diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730.zip b/firmware binaries & gui/o323bgc-release-v230-v20170730.zip new file mode 100644 index 0000000..a293a9d Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730.zip differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/LICENCE.txt b/firmware binaries & gui/o323bgc-release-v230-v20170730/LICENCE.txt new file mode 100644 index 0000000..029f119 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/LICENCE.txt @@ -0,0 +1,47 @@ +LICENCE +5 November 2013 - 30 July 2017 +(c) www.olliw.eu + +The project called simply as STorM32-BGC consists of several parts, such as the STorM32-BGC controller +hardware, the o323bgc firmware, and the graphical user interface o323BGCTool. This licence covers the +terms of usage for the o323bgc firmware and the o323BGCTool graphical user interface. For the terms of +usage of other parts please consult the respective locations, in particular the project web page. + +project web page: http://www.olliw.eu/2013/storm32bgc/ + + +LICENCE/TERMS OF USAGE for o323bgc firmware: +-------------------------------------------- +The o323BGC firmware is free (but not open source). Besides unlimited private use you are also granted +the permission to use it for commercial purposes under the condition that (1) you don’t modify the +firmware, e.g. remove or change copyright statements, (2) provide it for free, i.e. don’t charge any +explicit or implicit fees to your customers, and (3) correctly and clearly cite the origin of the firmware +and the project web page in any product documentation or web page. + + +LICENCE/TERMS OF USAGE for o323BGCTool graphical user interface: +---------------------------------------------------------------- +The o323BGCTool software is open source (but see below). Besides unlimited private use you are also +granted the permission to use it for commercial purposes under the condition that (1) you don’t modify +the software, e.g. remove or change copyright statements, (2) provide it for free, i.e. don’t charge any +explicit or implicit fees to your customers, and (3) correctly and clearly cite the origin of the software +and the project web page in any product documentation or web page. + +Comment: The GUI software is based on libraries, which I am using since nearly 10 years and which I have +modified over time in several places I can’t remember anymore. Furthermore, it is written in Perl using +Win32::Gui, which is not maintained anymore. It would take me an enormous effort to build a working +distribution. I hence don’t publish the complete code but just the “master” perl source file, which +however contains all relevant code. + + +LICENCE/TERMS OF USAGE for BetaCopter firmware: +----------------------------------------------- +see ArduPilot project: http://ardupilot.com + + +LICENCE for NT DataLogger Tool graphical user interface: +-------------------------------------------------------- +This GUI is based on PyQT5 open source, and accordingly licenced as GPL v3. +These packages are used: +WinPython: https://winpython.github.io/ +pyqtgraph: http://www.pyqtgraph.org/ \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/REVISION.txt b/firmware binaries & gui/o323bgc-release-v230-v20170730/REVISION.txt new file mode 100644 index 0000000..4025daa --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/REVISION.txt @@ -0,0 +1,936 @@ +v2.30: (L229) (imu v0.33)(motor v0.33)(logger v0.33)(NTLoggerTool v0.39)(STorM32 WebApp v0.27b) + - bug: MAV_CMD_TARGET_SPECIFIC length handling + - bug gui: datadisplay imu2 cleared every time datadisplay is opened + - gui: links renamed to interfaces + - esp: v3.x board, qmodes to flash firmware and upload data files + - uavcan: consistent uavcan parameter handling + - esp: uart2 support on v3.x boards, esp hal, qmode adapted + - webapp: adapted to new esp config parameters, links renamed to interfaces + - gui: erase eeprom, ask before to double check + - gui: esp config tool + - gui: flash v3.x boards support + - uavcan: support of equipment.uavcan.camera_gimbal.status, later removed, doesn't make sense + - uavcan: support of uavcan.storm32.status, uavcan.storm32.control, uavcan.storm32.nodespecific, uavcan.storm32.nodespecificack + - uavcan: improved speed + - uavcan: functions renamed, libs significantly restructured, memory savings, some optimizations + - uavcan: acceptance