private void SoftMove(int steps, int direction)
{
// Check if serial protocol object exist
if (serialMessages == null)
{
return;
}
// Check if serial protocol object exist
if (serialMessages == null)
{
return;
}
Messages.Msg_Command cmdMove = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.MOVE
};
cmdMove.param1 = (byte)(steps >> 8);
cmdMove.param2 = (byte)(steps & 0x00FF);
cmdMove.param3 = (byte)direction;
byte[] msgMove = serialMessages.GeneratePacket(cmdMove.Serialize());
if (sPort.IsOpen)
{
sPort.Write(msgMove, 0, msgMove.Length);
}
}
private void btnControlStep_Click(object sender, EventArgs e)
{
// Check if serial protocol object exist
if (serialMessages == null)
{
return;
}
Messages.Msg_Command cmdStep = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.STEP
};
cmdStep.param1 = chkChangeDirection.Checked == true ? (byte)1 : (byte)0;
byte[] msgStep = serialMessages.GeneratePacket(cmdStep.Serialize());
if (sPort.IsOpen)
{
sPort.Write(msgStep, 0, msgStep.Length);
}
// Hierdie was vir die Fine Step, sal dit later weer gebruik
/*
* int loops = int.Parse(cmbStepLoop.Text);
* UInt16 stepSize = UInt16.Parse(cmbStepSize.Text); //1800;
* UInt16 current = UInt16.Parse(cmbStepCurrent.Text); //500;
*
* Messages.Msg_Command cmd;
* if (cmbStepDirection.Text == "CCW")
* cmd = new Messages.Msg_Command
* {
* command = Messages.COMMAND_TYPES.STEP_FORWARD,
* param1 = (byte)(stepSize >> 8),
* param2 = (byte)(stepSize & 0x00FF),
* param3 = (byte)(current >> 8),
* param4 = (byte)(current & 0x00FF)
* };
* else
* cmd = new Messages.Msg_Command
* {
* command = Messages.COMMAND_TYPES.STEP_BACK,
* param1 = (byte)(stepSize >> 8),
* param2 = (byte)(stepSize & 0x00FF),
* param3 = (byte)(current >> 8),
* param4 = (byte)(current & 0x00FF)
* };
*
* byte[] msg = serialMessages.GeneratePacket(cmd.Serialize());
*
* for (int i = 0; i < loops; i++)
* {
* if (sPort.IsOpen)
* sPort.Write(msg, 0, msg.Length);
*
* System.Threading.Thread.Sleep(10);
* }
*/
}
private void btnFirmwareUpload_Click(object sender, EventArgs e)
{
//FlashLoader flashProg = new FlashLoader();
// Step 1: Place closed loop drive into UART bootloader mode
Messages.Msg_Command cmdJumpToBootloader;
cmdJumpToBootloader = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.JUMP_BOOTLOADER
};
byte[] msgJumpToBootloader = serialMessages.GeneratePacket(cmdJumpToBootloader.Serialize());
if (sPort.IsOpen)
{
sPort.Write(msgJumpToBootloader, 0, msgJumpToBootloader.Length);
}
// Close the port to make it available for the flashloader
sPort.Close();
while (sPort.IsOpen)
{
;
}
System.Threading.Thread.Sleep(1000);
// Step 2: Use the STMFlashloader program to flash the selected file
string arguments = "-c " +
" --pn " + cmbPortName.Text.Replace("COM", "") +
" --br 115200 --db 8 --pr EVEN --sb 1 --ec OFF --to 10000 --co ON -Dtr --Hi -Rts --Lo" +
" -i STM32F0_5x_3x_64K" +
" -u --fn " + txtFirmwareUploadPath.Text +
" -Dtr --Lo -Rts --Hi --Lo";
//System.Diagnostics.Process.Start(@"C:\Program Files (x86)\STMicroelectronics\Software\Flash Loader Demo\STMFlashLoader.exe", arguments);
// Console.WriteLine(flashProg.Connect());
// Console.WriteLine(flashProg.Close());
System.Diagnostics.ProcessStartInfo processFlashLoader = new System.Diagnostics.ProcessStartInfo();
processFlashLoader.FileName = @"C:\Program Files (x86)\STMicroelectronics\Software\Flash Loader Demo\STMFlashLoader.exe";
processFlashLoader.Arguments = arguments;
processFlashLoader.RedirectStandardOutput = true;
processFlashLoader.UseShellExecute = false;
System.Diagnostics.Process p = new System.Diagnostics.Process();
p.OutputDataReceived += (sende, args) => Console.WriteLine("FlashLoader: {0}", args.Data);
p.StartInfo = processFlashLoader; //System.Diagnostics.Process.Start(processFlashLoader);
p.Start();
p.BeginOutputReadLine();
}
private void btnFirmwareDownload_Click(object sender, EventArgs e)
{
SaveFileDialog saveFirmwareFile = new SaveFileDialog();
saveFirmwareFile.Filter = "Bin files|*.bin|Hex files|*.hex|All files|*.*";
if (saveFirmwareFile.ShowDialog() != DialogResult.OK)
