private void Init()
{
_xIMUSerial = new x_IMU_API.xIMUserial(_portAssignment.PortName);
DataGatherer = new xIMUDataGatherer(1 / _samplePeriode);
_ahrs = new MadgwickAHRS(_samplePeriode, 0.1f);
_tracker = new MotionCalculator(this);
_tracker.FilterStateChanged(_filterState);
}
//static AHRS.MahonyAHRS AHRS = new AHRS.MahonyAHRS(1f / 256f, 5f);
/// <summary>
/// Main method.
/// </summary>
/// <param name="args">
/// Unused.
/// </param>
static void Main(string[] args)
{
Console.WriteLine(Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString());
try
{
// Connect to x-IMU
Console.WriteLine("Searching for x-IMU...");
x_IMU_API.PortAssignment[] portAssignment = (new x_IMU_API.PortScanner(true, true)).Scan();
x_IMU_API.xIMUserial xIMUserial = new x_IMU_API.xIMUserial(portAssignment[0].PortName);
xIMUserial.Open();
Console.WriteLine("Connected to x-IMU " + portAssignment[0].DeviceID + " on " + portAssignment[0].PortName + ".");
// Show 3D cuboid forms
Console.WriteLine("Showing 3D Cuboid forms...");
Form_3Dcuboid form_3DcuboidA = new Form_3Dcuboid();
Form_3Dcuboid form_3DcuboidB = new Form_3Dcuboid(new string[] { "Form_3Dcuboid/RightInv.png", "Form_3Dcuboid/LeftInv.png", "Form_3Dcuboid/BackInv.png", "Form_3Dcuboid/FrontInv.png", "Form_3Dcuboid/TopInv.png", "Form_3Dcuboid/BottomInv.png" });
form_3DcuboidA.Text += " A";
form_3DcuboidB.Text += " B";
BackgroundWorker backgroundWorkerA = new BackgroundWorker();
BackgroundWorker backgroundWorkerB = new BackgroundWorker();
backgroundWorkerA.DoWork += new DoWorkEventHandler(delegate { form_3DcuboidA.ShowDialog(); });
backgroundWorkerB.DoWork += new DoWorkEventHandler(delegate { form_3DcuboidB.ShowDialog(); });
backgroundWorkerA.RunWorkerAsync();
backgroundWorkerB.RunWorkerAsync();
// x-IMU data received events to update cuboid form
xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(delegate(object s, x_IMU_API.QuaternionData e) { form_3DcuboidA.RotationMatrix = e.ConvertToRotationMatrix(); });
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(delegate(object s, x_IMU_API.CalInertialAndMagneticData e) { form_3DcuboidB.RotationMatrix = (new x_IMU_API.QuaternionData(AHRS.Quaternion)).ConvertToConjugate().ConvertToRotationMatrix(); });
// Algorithm uses IMU update method.
Console.WriteLine("Algorithm running in IMU mode.");
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateIMU);
Console.WriteLine("Press any key to continue...");
Console.ReadKey();
// Algorithm uses AHRS update method.
Console.WriteLine("Algorithm running in AHRS mode.");
xIMUserial.CalInertialAndMagneticDataReceived -= new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateIMU);
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateAHRS);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
}
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
//static AHRS.MahonyAHRS AHRS = new AHRS.MahonyAHRS(1f / 256f, 5f);
/// <summary>
/// Main method.
/// </summary>
/// <param name="args">
/// Unused.