filters +VERSION Released as version v2.30 on 30.July.2017 + +v2.29: (L229) (imu v0.33)(motor v0.33)(logger v0.33)(NTLoggerTool v0.39)(STorM32 WebApp v0.27) + - support of v3.x boards, usb = uart1, uart = uart5 + - gui: upgrade via USB for v3.x board, upgrade via SysBootLoader removed for older boards + - bug gui: flash STMFlashLoaderOlliW for bootloader version 22 it can happen that flashsize is 65535k + "resolved" by copying _256K.STmap to _65535K.STmap + - support of ESP8266, new parameter Esp Uart Configuration + com2 release handling to detect key phrase at startup (com.h) + RC2-0 == RC3 pin emits a reset pulse at a hardware reset (inputs.h) + reset source detection +VERSION Released as version v2.29b on 2.July.2017 + - ESP: the reset pulse not needed, consistency can be accomplished with reset source + - UAVCAN support for v3.x boards + - webapp: esp ap bridge support + - gui: esp ap bridge support + - motor poles minimum set to 8 + - gui: esp config, betacopter rearranged/renamed +VERSION Released as version v2.29e on 16.July.2017 + +v2.28: (L223) (imu v0.33)(motor v0.33)(logger v0.33)(NTLoggerTool v0.39) +v2.28a: + - com hal, com<->serial split (qmode, mavlink not tested) + - improvements in serial transmission (always full block since TX ISR is used anyhow) + - spektrum hal, timing uses micros_32(), uart1 handling is not fully consistent + - rc hal, cleanups, some significant simplifications, hal is not fully consistent + - imu split into ahrs, imus + - txAngle to txAngles, AHRSANGLE(), some ahrs_ wrapper functions, Q24RAD() +v2.28b: + - inputs.h uart1 timeout stuff removed as it's not used anywhere, uart1_enable() streamlined + - rcchannels much improved, consistent enable/disable handling + - rc hal consistent, except of ISRs +v2.28c: + - conversion to tAhrsAngle(s), a first test worked nicely + affected: ahrs,pid,remote,script,mavlink,stormlink,gps,serial + comparison functions not yet + - Q24RAD() removed by using Q24() with converted numbers + - bug in pid, PAN must be float, not tAhrsAngle + - int64_t for tAhrsAngle, 0..1 = 0°..360° = 0..2^30, seems to work! + - separate ahrs angle stuff into lib +v2.28d: + - pid scales×teps converted to q30 + - pid pan converted to q24 + - pid_do() restructured + - Kp,Kidt,Kpdt converted to q24, q16 + - motorfoc_setencoderdata() conversion of EncoderAngle to tAhrsAngle simplified + - do_inputs() conversion of s32rc to tAhrsAngle a_inputs->a[axis] simplified + - do_inputs() conversion of Remote.aAngle to s32 simplified + - in spektrum, rcchannel, some voids in func() missing + - optimization + spektrum_update(), spektrum_handle_timeouts(), + rc_update(), sumppm_update(), pwmout_update(), rc_handle_timeouts(), sumppm_handle_timeouts() + input_readfunctionvalues(), input_debouncefunctionvalues(), input_getfunctionvalues() + input_doaxis() + helps a lot, cost ca. 4K +v2.28: +VERSION Released as version v2.28e on 6.June.2017 + +v2.27: + - changes to qmode and uart1_XXX to allow for SPEKTRUM_NUMBEROFCHANNELS=0, needs check if working + - option to use CC3D atom as main board + - X-macros for Setup list +VERSION Released as version v2.27e on 13.Mai.2017 + +v2.26: (L223) (imu v0.33)(motor v0.33)(logger v0.33)(NTLoggerTool v0.39) + - bug nt: NTLoggerTool handling of GUI data files + - bug: setup functions, consistent differentiation between params, scripts, calibration, and other + - bug: uartb,uartc clear isr flags at init + - bug: ntbus_tx_waitforandclosedma() instead of ntbus_hal_tx_dma_waittrasnmitted() + - nt: ntbus_logencoderdata() + - nt: NTLogger handling of cmdencoder and setmotall added => nt logger firmware v0.33 + - nt: NTLoggerTool adapted to encoders => v0.39 + - nt: NtLoggerTool dT handling + - gui: firmware flash list adapted + - gui: foc handling in DataDisplay&ConfigTool improved + - gui: share settings expanded to 3 columns + - foc: don't bother with trying to find IMU3, we're not using it + - Imu2 enabled, but only raw data is transmitted, not AHRS2, it's of no use but would take a toll of nearly 100us ! + - fyaw_relative() introduced, return encoder angle in encoder mode + - nt: dma handling somewhat restructured, geterrorcnt() not inline + - nt: ntbus_logparameterdata() and caller somewhat changed + - foc: new default values for PID +VERSION Released as version v2.26a on 18.Mar.2017 + - bug: imu_setparamsfromsetup() changed all Imu2 fields, even