private void button1_Click(object sender, EventArgs e)
{
serialPort = new SerialPort("COM12", 115200, Parity.None, 8, StopBits.One);
serialPort.ReadTimeout = 1000;
serialPort.Open();
try
{
Send("p " + (Kp.Value / 1000.0).ToString());
Send("i " + (Ki.Value / 1000.0).ToString());
Send("d " + (Kd.Value / 1000.0).ToString());
Send("s " + Setpoint.Value.ToString());
Send("l 500");
Send("g");
string s_Kp = serialPort.ReadLine();
string s_Ki = serialPort.ReadLine();
string s_Kd = serialPort.ReadLine();
string s_SetPoint = serialPort.ReadLine();
string loops = serialPort.ReadLine();
DataBlock db = new DataBlock();
db.m_channels = 2;
db.m_samplesPerChannel = 500;
db.Alloc();
for (int i = 0; i < 500; i++)
{
string str = serialPort.ReadLine();
string[] ss = str.Split(' ');
int val1;
int val2;
int.TryParse(ss[0], out val1);
int.TryParse(ss[1], out val2);
if (val1 < 0)
{
val1 = 0;
}
db.SetVoltage(0, i, (int)(val1 * 128 / Setpoint.Value));
db.SetVoltage(1, i, (int)((val2 / 2) + 128));
}
db.m_sampleRate = 25;
db.m_channels = 2;
db.m_dataType = DataBlock.DATA_TYPE.ANALOG;
graphControl1.SetScopeData(db);
}
catch
{
graphControl1.SetScopeData(null);
}
serialPort.Close();
}
override public bool GetDataBlock(ref DataBlock db)
{
bool result;
Config();
time = DateTime.Now;
Read(res, 1);
if (res[0] == 85)
{
db.m_sample = SampleID++;
db.m_start = DateTime.Now;
db.m_channels = 6;
db.m_triggerVoltage = 0;
db.m_triggerPos = 0;
db.m_sampleRate = GetSampleRate();
db.m_samplesPerChannel = GetNumberOfSamplesPerChannel();
db.m_channelsBitField = GetChannelBitField();
db.m_dataType = DataBlock.DATA_TYPE.DIGITAL;
db.Alloc();
if (m_arduinoBuffer.Length != db.m_samplesPerChannel)
{
m_arduinoBuffer = new byte[db.m_samplesPerChannel];
}
result = Read(m_arduinoBuffer, m_arduinoBuffer.Length);
for (int i = 0; i < m_arduinoBuffer.Length; i++)
{
db.SetVoltage(0, i, m_arduinoBuffer[i]);
}
db.m_stop = DateTime.Now;
return(result);
}
return(false);
}
public override bool GetDataBlock(ref DataBlock db)
{
bool result;
Config();
time = DateTime.Now;
Read(res, 1);
if (res[0] == 85)
{
db.m_sample = SampleID++;
db.m_start = DateTime.Now;
db.m_channels = 6;
db.m_triggerVoltage = 0;
db.m_triggerPos = 0;
db.m_sampleRate = GetSampleRate();
db.m_samplesPerChannel = GetNumberOfSamplesPerChannel();
db.m_channelsBitField = GetChannelBitField();
db.m_dataType = DataBlock.DATA_TYPE.DIGITAL;
db.Alloc();
if (m_arduinoBuffer.Length != db.m_samplesPerChannel)
{
m_arduinoBuffer = new byte[db.m_samplesPerChannel];
}
result = Read(m_arduinoBuffer, m_arduinoBuffer.Length);
for (int i = 0; i < m_arduinoBuffer.Length; i++)
{
db.SetVoltage(0, i, m_arduinoBuffer[i]);
}
db.m_stop = DateTime.Now;
return result;
}
return false;
}
public override bool GetDataBlock(ref DataBlock db)
{
bool result = true;
lock (ThisLock)
{
//assume it timed out
db.m_min = 0;
db.m_max = 5;
db.m_channels = GetNumberOfEnabledChannels();
db.m_channelsBitField = GetChannelBitField();
db.m_triggerVoltage = 0;
db.m_triggerPos = 0;
db.m_sampleRate = GetSampleRate();
db.m_samplesPerChannel = GetNumberOfSamplesPerChannel();