/// </param>
static void Main(string[] args)
{
Console.WriteLine(Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString());
try
{
// Connect to x-IMU
Console.WriteLine("Searching for x-IMU...");
x_IMU_API.PortAssignment[] portAssignment = (new x_IMU_API.PortScanner(true, true)).Scan();
x_IMU_API.xIMUserial xIMUserial = new x_IMU_API.xIMUserial(portAssignment[0].PortName);
xIMUserial.Open();
Console.WriteLine("Connected to x-IMU " + portAssignment[0].DeviceID + " on " + portAssignment[0].PortName + ".");
// Show 3D cuboid forms
Console.WriteLine("Showing 3D Cuboid forms...");
Form_3Dcuboid form_3DcuboidA = new Form_3Dcuboid();
Form_3Dcuboid form_3DcuboidB = new Form_3Dcuboid(new string[] { "Form_3Dcuboid/RightInv.png", "Form_3Dcuboid/LeftInv.png", "Form_3Dcuboid/BackInv.png", "Form_3Dcuboid/FrontInv.png", "Form_3Dcuboid/TopInv.png", "Form_3Dcuboid/BottomInv.png" });
form_3DcuboidA.Text += " A";
form_3DcuboidB.Text += " B";
BackgroundWorker backgroundWorkerA = new BackgroundWorker();
BackgroundWorker backgroundWorkerB = new BackgroundWorker();
backgroundWorkerA.DoWork += new DoWorkEventHandler(delegate { form_3DcuboidA.ShowDialog(); });
backgroundWorkerB.DoWork += new DoWorkEventHandler(delegate { form_3DcuboidB.ShowDialog(); });
backgroundWorkerA.RunWorkerAsync();
backgroundWorkerB.RunWorkerAsync();
// x-IMU data received events to update cuboid form
xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(delegate(object s, x_IMU_API.QuaternionData e) { form_3DcuboidA.RotationMatrix = e.ConvertToRotationMatrix(); });
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(delegate(object s, x_IMU_API.CalInertialAndMagneticData e) { form_3DcuboidB.RotationMatrix = (new x_IMU_API.QuaternionData(AHRS.Quaternion)).ConvertToConjugate().ConvertToRotationMatrix(); });
// Algorithm uses IMU update method.
Console.WriteLine("Algorithm running in IMU mode.");
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateIMU);
Console.WriteLine("Press any key to continue...");
Console.ReadKey();
// Algorithm uses AHRS update method.
Console.WriteLine("Algorithm running in AHRS mode.");
xIMUserial.CalInertialAndMagneticDataReceived -= new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateIMU);
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateAHRS);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
}
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
/// <summary>
/// Form load event to create objects and set default form values
/// </summary>
private void Form_main_Load(object sender, EventArgs e)
{
this.Text = Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString();
// Create x-IMU and gimbal serial objects
xIMUserial = new x_IMU_API.xIMUserial();
xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(xIMUserial_QuaternionDataReceived);
gimbalSerial = new GimbalSerial();
// Get ports names
refreshXIMUportList();
refreshPololuPortList();
// Create and start form update timer
formUpdateTimer = new System.Windows.Forms.Timer();
formUpdateTimer.Interval = 50;
formUpdateTimer.Tick += new EventHandler(formUpdateTimer_Tick);
formUpdateTimer.Start();
}
/// <summary>
/// Main method.
/// </summary>
/// <param name="args">
/// Unused.
/// </param>
static void Main(string[] args)
{
Console.WriteLine(Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString());
try
{
while (true)
{
// Connect to x-IMU
Console.WriteLine("Searching for x-IMU...");
x_IMU_API.PortAssignment[] portAssignment = (new x_IMU_API.PortScanner(true, true)).Scan();
x_IMU_API.xIMUserial xIMUserial = new x_IMU_API.xIMUserial(portAssignment[0].PortName);
xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(xIMUserial_QuaternionDataReceived);
xIMUserial.DigitalIODataReceived += new x_IMU_API.xIMUserial.onDigitalIODataReceived(xIMUserial_DigitalIODataReceived);
xIMUserial.Open();
Console.WriteLine("Connected to x-IMU " + portAssignment[0].DeviceID + " on " + portAssignment[0].PortName + ".");
// Poll for key press and detect if connection lost
Console.WriteLine("Press Esc to exit or any other key to set cursor centre orientation (i.e. tare).");
int prevCount;
do
{
prevCount = xIMUserial.PacketsReadCounter.TotalPackets;
Thread.Sleep(1000);
if (Console.KeyAvailable == true)
{
if (Console.ReadKey(true).Key == ConsoleKey.Escape)
{
return;
}
xIMUserial.SendCommandPacket(x_IMU_API.CommandCodes.AlgorithmTare);
}
} while (prevCount != xIMUserial.PacketsReadCounter.TotalPackets);
Console.WriteLine("No data received from x-IMU. Closing port.");
xIMUserial.Close();
}
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
}
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
/// <summary>
/// Main method.
