\MKLiveViewSettings.ini";
 
            string sVal = ini.IniReadValue("default", "AutorefreshDebugData");
            _debugDataAutorefresh = Convert.ToBoolean(sVal);
            sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData");
            _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
            sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData");
            _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
            sVal = ini.IniReadValue("default", "AutorefreshOSDData");
            _OSDAutorefresh = Convert.ToBoolean(sVal);
 
            sVal = ini.IniReadValue("default", "IntervalDebugData");
            debugInterval = (byte)Convert.ToInt16(sVal);
            sVal = ini.IniReadValue("default", "IntervalNavCtrlData");
            navctrlInterval = (byte)Convert.ToInt16(sVal);
            sVal = ini.IniReadValue("default", "IntervalBLCtrlData");
            blctrlInterval = (byte)Convert.ToInt16(sVal);
            sVal = ini.IniReadValue("default", "IntervalOSDData");
            OSDInterval = (byte)Convert.ToInt16(sVal);
        }
        void _writeIni()
        {
 
            IniFile ini = new IniFile("MKLiveViewSettings.ini");
            ini.path = filePath + "\\MKLiveViewSettings.ini";
 
            ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false");
            ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false");
            ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false");
            ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false");
 
            ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString());
            ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString());
            ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString());
            ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString());
        }
 
        /// <summary>
        /// initialize the 2 datatables for motor values
        /// dtMotors1 - motor 1 - 4
        /// dtMotors2 - motor 5 - 8
        /// DataGridView dgvMotors1/2 are bound to dtMotors1/2 
        /// </summary>
        void _initDTMotors()
        {
            for(int i = 0; i < 4; i++)
            {
                if (dtMotors1.Rows.Count < 4)
                    dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
                else
                {
                    dtMotors1.Rows[i].SetField(1, "NA");
                    dtMotors1.Rows[i].SetField(2, "NA");
                }
                if (dtMotors2.Rows.Count < 4)
                    dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
                else
                {
                    dtMotors2.Rows[i].SetField(1, "NA");
                    dtMotors2.Rows[i].SetField(2, "NA");
                }
            }
            dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh()));
            dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
        }
 
        /// <summary>
        /// Convert decimal degrees to degrees, minutes, seconds, milliseconds 
        /// </summary>
        /// <param name="coord">the degree value as double</param>
        /// <returns>0° 0' 0,0"</returns>
        string _convertDegree(double coord)
        {
            //double minutes = (degree - Math.Floor(degree)) * 60.0;
            //double seconds = (minutes - Math.Floor(minutes)) * 60.0;
            //double tenths = (seconds - Math.Floor(seconds)) * 10.0;
            //// get rid of fractional part
            //minutes = Math.Floor(minutes);
            //seconds = Math.Floor(seconds);
            //tenths = Math.Floor(tenths);
 
 
            //int sec = (int)Math.Round(coord * 3600);
            //int deg = sec / 3600;
            //sec = Math.Abs(sec % 3600);
            //int min = sec / 60;
            //sec %= 60;
 
            var ts = TimeSpan.FromHours(Math.Abs(coord));
            double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours);
            int min = ts.Minutes;
            int sec = ts.Seconds;
            int milli = ts.Milliseconds;
 
            return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\"";
        }
 
        void _clearErrorLog(string s)
        {
            rtfError.Invoke((Action)(() =>
            {
                if (rtfError.Text.Contains(s))
                {
                    int iLength = 0;
                    int iStart = rtfError.Text.IndexOf(s);
                    int iEnd = rtfError.Text.IndexOf('\n', iStart);
                    if (iEnd > 0)
                    {
                        iLength = iEnd + 1;
                        int iHttp = rtfError.Text.IndexOf("http", iEnd);
                        if (iHttp == iLength)
                        {
                            int iEnd2 = rtfError.Text.IndexOf('\n', iLength);
                            if (iEnd2 > iLength)
                            {
                                iLength = iEnd2 + 1;
                                rtfError.Select(iStart, iLength);
                                rtfError.SelectedText = string.Empty;
                                if(rtfError.Text.Length < 2) _bErrorLog = false;
                            }
 
                        }
                        else
                        {
                            rtfError.Select(iStart, iLength);
                            rtfError.SelectedText = string.Empty;
                            if(rtfError.Text.Length < 2) _bErrorLog = false;
                        }
                    }
                }
            }));
 