db.m_dataType = DataBlock.DATA_TYPE.ANALOG;
db.Alloc();
}
for (int i = 0; i < db.GetChannelLength(); i++)
{
/*
byte header = GetStream().ReadByte();
if (header < 128)
{
byte b1 = GetStream().ReadByte();
byte b2 = GetStream().ReadByte();
for (int c = 0; c < db.m_channels; c++)
{
UInt16 v = (UInt16)(GetStream().ReadByte() * 256 + GetStream().ReadByte());
db.SetVoltage(c, i, v);
}
GetStream().ReadByte();
}
else
{
GetResponse(header);
//if command received then abort
for (; i < db.GetChannelLength(); i++)
{
for (int c = 0; c < db.m_channels; c++)
{
db.SetVoltage(c, i, 0);
}
}
}
*/
byte[] header = new byte[1];
byte[] data = new byte[20];
Read(header, 1);
if (header[0] < 128)
{
Read(data, 3 + 2 * db.m_channels);
#if DEBUG
Console.WriteLine("{0} {1} {2} {3}", header[0], data[0], data[1], data[2]);
#endif
}
else
{
Read(data, 3);
#if DEBUG
Console.WriteLine("* {0} {1} {2} {3}",header[0],data[0],data[1],data[2]);
#endif
}
}
db.m_result = DataBlock.RESULT.OK;
return result;
}
override public bool GetDataBlock(ref DataBlock db)
{
bool result;
//assume it timed out
db.m_result = DataBlock.RESULT.TIMEOUT;
if (GetNumberOfEnabledChannels() == 0)
{
return(false);
}
//-------------Get settings this needs a crytical section)
//
int numberOfSamples;
int numberOfEnabledChannels;
uint channelsBitField;
int sampleRate;
lock (ThisLock)
{
numberOfSamples = GetNumberOfSamplesPerChannel();
numberOfEnabledChannels = GetNumberOfEnabledChannels();
channelsBitField = GetChannelBitField();
sampleRate = GetSampleRate();
}
//-------------Request data
byte[] configBuffer = new byte[10];
configBuffer[0] = (byte)COMMANDS.READ_ADC_TRACE;
configBuffer[1] = m_triggerValue;
configBuffer[2] = (byte)(numberOfSamples >> 8);
configBuffer[3] = (byte)(numberOfSamples & 0xff);
configBuffer[4] = (byte)numberOfEnabledChannels;
int index = 0;
for (byte i = 0; i < 4; i++)
{
if (((channelsBitField >> i) & 1) != 0)
{
configBuffer[5 + index] = i;
index++;
}
}
configBuffer[9] = (byte)127; //pwm
Write(configBuffer, configBuffer.Length);
//-------------Get data
Read(res, 1);
if (res[0] == 85)
{
db.m_min = 0;
db.m_max = 5;
db.m_channels = numberOfEnabledChannels;
db.m_channelsBitField = channelsBitField;
db.m_triggerVoltage = 0;
db.m_triggerPos = 0;
db.m_sampleRate = (db.m_channels > 0) ? (sampleRate / db.m_channels) : 0;
db.m_samplesPerChannel = numberOfSamples;
db.m_dataType = DataBlock.DATA_TYPE.ANALOG;
db.Alloc();
//read actual data
if (m_arduinoBuffer.Length != db.m_samplesPerChannel * db.m_channels)
{
m_arduinoBuffer = new byte[db.m_samplesPerChannel * db.m_channels];
}
result = Read(m_arduinoBuffer, m_arduinoBuffer.Length);
index = 0;
for (int ch = 0; ch < 2; ch++)
{
if (((db.m_channelsBitField >> ch) & 1) == 1)
{
for (int i = 0; i < db.GetChannelLength(); i++)
{
db.SetVoltage(index, i, m_arduinoBuffer[i * db.m_channels + index]);
}
index++;
}
}
db.m_result = DataBlock.RESULT.OK;
return(result);
}
return(false);
}
override public bool GetDataBlock(ref DataBlock db)
{
//need to make a copy of this variable just in case it changes
//remember the ui lives in a different thread and can change values.