/// </summary>
/// <param name="args">
/// Unused.
/// </param>
static void Main(string[] args)
{
Console.WriteLine(Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString());
try
{
// Create ballTracking object
ballTracking = new BallTracking(0.03f, 1.0f / 256.0f);
// Connect to x-IMU
Console.WriteLine("Searching for x-IMU...");
x_IMU_API.PortAssignment[] portAssignment = (new x_IMU_API.PortScanner(true, true)).Scan();
x_IMU_API.xIMUserial xIMUserial = new x_IMU_API.xIMUserial(portAssignment[0].PortName);
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialMagneticDataReceived);
xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(xIMUserial_QuaternionDataReceived);
xIMUserial.Open();
Console.WriteLine("Connected to x-IMU " + portAssignment[0].DeviceID + " on " + portAssignment[0].PortName + ".");
// Send 'algorithm initialise' command
Console.WriteLine("Sending 'algorithm initialise' command...");
xIMUserial.SendCommandPacket(x_IMU_API.CommandCodes.AlgorithmInitialise);
// Running graphics
Console.WriteLine("Running 3D Cuboid form...");
form_3Dcuboid = new Form_3Dcuboid(new float[] { 0.06f, 0.04f, 0.02f }, Form_3Dcuboid.CameraViews.Top, 3.0f);
form_3Dcuboid.WindowState = FormWindowState.Maximized;
form_3Dcuboid.ShowDialog();
form_3Dcuboid = null;
// Closing form enables mouse control mode.
Console.WriteLine("Mouse control active.");
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
}
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
/// <summary>
/// Main method.
/// </summary>
/// <param name="args">
/// Unused.
/// </param>
static void Main(string[] args)
{
Console.WriteLine(Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString());
try
{
// Create ballTracking object
ballTracking = new BallTracking(0.03f, 1.0f / 256.0f);
// Connect to x-IMU
Console.WriteLine("Searching for x-IMU...");
x_IMU_API.PortAssignment[] portAssignment = (new x_IMU_API.PortScanner(true, true)).Scan();
x_IMU_API.xIMUserial xIMUserial = new x_IMU_API.xIMUserial(portAssignment[0].PortName);
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialMagneticDataReceived);
xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(xIMUserial_QuaternionDataReceived);
xIMUserial.Open();
Console.WriteLine("Connected to x-IMU " + portAssignment[0].DeviceID + " on " + portAssignment[0].PortName + ".");
// Send 'algorithm initialise' command
Console.WriteLine("Sending 'algorithm initialise' command...");
xIMUserial.SendCommandPacket(x_IMU_API.CommandCodes.AlgorithmInitialise);
// Running graphics
Console.WriteLine("Running 3D Cuboid form...");
form_3Dcuboid = new Form_3Dcuboid(new float[] { 0.06f, 0.04f, 0.02f }, Form_3Dcuboid.CameraViews.Top, 3.0f);
form_3Dcuboid.WindowState = FormWindowState.Maximized;
form_3Dcuboid.ShowDialog();
form_3Dcuboid = null;
// Closing form enables mouse control mode.
Console.WriteLine("Mouse control active.");
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
}
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
/// <summary>
/// Form Load event initialises form objects, sets form control values and starts auto-connect process.