        }
        #endregion functions
 
        #region buttons
        private void buttonReset_Click(object sender, EventArgs e)
        {
            _resetCtrl();
        }
        private void btnVersion_Click(object sender, EventArgs e)
        {
            _getVersion();
        }
        private void btnAnalogLabels_Click(object sender, EventArgs e)
        {
            _getAnalogLabels(0);
        }
        private void btnDbgData_Click(object sender, EventArgs e)
        {
            _readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds
        }
        private void btnSaveLabels_Click(object sender, EventArgs e)
        {
            switch (_iCtrlAct)
            {
                case 1:
                    fileName = "FCLabelTexts.txt";
                    break;
                case 2:
                    fileName = "NCLabelTexts.txt";
                    break;
                default:
                    fileName = "NCLabelTexts.txt";
                    break;
            }
            if (sAnalogLabel[0] != null)
            {
                File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel);
                Console.WriteLine("Names saved to file");
                _loadLabelFile();
            }
            else
                Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!");
        }
        private void btnLoadLabels_Click(object sender, EventArgs e)
        {
            _assignLabelNames();
        }
        private void btnReadLabelFile_Click(object sender, EventArgs e)
        {
            _loadLabelFile();
        }
        private void btnSwitchFC_Click(object sender, EventArgs e)
        {
            _switchToFC();
        }
        private void btnSwitchNC_Click(object sender, EventArgs e)
        {
            _switchToNC();
        }
        private void btnReadDbgCont_Click(object sender, EventArgs e)
        {
            _readCont(!bReadContinously);
        }
        private void btnReadBLCtrl_Click(object sender, EventArgs e)
        {
 
            if (_iCtrlAct == 2) _readBLCtrl(false);
            else Log(LogMsgType.Warning, "only available when connected to NC");
        }
        private void btnGetNaviData_Click(object sender, EventArgs e)
        {
            if (_iCtrlAct == 2) _readNavData(false);
            else Log(LogMsgType.Warning, "only available when connected to NC");
        }
        private void btnConn_Click(object sender, EventArgs e)
        {
            simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen);
        }
        private void button3_Click(object sender, EventArgs e)
        {
            _getVersion(1);
        }
        private void button4_Click(object sender, EventArgs e)
        {
            _getVersion(2);
        }
        private void btnOSD_Click(object sender, EventArgs e)
        {
            if (iOSDPage > iOSDMax)
                iOSDPage = 0;
            _OSDMenue(iOSDPage);
        }
        private void btnOSDForward_Click(object sender, EventArgs e)
        {
            iOSDPage++;
            if (iOSDPage > iOSDMax)
                iOSDPage = 0;
 
            _OSDMenue(iOSDPage);
        }
        private void btnOSDBackward_Click(object sender, EventArgs e)
        {
            iOSDPage--;
            if (iOSDPage < 0)
                iOSDPage = iOSDMax;
 
            _OSDMenue(iOSDPage);
        }
        private void btnOSDAuto_Click(object sender, EventArgs e)
        {
            _OSDMenueAutoRefresh();
        }
        /// call the OSDMenue with Key 0x8
        private void btnOSDLeave_Click(object sender, EventArgs e)
        {
            _OSDMenueAutoRefresh(8);
        }
        /// call the OSDMenue with Key 0x4
        private void btnOSDEnter_Click(object sender, EventArgs e)
        {
            _OSDMenueAutoRefresh(4);
        }
        #endregion buttons
 
    }
    public class IniFile
    {
        public string path;
 
        [DllImport("kernel32")]
        private static extern long WritePrivateProfileString(string section,
          string key, string val, string filePath);
 
        [DllImport("kernel32.dll", CharSet = CharSet.Auto)]
        static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
               uint nSize, string lpFileName);
 
        [DllImport("kernel32")]
        private static extern int GetPrivateProfileString(string section,
          string key, string def, StringBuilder retVal,
          int size, string filePath);
 
        public IniFile(string INIPath)
        {
            path = INIPath;
        }
 
        public void IniWriteValue(string Section, string Key, string Value)
        {
            WritePrivateProfileString(Section, Key, Value, this.path);
        }
 
        public string IniReadValue(string Section, string Key)
        {
            StringBuilder temp = new StringBuilder(255);
            int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
            return temp.ToString();
        }
        //Ini_sections auslesen in String-Array
        public string[] IniSectionNames()
        {
 
            //  uint MAX_BUFFER = 32767;
            uint MAX_BUFFER = 8388608;
            IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
            uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
            if (bytesReturned == 0)
            {
                Marshal.FreeCoTaskMem(pReturnedString);
                return null;
            }
            string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
            Marshal.FreeCoTaskMem(pReturnedString);
            //use of Substring below removes terminating null for split
            return local.Substring(0, local.Length - 1).Split('\0');
 
 
        }
    }
    public static class ControlExtensions
    {
        /// <summary> 
        /// Execute a threadsafe operation, when accessing a control via another thread 
        /// action is a lamdaexpression
        /// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true);
        /// </summary>
        /// <param name="control"> The control </param>
        /// <param name="action"> The 'action' to perform </param>
        public static void ExecuteThreadSafe(this Control control, Action action)
        {
            if (control.InvokeRequired)
            {
                control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke"
            }
            else
            {
                action.Invoke();
            }
        }
    }
 