bool copyFastMode;
lock (ThisLock)
{
PrepareConfigBuffer();
copyFastMode = fastMode;
db.m_min = 0;
db.m_max = 5;
db.m_channels = fastMode ? 1 : GetNumberOfEnabledChannels();
db.m_channelsBitField = fastMode ? 1 : GetChannelBitField();
db.m_triggerVoltage = triggerVoltage;
db.m_triggerPos = fastMode ? 3000 / 2 : 1500 / 2;
db.m_sampleRate = GetSampleRate();
db.m_samplesPerChannel = fastMode ? 3000 : 1500;
db.Alloc();
}
if (db.m_sampleRate > 0)
{
SerialPort.ReadTimeout = (2 * db.m_samplesPerChannel * 1000) / db.m_sampleRate;
}
if (SerialPort.ReadTimeout < 200)
{
SerialPort.ReadTimeout = 200;
}
SerialPort.Write(configBuffer, 0, 9);
Read(res, 1);
if (res[0] == 85)
{
Read(parallaxBuffer, 3000);
if (copyFastMode)
{
for (int i = 0; i < 3000; i++)
{
db.SetVoltage(0, i, parallaxBuffer[i]);
}
}
else
{
int index = 0;
if ((db.m_channelsBitField & 1) > 0)
{
for (int i = 0; i < 1500; i++)
{
db.SetVoltage(index, i, parallaxBuffer[i]);
}
index++;
}
if ((db.m_channelsBitField & 2) > 0)
{
for (int i = 0; i < 1500; i++)
{
db.SetVoltage(index, i, parallaxBuffer[i + 1500]);
}
index++;
}
}
return(true);
}
return(false);
}
public override bool GetDataBlock(ref DataBlock db)
{
bool result;
//assume it timed out
db.m_result = DataBlock.RESULT.TIMEOUT;
if (GetNumberOfEnabledChannels() == 0)
{
return false;
}
//-------------Get settings this needs a crytical section)
//
int numberOfSamples;
int numberOfEnabledChannels;
uint channelsBitField;
int sampleRate;
lock (ThisLock)
{
numberOfSamples = GetNumberOfSamplesPerChannel();
numberOfEnabledChannels = GetNumberOfEnabledChannels();
channelsBitField = GetChannelBitField();
sampleRate = GetSampleRate();
}
//-------------Request data
byte[] configBuffer = new byte[10];
configBuffer[0] = (byte)COMMANDS.READ_ADC_TRACE;
configBuffer[1] = m_triggerValue;
configBuffer[2] = (byte)(numberOfSamples >> 8);
configBuffer[3] = (byte)(numberOfSamples & 0xff);
configBuffer[4] = (byte)numberOfEnabledChannels;
int index = 0;
for (byte i = 0; i < 4; i++)
{
if (((channelsBitField>>i)&1)!=0)
{
configBuffer[5 + index] = i;
index++;
}
}
configBuffer[9] = (byte)127; //pwm
Write(configBuffer, configBuffer.Length);
//-------------Get data
Read(res, 1);
if (res[0] == 85)
{
db.m_min = 0;
db.m_max = 5;
db.m_channels = numberOfEnabledChannels;
db.m_channelsBitField = channelsBitField;
db.m_triggerVoltage = 0;
db.m_triggerPos = 0;
db.m_sampleRate = (db.m_channels > 0) ? (sampleRate / db.m_channels) : 0;
db.m_samplesPerChannel = numberOfSamples;
db.m_dataType = DataBlock.DATA_TYPE.ANALOG;
db.Alloc();
//read actual data
if (m_arduinoBuffer.Length != db.m_samplesPerChannel * db.m_channels)
{
m_arduinoBuffer = new byte[db.m_samplesPerChannel * db.m_channels];
}
result = Read(m_arduinoBuffer, m_arduinoBuffer.Length);
index = 0;
for(int ch=0;ch<2;ch++)
{
if ( ((db.m_channelsBitField>>ch)&1) == 1)
{
for (int i = 0; i < db.GetChannelLength(); i++)
