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| Rev 2236 | Rev 2250 | ||
|---|---|---|---|
| Line 48... | Line 48... | ||
| 48 | 48 | ||
| 49 | namespace MKLiveView |
49 | namespace MKLiveView |
| 50 | { |
50 | { |
| 51 | public partial class MainForm : Form |
51 | public partial class MainForm : Form |
| - | 52 | { |
|
| - | 53 | String[] NC_Error = new string[44] |
|
| - | 54 | { |
|
| - | 55 | "No Error", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 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", |
|
| - | 98 | "ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22" |
|
| Line 52... | Line 99... | ||
| 52 | { |
99 | }; |
| 53 | 100 | ||
| 54 | [FlagsAttribute] |
101 | [FlagsAttribute] |
| 55 | enum NC_HWError0 : short |
102 | enum NC_HWError0 : short |
| Line 128... | Line 175... | ||
| 128 | byte OSDInterval = 85; |
175 | byte OSDInterval = 85; |
| 129 | /// <summary> |
176 | /// <summary> |
| 130 | /// datatable for the debug data array - displayed on settings tabpage in datagridview |
177 | /// datatable for the debug data array - displayed on settings tabpage in datagridview |
| 131 | /// </summary> |
178 | /// </summary> |
| 132 | DataTable dtAnalog = new DataTable(); |
179 | DataTable dtAnalog = new DataTable(); |
| - | 180 | ||
| - | 181 | DataTable dtMotors1 = new DataTable(); |
|
| - | 182 | DataTable dtMotors2 = new DataTable(); |
|
| - | 183 | ||
| 133 | public MainForm() |
184 | public MainForm() |
| 134 | { |
185 | { |
| 135 | InitializeComponent(); |
186 | InitializeComponent(); |
| 136 | _readIni(); |
187 | _readIni(); |
| 137 | dtAnalog.Columns.Add("ID"); |
188 | dtAnalog.Columns.Add("ID"); |
| 138 | dtAnalog.Columns.Add("Value"); |
189 | dtAnalog.Columns.Add("Value"); |
| 139 | dataGridView1.DataSource = dtAnalog; |
190 | dataGridView1.DataSource = dtAnalog; |
| - | 191 | dtMotors1.Columns.Add("#"); |
|
| - | 192 | dtMotors1.Columns.Add("Current"); |
|
| - | 193 | dtMotors1.Columns.Add("Temp"); |
|
| - | 194 | dtMotors2.Columns.Add("#"); |
|
| - | 195 | dtMotors2.Columns.Add("Current"); |
|
| - | 196 | dtMotors2.Columns.Add("Temp"); |
|
| - | 197 | dgvMotors1.DataSource = dtMotors1; |
|
| - | 198 | dgvMotors2.DataSource = dtMotors2; |
|
| - | 199 | _initDTMotors(); |
|
| - | 200 | dgvMotors1.Columns[0].Width = 24; |
|
| - | 201 | dgvMotors1.Columns[1].Width = 74; |
|
| - | 202 | dgvMotors1.Columns[2].Width = 74; |
|
| - | 203 | dgvMotors2.Columns[0].Width = 24; |
|
| - | 204 | dgvMotors2.Columns[1].Width = 74; |
|
| - | 205 | dgvMotors2.Columns[2].Width = 74; |
|
| 140 | simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed; |
206 | simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed; |
| 141 | simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened; |
207 | simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened; |
| 142 | simpleSerialPort.DataReceived += processMessage; |
208 | simpleSerialPort.DataReceived += processMessage; |
| 143 | chkbAutoBL.Checked = _blctrlDataAutorefresh; |
209 | chkbAutoBL.Checked = _blctrlDataAutorefresh; |
| 144 | chkbAutoDbg.Checked = _debugDataAutorefresh; |
210 | chkbAutoDbg.Checked = _debugDataAutorefresh; |
| Line 153... | Line 219... | ||
| 153 | #region events |
219 | #region events |
| 154 | private void MainForm_Shown(object sender, EventArgs e) |
220 | private void MainForm_Shown(object sender, EventArgs e) |
| 155 | { |
221 | { |
| 156 | _loadLabelNames(); |
222 | _loadLabelNames(); |
| 157 | _init = false; |
223 | _init = false; |
| - | 224 | splitContainer1.SplitterDistance = 514; |
|
| 158 | } |
225 | } |
| 159 | private void MainForm_FormClosed(object sender, FormClosedEventArgs e) |
226 | private void MainForm_FormClosed(object sender, FormClosedEventArgs e) |
| 160 | { |
227 | { |
| 161 | _writeIni(); |
228 | _writeIni(); |
| 162 | } |
229 | } |
| Line 183... | Line 250... | ||
| 183 | { |
250 | { |
| 184 | if(bReadContinously) |
251 | if(bReadContinously) |
| 185 | { |
252 | { |
| 186 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
253 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
| Line 187... | Line 254... | ||
| 187 | 254 | ||
| Line 188... | Line 255... | ||
| 188 | if (_blctrlDataAutorefresh && _iCtrlAct == 2) { _readBLCtrl(true); Thread.Sleep(10); } |
255 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
| 189 | 256 | ||
| 190 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
257 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
| 191 | check_HWError = true; |
258 | check_HWError = true; |
| Line 207... | Line 274... | ||
| 207 | private void cbOSD_SelectedIndexChanged(object sender, EventArgs e) |
274 | private void cbOSD_SelectedIndexChanged(object sender, EventArgs e) |
| 208 | { |
275 | { |
| 209 | if (!_bCBInit && cbOSD.SelectedIndex > -1) |
276 | if (!_bCBInit && cbOSD.SelectedIndex > -1) |
| 210 | _OSDMenue(cbOSD.SelectedIndex); |
277 | _OSDMenue(cbOSD.SelectedIndex); |
| 211 | } |
278 | } |
| 212 | - | ||
| 213 | private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e) |
279 | private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e) |
| 214 | { |
280 | { |
| 215 | if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked; |
281 | if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked; |
| 216 | } |
282 | } |
| 217 | private void chkbAutoNav_CheckedChanged(object sender, EventArgs e) |
283 | private void chkbAutoNav_CheckedChanged(object sender, EventArgs e) |