}
 

Rev 2250	Rev 2254
1	///============================================================================	1	///============================================================================
2	/// MKLiveView	2	/// MKLiveView
3	/// Copyright © 2016 Steph	3	/// Copyright © 2016 Steph
4	///	4	///
5	///This file is part of MKLiveView.	5	///This file is part of MKLiveView.
6	///	6	///
7	///MKLiveView is free software: you can redistribute it and/or modify	7	///MKLiveView is free software: you can redistribute it and/or modify
8	///it under the terms of the GNU General Public License as published by	8	///it under the terms of the GNU General Public License as published by
9	///the Free Software Foundation, either version 3 of the License, or	9	///the Free Software Foundation, either version 3 of the License, or
10	///(at your option) any later version.	10	///(at your option) any later version.
11	///	11	///
12	///MKLiveView is distributed in the hope that it will be useful,	12	///MKLiveView is distributed in the hope that it will be useful,
13	///but WITHOUT ANY WARRANTY; without even the implied warranty of	13	///but WITHOUT ANY WARRANTY; without even the implied warranty of
14	///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the	14	///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15	///GNU General Public License for more details.	15	///GNU General Public License for more details.
16	///	16	///
17	///You should have received a copy of the GNU General Public License	17	///You should have received a copy of the GNU General Public License
18	///along with cssRcon. If not, see <http://www.gnu.org/licenses/>.	18	///along with cssRcon. If not, see <http://www.gnu.org/licenses/>.
19	///	19	///
20	///============================================================================	20	///============================================================================
21	///Credits:	21	///Credits:
22	///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737)	22	///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737)
23	///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls)	23	///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls)
24	///I used some of his code for displaying the compass	24	///I used some of his code for displaying the compass
25	///	25	///
26	///Tom Pyke (http://tom.pycke.be)	26	///Tom Pyke (http://tom.pycke.be)
27	///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon)	27	///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon)
28	///Great job!	28	///Great job!
29	///	29	///
30	/// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology	30	/// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
31	/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)	31	/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
32	/// and the sourcode (http://hdl.lib.byu.edu/1877/2748)	32	/// and the sourcode (http://hdl.lib.byu.edu/1877/2748)
33	/// By his work I finally managed to get the communication with the Mikrokopter controllers to run	33	/// By his work I finally managed to get the communication with the Mikrokopter controllers to run
34	/// Some of his code was used in this programm like the SimpelSerialPort class (with some changes)	34	/// Some of his code was used in this programm like the SimpelSerialPort class (with some changes)
35	/// and the FilghtControllerMessage class	35	/// and the FilghtControllerMessage class
36	///	36	///
37	///============================================================================	37	///============================================================================
38		38
39	using System;	39	using System;
40	using System.Data;	40	using System.Data;
41	using System.Drawing;	41	using System.Drawing;
42	using System.Text;	42	using System.Text;
43	using System.Windows.Forms;	43	using System.Windows.Forms;
44	using System.IO;	44	using System.IO;
45	using System.Threading;	45	using System.Threading;
46	using System.Diagnostics;	46	using System.Diagnostics;
47	using System.Runtime.InteropServices;	47	using System.Runtime.InteropServices;
48		48
49	namespace MKLiveView	49	namespace MKLiveView
50	{	50	{
51	public partial class MainForm : Form	51	public partial class MainForm : Form
52	{	52	{
53	String[] NC_Error = new string[44]	53	String[] NC_Error = new string[44]
54	{	54	{
55	"No Error",	55	"No Error",
56	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",	56	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
57	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",	57	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
58	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",	58	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
59	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",	59	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
60	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",	60	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
61	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",	61	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
62	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",	62	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
63	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",	63	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
64	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",	64	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
65	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",	65	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
66	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",	66	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