though script_do() comes after (by fs008) + - bug: TASKs were executed only if TASK_RESTART_IS_PENDING + - better optimized setup_handle_parameters_change(), to make script set parameter less costly +VERSION Released as version v2.26b on 9.Mai.2017 + +v2.25: + - adc hal (tested), inputs hal (keys tested, uart1 not tested), ir hal (not tested), leds, leds-hal (tested) + - clocks implicit hal + +v2.24: + - BUG: new fwrap180(), the old could lead to serious time penalties + - bug: avoid hang-up when EEPROM is old setup + - bug: low voltage handling didn't zeroed values + - gui bug: some options were OPTTYPE_SI but were u16 + - gui bug: show/hide of foc PID options was strangely overlayed with other fields + - gui bug: Retrieve from EEprom & Default failed in read + - bug nt: NTLoggerTool crashes when no wlan available (by fs008) + - faster startup: calibrate time shortened by 1s, and fastlevel moves faster + - remove full v1 2nd Imu support + - startup initialization sequence rearranged, so that nt modules are checked later, to give them a bit more time to startup + - log "foc enabled" + - FocGyroLPF enabled, FocK enabled, Foc MotorDir & Foc ZeroPos enabled + - SERIALRESPONSE_LEVELGIMBAL added + - 'xp' serial command, in gui corresponding tool menu option added + - acc_mag is taken now from AHRS Mahony + - motors hal introduced, motors rearranged & cleaned-up significantly, tested on mobius test gimbal + - motor foc safety protection mechanism added + - imu1 error count safety protection mechanism added + - nt: NT imu changed to better detect errors for MPU6000 (isr often doesn't startup correctly, no idea why) + - nt: NT imu qmode added + - nt-imu, ntbus, ntbus-hal, redone from v0.32 with extensive testing at each step to resolve a nasty nt-imu hang-up bug + - have motorsaftey active only at startup, below NORMAL + - nt: NT motor qmode extended to standard + - nt: ntbus_hal_init(), _enable() moved to ntbus_init() +=> nt imu/nt motor fimrware v0.33 + +v2.23: (L223) + - bug: in fbuf_init() + - gui: all i2c reminiscences removed + - SYSTICK_DELAY_MS() + - board_capability changed and used for foc flag + - ntbus hal introduced + - mag removed, some deprecated stuff removed + - qmode extended and slightly rearranged + - fast startup procedure improved, nearly twice as fast yet more precise smooth at the end + - DLPF parameter removed + - setup parameter handling changed substantially, merged with mavlink parameters + - complete rearrangement of setup parameters, GUI adapted accordingly + - setup parameters defaults adjusted + - encoder flags added, handling to GUI added + - gui: implicit size handling for options + - gui: adapts to board configuration + - set FocEnabled parameter by own GUI tool, like baudrate, not part of Setup anymore => require manual restart + - NTBUS_MOTOR_CONFIG_TLE5012B added, NTBUS_MOTOR_CONFIG_FOC modified + - gui: rename to encoder support tool + - parameter FocElTimeConstant added + - livedata new layout and flags, includes encoder data, gui adapted + - Setup.FocGyroLPF added, and related many rearrangements done + +v2.22: (L219) (imu v0.32)(motor v0.31)(logger v0.26)(NTLoggerTool v0.37) + - tested some AVF filters, but they didn't do any good, in fact were worse + - bug: virtual worked only if Virtual-1 used at startup, _input_syncfunctions() changed (by Rickyg32) + - bug nt: ntbus_module_config_str() didn't handle NTBUS_IMU_CONFIG_GYROFILTER, NTBUS_IMU_CONFIG_ACCFILTER + - nt: store calibration values in NT imu module => v0.32 + configuration field extended by NTBUS_IMU_CONFIG_CALIBRATIONCMDSUPPORTED + new nt cmds NTBUS_CMD_STORECALIBRATION, NTBUS_CMD_READCALIBRATION + ntbus_readcalibration_imumodule(), ntbus_storecalibration_imumodule() + - lipo/adc stuff slightly restructured +VERSION Released as version v2.22e on 29.Jan.2017 + +v2.21: + - support for STorM32 NT v2.4 board + - D gain roll-yaw mixing (by McTage) + - additional P gain roll-yaw mixing + +v2.20: (L219) (imu v0.31)(motor v0.31)(logger v0.26)(NTLoggerTool v0.37) + - bug: scriptnr could be larger than 3 in remote_set_scriptcase() + - bug nt: NTLoggerTool y-AR-off did affect FFT window incorrectly => NTLoggerTool v0.37 + - nt: NTLoggerTool cRingBuffer, much improved live recording + - nt: NTLoggerTool QNetworkConfigurationManager removed, replaced by subprocess netsh (by walmis) => NTLoggerTool v0.36 + - nt: NTLoggerTool