| Line 224... | Line 290... | ||
| 224 | } |
290 | } |
| 225 | private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e) |
291 | private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e) |
| 226 | { |
292 | { |
| 227 | if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked; |
293 | if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked; |
| 228 | } |
294 | } |
| 229 | - | ||
| 230 | private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e) |
295 | private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e) |
| 231 | { |
296 | { |
| 232 | if (cbTimingDebug.SelectedIndex > -1) |
297 | if (cbTimingDebug.SelectedIndex > -1) |
| 233 | { |
298 | { |
| 234 | debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10); |
299 | debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10); |
| Line 315... | Line 380... | ||
| 315 | })); |
380 | })); |
| 316 | } |
381 | } |
| Line 317... | Line 382... | ||
| 317 | 382 | ||
| Line -... | Line 383... | ||
| - | 383 | #region functions |
|
| 318 | #region functions |
384 | |
| - | 385 | #region processing received data |
|
| - | 386 | /// <summary> Processing the messages and displaying them in the according form controls |
|
| 319 | 387 | /// function called by simpleSerialPort.DataReceived event |
|
| 320 | /// <summary> Processing the messages and displaying them in the according form controls </summary> |
388 | /// </summary> |
| 321 | /// <param name="message"> message bytearray recieved by SimpleSerialPort class </param> |
389 | /// <param name="message"> message bytearray recieved by SimpleSerialPort class </param> |
| 322 | private void processMessage(byte[] message) |
390 | private void processMessage(byte[] message) |
| 323 | { |
391 | { |
| Line 338... | Line 406... | ||
| 338 | FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
406 | FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
| Line 339... | Line 407... | ||
| 339 | 407 | ||
| 340 | if (adr == 255) { crcError++; } |
408 | if (adr == 255) { crcError++; } |
| 341 | else crcError = 0; |
409 | else crcError = 0; |
| 342 | lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString())); |
- | |
| - | 410 | lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString())); |
|
| 343 | 411 | //display the active controller (FC / NC) |
|
| 344 | 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...??? |
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...??? |
| 345 | { |
413 | { |
| 346 | _iCtrlAct = adr; |
414 | _iCtrlAct = adr; |
| 347 | switch (adr) |
415 | switch (adr) |
| Line 363... | Line 431... | ||
| 363 | break; |
431 | break; |
| 364 | default: |
432 | default: |
| 365 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "....")); |
433 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "....")); |
| 366 | break; |
434 | break; |
| 367 | } |
435 | } |
| 368 | _loadLabelNames(); |
436 | _loadLabelNames(); |
| 369 | } |
437 | } |
| 370 | // else |
438 | // else |
| 371 | // Debug.Print("Address == 0?"); |
439 | // Debug.Print("Address == 0?"); |
| Line 372... | Line 440... | ||
| 372 | 440 | ||
| Line 375... | Line 443... | ||
| 375 | s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
443 | s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
| 376 | s = s.Trim('\0', '\n'); |
444 | s = s.Trim('\0', '\n'); |
| Line 377... | Line 445... | ||
| 377 | 445 | ||
| 378 | switch (cmdID) |
446 | switch (cmdID) |
| 379 | { |
447 | { |
| 380 | case 'A': |
- | |
| 381 | if (iLableIndex < 32) |
- | |
| 382 | { |
- | |
| 383 | sAnalogLabel[iLableIndex] = s; |
- | |
| 384 | if (dtAnalog.Rows.Count < 32) |
- | |
| 385 | dtAnalog.Rows.Add(s, ""); |
- | |
| 386 | else |
- | |
| 387 | dtAnalog.Rows[iLableIndex].SetField(0, s); |
- | |
| 388 | - | ||
| 389 | _getAnalogLabels(iLableIndex + 1); |
- | |
| 390 | } |
448 | case 'A': //Label names |
| 391 | Debug.Print(s); |
- | |
| 392 | - | ||
| 393 | break; |
- | |
| 394 | case 'D': |
- | |
| 395 | if (data.Length == 66) |
- | |
| 396 | { |
- | |
| 397 | int[] iAnalogData = new int[32]; |
- | |
| 398 | - | ||
| 399 | int index = 0; |
- | |
| 400 | Int16 i16 = 0; |
- | |
| 401 | double dTemp = 0; |
- | |
| 402 | for (int i = 2; i < 66; i += 2) |
- | |
| 403 | { |
- | |
| 404 | i16 = data[i + 1]; |
- | |
| 405 | i16 = (Int16)(i16 << 8); |
- | |
| 406 | iAnalogData[index] = data[i] + i16; |
- | |
| 407 | sAnalogData[index] = (data[i] + i16).ToString(); |
- | |
| 408 | dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
- | |
| 409 | - | ||
| 410 | if (adr == 2) //NC |
- | |
| 411 | { |
- | |
| 412 | switch (index) |
- | |
| 413 | { |
- | |
| 414 | case 0: //pitch (German: nick) |
- | |
| 415 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10))); |
- | |
| 416 | lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
- | |
| 417 | break; |
- | |
| 418 | case 1: //roll |
- | |
| 419 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10))); |
- | |
| 420 | lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
- | |
| 421 | break; |
- | |
| 422 | case 4: //altitude |
- | |
| 423 | lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"))); |
- | |
| 424 | break; |
- | |
| 425 | case 7: //Voltage |
- | |
| 426 | lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V"))); |
- | |
| 427 | break; |
- | |
| 428 | case 8: // Current |
- | |
| 429 | lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"))); |
- | |
| 430 | break; |
