/// <summary>
/// 尝试以波特率通讯
/// </summary>
/// <param name="_baudRate"></param>
/// <returns></returns>
private string TryBaudRate(string _baudRate)
{
try
{
CreateOpenPort(_baudRate);
CompassModuleData data = ReadAllData();
if (data != null)
{
return(_baudRate);
}
return(null);
}
catch (TimeoutException)
{
return(null);
}
finally
{
CompassModulePort.Close();
CompassModulePort.Dispose();
}
}
/// <summary>
/// 采集数据到达
/// </summary>
/// <param name="newData"></param>
void cm_OnDataChanged(CompassModuleData newData)
{
UpdateView ev2 = delegate(CompassModuleData args)
{
VMThis.CMDataRT = args;
CMDataList.Add(args);
};
Dispatcher.BeginInvoke(ev2, newData);
}
/// <summary>
/// 转换一帧数据
/// </summary>
/// <returns></returns>
private CompassModuleData ConvertToCMData(byte[] frame)
{
CompassModuleData data = new CompassModuleData();
data.PitchAngle = ConvertWitLinkBCD(frame, 3);
data.RollAngle = ConvertWitLinkBCD(frame, 6);
data.HeadingAngle = ConvertWitLinkBCD(frame, 9);
return(data);
}
private CompassModuleData ReadAllData()
{
CompassModuleData data = null;
// 发送读取单帧数据命令
CompassModulePort.Write(CMD_READALL, 0, CMD_READALL.Length);
// 寻找帧头
if (ReadFrameHead())
{
// 读取帧数据
byte[] frame = ReadFrame(0x0d);
// 转换数据
data = ConvertToCMData(frame);
}
return(data);
}
/// <summary>
/// 50Hz 采集过程
/// </summary>
private void Acquisition50HzAction()
{
// 发送50Hz 命令
try
{
// 按照默认波特率打开串口
CreateOpenPort(PcBaudRate);
// 发送连续采样命令
SetSampleRate();
while (IsAcquisiting)
{
if (ReadFrameHead())
{
// 读取一帧数据
// 读取帧数据
byte[] frame = ReadFrame(0x0d);
if (frame == null)
{
continue;
}
// 转换数据
CompassModuleData data = ConvertToCMData(frame);
if (OnDataChanged != null)
{
// System.Diagnostics.Debug.WriteLine("Data Changed.");
OnDataChanged(data);
}
}
}
}
finally
{
StopAcq();
CompassModulePort.Close();
}
}
/// <summary>
/// 读取单帧数据
/// </summary>
/// <returns></returns>
public CompassModuleData ReadSigleFrameData()
{
CompassModuleData data = null;
if (TryBaudRate(PcBaudRate) != PcBaudRate)
{
throw new NotSupportedException("访问超时，可能使用了错误的波特率。");
}
try
{
// 按照默认波特率打开串口
CreateOpenPort(PcBaudRate);
// 设置波特率
//if (PcBaudRate != CMBaudRate)
//{
// TrySetBaudRate(CMBaudRate, PcBaudRate);
//}
// 重新打开串口（工作在新的波特率
if (CompassModulePort.IsOpen == false)
{
CompassModulePort.Open();
}
data = ReadAllData();
}
finally
{
// 设置默认波特率
//if (PcBaudRate != DefaultBaudRate)
//{
// TrySetBaudRate(CMBaudRate, DefaultBaudRate);
//}
CompassModulePort.Close();
}
return(data);
}