private void DisplayRefresh(object sender, EventArgs e)
{
double TimeElapse = (DateTime.Now - TimeStart).TotalMilliseconds / 1000;
label34.Text = DateTime.Now.ToLongTimeString() + "\r\n"
+ JY901.GetInstance().ChipTime[0].ToString() + "-" + JY901.GetInstance().ChipTime[1].ToString() + "-" + JY901.GetInstance().ChipTime[2].ToString() + "\r\n" + JY901.GetInstance().ChipTime[3].ToString() + ":" + JY901.GetInstance().ChipTime[4].ToString() + ":" + JY901.GetInstance().ChipTime[5].ToString() + "." + JY901.GetInstance().ChipTime[6].ToString() + "\r\n"
+ TimeElapse.ToString("f3") + "\r\n\r\n"
+ JY901.GetInstance().Acceleration[0].ToString("f2") + " g\r\n"
+ JY901.GetInstance().Acceleration[1].ToString("f2") + " g\r\n"
+ JY901.GetInstance().Acceleration[2].ToString("f2") + " g\r\n\r\n"
+ JY901.GetInstance().Palstance[0].ToString("f2") + " °/s\r\n"
+ JY901.GetInstance().Palstance[1].ToString("f2") + " °/s\r\n"
+ JY901.GetInstance().Palstance[2].ToString("f2") + " °/s\r\n\r\n"
+ JY901.GetInstance().Angle[0].ToString("f2") + " °\r\n"
+ JY901.GetInstance().Angle[1].ToString("f2") + " °\r\n"
+ JY901.GetInstance().Angle[2].ToString("f2") + " °\r\n\r\n"
+ JY901.GetInstance().Magnetic[0].ToString("f0") + " mG\r\n"
+ JY901.GetInstance().Magnetic[1].ToString("f0") + " mG\r\n"
+ JY901.GetInstance().Magnetic[2].ToString("f0") + " mG\r\n\r\n"
+ JY901.GetInstance().Temperature.ToString("f2") + " ℃\r\n"
+ JY901.GetInstance().Pressure.ToString("f0") + " Pa\r\n"
+ JY901.GetInstance().Altitude.ToString("f2") + " m\r\n\r\n"
+ (JY901.GetInstance().Longitude / 10000000).ToString("f0") + "°" + ((double)(JY901.GetInstance().Longitude % 10000000) / 1e5).ToString("f5") + "'\r\n"
+ (JY901.GetInstance().Latitude / 10000000).ToString("f0") + "°" + ((double)(JY901.GetInstance().Latitude % 10000000) / 1e5).ToString("f5") + "'\r\n"
+ JY901.GetInstance().GPSHeight.ToString("f1") + " m\r\n"
+ JY901.GetInstance().GPSYaw.ToString("f1") + " °\r\n"
+ JY901.GetInstance().GroundVelocity.ToString("f3") + " km/h";
}
/// <summary>
/// 定义公有方法提供一个全局访问点,同时你也可以定义公有属性来提供全局访问点
/// </summary>
/// <returns></returns>
///
public static JY901 GetInstance()
{
// 如果类的实例不存在则创建，否则直接返回
if (_jy901 == null)
{
_jy901 = new JY901();
}
return(_jy901);
}
private void MPUNavigation(object sender, EventArgs e)
{
var mpuYaw = JY901.GetInstance().Angle[2];
LaneDepature laneDepature = new LaneDepature();
var d1Msg = laneDepature.MpuNavigation(mpuYaw)[0];
var d2Msg = laneDepature.MpuNavigation(mpuYaw)[1];
serialPort2.Write(d1Msg);
WriteToSendTextBox(serialPort2.PortName + d1Msg + DateTime.Now);
serialPort2.Write(d2Msg);
WriteToSendTextBox(serialPort2.PortName + d2Msg + DateTime.Now);
}
// 获取合适的解释器
protected LMBasePortResolver GetProperResolver(KeyPortData portData)
{
LMBasePortResolver retval = null;
Debug.Log("Port Data Type: " + portData.type);
if (portData.type == "jy901")
{
retval = new JY901();
}
else if (portData.type == "m7b" || portData.type == "m7b2D")
{
retval = new Leadiy_M7B();
}
else if (portData.type == "key" || portData.type == "key2D")
{
retval = new LMKeyResolver();
}
return(retval);
}
private void DecodeData(byte[] byteTemp)
{
double[] Data = new double[4];