- | |
| 431 | case 10: //heading |
- | |
| 432 | lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°")); |
- | |
| 433 | headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index]))); |
- | |
| 434 | break; |
- | |
| 435 | case 12: // SPI error |
- | |
| 436 | lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index])); |
- | |
| 437 | break; |
- | |
| 438 | case 14: //i2c error |
- | |
| 439 | lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index])); |
- | |
| 440 | break; |
- | |
| 441 | case 20: //Earthmagnet field |
- | |
| 442 | lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%")); |
- | |
| 443 | break; |
- | |
| 444 | case 21: //GroundSpeed |
- | |
| 445 | lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
- | |
| 446 | break; |
- | |
| 447 | case 28: //Distance East from saved home position -> calculate distance with distance N + height |
- | |
| 448 | dTemp = Math.Pow((double)iAnalogData[index],2) + Math.Pow((double)iAnalogData[index - 1],2); |
- | |
| 449 | dTemp = Math.Sqrt(dTemp)/ (double)10; //'flat' distance from HP with N/E |
- | |
| 450 | // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
- | |
| 451 | dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
- | |
| 452 | dTemp = Math.Sqrt(dTemp); |
- | |
| 453 | lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0 m"))); |
- | |
| 454 | break; |
- | |
| 455 | case 31: //Sats used |
- | |
| 456 | lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index])); |
- | |
| 457 | break; |
- | |
| 458 | } |
- | |
| 459 | } |
- | |
| 460 | if (adr == 1) //FC |
- | |
| 461 | { |
- | |
| 462 | switch (index) |
- | |
| 463 | { |
- | |
| 464 | case 0: //pitch (German: nick) |
- | |
| 465 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10))); |
- | |
| 466 | lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
- | |
| 467 | break; |
- | |
| 468 | case 1: //roll |
- | |
| 469 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10))); |
- | |
| 470 | lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
- | |
| 471 | break; |
- | |
| 472 | case 5: //altitude |
- | |
| 473 | lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"))); |
- | |
| 474 | break; |
- | |
| 475 | case 8: //heading |
- | |
| 476 | lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°")); |
- | |
| 477 | headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index]))); |
- | |
| 478 | break; |
- | |
| 479 | case 9: //Voltage |
- | |
| 480 | lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V"))); |
- | |
| 481 | break; |
- | |
| 482 | case 10: //Receiver quality |
- | |
| 483 | lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index])); |
- | |
| 484 | break; |
- | |
| 485 | case 22: // Current |
- | |
| 486 | lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"))); |
- | |
| 487 | break; |
- | |
| 488 | case 23: //capacity used |
- | |
| 489 | lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh"))); |
- | |
| 490 | break; |
- | |
| 491 | case 27: // SPI error |
- | |
| 492 | lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index])); |
- | |
| 493 | break; |
- | |
| 494 | case 28: //i2c error |
- | |
| 495 | lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index])); |
- | |
| 496 | break; |
- | |
| 497 | } |
- | |
| 498 | } |
- | |
| 499 | index++; |
- | |
| 500 | } |
- | |
| 501 | } |
- | |
| 502 | else |
- | |
| 503 | Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
449 | _processLabelNames(s); |
| 504 | break; |
- | |
| 505 | - | ||
| 506 | case 'V': |
- | |
| 507 | if (data.Length == 12) |
- | |
| 508 | { |
- | |
| 509 | if (!check_HWError) |
- | |
| 510 | { |
- | |
| 511 | string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
- | |
| 512 | string sVersion = ""; |
- | |
| 513 | //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
- | |
| 514 | Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
- | |
| 515 | sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
- | |
| 516 | Log(LogMsgType.Incoming, sVersion); |
- | |
| 517 | sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
- | |
| 518 | Log(LogMsgType.Incoming, sVersion); |
- | |
| 519 | Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
- | |
| 520 | } |
- | |
| 521 | if(data[5] > 0) //error0 |
- | |
| 522 | { |
- | |
| 523 | if(adr == 1) |
- | |
| 524 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString()); |
- | |
| 525 | if (adr == 2) |
- | |
| 526 | ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString()); |
- | |
| 527 | } |
- | |
| 528 | if (data[6] > 0) //error1 |
- | |
| 529 | { |
- | |
| 530 | if (adr == 1) |
- | |
| 531 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString()); |
- | |
| 532 | if (adr == 2) |
- | |
| 533 | ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field |
- | |
| 534 | } |
- | |
| 535 | - | ||
| 536 | } |
- | |
| 537 | check_HWError = false; |
- | |
| 538 | break; |
- | |
| 539 | - | ||
| 540 | case 'K'://BL-CTRL debug data from NC |
- | |
| 541 | if (data.Length == 6 && data[0] < 8) |
- | |
| 542 | { |
- | |
| 543 | Label lbCur = new Label(), lbTemp = new Label(); |
- | |
| 544 | switch (data[0]) |
- | |
| 545 | { |
- | |
| 546 | case 0: |
- | |
| 547 | lbCur = LBLNCM1Cur; |
- | |
| 548 | lbTemp = LBLNCM1Temp; |
- | |
| 549 | break; |
- | |
| 550 | case 1: |
- | |
| 551 | lbCur = LBLNCM2Cur; |
- | |
| 552 | lbTemp = LBLNCM2Temp; |
- | |
| 553 | break; |
- | |
| 554 | case 2: |
- | |