/// </summary>
private void Form_main_Load(object sender, EventArgs e)
{
this.Text = Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString();
// Create peripheral GUIs and assign to ShowHideButton
batteryOscilloscope = new SimpleOscilloscope("Battery Data (V)", "Oscilloscope/batteryOscilloscope_settings.ini");
showHideButton_batteryGraph.Object = batteryOscilloscope;
thermometerOscilloscope = new SimpleOscilloscope("Thermometer Data (°C)", "Oscilloscope/thermometerOscilloscope_settings.ini");
showHideButton_thermometerGraph.Object = thermometerOscilloscope;
gyroscopeOscilloscope = new SimpleOscilloscope("Gyroscope Data (°/s)", "Oscilloscope/gyroscopeOscilloscope_settings.ini");
showHideButton_gyroscopeGraph.Object = gyroscopeOscilloscope;
accelerometerOscilloscope = new SimpleOscilloscope("Accelerometer Data (g)", "Oscilloscope/accelerometerOscilloscope_settings.ini");
showHideButton_accelerometerGraph.Object = accelerometerOscilloscope;
magnetometerOscilloscope = new SimpleOscilloscope("Magnetometer Data (Gauss)", "Oscilloscope/magnetometerOscilloscope_settings.ini");
showHideButton_magnetometerGraph.Object = magnetometerOscilloscope;
eulerAnglesOscilloscope = new SimpleOscilloscope("Euler Angles Data (°)", "Oscilloscope/eulerAnglesOscilloscope_settings.ini");
showHideButton_eulerAnglesGraph.Object = eulerAnglesOscilloscope;
form_3Dcuboid = new Form_3Dcuboid();
form_3Dcuboid.MinimizeInsteadOfClose = true;
showHideButton_3Dcuboid.Object = form_3Dcuboid;
form_digitalIOpanel = new Form_digitalIOpanel();
form_digitalIOpanel.OutputChanged += new Form_digitalIOpanel.onOutputChanged(digitalIOpanel_OutputChanged);
showHideButton_digitalIOpanel.Object = form_digitalIOpanel;
analogueInputAX0AX1oscilloscope = new SimpleOscilloscope("Analogue Input AX0 AX1 Data (lsb)", "Oscilloscope/analogueInputAX0AX1oscilloscope_settings.ini");
showHideButton_AX0andAX1graph.Object = analogueInputAX0AX1oscilloscope;
analogueInputAX2AX3oscilloscope = new SimpleOscilloscope("Analogue Input AX2 AX3 Data (lsb)", "Oscilloscope/analogueInputAX2AX3oscilloscope_settings.ini");
showHideButton_AX2andAX3graph.Object = analogueInputAX2AX3oscilloscope;
analogueInputAX4AX5oscilloscope = new SimpleOscilloscope("Analogue Input AX4 AX5 Data (lsb)", "Oscilloscope/analogueInputAX4AX5oscilloscope_settings.ini");
showHideButton_AX4andAX5graph.Object = analogueInputAX4AX5oscilloscope;
analogueInputAX6AX7oscilloscope = new SimpleOscilloscope("Analogue Input AX6 AX7 Data (lsb)", "Oscilloscope/analogueInputAX6AX7oscilloscope_settings.ini");
showHideButton_AX6andAX7graph.Object = analogueInputAX6AX7oscilloscope;
form_PWMoutputPanel = new Form_PWMoutputPanel();
form_PWMoutputPanel.ValuesChanged += new Form_PWMoutputPanel.onValuesChanged(PWMoutputPanel_ValuesChanged);
showHideButton_PWMoutputPanel.Object = form_PWMoutputPanel;
ADXL345_Aoscilloscope = new SimpleOscilloscope("ADXL234 A Data", "Oscilloscope/ADXL345Aoscilloscope_settings.ini");
showHideButton_ADXL345Agraph.Object = ADXL345_Aoscilloscope;
ADXL345_Boscilloscope = new SimpleOscilloscope("ADXL234 B Data", "Oscilloscope/ADXL345Boscilloscope_settings.ini");
showHideButton_ADXL345Bgraph.Object = ADXL345_Boscilloscope;
ADXL345_Coscilloscope = new SimpleOscilloscope("ADXL234 C Data", "Oscilloscope/ADXL345Coscilloscope_settings.ini");
showHideButton_ADXL345Cgraph.Object = ADXL345_Coscilloscope;
ADXL345_Doscilloscope = new SimpleOscilloscope("ADXL234 D Data", "Oscilloscope/ADXL345Doscilloscope_settings.ini");
showHideButton_ADXL345Dgraph.Object = ADXL345_Doscilloscope;
// Create x-IMU serial object
xIMUserial = new x_IMU_API.xIMUserial();
xIMUserial.xIMUdataReceived += new x_IMU_API.xIMUserial.onxIMUdataReceived(xIMUserial_xIMUdataReceived);