finalize support for latest ENSYS Logger firmware version => NTLoggerTool v0.37 + - deactivate YawT when no battery is connected + - nt: support for NT Imu v2.1 modules => v0.30 + - nt: support for NT Motor v2.3E modules => v0.30 + - gui: support for NT Imu v2.1 modules, firmware flash and config status flags + - nt: NT imu and NT motor led blinks according to configuration as Imu1/2/3 or R/P/Y => v0.30 + - nt: NT imu now isr-driven=oversampled by default, for both mpu9250 and mpu6000 => v0.30 + log_ntmoduleconfigurationinfo() adapted + - nt: NT imu acc +-16g plus filter for mpu9250 & mpu6000 => v0.31 + - nt: NT camera call camera_initpins() early to enforce defined pin states + +v2.19: (L219) (imu v0.29)(motor v0.22)(logger v0.26)(NTLoggerTool v0.35) + - bug: clocks not initialized + - nt bug: _ntcameradata pwm output triggered two times at startup + - nt bug: NTLoggerTool multiple log handling was broken + - nt bug: NTLoggerTool Imu2rx instead of Imu2done + - nt bug: NTLoggerTool converts GUI DataDisplay logs correctly + - nt: NTLoggerTool support of ENSYS NT Logger ESP8266 + - nt: NTLoggerTool screen shot, tool tips, FFT improved, cleanup => NTLoggerTool v0.35 + - STORM32NT finally removed + - nt: 3rd NT Imu support, involved interlacing of getimu2 and logging of accgyroraw + - nt: full Imu3Configuration support, required changes also in ntbus lib + => ntimu firmware v0.29, NTLoggerTool v0.31 + - qmode flash id 12 + - support for STorM32 NT v2.1 board (not yet fully tested, AUX, POT, SUMPPM, PWMOUT, SPEKTRUM, uart1) + - gui: support for STorM32 NT v2.1 board uart1 flash + +v2.18: + - gui bug: remove 0xFE checkbox from RC Command Tool (by lvale) + - gui bug: in Gimbal Configuration Tool set startup mode to normal in step II + - nt bug: in log_ntmoduleconfigurationinfo() first one parameter str was killed because of flush() + - bug: voltage low shall wait for beep for all steps of shutdown + - nt: NTBUS_IMU_CONFIG_MPU6050 un-deprecated + - nt: IMU_CONFIG_MODEL can go from 1...7 (not a bit field anymore), ntbus_module_config_str(), log_ntmoduleconfigurationinfo() + - waking up from standby goes to fastlevel if allowed (by zyawooo) (was tested extensively and concluded to be preferred) + - uartb_rx_enableisr() + - BOARD_CAPABILITY set to 0, was never used + - DEBUG_LED removed + - bypass to fastlevel in STATE_STARTUP_RELEVEL + +v2.17: (L214) (imu v0.28)(motor v0.22)(logger v0.26)(NTLoggerTool v0.30) + - faststart didn't consider rc offset, leading to strange behavior (by RocketMouse) + - emit alert beeps upon level error and voltagelow (by lvale) + - nt: NTSCANID removed, NTTUNNEL added + - SERIALSTATE_DIGEST_RECEIVED_MSG to always digest serial one cycle later, + solves also write overtime, time safeguard works very nicely + - Q mode UART1TUNNEL to open a tunnel to uart1, allows to quit + - Q mode BT, allows to quit + - remote wrappers changed, affects also script module + - STARTUP_MOTORS_BLINK changed to blink + - startup calibrate cleaned up a bit + - using small mavlink SetupParam field saves 7kb + - uart1/gps in serial handler removed + - gps @ uart1 is 57600bps per default + - gps valid requires hdop<1.5 and sat>=8 +VERSION Released as version v2.17e on 24.Sep.2016 + +v2.16: + - bug betacopter: taskmanager did too many steps, corrected, but NEEDS TEST of STORM32LINK PIDS!!! + - channel/configuration change handling totally revised (looks very good so far, but NEEDS EXTENSIVE TESTS!!!) + - RXBUF for UARTB and SPEKTRUM_BUFSIZE increased to 128, to accommodate uart1-gps + - uart1 gps target stuff + - tracking module + - SERIALRCCMD_SETHOMELOCATION, SERIALRCCMD_SETTARGETLOCATION + +v2.15: (L214) (imu v0.28)(motor v0.22)(logger v0.26)(NTLoggerTool v0.30) + - bug: override inputs in startup wrong (by zyawooo) + - StartupDelayTime + - startup motors & startup settled changed slightly +VERSION Released as version v2.15e on 15.Sep.2016 + +v2.14: (L214) (imu v0.28)(motor v0.22)(logger v0.26)(NTLoggerTool v0.30) + - bug: fastlevel didn't caught some failure conditions in startup + - bug: IRCAMERA active from startup, like PASSTHROUGH (by noradtux) (could need more extensive testing) + - some checks moved from LEVEL to end of CALIBRATE + - new state wait for link + +v2.13: + - gui: bluetooth configure adapted to handle hc08 (by zyawooo) + - link test version with comparison of methods, settled for "cheap" method + +v2.12: + - gui bug: BT configure may not stop upon error (by RocketMouse) + - bug: MAVLINK_MSG_ID_MESSAGE_INTERVAL extracrc not handled (by lvale) + - bug: imus need be reset after calibrate + - gui: bluetooth configure adapted to handle "new" hc06 (by RocketMouse) + - gui: vibes removed from DataDisplay save + - gui: clear status fields upon disconnect + - nt: NTSCANID removed, NTTUNNEL added + - nt: nt imu CAMremote support changed => ntimu firmware v0.28 (by noradtux) + - MAVLINK_MSG_ID_MESSAGE_INTERVAL arbitrary interval rates enabled + - MAV_CMD_SET_MESSAGE_INTERVAL added + - MAV_CMD_DO_SET_PARAMETER, param7 special handling removed + - further clean-ups in mavlink library + - startup_fastlevel_isallowed(), calibration cleaned, some useless state flags removed + - clean-ups in imu library, fYawAngleTargetPrediction not needed and removed + - ahrs acc compensation restructured, and prepared for quaternion guiding + - improved YawT handling for Imu1, reduces drift in deadband zone (does it lead to other issues? needs extensive tests!) + - yaw pan lpf set to 1.5 as default, as I like it :) + +v2.11: (L208) (imu v0.27)(motor v0.22)(logger v0.26)(NTLoggerTool v0.30) + - gui: Mavlink Configuration extended to h.b.+ mountstatus + - extend FA storm32link with yawratecmd + - mavlink "rejection" opened to components, all broadcasting, as well as all sorts of nonsense + - MAVLINK_MSG_ID_DIGICAM_CONTROL, MAVLINK_MSG_ID_MOUNT_CONFIGURE, MAVLINK_MSG_ID_MOUNT_CONTROL removed, since deprecated by APM + - MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC, MAVLINK_MSG_ID_PARAM_...2 removed + - MAV_CMD_DO_MOUNT_CONTROL, MAV_CMD_DO_MOUNT_CONTROL_QUAT support restricted to only unlimited angle (was used only anyhow) + - MAV_CMD_DO_DIGICAM_CONTROL restricted to 0/1 for shot + - MAV_CMD_DO_DIGICAM_CONFIGURE added, to return MAV_RESULT_ACCEPTED, but doesn't do anything + - MAV_CMD_DO_MOUNT_CONFIGURE support of MAV_MOUNT_MODE_RETRACT added, recenters camera + - MAVLINK_MSG_ID_MOUNT_STATUS added, Mavlink Configuration = 3 emits it with 2 Hz + - MAVLINK_MSG_ID_MESSAGE_INTERVAL added, allows to stream attitude and mountstatus in time multiples of 0.1sec +VERSION Released as version v2.11e on 8.Aug.2016 + +v2.10: (L208) (imu v0.27)(motor v0.22)(logger v0.26)(NTLoggerTool v0.30) + - bug: mavlink_systemlist_add() is needed for TASK_MAV_SENDATTITUDE etc to be send out + - bug: mavlink heartbeat state didn't consider fast level + - gui: few parameter fields rearranged, betacopter tab introduced +VERSION Released as version v2.10e on 6.Aug. 2016 + +v2.09: + - bug: response to SERIALRCCMD_GETVERSIONSTR had wrong cmd byte + - rccmd startsign 0xF9, which suppresses ack responses, and other commands + - SERIALRCCMD_SETINPUTS added + - STorM32-Link reception and detection handler + - LIVEDATA_MAVLINKATTITUDE & generate_attitude_storm32() consider STATUS_BAT_ISCONNECTED + - changed livedata LIVEDATA_MAVLINKATTITUDE to LIVEDATA_ATTITUDE_RELATIVE, complying to STorM32 standards + - tentatively allow for "all" supposed-to-be valid Mavlink messages (just to make the point) +VERSION Released as version v2.09e on 1.Aug. 2016 + +v2.08: (L208) (imu v0.27)(motor v0.22)(logger v0.26)(NTLoggerTool v0.30) + - gui bug: UpdateShow() uninitialized for July + - gui: screenshot of share settings can be saved to file + - gui: some rccmdread clean ups + - nt: pwm pulse of 500ms for Git2RC => ntimu firmware v0.27 + - several cleanup work: + some codes restructured + standby code restructured (NEEDS TESTING!!) + startup_level_do() changed + imu_getimuXdata(), imu_set_params_from_setup(), AccCompensationActive + - FASTLEVEL startup mode, new parameter Startup Mode + - startup_motors_do() 33% over voltage +VERSION Released as version v2.08e on 19.July.2016 + +v2.07: + - gui: UIntToHexstrSwapped() + - gui: target specific embeeding changed to new command long + - gui: DataDisplay can be shifted + - gui: flash reworked to support new upgrade + - mavlink COMMAND_LONG command MAV_CMD_TARGET_SPECIFIC=1235 added + - CMD_GETDATAFIELDS flag LIVEDATA_MAVLINKATTITUDE added (needs testing!) +VERSION Released as version v2.07e on 14.July.2016 + +v2.06: + - bug gui: NT flash firmware threw no usb error if port list was not called before + - bug?: NT camera CAMremote only did 1.0, 1.5, 2.0 ms and not continuous pwm + - bug: RcAccLimit changes produced hickups (by