| 555 | lbCur = LBLNCM3Cur; |
- | |
| 556 | lbTemp = LBLNCM3Temp; |
- | |
| 557 | break; |
- | |
| 558 | case 3: |
- | |
| 559 | lbCur = LBLNCM4Cur; |
- | |
| 560 | lbTemp = LBLNCM4Temp; |
- | |
| 561 | break; |
- | |
| 562 | case 4: |
- | |
| 563 | lbCur = LBLNCM5Cur; |
- | |
| 564 | lbTemp = LBLNCM5Temp; |
- | |
| 565 | break; |
- | |
| 566 | case 5: |
- | |
| 567 | lbCur = LBLNCM6Cur; |
- | |
| 568 | lbTemp = LBLNCM6Temp; |
- | |
| 569 | break; |
- | |
| 570 | case 6: |
- | |
| 571 | lbCur = LBLNCM7Cur; |
- | |
| 572 | lbTemp = LBLNCM7Temp; |
- | |
| 573 | break; |
- | |
| 574 | case 7: |
- | |
| 575 | lbCur = LBLNCM8Cur; |
- | |
| 576 | lbTemp = LBLNCM8Temp; |
- | |
| 577 | break; |
- | |
| 578 | } |
- | |
| 579 | if (lbCur != null) |
- | |
| 580 | lbCur.Invoke((Action)(() => lbCur.Text = ((double)data[1] / (double)10).ToString("0.0 A"))); |
- | |
| 581 | if (lbTemp != null) |
- | |
| Line -... | Line 450... | ||
| - | 450 | break; |
|
| - | 451 | ||
| 582 | lbTemp.Invoke((Action)(() => lbTemp.Text = data[2].ToString("0 °C"))); |
452 | case 'D': //Debug data |
| Line -... | Line 453... | ||
| - | 453 | _processDebugVals(adr,data); |
|
| - | 454 | break; |
|
| - | 455 | ||
| - | 456 | case 'V': //Version |
|
| - | 457 | _processVersion(adr, data); |
|
| - | 458 | break; |
|
| 583 | 459 | ||
| Line 584... | Line 460... | ||
| 584 | } |
460 | case 'K'://BL-CTRL data |
| 585 | - | ||
| 586 | break; |
- | |
| 587 | - | ||
| 588 | case 'O': //NC Data |
- | |
| 589 | int i_16,iVal; |
- | |
| 590 | i_16 = data[81]; |
- | |
| 591 | i_16 = (Int16)(i_16 << 8); |
- | |
| 592 | iVal = data[80] + i_16; |
- | |
| 593 | lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used |
- | |
| 594 | - | ||
| 595 | i_16 = data[56]; |
- | |
| 596 | i_16 = (Int16)(i_16 << 8); |
- | |
| 597 | iVal = data[55] + i_16; |
- | |
| 598 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
- | |
| 599 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
- | |
| 600 | lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time |
- | |
| 601 | 461 | _processBLCtrl(data); |
|
| 602 | lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality |
462 | break; |
| Line 603... | Line 463... | ||
| 603 | lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber |
463 | |
| 604 | if (data[69] > 0) |
464 | case 'O': //NC Data |
| - | 465 | _processNCData(data); |
|
| Line -... | Line 466... | ||
| - | 466 | break; |
|
| - | 467 | ||
| 605 | _readNCError(); |
468 | case 'E': //NC error-string |
| Line 606... | Line -... | ||
| 606 | break; |
- | |
| 607 | - | ||
| 608 | case 'E': //NC error-string |
- | |
| 609 | ErrorLog(LogMsgType.Error, "NC Error: " + s); |
- | |
| 610 | 469 | ErrorLog(LogMsgType.Error, "NC Error: " + s); |
|
| 611 | break; |
470 | break; |
| 612 | - | ||
| 613 | case 'L': |
- | |
| 614 | if(data.Length == 84) |
- | |
| 615 | { |
- | |
| 616 | string sMessage = ""; |
- | |
| 617 | iOSDPage = data[0]; |
- | |
| 618 | iOSDMax = data[1]; |
- | |
| 619 | if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
- | |
| 620 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
- | |
| 621 | OSD(LogMsgType.Incoming, sMessage.Substring(0,20)); |
- | |
| 622 | OSD(LogMsgType.Incoming, sMessage.Substring(20,20)); |
- | |
| 623 | OSD(LogMsgType.Incoming, sMessage.Substring(40,20)); |
- | |
| 624 | OSD(LogMsgType.Incoming, sMessage.Substring(60,20)); |
- | |
| 625 | lblOSDPageNr.Invoke((Action)(()=>lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
- | |
| 626 | - | ||
| 627 | } |
- | |
| 628 | else |
- | |
| 629 | OSD(LogMsgType.Incoming,"Wrong length: " + data.Length + " (should be 84)"); |
- | |
| 630 | break; |
- | |
| 631 | case 'H': |
- | |
| 632 | if(data.Length == 81) |
- | |
| 633 | { |
- | |
| 634 | string sMessage = ""; |
- | |
| 635 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
- | |
| 636 | OSD(LogMsgType.Incoming, sMessage.Substring(0,20)); |
- | |
| 637 | OSD(LogMsgType.Incoming, sMessage.Substring(20,20)); |
471 | |
| Line 638... | Line 472... | ||
| 638 | OSD(LogMsgType.Incoming, sMessage.Substring(40,20)); |
472 | case 'L': //OSD Menue (called by pagenumber) |
| 639 | OSD(LogMsgType.Incoming, sMessage.Substring(60,20)); |
473 | _processOSDSingle(data); |
| 640 | 474 | break; |
|
| Line 655... | Line 489... | ||
| 655 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
489 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
| 656 | //} |
490 | //} |
| 657 | } |
491 | } |
| 658 | } |
492 | } |
| 659 | } |
493 | } |
| - | 494 | /// <summary> |
|
| - | 495 | /// Analog label names 'A' |
|
| - | 496 | /// each label name is returned as a single string |
|
| - | 497 | /// and added to string array sAnalogLabel[] |
|
| - | 498 | /// and the datatable dtAnalog |
|
| - | 499 | /// </summary> |
|
| - | 500 | /// <param name="s">the label name</param> |
|
| - | 501 | void _processLabelNames(string s) |
|
| - | 502 | { |
|
| - | 503 | if (iLableIndex < 32) |
|
| - | 504 | { |
|
| - | 505 | sAnalogLabel[iLableIndex] = s; |
|
| - | 506 | if (dtAnalog.Rows.Count < 32) |
|
| - | 507 | dtAnalog.Rows.Add(s, ""); |
|
| - | 508 | else |
|
| - | 509 | dtAnalog.Rows[iLableIndex].SetField(0, s); |
|
| - | 510 | ||
| - | 511 | _getAnalogLabels(iLableIndex + 1); |
|
| - | 512 | } |
|
| - | 513 | Debug.Print(s); |
|
| - | 514 | } |
|
| - | 515 | /// <summary> |
|
| - | 516 | /// Debug values 'D' |
|
| - | 517 | /// </summary> |
|