67	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",	67	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
68	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",	68	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
69	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",	69	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
70	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",	70	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
71	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",	71	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
72	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",	72	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
73	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",	73	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
74	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",	74	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
75	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",	75	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
76	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",	76	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
77	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",	77	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
78	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",	78	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
79	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",	79	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
80	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",	80	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
81	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",	81	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
82	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",	82	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
83	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",	83	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
84	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",	84	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
85	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",	85	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
86	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",	86	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
87	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",	87	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
88	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",	88	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
89	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",	89	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
90	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",	90	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
91	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",	91	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
92	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",	92	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
93	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",	93	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
94	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",	94	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
95	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",	95	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
96	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",	96	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
97	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",	97	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
98	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"	98	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
99	};	99	};
100		100
101	[FlagsAttribute]	101	[FlagsAttribute]
102	enum NC_HWError0 : short	102	enum NC_HWError0 : short
103	{	103	{
104	None = 0,	104	None = 0,
105	SPI_RX = 1,	105	SPI_RX = 1,
106	COMPASS_RX = 2,	106	COMPASS_RX = 2,
107	FC_INCOMPATIBLE = 4,	107	FC_INCOMPATIBLE = 4,
108	COMPASS_INCOMPATIBLE = 8,	108	COMPASS_INCOMPATIBLE = 8,
109	GPS_RX = 16,	109	GPS_RX = 16,
110	COMPASS_VALUE = 32	110	COMPASS_VALUE = 32
111	};	111	};
112	[FlagsAttribute]	112	[FlagsAttribute]
113	enum FC_HWError0 : short	113	enum FC_HWError0 : short
114	{	114	{
115	None = 0,	115	None = 0,
116	GYRO_NICK = 1,	116	GYRO_NICK = 1,
117	GYRO_ROLL = 2,	117	GYRO_ROLL = 2,
118	GYRO_YAW = 4,	118	GYRO_YAW = 4,
119	ACC_NICK = 8,	119	ACC_NICK = 8,
120	ACC_ROLL = 16,	120	ACC_ROLL = 16,
121	ACC_TOP = 32,	121	ACC_TOP = 32,
122	PRESSURE = 64,	122	PRESSURE = 64,
123	CAREFREE = 128	123	CAREFREE = 128
124	};	124	};
125	[FlagsAttribute]	125	[FlagsAttribute]
126	enum FC_HWError1 : short	126	enum FC_HWError1 : short
127	{	127	{
128	None = 0,	128	None = 0,
129	I2C = 1,	129	I2C = 1,
130	BL_MISSING = 2,	130	BL_MISSING = 2,
131	SPI_RX = 4,	131	SPI_RX = 4,
132	PPM = 8,	132	PPM = 8,
133	MIXER = 16,	133	MIXER = 16,
134	RC_VOLTAGE = 32,	134	RC_VOLTAGE = 32,
135	ACC_NOT_CAL = 64,	135	ACC_NOT_CAL = 64,
136	RES3 = 128	136	RES3 = 128
137	};	137	};
138	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };	138	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
139	// Various colors for logging info	139	// Various colors for logging info
140	private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };	140	private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };
141		141
142	string[] sAnalogLabel = new string[32];	142	string[] sAnalogLabel = new string[32];
143	string[] sAnalogData = new string[32];	143	string[] sAnalogData = new string[32];
144	bool bReadContinously = false;	144	bool bReadContinously = false;
