public InspireMotorCommandMessage(uint stickID, CMD_TYPE CMDvalue, CONTRAL_TAB CTValue, uint Para)
{
//帧长度
uint FrameLength = (DataSectorLong(CTValue, CMDvalue) + 2);
byteList.Add((Byte)(FrameLength));
//ID号
byteList.Add((Byte)stickID);
//指令类型
byteList.Add((Byte)CMDvalue);
//指令类型
byteList.Add((Byte)CTValue);
//数据段
for (int i = 0; i < DataSectorLong(CTValue, CMDvalue); i++)
{
byteList.Add((Byte)((Para >> i * 8) & 0xFF));
}
//校验和
uint CheckSum = 0;
for (int i = 0; i < byteList.Count(); i++)
{
CheckSum = byteList[i] + CheckSum;
}
byteList.Add((Byte)(CheckSum & 0xFF));
}
public static void MotorAResolver(object sender, SerialDataReceivedEventArgs e)
{
//判断是否是群体操作
try
{
byte head1 = (byte)((SerialPort)sender).ReadByte();
byte head2 = (byte)((SerialPort)sender).ReadByte();
if (head1 == 0xAA && head2 == 0x55)
{
int FreamLength = ((SerialPort)sender).ReadByte();
uint StickId = (uint)((SerialPort)sender).ReadByte();
CMD_TYPE CMDvalue = (CMD_TYPE)((SerialPort)sender).ReadByte();
CONTRAL_TAB CTValue = (CONTRAL_TAB)((SerialPort)sender).ReadByte();
uint total = 0;
List <byte> listbyte = new List <byte>();
for (int i = 0; i < FreamLength - 2; i++)
{
listbyte.Add((byte)((SerialPort)sender).ReadByte());
;
}
listbyte.Reverse();
for (int i = 0; i < listbyte.Count(); i++)
{
total = total << 8;
total = total | listbyte[i];
}
//CommandMessage message = new CommandMessage(StickId, CMDvalue, CTValue, total);
//FindStickByID(StickId).ReceiveMessage(message);
}
}
catch (Exception ex)
{
string s = ex.ToString();
}
}
//对应控制表数据长度
public static uint DataSectorLong(CONTRAL_TAB CTValue, CMD_TYPE CMDvalue)
{
if (CMDvalue == CMD_TYPE.CMD_RD)
{
return(1);
}
switch (CTValue)
{
case CONTRAL_TAB.TARGET_POSITON:
return(2);
case CONTRAL_TAB.OVERCURRENT:
return(2);
case CONTRAL_TAB.DriverID:
return(1);
}
return(0);
}
public InspireMotorMovementControlMessage(uint f_stickID, MOVE_CODE CMDvalue, CONTRAL_TAB CTValue, UInt16 f_DataValue)
{
byteList.Clear();
//帧长度
uint FrameLength = (Byte)0x04;
byteList.Add((Byte)(FrameLength));
//ID号
byteList.Add((Byte)f_stickID);
//指令类型
byteList.Add((Byte)CMDvalue);
//控制表索引
byteList.Add((Byte)CTValue);
//数据 小端
byteList.Add((Byte)f_DataValue);
byteList.Add((Byte)(f_DataValue >> 8 & 0xFF));
//校验和
uint CheckSum = 0;
for (int i = 0; i < byteList.Count(); i++)
{
CheckSum = byteList[i] + CheckSum;
}
byteList.Add((Byte)(CheckSum & 0xFF));
}
public InspireMotorBroadcastMessage(CMD_TYPE CMDvalue, CONTRAL_TAB CTValue)
{
this.CMDvalue = CMDvalue;
this.CTValue = CTValue;
}