| - | 518 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
|
| - | 519 | /// <param name="data">the received byte array to process</param> |
|
| - | 520 | void _processDebugVals(byte adr,byte[] data) |
|
| - | 521 | { |
|
| - | 522 | if (data.Length == 66) |
|
| - | 523 | { |
|
| - | 524 | int[] iAnalogData = new int[32]; |
|
| - | 525 | ||
| - | 526 | int index = 0; |
|
| - | 527 | Int16 i16 = 0; |
|
| - | 528 | double dTemp = 0; |
|
| - | 529 | for (int i = 2; i < 66; i += 2) |
|
| - | 530 | { |
|
| - | 531 | i16 = data[i + 1]; |
|
| - | 532 | i16 = (Int16)(i16 << 8); |
|
| - | 533 | iAnalogData[index] = data[i] + i16; |
|
| - | 534 | sAnalogData[index] = (data[i] + i16).ToString(); |
|
| - | 535 | dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
|
| - | 536 | ||
| - | 537 | if (adr == 2) //NC |
|
| - | 538 | { |
|
| - | 539 | switch (index) |
|
| - | 540 | { |
|
| - | 541 | case 0: //pitch (German: nick) |
|
| - | 542 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10))); |
|
| - | 543 | lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
|
| - | 544 | break; |
|
| - | 545 | case 1: //roll |
|
| - | 546 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10))); |
|
| - | 547 | lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
|
| - | 548 | break; |
|
| - | 549 | case 4: //altitude |
|
| - | 550 | lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"))); |
|
| - | 551 | break; |
|
| - | 552 | case 7: //Voltage |
|
| - | 553 | lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V"))); |
|
| - | 554 | break; |
|
| - | 555 | case 8: // Current |
|
| - | 556 | lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"))); |
|
| - | 557 | break; |
|
| - | 558 | case 10: //heading |
|
| - | 559 | lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°")); |
|
| - | 560 | headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index]))); |
|
| - | 561 | break; |
|
| - | 562 | case 12: // SPI error |
|
| - | 563 | lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index])); |
|
| - | 564 | break; |
|
| - | 565 | case 14: //i2c error |
|
| - | 566 | lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index])); |
|
| - | 567 | break; |
|
| - | 568 | case 20: //Earthmagnet field |
|
| - | 569 | lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%")); |
|
| - | 570 | break; |
|
| - | 571 | case 21: //GroundSpeed |
|
| - | 572 | lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
|
| - | 573 | break; |
|
| - | 574 | case 28: //Distance East from saved home position -> calculate distance with distance N + height |
|
| - | 575 | dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2); |
|
| - | 576 | dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E |
|
| - | 577 | // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
|
| - | 578 | dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
|
| - | 579 | dTemp = Math.Sqrt(dTemp); |
|
| - | 580 | lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0 m"))); |
|
| - | 581 | break; |
|
| - | 582 | case 31: //Sats used |
|
| - | 583 | lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index])); |
|
| - | 584 | break; |
|
| - | 585 | } |
|
| - | 586 | } |
|
| - | 587 | if (adr == 1) //FC |
|
| - | 588 | { |
|
| - | 589 | switch (index) |
|
| - | 590 | { |
|
| - | 591 | case 0: //pitch (German: nick) |
|
| - | 592 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10))); |
|
| - | 593 | lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
|
| - | 594 | break; |
|
| - | 595 | case 1: //roll |
|
| - | 596 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10))); |
|
| - | 597 | lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
|
| - | 598 | break; |
|
| - | 599 | case 5: //altitude |
|
| - | 600 | lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"))); |
|
| - | 601 | break; |
|
| - | 602 | case 8: //heading |
|
| - | 603 | lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°")); |
|
| - | 604 | headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index]))); |
|
| - | 605 | break; |
|
| - | 606 | case 9: //Voltage |
|
| - | 607 | lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V"))); |
|
| - | 608 | break; |
|
| - | 609 | case 10: //Receiver quality |
|
| - | 610 | lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index])); |
|
| - | 611 | break; |
|
| - | 612 | case 22: // Current |
|
| - | 613 | lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"))); |
|
| - | 614 | break; |
|
| - | 615 | case 23: //capacity used |
|
| - | 616 | lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh"))); |
|
| - | 617 | break; |
|
| - | 618 | case 27: // SPI error |
|
| - | 619 | lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index])); |
|
| - | 620 | break; |
|
| - | 621 | case 28: //i2c error |
|
| - | 622 | lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index])); |
|
| - | 623 | break; |
|
| - | 624 | } |
|
| - | 625 | } |
|
| - | 626 | index++; |
|
| - | 627 | } |
|
| - | 628 | } |
|
| - | 629 | else |
|
| - | 630 | Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
|
| - | 631 | } |
|
| - | 632 | /// <summary> |
|
| - | 633 | /// Version string 'V' |
|
| - | 634 | /// </summary> |
|
| - | 635 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
|
| - | 636 | /// <param name="data">the received byte array to process</param> |
|
| - | 637 | void _processVersion(byte adr,byte[] data) |
|
| - | 638 | { |
|
