public void SaveToFlash()
{
byte[] buff = new byte[17];
int i = 0;
USBXpress.toarray(buff,ref i,(byte)singleton.txNumCanales);
USBXpress.toarray(buff,ref i,(Int16)singleton.txPeriodo);
USBXpress.toarray(buff,ref i,(Int16)singleton.txSeparador);
USBXpress.toarray(buff,ref i,(byte)(singleton.txPolarity?1:0));
USBXpress.toarray(buff,ref i,(byte)singleton.headtrack_panCh);
USBXpress.toarray(buff,ref i,(byte)singleton.servo_ch[(int)Singleton.Canales.PAN]);
USBXpress.toarray(buff,ref i,(byte)singleton.headtrack_tiltCh);
USBXpress.toarray(buff,ref i,(byte)singleton.servo_ch[(int)Singleton.Canales.TILT]);
USBXpress.toarray(buff,ref i,(float)singleton.uplinkValarm);
USBXpress.toarray(buff,ref i,(byte)(singleton.useEmisora?1:0));
if (singleton.enable_headtrack)
{
USBXpress.toarray(buff,ref i,(byte)(singleton.enable_pan ? 1 : 0));
USBXpress.toarray(buff,ref i,(byte)(singleton.enable_tilt ? 1 : 0));
}
WriteRAW(0xfc,buff);
}
public void SetLowBattery(float v) // obsoleto
{
byte[] buff = new byte[4];
int i = 0;
USBXpress.toarray(buff,ref i,v);
WriteRAW(0xfa,buff);
}
public static int[] SetAltura(int altitude)
{
int i = 0;
byte [] buff = new byte[2];
USBXpress.toarray(buff, ref i, (Int16)altitude);
return(build_packet((byte)REGS.Altura, buff));
}
public int ReadMaxWpts()
{
byte[] buffer = Read(Comandos.Ruta, 0xff, 0, 2);
int i = 0;
int numwpts = USBXpress.toint16(buffer, ref i);
return(numwpts);
}
public float ReadBatteryLevel()
{
byte[] buff = ReadRAW(0xfb,sizeof(float));
int i = 0;
float v = USBXpress.tofloat(buff,ref i);
return(v);
}
public static int[] build_packet(byte id, float v)
{
int i = 0;
byte[] buff = new byte[4];
USBXpress.toarray(buff, ref i, v);
return(build_packet(id, buff));
}
public static int[] SetLat(float lat)
{
int i = 0;
byte[] buff = new byte[4];
USBXpress.toarray(buff, ref i, lat);
return(build_packet((byte)REGS.Lat, buff));
}
public void WriteMaxWpt(int num)
{
byte[] buffer = new byte[2];
int i = 0;
USBXpress.toarray(buffer, ref i, (Int16)num);
Write(Comandos.Ruta, 0xff, 0, buffer);
ClearScrIkarus();
PrintAtIkarus(3, 3, string.Format("Escritos {0} Wpts", num));
}
public int[] ReadServosRAW()
{
byte[] buffer = Read(Comandos.SERVOS_RAW, 0, 0, 12 * 2);
int[] servos = new int[buffer.Length / 2];
int i = 0;
for (int j = 0; j < servos.Length; j++)
{
servos[j] = USBXpress.toint16(buffer, ref i);
}
return(servos);
}
public float[] ReadADCs()
{
byte[] buffer = Read(Comandos.ADC_VALUES, 0, 0, 8 * 4);
float [] adcs = new float[buffer.Length / 4];
int i = 0;
for (int j = 0; j < adcs.Length; j++)
{
adcs[j] = USBXpress.tofloat(buffer, ref i);
}
return(adcs);
}
public static int[] SetDebugVar(byte var, float value)
{
byte dato = (byte)(var & 0x3f);
int i = 1;
byte[] buff = new byte[5];
seqid = (byte)((seqid + 1) & 0x03);
dato |= (byte)(seqid << 6);
buff[0] = dato;
USBXpress.toarray(buff, ref i, value);
return(build_packet((byte)0xF, buff));
}
public void SetSlot(int slot,int[] mensaje)
{
byte[] buff = new byte[mensaje.Length * 2 + 1];
byte [] msg = USBXpress.tobytearray(mensaje);
buff[0] = (byte)mensaje.Length;
for (int i = 0; i < msg.Length; i += 2)
{
buff[i + 1] = msg[i + 1];
buff[i + 2] = msg[i];
}
Write(Comandos.SLOT,slot,0,buff);
}
public WayPoint ReadWpt(int id)
{
WayPoint wpt = null;
wpt = new WayPoint();
int i = 0;
byte[] buffer = Read(Comandos.Ruta, (byte)id, 0, 32);
wpt.name = USBXpress.tostring(buffer, ref i, 20);
wpt.Longitude = USBXpress.tofloat(buffer, ref i);
wpt.Latitude = USBXpress.tofloat(buffer, ref i);
wpt.Altitude = USBXpress.tofloat(buffer, ref i);
return(wpt);
}
public void WriteWpt(int id, string Name, float lon, float lat, float alt)
{
byte[] buffer = new byte[32];
int i;
for (i = 0; i < 20 && i < Name.Length; i++)
{
buffer[i] = (byte)Name[i];
}
for (; i < 20; i++)
{
buffer[i] = 0;
}
USBXpress.toarray(buffer, ref i, lon);
USBXpress.toarray(buffer, ref i, lat);
USBXpress.toarray(buffer, ref i, alt);
Write(Comandos.Ruta, (byte)id, 0, buffer);
}
public static extern USBXpress.ReturnCodes SI_CheckRXQueue(UInt32 cyHandle, ref UInt32 lpdwNumBytesInQueue, ref USBXpress.RXQueueStatus lpdwQueueStatus);
public static extern USBXpress.ReturnCodes SI_GetProductString(int dwDeviceNum, [MarshalAs(UnmanagedType.LPArray)] byte[] lpvDeviceString, USBXpress.ProductString dwFlags);
public USBXpress.ReturnCodes SI_GetProductString(int dwDeviceNum, [MarshalAs(UnmanagedType.LPArray)] byte[] lpvDeviceString, USBXpress.ProductString dwFlags)
{
if (tipo == TypeOS.i64)
return USBXpress64.SI_GetProductString(dwDeviceNum, lpvDeviceString, dwFlags);
else
return USBXpress32.SI_GetProductString(dwDeviceNum, lpvDeviceString, dwFlags);
}
public USBXpress.ReturnCodes SI_CheckRXQueue(UInt32 cyHandle, ref UInt32 lpdwNumBytesInQueue, ref USBXpress.RXQueueStatus lpdwQueueStatus)
{
if (tipo == TypeOS.i64)
return USBXpress64.SI_CheckRXQueue(cyHandle, ref lpdwNumBytesInQueue, ref lpdwQueueStatus);
else
return USBXpress32.SI_CheckRXQueue(cyHandle, ref lpdwNumBytesInQueue, ref lpdwQueueStatus);
}
