private void timCheckFrame_Tick(object sender, EventArgs e)
{
if (com.CheckFrame())
{
switch (com.rxFrame.fnCode)
{
case FunctionCode.FC_DEV_STA:
//txtMotorCurVel.Text = (BitConverter.ToSingle(com.rxFrame.data, 0)).ToString("f3");
textBox1.Text = com.rxFrame.data[0] == 1 ? "在" : "不在";
textBox2.Text = com.rxFrame.data[1] == 1 ? "在" : "不在";
textBox3.Text = com.rxFrame.data[2] == 1 ? "在" : "不在";
break;
case FunctionCode.FC_IMU_RAW:
textBox4.Text = (BitConverter.ToSingle(com.rxFrame.data, 0)).ToString();
textBox5.Text = (BitConverter.ToSingle(com.rxFrame.data, 4)).ToString();
textBox6.Text = (BitConverter.ToSingle(com.rxFrame.data, 8)).ToString();
textBox7.Text = (BitConverter.ToSingle(com.rxFrame.data, 12)).ToString();
textBox8.Text = (BitConverter.ToSingle(com.rxFrame.data, 16)).ToString();
textBox9.Text = (BitConverter.ToSingle(com.rxFrame.data, 20)).ToString();
textBox10.Text = (BitConverter.ToSingle(com.rxFrame.data, 24)).ToString();
textBox11.Text = (BitConverter.ToSingle(com.rxFrame.data, 28)).ToString();
textBox12.Text = (BitConverter.ToSingle(com.rxFrame.data, 32)).ToString();
break;
case FunctionCode.FC_GPS_RAW:
textBox13.Text = com.rxFrame.data[0].ToString();
textBox14.Text = (BitConverter.ToDouble(com.rxFrame.data, 1)).ToString();
textBox15.Text = (BitConverter.ToDouble(com.rxFrame.data, 9)).ToString();
textBox16.Text = (BitConverter.ToDouble(com.rxFrame.data, 17)).ToString();
textBox17.Text = (BitConverter.ToDouble(com.rxFrame.data, 25)).ToString();
textBox18.Text = (BitConverter.ToDouble(com.rxFrame.data, 33)).ToString();
break;
case FunctionCode.FC_RC_RAW:
textBox19.Text = (BitConverter.ToSingle(com.rxFrame.data, 0)).ToString();
textBox20.Text = (BitConverter.ToSingle(com.rxFrame.data, 4)).ToString();
textBox21.Text = (BitConverter.ToSingle(com.rxFrame.data, 8)).ToString();
textBox22.Text = (BitConverter.ToSingle(com.rxFrame.data, 12)).ToString();
break;
case FunctionCode.FC_CIRCLE_CONTROL:
textBox23.Text = (BitConverter.ToSingle(com.rxFrame.data, 0) * 57.296).ToString();
textBox24.Text = (BitConverter.ToSingle(com.rxFrame.data, 4) * 57.296).ToString();
textBox25.Text = (BitConverter.ToSingle(com.rxFrame.data, 8) * 57.296).ToString();
textBox26.Text = (BitConverter.ToSingle(com.rxFrame.data, 12)).ToString();
textBox27.Text = (BitConverter.ToSingle(com.rxFrame.data, 16)).ToString();
textBox28.Text = (BitConverter.ToSingle(com.rxFrame.data, 20)).ToString();
textBox29.Text = (BitConverter.ToSingle(com.rxFrame.data, 24)).ToString();
textBox30.Text = (BitConverter.ToSingle(com.rxFrame.data, 28)).ToString();
textBox31.Text = (BitConverter.ToSingle(com.rxFrame.data, 32)).ToString();
textBox32.Text = (BitConverter.ToSingle(com.rxFrame.data, 36)).ToString();
textBox33.Text = com.rxFrame.data[40].ToString();
break;
case FunctionCode.FC_IAP_UPDATE:
com.txFrame.fnCode = FunctionCode.FC_IAP_UPDATE;
if (1 == com.rxFrame.data[0])
{
if (filelength != 0)
{
byte length = (byte)((filelength >= 50 - 1) ? 50 - 2 : filelength);
com.txFrame.data[0] = length;
com.txFrame.data[1] = packetnum++;
for (int i = 0; i < length; i++)
{
com.txFrame.data[i + 2] = binContent[sendindex++];
}
filelength -= length;
label5.Text = "剩余" + filelength + "字节!";
com.txFrame.isUpdated = true;
com.SendFrame();
prechecksum = com.txFrame.checkSum;
}
else
{
}
}
else
{
if (filelength != 0)
{
com.txFrame.fnCode = FunctionCode.FC_IAP_UPDATE;
com.txFrame.isUpdated = true;
com.SendFrame();
}
}
break;
}
}
}