145	bool check_HWError = false;	145	bool check_HWError = false;
146	bool _bCBInit = true;	146	bool _bCBInit = true;
147	bool _init = true;	147	bool _init = true;
148	bool _debugDataAutorefresh = true;	148	bool _debugDataAutorefresh = true;
149	bool _navCtrlDataAutorefresh = true;	149	bool _navCtrlDataAutorefresh = true;
150	bool _blctrlDataAutorefresh = true;	150	bool _blctrlDataAutorefresh = true;
151	bool _OSDAutorefresh = true;	151	bool _OSDAutorefresh = true;
-		152	bool _bErrorLog = false;
152	int crcError = 0;	153	int crcError = 0;
153	int iLableIndex = 0;	154	int iLableIndex = 0;
154	string filePath = Directory.GetCurrentDirectory();	155	string filePath = Directory.GetCurrentDirectory();
155	string fileName = "NCLabelTexts.txt";	156	string fileName = "NCLabelTexts.txt";
156	int _iCtrlAct = 0;	157	int _iCtrlAct = 0;
157	int _iLifeCounter = 0;	158	int _iLifeCounter = 0;
158	int iOSDPage = 0;	159	int iOSDPage = 0;
159	int iOSDMax = 0;	160	int iOSDMax = 0;
160	/// <summary>	161	/// <summary>
161	/// interval for sending debugdata (multiplied by 10ms)	162	/// interval for sending debugdata (multiplied by 10ms)
162	/// </summary>	163	/// </summary>
163	byte debugInterval = 25; //(=> 250ms)	164	byte debugInterval = 25; //(=> 250ms)
164	/// <summary>	165	/// <summary>
165	/// interval for sending BL-CTRL status (multiplied by 10ms)	166	/// interval for sending BL-CTRL status (multiplied by 10ms)
166	/// </summary>	167	/// </summary>
167	byte blctrlInterval = 45;	168	byte blctrlInterval = 45;
168	/// <summary>	169	/// <summary>
169	/// interval for sending NAV-CTRL status (multiplied by 10ms)	170	/// interval for sending NAV-CTRL status (multiplied by 10ms)
170	/// </summary>	171	/// </summary>
171	byte navctrlInterval = 80;	172	byte navctrlInterval = 80;
172	/// <summary>	173	/// <summary>
173	/// interval for sending OSD page update (multiplied by 10ms)	174	/// interval for sending OSD page update (multiplied by 10ms)
174	/// </summary>	175	/// </summary>
175	byte OSDInterval = 85;	176	byte OSDInterval = 85;
176	/// <summary>	177	/// <summary>
177	/// datatable for the debug data array - displayed on settings tabpage in datagridview	178	/// datatable for the debug data array - displayed on settings tabpage in datagridview
178	/// </summary>	179	/// </summary>
179	DataTable dtAnalog = new DataTable();	180	DataTable dtAnalog = new DataTable();
180		-
-		181	/// <summary>
-		182	/// datatable for motordata (current,temp)
-		183	/// </summary>
181	DataTable dtMotors1 = new DataTable();	184	DataTable dtMotors1 = new DataTable();
182	DataTable dtMotors2 = new DataTable();	185	DataTable dtMotors2 = new DataTable();
183		186
184	public MainForm()	187	public MainForm()
185	{	188	{
186	InitializeComponent();	189	InitializeComponent();
187	_readIni();	190	_readIni();
188	dtAnalog.Columns.Add("ID");	191	dtAnalog.Columns.Add("ID");
189	dtAnalog.Columns.Add("Value");	192	dtAnalog.Columns.Add("Value");
190	dataGridView1.DataSource = dtAnalog;	193	dataGridView1.DataSource = dtAnalog;
191	dtMotors1.Columns.Add("#");	194	dtMotors1.Columns.Add("#");
192	dtMotors1.Columns.Add("Current");	195	dtMotors1.Columns.Add("Current");
193	dtMotors1.Columns.Add("Temp");	196	dtMotors1.Columns.Add("Temp");
194	dtMotors2.Columns.Add("#");	197	dtMotors2.Columns.Add("#");
195	dtMotors2.Columns.Add("Current");	198	dtMotors2.Columns.Add("Current");
196	dtMotors2.Columns.Add("Temp");	199	dtMotors2.Columns.Add("Temp");
197	dgvMotors1.DataSource = dtMotors1;	200	dgvMotors1.DataSource = dtMotors1;
198	dgvMotors2.DataSource = dtMotors2;	201	dgvMotors2.DataSource = dtMotors2;
199	_initDTMotors();	202	_initDTMotors();
200	dgvMotors1.Columns[0].Width = 24;	203	dgvMotors1.Columns[0].Width = 24;
201	dgvMotors1.Columns[1].Width = 74;	204	dgvMotors1.Columns[1].Width = 74;
202	dgvMotors1.Columns[2].Width = 74;	205	dgvMotors1.Columns[2].Width = 74;
203	dgvMotors2.Columns[0].Width = 24;	206	dgvMotors2.Columns[0].Width = 24;
204	dgvMotors2.Columns[1].Width = 74;	207	dgvMotors2.Columns[1].Width = 74;
205	dgvMotors2.Columns[2].Width = 74;	208	dgvMotors2.Columns[2].Width = 74;
206	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;	209	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
207	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;	210	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
208	simpleSerialPort.DataReceived += processMessage;	211	simpleSerialPort.DataReceived += processMessage;
209	chkbAutoBL.Checked = _blctrlDataAutorefresh;	212	chkbAutoBL.Checked = _blctrlDataAutorefresh;
210	chkbAutoDbg.Checked = _debugDataAutorefresh;	213	chkbAutoDbg.Checked = _debugDataAutorefresh;
211	chkbAutoNav.Checked = _navCtrlDataAutorefresh;	214	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
212	chkbAutoOSD.Checked = _OSDAutorefresh;	215	chkbAutoOSD.Checked = _OSDAutorefresh;
213	labelTimingDebug.Text = (debugInterval * 10).ToString();	216	labelTimingDebug.Text = (debugInterval * 10).ToString();
214	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();	217	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
215	labelTimingNAV.Text = (navctrlInterval * 10).ToString();	218	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
216	labelTimingOSD.Text = (OSDInterval * 10).ToString();	219	labelTimingOSD.Text = (OSDInterval * 10).ToString();
217	tabControl1.TabPages.Remove(tabPageTesting);	220	tabControl1.TabPages.Remove(tabPageTesting);
218	}	221	}
219	#region events	222	#region events
220	private void MainForm_Shown(object sender, EventArgs e)	223	private void MainForm_Shown(object sender, EventArgs e)
221	{	224	{
222	_loadLabelNames();	225	_loadLabelNames();
