// set control para
private void button5_Click(object sender, EventArgs e)
{
MotorPara.maxCurrent = Convert.ToUInt16(textBox17.Text);
MotorPara.maxDegree = Convert.ToByte(textBox14.Text);
if (checkBox1.Checked)
{
MotorPara.reversse = 1;
}
else
{
MotorPara.reversse = 0;
}
if (checkBox2.Checked)
{
MotorPara.run2zero = 1;
}
else
{
MotorPara.run2zero = 0;
}
CommProtocol.SendCmd(CommProtocol.CMD_SET_CONTROL_PARA);
}
private void hall_Load(object sender, EventArgs e)
{
UploadData.max = 0;
UploadData.min = 16384 * 10;
InitTips();
CommProtocol.SetTraceMode(CommProtocol.TRACE_MODE_PC);
InitTimer();
}
private void button4_Click(object sender, EventArgs e)
{
MotorPara.Kp = Convert.ToUInt16(textBox1.Text);
MotorPara.Ki = Convert.ToUInt16(textBox5.Text);
MotorPara.Ke1 = Convert.ToUInt16(textBox8.Text);
MotorPara.Ke2 = Convert.ToUInt16(textBox11.Text);
CommProtocol.SendCmd(CommProtocol.CMD_SET_PID_PARA);
}
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
{
}
}
private void button5_Click(object sender, EventArgs e)
{
if (comm.IsOpen)
{
CommProtocol.SendCmd(CommProtocol.CMD_SET_RESET_MCU);
}
Delay(500);
comm.Close();
this.Close();
}
private void button1_Click(object sender, EventArgs e)
{
MotorPara.traceMode = CommProtocol.TRACE_MODE_NONE;
if (radioButton4.Checked)
{
MotorPara.traceMode = CommProtocol.TRACE_MODE_PC;
}
else if (radioButton5.Checked)
{
MotorPara.traceMode = CommProtocol.TRACE_MODE_LOG;
}
else if (radioButton3.Checked)
{
MotorPara.traceMode = CommProtocol.TRACE_MODE_NONE;
}
CommProtocol.SendCmd(CommProtocol.CMD_SET_TRACE_MODE);
}
private void para_Load(object sender, EventArgs e)
{
CommProtocol.SetTraceMode(CommProtocol.TRACE_MODE_PC);
// Refresh data
textBox1.Text = UploadData.Kp.ToString();
textBox5.Text = UploadData.Ki.ToString();
textBox8.Text = UploadData.Ke1.ToString();
textBox11.Text = UploadData.Ke2.ToString();
textBox17.Text = UploadData.maxCurrent.ToString();
textBox14.Text = UploadData.maxDegree.ToString();
radioButton4.Checked = false;
radioButton5.Checked = false;
radioButton3.Checked = false;
if (UploadData.traceMode == CommProtocol.TRACE_MODE_LOG)
{
radioButton5.Checked = true;
}
else if (UploadData.traceMode == CommProtocol.TRACE_MODE_PC)
{
radioButton4.Checked = true;
}
else if (UploadData.traceMode == CommProtocol.TRACE_MODE_NONE)
{
radioButton3.Checked = true;
}
if (UploadData.run2zero > 0)
{
checkBox2.Checked = true;
}
if (UploadData.reversse > 0)
{
checkBox1.Checked = true;
}
InitTips();
}
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);
}
private void button6_Click(object sender, EventArgs e)
{
CommProtocol.SendCmd(CommProtocol.CMD_SET_ZERO_ANGLE);
}