{
return;
}
string saveFileName = saveFirmwareFile.FileName;
// Step 1: Place closed loop drive into UART bootloader mode
Messages.Msg_Command cmdJumpToBootloader;
cmdJumpToBootloader = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.JUMP_BOOTLOADER
};
byte[] msgJumpToBootloader = serialMessages.GeneratePacket(cmdJumpToBootloader.Serialize());
if (sPort.IsOpen)
{
sPort.Write(msgJumpToBootloader, 0, msgJumpToBootloader.Length);
}
// Close the port to make it available for the flashloader
sPort.Close();
while (sPort.IsOpen)
{
;
}
System.Threading.Thread.Sleep(1000);
// Step 2: Use the STMFlashloader program to download to the selected file
string arguments = "-c " +
" --pn " + cmbPortName.Text.Replace("COM", "") +
" --br 115200 --db 8 --pr EVEN --sb 1 --ec OFF --to 10000 --co ON -Dtr --Hi -Rts --Lo" +
" -i STM32F0_5x_3x_64K" +
" -u --fn " + saveFileName +
" -Dtr --Lo -Rts --Hi --Lo";
System.Diagnostics.ProcessStartInfo processFlashLoader = new System.Diagnostics.ProcessStartInfo();
processFlashLoader.FileName = @"C:\Program Files (x86)\STMicroelectronics\Software\Flash Loader Demo\STMFlashLoader.exe";
processFlashLoader.Arguments = arguments;
processFlashLoader.UseShellExecute = true;
System.Diagnostics.Process p = new System.Diagnostics.Process();
p.StartInfo = processFlashLoader;
p.Start();
}
private void BtnBootloaderRun_Click(object sender, EventArgs e)
{
Messages.Msg_Command cmdJumpToBootloader = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.JUMP_BOOTLOADER
};
byte[] msgJumpToBootloader = serialMessages.GeneratePacket(cmdJumpToBootloader.Serialize());
if (sPort.IsOpen)
{
sPort.Write(msgJumpToBootloader, 0, msgJumpToBootloader.Length);
}
BtnConnect_Click(sender, e);
MessageBox.Show("Now you device in a bootloader mode", "Bootloader");
}
private void chkTuningEnable_CheckedChanged(object sender, EventArgs e)
{
if (!sPort.IsOpen)
{
return;
}
Messages.Msg_Command cmdStreamAngle;
if (chkTuningEnable.Checked)
{
cmdStreamAngle = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.STREAM_ANGLE, param1 = 1
};
ThreadHelperClass.SetEnable(this, btnAutoTune, false);
pidAutotuneClass.Clear();
serialMessages.MessageReceived += SerialMessages_MessageReceived1;
timerRenderScottPlot = new System.Threading.Timer(TimerRender, null, 5, 5);
}
else
{
cmdStreamAngle = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.STREAM_ANGLE, param1 = 0
};
serialMessages.MessageReceived -= SerialMessages_MessageReceived1;
ThreadHelperClass.SetEnable(this, btnAutoTune, true);
ThreadHelperClass.SetNumericUpDownValue(this, numMaxAngleError, (decimal)pidAutotuneClass.GetMaxAngleError);
ThreadHelperClass.SetNumericUpDownValue(this, numAvgAngleError, (decimal)pidAutotuneClass.GetAvgAngleError);
timerRenderScottPlot.Dispose();
//timerRenderScottPlot.Change(Timeout.Infinite, Timeout.Infinite);
}
byte[] msgStreamAng = serialMessages.GeneratePacket(cmdStreamAngle.Serialize());
if (sPort.IsOpen)
{
sPort.Write(msgStreamAng, 0, msgStreamAng.Length);
}
}
private void rdClosedLoop_CheckedChanged(object sender, EventArgs e)
{
// Check if serial protocol object exist
if (serialMessages == null)
{
return;
}
if (rdClosedLoop.Checked)
{
Messages.Msg_Command cmdModeClose = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.MODE_CLOSELOOP
};
byte[] msgModeClose = serialMessages.GeneratePacket(cmdModeClose.Serialize());
if (sPort.IsOpen)
{
sPort.Write(msgModeClose, 0, msgModeClose.Length);
}
}
}
private void chkEnable_CheckedChanged(object sender, EventArgs e)
{
// Check if serial protocol object exist
if (serialMessages == null)
{
return;
}
if (chkEnable.Checked)
{
//Verify the mode before enabling
rdOpenLoop_CheckedChanged(this, e);
rdClosedLoop_CheckedChanged(this, e);
// Seem unreliable to write while enabled
btnWriteParameters.Enabled = false;
Messages.Msg_Command cmdModeEnable = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.MODE_ENABLE
};
byte[] msgModeEnable = serialMessages.GeneratePacket(cmdModeEnable.Serialize());
if (sPort.IsOpen)
{
sPort.Write(msgModeEnable, 0, msgModeEnable.Length);