223	_init = false;	226	_init = false;
224	splitContainer1.SplitterDistance = 514;	227	splitContainer1.SplitterDistance = 514;
225	}	228	}
226	private void MainForm_FormClosed(object sender, FormClosedEventArgs e)	229	private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
227	{	230	{
228	_writeIni();	231	_writeIni();
229	}	232	}
230	private void SimpleSerialPort_PortOpened()	233	private void SimpleSerialPort_PortOpened()
231	{	234	{
232	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));	235	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
233	btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));	236	btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
234	_getVersion();	237	_getVersion();
235	Thread.Sleep(100);	238	Thread.Sleep(100);
236	_OSDMenue(0);	239	_OSDMenue(0);
237	// _readCont(true);	240	// _readCont(true);
238	}	241	}
239	private void SimpleSerialPort_PortClosed()	242	private void SimpleSerialPort_PortClosed()
240	{	243	{
241	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));	244	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
242	btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));	245	btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
243	_readCont(false);	246	_readCont(false);
244	}	247	}
245	/// <summary>	248	/// <summary>
246	/// timer for refreshing subscription of subscribed data	249	/// timer for refreshing subscription of subscribed data
247	/// query lifecounter for connection failure	250	/// query lifecounter for connection failure
248	/// </summary>	251	/// </summary>
249	private void timer1_Tick(object sender, EventArgs e)	252	private void timer1_Tick(object sender, EventArgs e)
250	{	253	{
251	if(bReadContinously)	254	if(bReadContinously)
252	{	255	{
253	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }	256	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
254		257
255	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }	258	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
256		259
257	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }	260	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
258	check_HWError = true;	261	check_HWError = true;
259	_getVersion();	262	_getVersion();
260	Thread.Sleep(10);	263	Thread.Sleep(10);
261	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }	264	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
262	if (_iLifeCounter > 0)	265	if (_iLifeCounter > 0)
263	{	266	{
264	lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);	267	lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
265	_iLifeCounter = 0;	268	_iLifeCounter = 0;
266	}	269	}
267	else	270	else
268	{	271	{
269	Log(LogMsgType.Error, "No communication to NC/FC!");	272	Log(LogMsgType.Error, "No communication to NC/FC!");
270	lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);	273	lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
271	}	274	}
272	}	275	}
273	}	276	}
274	private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)	277	private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
275	{	278	{
276	if (!_bCBInit && cbOSD.SelectedIndex > -1)	279	if (!_bCBInit && cbOSD.SelectedIndex > -1)
277	_OSDMenue(cbOSD.SelectedIndex);	280	_OSDMenue(cbOSD.SelectedIndex);
278	}	281	}
279	private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)	282	private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
280	{	283	{
281	if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;	284	if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
282	}	285	}
283	private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)	286	private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
284	{	287	{
285	if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;	288	if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
286	}	289	}
287	private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)	290	private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
288	{	291	{
289	if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;	292	if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
290	}	293	}
291	private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)	294	private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
292	{	295	{
293	if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;	296	if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
294	}	297	}
295	private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)	298	private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
296	{	299	{
297	if (cbTimingDebug.SelectedIndex > -1)	300	if (cbTimingDebug.SelectedIndex > -1)
298	{	301	{
299	debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);	302	debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
300	labelTimingDebug.Text = (debugInterval * 10).ToString();	303	labelTimingDebug.Text = (debugInterval * 10).ToString();
301	}	304	}
302	}	305	}
303	private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)	306	private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
304	{	307	{
305	if (cbTimingNAV.SelectedIndex > -1)	308	if (cbTimingNAV.SelectedIndex > -1)
306	{	309	{
307	navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);	310	navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
308	labelTimingNAV.Text = (navctrlInterval * 10).ToString();	311	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
309	}	312	}
310	}	313	}
311	private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)	314	private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
312	{	315	{
313	if (cbTimingBLCTRL.SelectedIndex > -1)	316	if (cbTimingBLCTRL.SelectedIndex > -1)
314	{	317	{