xIMUserial.ErrorDataReceived += new x_IMU_API.xIMUserial.onErrorDataReceived(xIMUserial_ErrorDataReceived);
xIMUserial.CommandDataReceived += new x_IMU_API.xIMUserial.onCommandDataReceived(xIMUserial_CommandDataReceived);
xIMUserial.RegisterDataReceived += new x_IMU_API.xIMUserial.onRegisterDataReceived(xIMUserial_RegisterDataReceived);
xIMUserial.DateTimeDataReceived += new x_IMU_API.xIMUserial.onDateTimeDataReceived(xIMUserial_DateTimeDataReceived);
xIMUserial.RawBatteryAndThermometerDataReceived += new x_IMU_API.xIMUserial.onRawBatteryAndThermometerDataReceived(xIMUserial_RawBatteryAndThermometerDataReceived);
xIMUserial.CalBatteryAndThermometerDataReceived += new x_IMU_API.xIMUserial.onCalBatteryAndThermometerDataReceived(xIMUserial_CalBatteryAndThermometerDataReceived);
xIMUserial.RawInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onRawInertialAndMagneticDataReceived(xIMUserial_RawInertialAndMagneticDataReceived);
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived);
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceivedHardIronCal);
xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(xIMUserial_QuaternionDataReceived);
xIMUserial.DigitalIODataReceived += new x_IMU_API.xIMUserial.onDigitalIODataReceived(xIMUserial_DigitalIODataReceived);
xIMUserial.RawAnalogueInputDataReceived += new x_IMU_API.xIMUserial.onRawAnalogueInputDataReceived(xIMUserial_RawAnalogueInputDataReceived);
xIMUserial.CalAnalogueInputDataReceived += new x_IMU_API.xIMUserial.onCalAnalogueInputDataReceived(xIMUserial_CalAnalogueInputDataReceived);
xIMUserial.PWMoutputDataReceived += new x_IMU_API.xIMUserial.onPWMoutputDataReceived(xIMUserial_PWMoutputDataReceived);
xIMUserial.RawADXL345busDataReceived += new x_IMU_API.xIMUserial.onRawADXL345busDataReceived(xIMUserial_RawADXL345busDataReceived);
xIMUserial.CalADXL345busDataReceived += new x_IMU_API.xIMUserial.onCalADXL345busDataReceived(xIMUserial_CalADXL345busDataReceived);
// Create buffers to parse data between xIMUserial and Form_main threads
dateTimeDataBuffer = null;
registerDataBuffer = new x_IMU_API.RegisterData[(int)x_IMU_API.RegisterAddresses.NumRegisters];
// Create ToolTip for RegisterTreeView
ToolTip toolTip = new ToolTip();
toolTip.ToolTipTitle = "Tip:";
toolTip.SetToolTip(registerTreeView, "Right-click for action menu");
// Set fixed form control values
label_GUIversionNum.Text = Assembly.GetExecutingAssembly().GetName().Version.ToString();
label_APIversionNum.Text = FileVersionInfo.GetVersionInfo("x-IMU API.dll").FileVersion.ToString();
label_compatibleFirmwareVersionNums.Text = "";
for (int i = 0; i < Enum.GetValues(typeof(x_IMU_API.CompatibleFirmwareVersions)).Length; i++)
{
label_compatibleFirmwareVersionNums.Text += ((int[])Enum.GetValues(typeof(x_IMU_API.CompatibleFirmwareVersions)))[i].ToString() + ".x";
if (i < ((int[])Enum.GetValues(typeof(x_IMU_API.CompatibleFirmwareVersions))).Length - 1)
{
label_compatibleFirmwareVersionNums.Text += ", ";
}
}
// Set default variable form control values
button_refreshList.PerformClick();
textBox_dataLoggerFilePath.Text = Environment.GetFolderPath(Environment.SpecialFolder.Personal) + "\\" + "LoggedData";
textBox_collectHardIronCalDatasetFilePath.Text = Environment.GetFolderPath(Environment.SpecialFolder.Personal) + "\\" + "HardIronCal";
// Create and start form update timer
formUpdateTimer = new System.Windows.Forms.Timer();
formUpdateTimer.Interval = 50;
formUpdateTimer.Tick += new EventHandler(formUpdateTimer_Tick);
formUpdateTimer.Start();
// Auto connect on start up
toggleButton_openClosePort.PerformClick();
}
/// <summary>
/// Button Click event to upload firmware.