double TimeElapse = (DateTime.Now - TimeStart).TotalMilliseconds / 1000;
Data[0] = BitConverter.ToInt16(byteTemp, 2);
Data[1] = BitConverter.ToInt16(byteTemp, 4);
Data[2] = BitConverter.ToInt16(byteTemp, 6);
Data[3] = BitConverter.ToInt16(byteTemp, 8);
switch (byteTemp[1])
{
case 0x50: //时间输出
JY901.GetInstance().ChipTime[0] = (short)(2000 + byteTemp[2]); //YY：年，20YY 年
JY901.GetInstance().ChipTime[1] = byteTemp[3]; //MM：月
JY901.GetInstance().ChipTime[2] = byteTemp[4]; //DD：日
JY901.GetInstance().ChipTime[3] = byteTemp[5]; //HH：时
JY901.GetInstance().ChipTime[4] = byteTemp[6]; //MM：分
JY901.GetInstance().ChipTime[5] = byteTemp[7]; //SS：秒
JY901.GetInstance().ChipTime[6] = BitConverter.ToInt16(byteTemp, 8); //MS：毫秒
break;
case 0x51: //加速度输出
JY901.GetInstance().Temperature = Data[3] / 100.0;
Data[0] = Data[0] / 32768.0 * 16;
Data[1] = Data[1] / 32768.0 * 16;
Data[2] = Data[2] / 32768.0 * 16;
JY901.GetInstance().Acceleration[0] = Data[0];
JY901.GetInstance().Acceleration[1] = Data[1];
JY901.GetInstance().Acceleration[2] = Data[2];
JY901.GetInstance().Acceleration[3] = Data[3];
if ((TimeElapse - LastTime[1]) < 0.1)
{
return;
}
LastTime[1] = TimeElapse;
break;
case 0x52: //角速度输出
JY901.GetInstance().Temperature = Data[3] / 100.0;
Data[0] = Data[0] / 32768.0 * 2000;
Data[1] = Data[1] / 32768.0 * 2000;
Data[2] = Data[2] / 32768.0 * 2000;
JY901.GetInstance().Palstance[0] = Data[0];
JY901.GetInstance().Palstance[1] = Data[1];
JY901.GetInstance().Palstance[2] = Data[2];
JY901.GetInstance().Palstance[3] = Data[3];
if ((TimeElapse - LastTime[2]) < 0.1)
{
return;
}
LastTime[2] = TimeElapse;
break;
case 0x53: //角度输出
JY901.GetInstance().Temperature = Data[3] / 100.0;
Data[0] = Data[0] / 32768.0 * 180;
Data[1] = Data[1] / 32768.0 * 180;
Data[2] = Data[2] / 32768.0 * 180;
JY901.GetInstance().Angle[0] = Data[0];
JY901.GetInstance().Angle[1] = Data[1];
JY901.GetInstance().Angle[2] = Data[2];
JY901.GetInstance().Angle[3] = Data[3];
if ((TimeElapse - LastTime[3]) < 0.1)
{
return;
}
LastTime[3] = TimeElapse;
break;
case 0x54: //磁场输出
JY901.GetInstance().Temperature = Data[3] / 100.0;
JY901.GetInstance().Magnetic[0] = Data[0];
JY901.GetInstance().Magnetic[1] = Data[1];
JY901.GetInstance().Magnetic[2] = Data[2];
JY901.GetInstance().Magnetic[3] = Data[3];
if ((TimeElapse - LastTime[4]) < 0.1)
{
return;
}
LastTime[4] = TimeElapse;
break;
case 0x55: //端口状态数据输出
JY901.GetInstance().Port[0] = Data[0];
JY901.GetInstance().Port[1] = Data[1];
JY901.GetInstance().Port[2] = Data[2];
JY901.GetInstance().Port[3] = Data[3];
break;
case 0x56: //气压、高度输出
JY901.GetInstance().Pressure = BitConverter.ToInt32(byteTemp, 2);
JY901.GetInstance().Altitude = (double)BitConverter.ToInt32(byteTemp, 6) / 100.0;
break;
case 0x57: //经纬度输出
JY901.GetInstance().Longitude = BitConverter.ToInt32(byteTemp, 2);
JY901.GetInstance().Latitude = BitConverter.ToInt32(byteTemp, 6);
break;
case 0x58: //地速输出
JY901.GetInstance().GPSHeight = (double)BitConverter.ToInt16(byteTemp, 2) / 10.0;
JY901.GetInstance().GPSYaw = (double)BitConverter.ToInt16(byteTemp, 4) / 10.0;
JY901.GetInstance().GroundVelocity = BitConverter.ToInt16(byteTemp, 6) / 1e3;
break;
default:
break;
}
}