315	blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);	318	blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
316	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();	319	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
317	}	320	}
318	}	321	}
319	private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)	322	private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
320	{	323	{
321	if (cbTimingOSD.SelectedIndex > -1)	324	if (cbTimingOSD.SelectedIndex > -1)
322	{	325	{
323	OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);	326	OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
324	labelTimingOSD.Text = (OSDInterval * 10).ToString();	327	labelTimingOSD.Text = (OSDInterval * 10).ToString();
325	}	328	}
326	}	329	}
-		330	private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
-		331	{
-		332	System.Diagnostics.Process.Start(e.LinkText);
-		333	}
327	#endregion events	334	#endregion events
328		335
329	/// <summary> Log data to the terminal window. </summary>	336	/// <summary> Log data to the terminal window. </summary>
330	/// <param name="msgtype"> The type of message to be written. </param>	337	/// <param name="msgtype"> The type of message to be written. </param>
331	/// <param name="msg"> The string containing the message to be shown. </param>	338	/// <param name="msg"> The string containing the message to be shown. </param>
332	private void Log(LogMsgType msgtype, string msg)	339	private void Log(LogMsgType msgtype, string msg)
333	{	340	{
334	rtfTerminal.Invoke(new EventHandler(delegate	341	rtfTerminal.Invoke(new EventHandler(delegate
335	{	342	{
336	if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat	343	if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat
337	rtfTerminal.Select(42, (500 * 129)); //500 löschen	344	rtfTerminal.Select(42, (500 * 129)); //500 löschen
338	rtfTerminal.Select(rtfTerminal.Text.Length, 0);	345	rtfTerminal.Select(rtfTerminal.Text.Length, 0);
339	rtfTerminal.SelectedText = string.Empty;	346	rtfTerminal.SelectedText = string.Empty;
340	rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);	347	rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
341	rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];	348	rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
342	rtfTerminal.AppendText(msg + Environment.NewLine);	349	rtfTerminal.AppendText(msg + Environment.NewLine);
343	rtfTerminal.ScrollToCaret();	350	rtfTerminal.ScrollToCaret();
344	}));	351	}));
345	}	352	}
346	/// <summary> display the OSD text in 4 lines à 20 chars </summary>	353	/// <summary> display the OSD text in 4 lines à 20 chars </summary>
347	/// <param name="msgtype"> The type of message to be written. </param>	354	/// <param name="msgtype"> The type of message to be written. </param>
348	/// <param name="msg"> The string containing the message to be shown. </param>	355	/// <param name="msg"> The string containing the message to be shown. </param>
349	private void OSD(LogMsgType msgtype, string msg)	356	private void OSD(LogMsgType msgtype, string msg)
350	{	357	{
351	rtfOSD.Invoke(new EventHandler(delegate	358	rtfOSD.Invoke(new EventHandler(delegate
352	{	359	{
353	if (rtfOSD.Lines.Length > 4)	360	if (rtfOSD.Lines.Length > 4)
354	rtfOSD.Clear();	361	rtfOSD.Clear();
355	rtfOSD.Select(rtfOSD.Text.Length,0);	362	rtfOSD.Select(rtfOSD.Text.Length,0);
356	rtfOSD.SelectedText = string.Empty;	363	rtfOSD.SelectedText = string.Empty;
357	rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);	364	rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
358	rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];	365	rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
359	rtfOSD.AppendText(msg + Environment.NewLine);	366	rtfOSD.AppendText(msg + Environment.NewLine);
360	if (rtfOSD.Text.IndexOf("ERR") > 0)	367	if (rtfOSD.Text.IndexOf("ERR") > 0)
361	{	368	{
362	rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);	369	rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
363	rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];	370	rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
364	}	371	}
365	}));	372	}));
366	}	373	}
367	private void ErrorLog(LogMsgType msgtype, string msg)	374	private void ErrorLog(LogMsgType msgtype, string msg)
368	{	375	{
369	rtfError.Invoke(new EventHandler(delegate	376	rtfError.Invoke(new EventHandler(delegate
370	{	377	{
371	if (rtfError.Lines.Length > 4)	378	if (rtfError.Lines.Length > 4)
372	rtfError.Clear();	379	rtfError.Clear();
373	rtfError.Focus();	380	rtfError.Focus();
374	rtfError.Select(rtfError.Text.Length, 0);	381	rtfError.Select(rtfError.Text.Length, 0);
375	rtfError.SelectedText = string.Empty;	382	rtfError.SelectedText = string.Empty;
376	rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);	383	rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
377	rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];	384	rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
378	rtfError.AppendText(msg + Environment.NewLine);	385	rtfError.AppendText(msg + Environment.NewLine);
379		386
380	}));	387	}));
-		388	_bErrorLog = true;
381	}	389	}
382		390
383	#region functions	391	#region functions
384		392
385	#region processing received data	393	#region processing received data
386	/// <summary> Processing the messages and displaying them in the according form controls	394	/// <summary> Processing the messages and displaying them in the according form controls
387	/// function called by simpleSerialPort.DataReceived event	395	/// function called by simpleSerialPort.DataReceived event
388	/// </summary>	396	/// </summary>
