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Ignore whitespace Rev 2249 → Rev 2250

/MKLiveView/Source/MainForm.cs
50,6 → 50,53
{
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
130,6 → 177,10
/// datatable for the debug data array - displayed on settings tabpage in datagridview
/// </summary>
DataTable dtAnalog = new DataTable();
 
DataTable dtMotors1 = new DataTable();
DataTable dtMotors2 = new DataTable();
 
public MainForm()
{
InitializeComponent();
137,6 → 188,21
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;
155,6 → 221,7
{
_loadLabelNames();
_init = false;
splitContainer1.SplitterDistance = 514;
}
private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
{
185,7 → 252,7
{
if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
 
if (_blctrlDataAutorefresh && _iCtrlAct == 2) { _readBLCtrl(true); Thread.Sleep(10); }
if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
check_HWError = true;
209,7 → 276,6
if (!_bCBInit && cbOSD.SelectedIndex > -1)
_OSDMenue(cbOSD.SelectedIndex);
}
 
private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
{
if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
226,7 → 292,6
{
if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
}
 
private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
{
if (cbTimingDebug.SelectedIndex > -1)
317,7 → 382,10
 
#region functions
 
/// <summary> Processing the messages and displaying them in the according form controls </summary>
#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)
{
340,7 → 408,7
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;
365,7 → 433,7
lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
break;
}
_loadLabelNames();
_loadLabelNames();
}
// else
// Debug.Print("Address == 0?");
377,270 → 445,36
 
switch (cmdID)
{
case 'A':
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);
 
case 'A': //Label names
_processLabelNames(s);
break;
case 'D':
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);
lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("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());
case 'D': //Debug data
_processDebugVals(adr,data);
break;
 
case 'V':
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
}
 
}
check_HWError = false;
case 'V': //Version
_processVersion(adr, data);
break;
 
case 'K'://BL-CTRL debug data from NC
if (data.Length == 6 && data[0] < 8)
{
Label lbCur = new Label(), lbTemp = new Label();
switch (data[0])
{
case 0:
lbCur = LBLNCM1Cur;
lbTemp = LBLNCM1Temp;
break;
case 1:
lbCur = LBLNCM2Cur;
lbTemp = LBLNCM2Temp;
break;
case 2:
lbCur = LBLNCM3Cur;
lbTemp = LBLNCM3Temp;
break;
case 3:
lbCur = LBLNCM4Cur;
lbTemp = LBLNCM4Temp;
break;
case 4:
lbCur = LBLNCM5Cur;
lbTemp = LBLNCM5Temp;
break;
case 5:
lbCur = LBLNCM6Cur;
lbTemp = LBLNCM6Temp;
break;
case 6:
lbCur = LBLNCM7Cur;
lbTemp = LBLNCM7Temp;
break;
case 7:
lbCur = LBLNCM8Cur;
lbTemp = LBLNCM8Temp;
break;
}
if (lbCur != null)
lbCur.Invoke((Action)(() => lbCur.Text = ((double)data[1] / (double)10).ToString("0.0 A")));
if (lbTemp != null)
lbTemp.Invoke((Action)(() => lbTemp.Text = data[2].ToString("0 °C")));
 
}
 
case 'K'://BL-CTRL data
_processBLCtrl(data);
break;
 
case 'O': //NC Data
int i_16,iVal;
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();
_processNCData(data);
break;
 
case 'E': //NC error-string
ErrorLog(LogMsgType.Error, "NC Error: " + s);
 
break;
 
case 'L':
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)");
case 'L': //OSD Menue (called by pagenumber)
_processOSDSingle(data);
break;
case 'H':
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)");
case 'H': //OSD Menue (with autoupdate - called by Key)
_processOSDAuto(data);
break;
 
//default:
657,7 → 491,332
}
}
}
/// <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);
lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("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
}
 
}
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[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]]);
 
}
/// <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>
913,11 → 1072,10
btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
if (bReadContinously)
{
_readDebugData(true);
if (_iCtrlAct == 2) { Thread.Sleep(10); _readBLCtrl(true);}
if (_iCtrlAct == 2) { Thread.Sleep(10); _readNavData(true);}
Thread.Sleep(10);
_OSDMenueAutoRefresh();
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
925,62 → 1083,20
_iLifeCounter = 0;
}
/// <summary>
/// set fieldtexts to "NA" when not available with FC
/// set values to "NA" when not available with FC
/// </summary>
void _setFieldsNA()
{
Thread.Sleep(100);
Label lbCur = new Label(), lbTemp = new Label();
for (int i = 0; i < 8; i++)
{
//BL-Ctrl Temp & Current
switch (i)
{
case 0:
lbCur = LBLNCM1Cur;
lbTemp = LBLNCM1Temp;
break;
case 1:
lbCur = LBLNCM2Cur;
lbTemp = LBLNCM2Temp;
break;
case 2:
lbCur = LBLNCM3Cur;
lbTemp = LBLNCM3Temp;
break;
case 3:
lbCur = LBLNCM4Cur;
lbTemp = LBLNCM4Temp;
break;
case 4:
lbCur = LBLNCM5Cur;
lbTemp = LBLNCM5Temp;
break;
case 5:
lbCur = LBLNCM6Cur;
lbTemp = LBLNCM6Temp;
break;
case 6:
lbCur = LBLNCM7Cur;
lbTemp = LBLNCM7Temp;
break;
case 7:
lbCur = LBLNCM8Cur;
lbTemp = LBLNCM8Temp;
break;
}
if (lbCur != null)
lbCur.Invoke((Action)(() => lbCur.Text = "NA"));
if (lbTemp != null)
lbTemp.Invoke((Action)(() => lbTemp.Text = "NA"));
 
}
_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
lblNCDist.Invoke((Action)(() => lblNCDist.Text = "NA")); //Distance to HP
lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used
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
}
/// <summary>
/// one time query of the OSD Menue with pagenumber
1077,6 → 1193,65
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() + "\"";
}
#endregion functions
 
#region buttons
1199,7 → 1374,6
_OSDMenueAutoRefresh(4);
}
#endregion buttons
 
}
public class IniFile
{