private void button2_Click(object sender, EventArgs e)
{
st_CommParaSet commPara = new st_CommParaSet();
byte[] buffer = new byte[Marshal.SizeOf(commPara)];
// CommProtocol.MakeParaSet(ref buffer, CommProtocol.HALL_ANGLE);
// comm.Write(buffer, 0, Marshal.SizeOf(commPara));
}
public void comm_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
int i;
try
{
byte[] framebuffer = new byte[128];
byte frametype = 0;
int n = CVar.GetComm().BytesToRead;//先记录下来，避免某种原因，人为的原因，操作几次之间时间长，缓存不一致
if (n == 0)
{
return;
}
byte[] buf = new byte[n]; //声明一个临时数组存储当前来的串口数据
received_count += n; //增加接收计数
comm.Read(buf, 0, n); //读取缓冲数据
//Add receive data to que
for (i = 0; i < n; i++)
{
FifoClass.EnFifo(buf[i]);
}
if (GetFrame(ref framebuffer, ref frametype) > 0)
{
st_CommParaSet commPara = new st_CommParaSet();
commPara = (st_CommParaSet)CommProtocol.BytesToStruct(framebuffer, commPara.GetType());
UploadData.hall_angle = commPara.hall_angle;
UploadData.zeroAngle = commPara.hall_zero_angle;
UploadData.hall_x = commPara.hall_x;
UploadData.hall_y = commPara.hall_y;
UploadData.maxDegree = commPara.maxDegree;
UploadData.maxCurrent = commPara.maxCurrent;
UploadData.Kp = commPara.pid_p;
UploadData.Ki = commPara.pid_i;
UploadData.Ke1 = commPara.pid_ke1;
UploadData.Ke2 = commPara.pid_ke2;
UploadData.reversse = commPara.reverse;
UploadData.run2zero = commPara.run2zero;
UploadData.traceMode = commPara.traceMode;
}
}
finally
{
}
}
public static void MakeFrame(byte Cmd)
{
// st_CommParaSet commPara = new st_CommParaSet();
commPara = (st_CommParaSet)BytesToStruct(FrameBuffer, commPara.GetType());
commPara.header.head = CMD_HEAD;
commPara.header.cmd = Cmd;
commPara.hall_x = 0;
commPara.hall_y = 0;
commPara.hall_angle = 0;
commPara.hall_zero_angle = 0;
if ((Cmd & CMD_SET_ZERO_ANGLE) == CMD_SET_ZERO_ANGLE)
{
// Do nothing
}
else if ((Cmd & CMD_SET_PID_PARA) == CMD_SET_PID_PARA)
{
commPara.pid_p = MotorPara.Kp;
commPara.pid_i = MotorPara.Ki;
commPara.pid_ke1 = MotorPara.Ke1;
commPara.pid_ke2 = MotorPara.Ke2;
}
else if ((Cmd & CMD_SET_CONTROL_PARA) == CMD_SET_CONTROL_PARA)
{
commPara.maxDegree = MotorPara.maxDegree;
commPara.maxCurrent = MotorPara.maxCurrent;
commPara.reverse = MotorPara.reversse;
commPara.run2zero = MotorPara.run2zero;
}
else if ((Cmd & CMD_SET_TRACE_MODE) == CMD_SET_TRACE_MODE)
{
commPara.traceMode = MotorPara.traceMode;
}
FrameBuffer = StructToBytes(commPara);
}
public UInt16 GetFrame(ref byte[] buffer, ref byte type)
{
st_CommParaSet commPara = new st_CommParaSet();
int length = Marshal.SizeOf(commPara);
int i;
while (true)
{
if (FifoClass.FifoLen() >= length)
{
FifoClass.CheckFifo(ref buffer, 4);
if (buffer[0] == CommProtocol.CMD_HEAD1 && buffer[1] == CommProtocol.CMD_HEAD2 && buffer[2] == CommProtocol.CMD_HEAD3 && buffer[3] == CommProtocol.CMD_HEAD4)
{
{
for (i = 0; i < (length); i++)
{
buffer[i] = FifoClass.DeFifo();
}
commPara = (st_CommParaSet)CommProtocol.BytesToStruct(buffer, commPara.GetType());
return((UInt16)length);
}
}
else
{
FifoClass.DeFifo();
}
}
else
{
break;
}
}
return(0);
}