{
db.SetVoltage(index, i, m_arduinoBuffer[i * db.m_channels + index]);
}
index++;
}
}
db.m_result = DataBlock.RESULT.OK;
return result;
}
return false;
}
override public bool GetDataBlock(ref DataBlock db)
{
bool result = true;
lock (ThisLock)
{
//assume it timed out
db.m_min = 0;
db.m_max = 5;
db.m_channels = GetNumberOfEnabledChannels();
db.m_channelsBitField = GetChannelBitField();
db.m_triggerVoltage = 0;
db.m_triggerPos = 0;
db.m_sampleRate = GetSampleRate();
db.m_samplesPerChannel = GetNumberOfSamplesPerChannel();
db.m_dataType = DataBlock.DATA_TYPE.ANALOG;
db.Alloc();
}
for (int i = 0; i < db.GetChannelLength(); i++)
{
/*
* byte header = GetStream().ReadByte();
* if (header < 128)
* {
* byte b1 = GetStream().ReadByte();
* byte b2 = GetStream().ReadByte();
*
* for (int c = 0; c < db.m_channels; c++)
* {
* UInt16 v = (UInt16)(GetStream().ReadByte() * 256 + GetStream().ReadByte());
* db.SetVoltage(c, i, v);
* }
* GetStream().ReadByte();
* }
* else
* {
* GetResponse(header);
*
* //if command received then abort
* for (; i < db.GetChannelLength(); i++)
* {
* for (int c = 0; c < db.m_channels; c++)
* {
* db.SetVoltage(c, i, 0);
* }
* }
*
* }
*/
byte[] header = new byte[1];
byte[] data = new byte[20];
Read(header, 1);
if (header[0] < 128)
{
Read(data, 3 + 2 * db.m_channels);
#if DEBUG
Console.WriteLine("{0} {1} {2} {3}", header[0], data[0], data[1], data[2]);
#endif
}
else
{
Read(data, 3);
#if DEBUG
Console.WriteLine("* {0} {1} {2} {3}", header[0], data[0], data[1], data[2]);
#endif
}
}
db.m_result = DataBlock.RESULT.OK;
return(result);
}
public override bool GetDataBlock(ref DataBlock db)
{
//need to make a copy of this variable just in case it changes
//remember the ui lives in a different thread and can change values.
bool copyFastMode;
lock (ThisLock)
{
PrepareConfigBuffer();
copyFastMode = fastMode;
db.m_min = 0;
db.m_max = 5;
db.m_channels = fastMode ? 1 : GetNumberOfEnabledChannels();
db.m_channelsBitField = fastMode ? 1 : GetChannelBitField();
db.m_triggerVoltage = triggerVoltage;
db.m_triggerPos = fastMode ? 3000 / 2 : 1500 / 2;
db.m_sampleRate = GetSampleRate();
db.m_samplesPerChannel = fastMode ? 3000 : 1500;
db.Alloc();
}
if (db.m_sampleRate > 0)
{
SerialPort.ReadTimeout = (2 * db.m_samplesPerChannel * 1000) / db.m_sampleRate;
}
if (SerialPort.ReadTimeout < 200)
{
SerialPort.ReadTimeout = 200;
}
SerialPort.Write(configBuffer, 0, 9);
Read(res, 1);
if (res[0] == 85)
{
Read(parallaxBuffer, 3000);
if (copyFastMode)
{
for (int i = 0; i < 3000; i++)
{
db.SetVoltage(0, i, parallaxBuffer[i]);
}
}
else
{
int index = 0;
if ((db.m_channelsBitField & 1) > 0)
{
for (int i = 0; i < 1500; i++)
{
db.SetVoltage(index, i, parallaxBuffer[i]);
}
index++;
}
if ((db.m_channelsBitField & 2) > 0)
{
for (int i = 0; i < 1500; i++)
{
db.SetVoltage(index, i, parallaxBuffer[i + 1500]);
}
index++;
}
}
return true;
}
return false;
}