digaus) + - gui: DataDisplay can be resized, Save stores all data in the buffer + - gcc arm 5.3 2016q1, comment static in static inline to avoid warning + - fp stuff separated into library + - don't accumulate pansetpoints for yaw when in absolute mode (by Noircogi) + - qmode, command processor prepared for flashing storm32, not yet supported by gui + +v2.05: (L095) (imu v0.26)(motor v0.22)(logger v0.26)(NTLoggerTool v0.30) + - bug: changing IrCameraModel back didn't switch on IR led + - nt: NT camera module supports CAMremote, as well as PWM out => ntimu,ntlogger firmware v0.26 + +v2.04: (L095) (imu v0.25)(motor v0.22)(logger v0.25)(NTLoggerTool v0.30) + - nt: NT camera module added => ntimu,ntlogger firmware v0.25, NTLoggerTool v0.30 + +v2.03: (L095) (imu v0.23)(motor v0.22)(logger v0.24)(NTLoggerTool v0.29) + - logging time scheduling only for accgyro1&2 + - ntbus_module_config_info(), kill any dma transfer + - logging Imu2received removed, Loggingdone added + +v2.02: (L095) (imu v0.23)(motor v0.22)(logger v0.23)(NTLoggerTool v0.28) + - bug: mavlink param name PAN_PITCH_EXPO + - gui: 0.5° resolution added to DataDisplay (by buckker) + - nt logger: header line added to log to identify log file + - nt: setloggerdata v3, resolution of angles increased to 0.001° => ntlogger firmware v0.23, NTLoggerTool v0.28 + - nt: imu status reporting improved, adds clipped status, always >0 + +v2.01: + - bug: crc left-over + - bug: x? commands could fail (by Noircogi, Eagle1980) +VERSION Released as version v2.01 on 30.Mar.2016 + +v2.00: + - serial command Ns, xQT completed + - nt modules all support std cmd bytes (firmware -> v0.22) + in-situ flashing seems to work + - gui: warning for com port>99 added (by gekoch) +VERSION Released as version v2.00 on 28.Mar.2016 + +v0.96: + - bug nt: CC3D didn't work with spi_setclockspeed(SPI_281p25KHZ) (->nt firmware v0.21) + - bug nt: command flash module didn't work for id != 0 (->nt firmware v0.21) + - bug: speedlimit in relative can be too fast + - setup conversions acc-calib-values correction improved + - nt logger logs calibration values + - nt qmode, nt command processor prepared, flashing of nt modules, not yet supported by gui +VERSION RELEASED as version v0.96 on 19.Mar.2016 + +v0.95: (L095) + - bug: setup update further improved + - bug: imu3 detection & handling changed + - bug: plane pan limited to 15° (by maciek252) + - bug: roll pan mechanism improved, "cheats" a bit and is still not perfect, but should work "mostly" + - mpu lib restructured a bit to better accommodate 9250 + - nt logging of imu module configuration info added + - PanExpo method changed a bit, gui Pan Limiter renamed to Pan Expo, others too + - Remote inhibit on-board script command added (by JanJoh) +VERSION distributed as version v0.95e on 5.Mar.2016 + +v0.94: (L094) + - bug: setup update fails for erased eeprom + - bug: serial transmit could stays too long in loop, do_serial() could hang in receive_payload, serial reworked a bit + - gui: acc calibration reading display improved + - gui: px4 .bin data saving removed, data can be read with NTLoggerTool + - default setup NtLogging off for non-nt firmware + - acc range changed to +-4g, associated changes also in NT imu firmware and gui + - mavlink COMMAND_LONG command MAV_CMD_GET_ATTITUDE=1234 added (by digaus) + +v0.93: (L093) + - bug nt: tNTBusGetImuData Temp must be int16_t + - bug: pan works now for "all" angles + - nt: NtLogger sd card writing much improved (->nt firmware v0.18) + - nt: NtLogger __ntbus_retrievedata() (->nt firmware v0.18) + - heart beat led frequency changed to 1 Hz + - nt logging uses scheduled time for "big" logging options + - nt logging change recording of accgyro data to Q24_TO_S16MUL2E14, Q24_TO_S16MUL2E11 + - live data change of acc&gyro data to Q24_TO_S16MUL2E14, Q24_TO_S16MUL2E11 + - roll&yaw mixer with q30 + - FeedForwardLPF corrected, set to 0 as default + - Imu3 Orientation parameter + - pitch&roll pan deadband behavior: <=15.0° old behavior, >15.0° new soft-limits like behavior +VERSION distributed as version v0.93e on 20.Feb.2016 + +v092: + - some few cleanups with enums + - nt imu data checks for a=0 + - nt dma putc handling slightly changed + - nt: NTBUS_CMD_ACCGYRO?RAWDATA_V1, NTBUS_CMD_ACCGYRODATA_V1 deprecated + - nt: NTBUS_CMD_ACCGYRO?RAWDATA_V2, NTBUS_CMD_ACCGYRO?DATA_V2 added instead + - nt: new commands