| - | 639 | if (data.Length == 12) |
|
| - | 640 | { |
|
| - | 641 | if (!check_HWError) |
|
| - | 642 | { |
|
| - | 643 | string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
|
| - | 644 | string sVersion = ""; |
|
| - | 645 | //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
|
| - | 646 | Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
|
| - | 647 | sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
|
| - | 648 | Log(LogMsgType.Incoming, sVersion); |
|
| - | 649 | sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
|
| - | 650 | Log(LogMsgType.Incoming, sVersion); |
|
| - | 651 | Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
|
| - | 652 | } |
|
| - | 653 | if (data[5] > 0) //error0 |
|
| - | 654 | { |
|
| - | 655 | if (adr == 1) |
|
| - | 656 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString()); |
|
| - | 657 | if (adr == 2) |
|
| - | 658 | ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString()); |
|
| - | 659 | } |
|
| - | 660 | if (data[6] > 0) //error1 |
|
| - | 661 | { |
|
| - | 662 | if (adr == 1) |
|
| - | 663 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString()); |
|
| - | 664 | if (adr == 2) |
|
| - | 665 | ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field |
|
| - | 666 | } |
|
| - | 667 | ||
| - | 668 | } |
|
| - | 669 | check_HWError = false; |
|
| - | 670 | } |
|
| - | 671 | /// <summary> |
|
| - | 672 | /// BL-Ctrl data 'K' |
|
| - | 673 | /// for FC you have to use a customized firmware |
|
| - | 674 | /// </summary> |
|
| - | 675 | /// <param name="data">the received byte array to process</param> |
|
| - | 676 | void _processBLCtrl(byte[] data) |
|
| - | 677 | { |
|
| - | 678 | if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard! |
|
| - | 679 | { |
|
| - | 680 | bool bAvailable = false; |
|
| - | 681 | for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors |
|
| - | 682 | { |
|
| - | 683 | ||
| - | 684 | if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available |
|
| - | 685 | bAvailable = true; |
|
| - | 686 | else |
|
| - | 687 | bAvailable = false; |
|
| - | 688 | ||
| - | 689 | if (data[i] < 4) |
|
| - | 690 | { |
|
| - | 691 | if (bAvailable) |
|
| - | 692 | { |
|
| - | 693 | dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
|
| - | 694 | dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C")); |
|
| - | 695 | } |
|
| - | 696 | else |
|
| - | 697 | { |
|
| - | 698 | dtMotors1.Rows[data[i]].SetField(1, "NA"); |
|
| - | 699 | dtMotors1.Rows[data[i]].SetField(2, "NA"); |
|
| - | 700 | } |
|
| - | 701 | } |
|
| - | 702 | if (data[i] > 3 && data[i] < 8) |
|
| - | 703 | { |
|
| - | 704 | if (bAvailable) |
|
| - | 705 | { |
|
| - | 706 | dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
|
| - | 707 | dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C")); |
|
| - | 708 | } |
|
| - | 709 | else |
|
| - | 710 | { |
|
| - | 711 | dtMotors2.Rows[data[i] - 4].SetField(1, "NA"); |
|
| - | 712 | dtMotors2.Rows[data[i] - 4].SetField(2, "NA"); |
|
| - | 713 | } |
|
| - | 714 | } |
|
| - | 715 | } |
|
| - | 716 | } |
|
| - | 717 | ||
| - | 718 | } |
|
| - | 719 | /// <summary> |
|
| - | 720 | /// Navi-Ctrl data 'O' |
|
| - | 721 | /// GPS-Position, capacatiy, flying time... |
|
| - | 722 | /// </summary> |
|
| - | 723 | /// <param name="data">the received byte array to process</param> |
|
| - | 724 | void _processNCData(byte[] data) |
|
| - | 725 | { |
|
| - | 726 | int i_32, i_16, iVal; |
|
| - | 727 | double d; |
|
| - | 728 | i_32 = data[4]; |
|
| - | 729 | iVal = i_32 << 24; |
|
| - | 730 | i_32 = data[3]; |
|
| - | 731 | iVal += i_32 << 16; |
|
| - | 732 | i_32 = data[2]; |
|
| - | 733 | iVal += i_32 << 8; |
|
| - | 734 | iVal += data[1]; |
|
| - | 735 | d = (double)iVal / Math.Pow(10, 7); |
|
| - | 736 | lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree |
|
| - | 737 | //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds |
|
| - | 738 | ||
| - | 739 | i_32 = data[8]; |
|
| - | 740 | iVal = i_32 << 24; |
|
| - | 741 | i_32 = data[7]; |
|
| - | 742 | iVal += i_32 << 16; |
|
| - | 743 | i_32 = data[6]; |
|
| - | 744 | iVal += i_32 << 8; |
|
| - | 745 | iVal += data[5]; |
|
| - | 746 | d = (double)iVal / Math.Pow(10, 7); |
|
| - | 747 | lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree |
|
| - | 748 | //lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds |
|
| - | 749 | ||
| - | 750 | i_16 = data[81]; |
|
| - | 751 | i_16 = (Int16)(i_16 << 8); |
|
| - | 752 | iVal = data[80] + i_16; |
|
| - | 753 | lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used |
|
| - | 754 | ||
| - | 755 | i_16 = data[56]; |
|
| - | 756 | i_16 = (Int16)(i_16 << 8); |
|
| - | 757 | iVal = data[55] + i_16; |
|
| - | 758 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
|
| - | 759 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
|
| - | 760 | lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time |
|
| - | 761 | ||
| - | 762 | lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality |
|
| - | 763 | lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber |
|
| - | 764 | //if (data[69] > 0) |
|
| - | 765 | // _readNCError(); |
|
| - | 766 | //break; |
|
| - | 767 | if (data[69] > 0 & data[69] < 44) |
|
| - | 768 | ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]); |
|
| - | 769 | ||
| - | 770 | } |
|
| - | 771 | /// <summary> |
|
| - | 772 | /// OSD Menue 'L' |
|
| - | 773 | /// single page called by pagenumber |