/// </summary>
private void button_bootloaderUpload_Click(object sender, EventArgs e)
{
// Error if file not exist
if (!File.Exists(textBox_bootloaderFilePath.Text))
{
MessageBox.Show("File does not exist.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
// Error if selected port name = "Auto"
if (string.Equals(comboBox_portName.Text, "Auto", StringComparison.CurrentCultureIgnoreCase))
{
MessageBox.Show("Port name \"Auto\" cannot be used for bootloading. Please select the port name assigned to the USB connection.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
// User confirmation
if (MessageBox.Show("Please ensure that the selected port name is the port assigned to the x-IMU USB connection else the upload will fail." + Environment.NewLine + Environment.NewLine +
"The new firmware will be uploaded to the x-IMU and the current firmware will be lost." + Environment.NewLine + Environment.NewLine +
"Do not switch off or disconnect the x-IMU while firmware is being uploaded as this may permanently damage the x-IMU.", "Warning", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) == System.Windows.Forms.DialogResult.Cancel)
{
return;
}
// Disable bootloader form controls
textBox_bootloaderFilePath.Enabled = false;
button_bootloaderBrowse.Enabled = false;
button_bootloaderUpload.Enabled = false;
button_bootloaderUpload.Text = "Uploading...";
this.Update();
// Close port is currently open
bool reopenPort = false;
if (xIMUserial.IsOpen)
{
xIMUserial.Close();
reopenPort = true;
}
// Perform firmware upload procedure
try
{
// Reset device
x_IMU_API.xIMUserial tempxIMUserial = new x_IMU_API.xIMUserial(comboBox_portName.Text);
tempxIMUserial.Open();
tempxIMUserial.SendCommandPacket(x_IMU_API.CommandCodes.Reset);
tempxIMUserial.Close();
// Run external bootloader process
ProcessStartInfo processInfo = new ProcessStartInfo("Bootloader/16-Bit Flash Programmer.exe");
processInfo.Arguments = "-i " + "\\\\.\\" + comboBox_portName.Text + " -b 115200 \"" + textBox_bootloaderFilePath.Text + "\"";
processInfo.UseShellExecute = false;
Process process = Process.Start(processInfo);
process.WaitForExit();
process.Close();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
// Re-enable bootloader form controls
textBox_bootloaderFilePath.Enabled = true;
button_bootloaderBrowse.Enabled = true;
button_bootloaderUpload.Enabled = true;
button_bootloaderUpload.Text = "Upload";
// Re-open port if was closed prior to bootload
if (reopenPort)
{
xIMUserial.Open();
}
}
/// <summary>
/// Form load event to create objects and set default form values
/// </summary>
private void Form_main_Load(object sender, EventArgs e)
{
this.Text = Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString();
// Create x-IMU and gimbal serial objects
xIMUserial = new x_IMU_API.xIMUserial();
xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(xIMUserial_QuaternionDataReceived);
gimbalSerial = new GimbalSerial();
// Get ports names
refreshXIMUportList();
refreshPololuPortList();
// Create and start form update timer
formUpdateTimer = new System.Windows.Forms.Timer();
formUpdateTimer.Interval = 50;
formUpdateTimer.Tick += new EventHandler(formUpdateTimer_Tick);
formUpdateTimer.Start();
}