389	/// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>	397	/// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>
390	private void processMessage(byte[] message)	398	private void processMessage(byte[] message)
391	{	399	{
392	if (message.Length > 0)	400	if (message.Length > 0)
393	{	401	{
394	_iLifeCounter++;	402	_iLifeCounter++;
395	//Log(LogMsgType.Incoming, BitConverter.ToString(message));	403	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
396	//Log(LogMsgType.Incoming, message.Length.ToString());	404	//Log(LogMsgType.Incoming, message.Length.ToString());
397	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));	405	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
398	char cmdID;	406	char cmdID;
399	byte adr;	407	byte adr;
400	byte[] data;	408	byte[] data;
401	if (message[0] != '#')	409	if (message[0] != '#')
402	Log(LogMsgType.Normal, s.Trim('\0', '\n','\r'));	410	Log(LogMsgType.Normal, s.Trim('\0', '\n','\r'));
403	//Debug.Print(s);	411	//Debug.Print(s);
404	else	412	else
405	{	413	{
406	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);	414	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
407		415
408	if (adr == 255) { crcError++; }	416	if (adr == 255) { crcError++; }
409	else crcError = 0;	417	else crcError = 0;
410	lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));	418	lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));
411	//display the active controller (FC / NC)	419	//display the active controller (FC / NC)
412	if (adr > 0 && adr < 3 && adr != _iCtrlAct) //adr < 3: temporary workaround cause when I've connected the FC alone it always switches between mk3mag & FC every second...???	420	if (adr > 0 && adr < 3 && adr != _iCtrlAct) //adr < 3: temporary workaround cause when I've connected the FC alone it always switches between mk3mag & FC every second...???
413	{	421	{
414	_iCtrlAct = adr;	422	_iCtrlAct = adr;
415	switch (adr)	423	switch (adr)
416	{	424	{
417	case 1:	425	case 1:
418	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));	426	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));
419	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));	427	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));
420	_setFieldsNA(); //display fields NA for FC	428	_setFieldsNA(); //display fields NA for FC
421	break;	429	break;
422	case 2:	430	case 2:
423	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));	431	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));
424	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));	432	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));
425	break;	433	break;
426	case 3:	434	case 3:
427	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));	435	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
428	break;	436	break;
429	case 4:	437	case 4:
430	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));	438	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
431	break;	439	break;
432	default:	440	default:
433	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));	441	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
434	break;	442	break;
435	}	443	}
436	_loadLabelNames();	444	_loadLabelNames();
437	}	445	}
438	// else	446	// else
439	// Debug.Print("Address == 0?");	447	// Debug.Print("Address == 0?");
440		448
441	if (data != null && data.Length > 0)	449	if (data != null && data.Length > 0)
442	{	450	{
443	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));	451	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
444	s = s.Trim('\0', '\n');	452	s = s.Trim('\0', '\n');
445		453
446	switch (cmdID)	454	switch (cmdID)
447	{	455	{
448	case 'A': //Label names	456	case 'A': //Label names
449	_processLabelNames(s);	457	_processLabelNames(s);
450	break;	458	break;
451		459
452	case 'D': //Debug data	460	case 'D': //Debug data
453	_processDebugVals(adr,data);	461	_processDebugVals(adr,data);
454	break;	462	break;
455		463
456	case 'V': //Version	464	case 'V': //Version
457	_processVersion(adr, data);	465	_processVersion(adr, data);
458	break;	466	break;
459		467
460	case 'K'://BL-CTRL data	468	case 'K'://BL-CTRL data
461	_processBLCtrl(data);	469	_processBLCtrl(data);
462	break;	470	break;
463		471
464	case 'O': //NC Data	472	case 'O': //NC Data
465	_processNCData(data);	473	_processNCData(data);
466	break;	474	break;
467		475
468	case 'E': //NC error-string	476	case 'E': //NC error-string
469	ErrorLog(LogMsgType.Error, "NC Error: " + s);	477	ErrorLog(LogMsgType.Error, "NC Error: " + s);
470	break;	478	break;
471		479
472	case 'L': //OSD Menue (called by pagenumber)	480	case 'L': //OSD Menue (called by pagenumber)
473	_processOSDSingle(data);	481	_processOSDSingle(data);
474	break;	482	break;
475		483
476	case 'H': //OSD Menue (with autoupdate - called by Key)	484	case 'H': //OSD Menue (with autoupdate - called by Key)
477	_processOSDAuto(data);	485	_processOSDAuto(data);
478	break;	486	break;
479		487
480	//default:	488	//default:
481	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());	489	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
482	// Log(LogMsgType.Incoming, BitConverter.ToString(data));	490	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
483	// break;	491	// break;
484	}	492	}
485	}	493	}
486	//else	494	//else
487	//{	495	//{
488	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());	496	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
489	// Log(LogMsgType.Incoming, BitConverter.ToString(data));	497	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
490	//}	498	//}
491	}	499	}

Subversion Repositories Projects

(root)/MKLiveView/Source/MainForm.cs - Rev 2250 → 2254