}
}
else
{
btnWriteParameters.Enabled = true;
Messages.Msg_Command cmdModeDisable = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.MODE_DISABLE
};
byte[] msgModeDisable = serialMessages.GeneratePacket(cmdModeDisable.Serialize());
if (sPort.IsOpen)
{
sPort.Write(msgModeDisable, 0, msgModeDisable.Length);
}
}
}
private void chkTuningEnable_CheckedChanged(object sender, EventArgs e)
{
Messages.Msg_Command cmdStreamAngle;
if (chkTuningEnable.Checked)
{
cmdStreamAngle = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.STREAM_ANGLE, param1 = 1
};
}
else
{
cmdStreamAngle = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.STREAM_ANGLE, param1 = 0
};
}
byte[] msgStreamAng = serialMessages.GeneratePacket(cmdStreamAngle.Serialize());
if (sPort.IsOpen)
{
sPort.Write(msgStreamAng, 0, msgStreamAng.Length);
}
}
private void btnWriteParameters_Click(object sender, EventArgs e)
{
// Check if serial protocol object exist
if (serialMessages == null)
{
return;
}
try
{
Int16 valKp = Int16.Parse(driverParameters.Items.First(o => o.Name == "Kp").ValueStr);
Int16 valKi = Int16.Parse(driverParameters.Items.First(o => o.Name == "Ki").ValueStr);
Int16 valKd = Int16.Parse(driverParameters.Items.First(o => o.Name == "Kd").ValueStr);
Int16 valCurrent = (Int16)Math.Ceiling(Int16.Parse(driverParameters.Items.First(o => o.Name == "Current").ValueStr) / 6.5);
Int16 valStepSize = Int16.Parse(driverParameters.Items.First(o => o.Name == "Step Size").ValueStr);
Int16 valENDir = Int16.Parse(driverParameters.Items.First(o => o.Name == "EN Pin").ValueStr);
Int16 valMotorDir = Int16.Parse(driverParameters.Items.First(o => o.Name == "Motor Direction").ValueStr);
Messages.Msg_SetParam setParamKp = new Messages.Msg_SetParam {
param = Messages.PARAMETER_TYPES.KP, value = valKp
};
Messages.Msg_SetParam setParamKi = new Messages.Msg_SetParam {
param = Messages.PARAMETER_TYPES.KI, value = valKi
};
Messages.Msg_SetParam setParamKd = new Messages.Msg_SetParam {
param = Messages.PARAMETER_TYPES.KD, value = valKd
};
Messages.Msg_SetParam setParamCurrent = new Messages.Msg_SetParam {
param = Messages.PARAMETER_TYPES.CURRENT, value = valCurrent
};
Messages.Msg_SetParam setParamStepSize = new Messages.Msg_SetParam {
param = Messages.PARAMETER_TYPES.STEPSIZE, value = valStepSize
};
Messages.Msg_SetParam setParamENDir = new Messages.Msg_SetParam {
param = Messages.PARAMETER_TYPES.ENDIR, value = valENDir
};
Messages.Msg_SetParam setParamMotorDir = new Messages.Msg_SetParam {
param = Messages.PARAMETER_TYPES.MOTORDIR, value = valMotorDir
};
byte[] msgKp = serialMessages.GeneratePacket(setParamKp.Serialize());
byte[] msgKi = serialMessages.GeneratePacket(setParamKi.Serialize());
byte[] msgKd = serialMessages.GeneratePacket(setParamKd.Serialize());
byte[] msgCurrent = serialMessages.GeneratePacket(setParamCurrent.Serialize());
byte[] msgStepSize = serialMessages.GeneratePacket(setParamStepSize.Serialize());
byte[] msgENDir = serialMessages.GeneratePacket(setParamENDir.Serialize());
byte[] msgMotorDir = serialMessages.GeneratePacket(setParamMotorDir.Serialize());
if (sPort.IsOpen)
{
// Short delays here are for compatibility with BTT serial protocol, which is rather slow
sPort.Write(msgKp, 0, msgKp.Length);
Thread.Sleep(100);
sPort.Write(msgKi, 0, msgKi.Length);
Thread.Sleep(100);
sPort.Write(msgKd, 0, msgKd.Length);
Thread.Sleep(100);
sPort.Write(msgCurrent, 0, msgCurrent.Length);
Thread.Sleep(100);
sPort.Write(msgStepSize, 0, msgStepSize.Length);
Thread.Sleep(100);
sPort.Write(msgENDir, 0, msgENDir.Length);
Thread.Sleep(100);
sPort.Write(msgMotorDir, 0, msgMotorDir.Length);
Thread.Sleep(100);
if (chkWriteToFlash.Enabled & chkWriteToFlash.Checked)
{
Messages.Msg_Command cmdFlashSave = new Messages.Msg_Command {
command = Messages.COMMAND_TYPES.STORAGE_SAVE
};
byte[] msgFlashSave = serialMessages.GeneratePacket(cmdFlashSave.Serialize());
sPort.Write(msgFlashSave, 0, msgFlashSave.Length);
}
}
}
catch
{
MessageBox.Show("Something went wrong while trying to write parameters!", "Writing Error");
}
}