|
| - | 774 | /// no autoupdate |
|
| - | 775 | /// </summary> |
|
| - | 776 | /// <param name="data">the received byte array to process</param> |
|
| - | 777 | void _processOSDSingle(byte[] data) |
|
| - | 778 | { |
|
| - | 779 | if (data.Length == 84) |
|
| - | 780 | { |
|
| - | 781 | string sMessage = ""; |
|
| - | 782 | iOSDPage = data[0]; |
|
| - | 783 | iOSDMax = data[1]; |
|
| - | 784 | if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
|
| - | 785 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
|
| - | 786 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)); |
|
| - | 787 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)); |
|
| - | 788 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)); |
|
| - | 789 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20)); |
|
| - | 790 | lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
|
| - | 791 | ||
| - | 792 | } |
|
| - | 793 | else |
|
| - | 794 | OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)"); |
|
| - | 795 | ||
| - | 796 | } |
|
| - | 797 | /// <summary> |
|
| - | 798 | /// OSD Menue 'H' |
|
| - | 799 | /// called by keys (0x01,0x02,0x03,0x04) |
|
| - | 800 | /// autoupdate |
|
| - | 801 | /// </summary> |
|
| - | 802 | /// <param name="data">the received byte array to process</param> |
|
| - | 803 | void _processOSDAuto(byte[] data) |
|
| - | 804 | { |
|
| - | 805 | if (data.Length == 81) |
|
| - | 806 | { |
|
| - | 807 | string sMessage = ""; |
|
| - | 808 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
|
| - | 809 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)); |
|
| - | 810 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)); |
|
| - | 811 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)); |
|
| - | 812 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20)); |
|
| - | 813 | ||
| - | 814 | } |
|
| - | 815 | else |
|
| - | 816 | OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)"); |
|
| - | 817 | } |
|
| - | 818 | #endregion processing received data |
|
| Line 660... | Line 819... | ||
| 660 | 819 | ||
| 661 | /// <summary> send message to controller to request data |
820 | /// <summary> send message to controller to request data |
| 662 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
821 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
| 663 | /// </summary> |
822 | /// </summary> |
| Line 911... | Line 1070... | ||
| 911 | bReadContinously = b; |
1070 | bReadContinously = b; |
| 912 | btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh")); |
1071 | btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh")); |
| 913 | btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224))); |
1072 | btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224))); |
| 914 | if (bReadContinously) |
1073 | if (bReadContinously) |
| 915 | { |
1074 | { |
| 916 | _readDebugData(true); |
1075 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
| 917 | if (_iCtrlAct == 2) { Thread.Sleep(10); _readBLCtrl(true);} |
1076 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
| 918 | if (_iCtrlAct == 2) { Thread.Sleep(10); _readNavData(true);} |
1077 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
| 919 | Thread.Sleep(10); |
- | |
| 920 | _OSDMenueAutoRefresh(); |
1078 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);} |
| 921 | lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0))); |
1079 | lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0))); |
| 922 | } |
1080 | } |
| 923 | else |
1081 | else |
| 924 | lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224))); |
1082 | lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224))); |
| 925 | _iLifeCounter = 0; |
1083 | _iLifeCounter = 0; |
| 926 | } |
1084 | } |
| 927 | /// <summary> |
1085 | /// <summary> |
| 928 | /// set fieldtexts to "NA" when not available with FC |
1086 | /// set values to "NA" when not available with FC |
| 929 | /// </summary> |
1087 | /// </summary> |
| 930 | void _setFieldsNA() |
1088 | void _setFieldsNA() |
| 931 | { |
1089 | { |
| 932 | Thread.Sleep(100); |
1090 | Thread.Sleep(100); |
| 933 | Label lbCur = new Label(), lbTemp = new Label(); |
- | |
| 934 | for (int i = 0; i < 8; i++) |
- | |
| 935 | { |
- | |
| 936 | //BL-Ctrl Temp & Current |
- | |
| 937 | switch (i) |
1091 | _initDTMotors(); |
| 938 | { |
- | |
| 939 | case 0: |
- | |
| 940 | lbCur = LBLNCM1Cur; |
- | |
| 941 | lbTemp = LBLNCM1Temp; |
- | |
| 942 | break; |
- | |
| 943 | case 1: |
- | |
| 944 | lbCur = LBLNCM2Cur; |
- | |
| 945 | lbTemp = LBLNCM2Temp; |
- | |
| 946 | break; |
- | |
| 947 | case 2: |
- | |
| 948 | lbCur = LBLNCM3Cur; |
- | |
| 949 | lbTemp = LBLNCM3Temp; |
- | |
| 950 | break; |
- | |
| 951 | case 3: |
- | |
| 952 | lbCur = LBLNCM4Cur; |
- | |
| 953 | lbTemp = LBLNCM4Temp; |
- | |
| 954 | break; |
- | |
| 955 | case 4: |
- | |
| 956 | lbCur = LBLNCM5Cur; |
- | |
| 957 | lbTemp = LBLNCM5Temp; |
- | |
| 958 | break; |
- | |
| 959 | case 5: |
- | |
| 960 | lbCur = LBLNCM6Cur; |
- | |
| 961 | lbTemp = LBLNCM6Temp; |
- | |
| 962 | break; |
- | |
| 963 | case 6: |
- | |
| 964 | lbCur = LBLNCM7Cur; |
- | |
| 965 | lbTemp = LBLNCM7Temp; |
- | |
| 966 | break; |
- | |
| 967 | case 7: |
- | |
| 968 | lbCur = LBLNCM8Cur; |
- | |
| 969 | lbTemp = LBLNCM8Temp; |
- | |
| 970 | break; |
- | |
| 971 | } |
- | |
| 972 | if (lbCur != null) |
- | |
| 973 | lbCur.Invoke((Action)(() => lbCur.Text = "NA")); |
- | |
| 974 | if (lbTemp != null) |
- | |
| 975 | lbTemp.Invoke((Action)(() => lbTemp.Text = "NA")); |
- | |
| 976 | - | ||
| 977 | } |
- | |
| 978 | lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime |
1092 | lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime |
| 979 | lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr |
1093 | lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr |
| 980 | lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field |
1094 | lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field |
| 981 | lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed |
1095 | lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed |
| 982 | lblNCDist.Invoke((Action)(() => lblNCDist.Text = "NA")); //Distance to HP |
1096 | lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA")); //Distance to HP |
| 983 | lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used |
1097 | lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used |
| - | 1098 | lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA")); //GPS position - longitude |
|
| - | 1099 | lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA")); //GPS position - latitude |
|
| 984 | } |
1100 | } |
| 985 | /// <summary> |
1101 | /// <summary> |
| 986 | /// one time query of the OSD Menue with pagenumber |
1102 | /// one time query of the OSD Menue with pagenumber |
| 987 | /// </summary> |
1103 | /// </summary> |
| 988 | /// <param name="iMenue">Menue page</param> |
1104 | /// <param name="iMenue">Menue page</param> |
| Line 1075... | Line 1191... | ||
| 1075 | ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString()); |
1191 | ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString()); |
| 1076 | ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString()); |
1192 | ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString()); |
| 1077 | ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString()); |
1193 | ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString()); |
| 1078 | } |
1194 | } |
| Line -... | Line 1195... | ||
| - | 1195 | ||
| - | 1196 | /// <summary> |
|
| - | 1197 | /// initialize the 2 datatables for motor values |
|
| - | 1198 | /// dtMotors1 - motor 1 - 4 |
|
| - | 1199 | /// dtMotors2 - motor 5 - 8 |
|
| - | 1200 | /// DataGridView dgvMotors1/2 are bound to dtMotors1/2 |
|
| - | 1201 | /// </summary> |
|
| - | 1202 | void _initDTMotors() |
|
| - | 1203 | { |
|
| - | 1204 | for(int i = 0; i < 4; i++) |
|
| - | 1205 | { |
|
| - | 1206 | if (dtMotors1.Rows.Count < 4) |
|
| - | 1207 | dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA"); |
|
| - | 1208 | else |
|
| - | 1209 | { |
|
| - | 1210 | dtMotors1.Rows[i].SetField(1, "NA"); |
|
| - | 1211 | dtMotors1.Rows[i].SetField(2, "NA"); |
|
| - | 1212 | } |
|
| - | 1213 | if (dtMotors2.Rows.Count < 4) |
|
| - | 1214 | dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA"); |
|
| - | 1215 | else |
|
| - | 1216 | { |
|
| - | 1217 | dtMotors2.Rows[i].SetField(1, "NA"); |
|
| - | 1218 | dtMotors2.Rows[i].SetField(2, "NA"); |
|
| - | 1219 | } |
|
| - | 1220 | } |
|
| - | 1221 | dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh())); |
|
| - | 1222 | dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh())); |
|
| - | 1223 | } |
|
| - | 1224 | ||
| - | 1225 | /// <summary> |
|
| - | 1226 | /// Convert decimal degrees to degrees, minutes, seconds, milliseconds |
|
| - | 1227 | /// </summary> |
|
| - | 1228 | /// <param name="coord">the degree value as double</param> |
|
| - | 1229 | /// <returns>0° 0' 0,0"</returns> |
|
| - | 1230 | string _convertDegree(double coord) |
|
| - | 1231 | { |
|
| - | 1232 | //double minutes = (degree - Math.Floor(degree)) * 60.0; |
|
| - | 1233 | //double seconds = (minutes - Math.Floor(minutes)) * 60.0; |
|
| - | 1234 | //double tenths = (seconds - Math.Floor(seconds)) * 10.0; |
|
| - | 1235 | //// get rid of fractional part |
|
| - | 1236 | //minutes = Math.Floor(minutes); |
|
| - | 1237 | //seconds = Math.Floor(seconds); |
|
| - | 1238 | //tenths = Math.Floor(tenths); |
|
| - | 1239 | ||
| - | 1240 | ||
| - | 1241 | //int sec = (int)Math.Round(coord * 3600); |
|
| - | 1242 | //int deg = sec / 3600; |
|
| - | 1243 | //sec = Math.Abs(sec % 3600); |
|
| - | 1244 | //int min = sec / 60; |
|
| - | 1245 | //sec %= 60; |
|
| - | 1246 | ||
| - | 1247 | var ts = TimeSpan.FromHours(Math.Abs(coord)); |
|
| - | 1248 | double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours); |
|
| - | 1249 | int min = ts.Minutes; |
|
| - | 1250 | int sec = ts.Seconds; |
|
| - | 1251 | int milli = ts.Milliseconds; |
|
| - | 1252 | ||
| - | 1253 | return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\""; |
|
| 1079 | 1254 | } |
|
| Line 1080... | Line 1255... | ||
| 1080 | #endregion functions |
1255 | #endregion functions |
| 1081 | 1256 | ||
| 1082 | #region buttons |
1257 | #region buttons |
| Line 1197... | Line 1372... | ||
| 1197 | private void btnOSDEnter_Click(object sender, EventArgs e) |
1372 | private void btnOSDEnter_Click(object sender, EventArgs e) |
| 1198 | { |
1373 | { |
| 1199 | _OSDMenueAutoRefresh(4); |
1374 | _OSDMenueAutoRefresh(4); |
| 1200 | } |
1375 | } |
| 1201 | #endregion buttons |
1376 | #endregion buttons |
| 1202 | - | ||
| 1203 | } |
1377 | } |
| 1204 | public class IniFile |
1378 | public class IniFile |
| 1205 | { |
1379 | { |
| 1206 | public string path; |
1380 | public string path; |