added to NtLogger (->nt firmware v0.17) + - Imu3 options improved + - nt one new logging options added + - pan deadband behavior for pitch,roll fundamentally changed, works now like soft limits + - pan deadband hysteresis relevant only for yaw + - new pan mode hold-pan-pan added + +v0.91: + - gui bug: Board, Name fields shall not be editable (by pawelsky) + - bug: nt bus & imu mapping corrected + - bug: bug in mavlink parameter removed + - mavlink parameter type accounted for ("new" apm method) + __mavlink_setparambyindex() - MSG_ID_PARAM_SET, MAV_CMD_DO_SET_PARAMETER, MSG_ID_PARAM_SET2 + generate_paramvalue() - MSG_ID_PARAM_REQUEST_READ, MSG_ID_PARAM_REQUEST_LIST, MSG_ID_PARAM_SET + generate_paramvalue2() + - nt: NTBUS_CMD_AHRS1DATA, NTBUS_CMD_AHRS2DATA, NTBUS_CMD_ACCGYRO3RAWDATA added to NtLogger (->v0.16) + - nt: NtLoggerTool new frame error detection mechanism + - nt: NtLoggerTool extended to export to Cleanflight's Blackbox Explorer, Blackbox Explorer extended to support STorM32 + - nt: NtLoggerTool extended to load STorM32 GUI log files + - gui: NTLoggerTool no longer integrated + - SET LOG moved to before other CMD LOG logs + - Imu3 option added, available for nt + - script panorama, SETPANOWAITS, SETPANORANGE, DOPANO commands + - script set angle with speed and wait, SETANGLEPITCH_W, SETANGLEROLL_W, SETANGLEYAW_W + +v0.90: (L089) + - nt bug: NtLoggerTool handled Voltage incorrectly (by GekoCH) + - nt bug: NtLoggerTool cancel of load didn't cancel + - bug: several bugs in mavlink parameters removed + - bug: LOGGING_ACCGYRORAW didn't work + - bug: hold-pan switching didn't work for pitch&roll (by schnupperm) + - nt: NtLoggerTool significantly enhanced&improved + - __ntbus_senddata() improved a tiny bit + - nt logger logs versions and parameter values + - nt logger with 7.5s sync periods, minimizes gaps +VERSION RELEASED as version v0.90 on 10.Jan.2016 + + +----------------------------- +old releases in normal order + +v0.33: + - suggestion: GUI: rc pitch range extended to +-120° (hexakopter/Dario) + - input_getfunctionvalues(), input_changevirtualconfiguration() simplified + - Setup parameters deleted: RcMidMode, RcRate, RcExpo, Setup parameters rearranged, mavlink cmds rearranged + - extend calibration time to 2secs to allow AHRS to settle, shortened AHRS T to 0.1f and 10.0f + - do overall acc normalization at calibration, this doesn't do much however + - AUX2 handling for v1.3 boards added, AUX01_PUSH, AUX012_PUSH added +VERSION RELEASED as version v0.33 on 19.June.2014 +v0.34: + - amplitude in auto motor direction detection increased + - level detection improved, uses filtered angle + - suggestion: GUI: write+store in IMU and motor configuration tabs (yang/wdaehn/Werner) +v0.35: + - suggestion: GUI: disable/enable handling for some functions (yang/wdaehn/Werner) + - suggestion: renamed and "press","push" to "switch","latched" (LoneStriker/irun4fundotca) + - meaning of IMU2 Configuration changed + - gyro filter added, Setup.GyroLPF + - Setup.GimbalConfiguration changed to Setup.SafteyConfiguration + - handling of some Setup settings via IS_ macros +v0.36: + - bug: error in orientation_from_angles() for yaw<>0 corrected, didn't affect previous firmware versions + - bug: angle overturn calculation was incorrect + - GUI: yaw offset range changed to +-30°, offset step 0.5°, angle plot +-200°, debug info in read/write removed + - input debounce range for +250 state changed to +223...+277 + - use of ALLAXES macro in live data, safes a lot + - do angle overturn calculation for pitch&yaw + - 2nd IMU support +v0.37: + - bugs: 2:yaw pan by 180° yields pan steps, 4:yaw1,2 run crazy after long while (hexakopter/Dario) -> handle +-180° thing in imu_Mahony for YawAngleTarget and _YawAngle + - bug: motorusage != normal -> set also pid Cntrl to zero + - bug: i2c_enforcerecover() also for 2nd IMU + - SETUP_OffsetXXX not needed + - reset imu then orientation is changed (not very important, with USB only LEVEL is reached and then time constant is fast) + - rename MAVLINK_CMD_SETAUXKEYS to MAVLINK_CMD_ACTIVEPANMODESETTING + - motor usage = disabled as default +v0.38: + - removed using _StartupOscillationDetectionThreshold + - YawT for yaw2 set to 400, YaT for yaw1 re-enabled + - level pitch&roll max set to 120°,75° +VERSION RELEASED as version v0.38e on 10.Aug.2014 +v0.39: + - bug: in _imu_do_lpf4imusensor() + - bug: CntrlI rollover by 360° (or maybe 180°), not fpoleangle + - bug: MotorPos limit to +-30000 removed + - GUI: pitch and roll offset limited to +-5°, 0.05° steps (yaw offset range should remain large) + - motor poles = 14 as default + - feedforward: smooth handling of changes in feedforward gain and/or imu2 configuration + - Imu2Params handling modified + - signs in PID control loop changed + - calibration commands and functions implemented + - serial cmd stores calib data in Setup&EEPROM, but gzero is not activated (keep startup values) + - startup calibration data in separate structure, acc startup calib not used + - GUI: Calibrate Acc tab +VERSION RELEASED as version v0.39e on 18.Aug.2014 +v0.40: + - bug: in feedforward (hexakopter/Dario) + - oscillation detection +VERSION RELEASED as version v0.40e on 24.Aug.2014 +v0.41: + - bug: end of relevel detection corrected + - PanExpo for soft limiting pan + - RcHysteresis + - RcOffset, replaces Offset and in fact does it better, Offset now only for level adjustment, works with relevel +VERSION RELEASED as version v0.41e on 26.Aug.2014 +v0.42: + - fixed point q (see also http://www.olliw.eu/2014/fast-functions/)(110us instead of 250 us) + - fixed point AHRs params + - fixed point A,R,G (70us) + - YawT scale changed, fixed point YawT, renaming to f + - fixed point tIMUSensor, + - fixed point _imu_confidence, further little improvements in imu code + - setup_handle_calibration_change() without intermediate float + - better code for (s16)(10000.0f*q24_to_float(f)) +v0.43: + - pid control structure: new axis mixing algorithm, pan mechanism, motor predictor, yaw2 predictor; solves also these bugs: + - bug: 90°yaw then phh and pitch, yields pitch pan errors (hexakopter/Dario) + - bug: yaw pan, and the "pitch" along stick yields roll error (careyer/Thomas) + - oscillation detection moved to later + - acc method advanced as default + - UART3 remapped changed to UART4 + - green led debug mode +VERSION RELEASED as version v0.43e on 20.Sep.2014 +v0.44: + - bug: standby, s32 + - bug: RcOffset were not set + - bug: Imu2 offset correction at startup was only for pitch, + - bug: do Imu2 startup offset correction only for pitch&roll, yaw doesn't work + - bug gui: COM range extended to 999 (GekoCH/Andy) + - R2 lpf filter (doesn't seem to do much, though), set to 1 as default + - fwrap180() for YawT + - serial moved + - Imu2 offset startup correction handling improved + - GyroLPF = 1 as default + - handling cases then a motor is off, fall back to default + - handling of IMU2 NOT present in the PID aftermath +v0.45: + - bug gui: allow up to com999 (GekoCH/Andy) + - ppm with 12 channels added (GekoCH/Andy) + - dead-band in pan mode for yaw + - bug: Gyro2Zero was set to g1zero in serial (as it wasn't used so far, didn't had any impact) + - bug gui: in 6 point calibration zeros were too large by a factor of 2 + - pid parameters handling faster + - deadband in panmode for all three axes +v0.46: + - gui: align yaw axis tool +VERSION RELEASED as version v0.46 on 1.Oct.2014 +v0.47: + - bug: mavlink_crc_accumulate_buffer() used uint_8 length + - tMotorDirDetect + - PRODUKTIONRELEASE in setup restructured + - script programming introduced +v0.48: + - bug: ReCenter cleared for all axes if one was in absolute (ransalp/Klaus) + - bug: input_getfunctionvalues() rcmid (didn't had any consequences) + - bug claim: "There will also no connection to the GUI if the IMU is not connected or the IMU connection is broken." NO, is OK for both USB & UART + - irled: Panasonic, gives one 50ms pulse (nicodh) + - script processor redesigned +v0.49: + - bug: neither on-board nor extra IMU2 is present, removed hardstop, removed motor off (Ernst) + - bug gui: allow up to com999 also for flashing (GekoCH/Andy) + - gui: edit board name tool added (GekoCH/Andy) + - virtual extended up to 12 (GekoCH/Andy) +v0.50: + - acc 8000 tweak (GekoCH/Andy,KingDaKa/Andre) + - 'xz' command only does pitch&roll +v0.51: + - 'xy' command added, Align Yaw Tool adapted +VERSION RELEASED as version v0.51 on 10.Oct.2014 + +v0.512e: + - bug gui: Load and Save settings were broken(Greg Covey) + - bug gui: RESTORE wasn't handled + - bug: restore script cmd should change all parameters, except 'Script Control' + - gui: Update Tool, Configure Gimbal Tool added, and tabs restructured +v0.52: + - gui: Motor Configuration parameter deprecated, i.e. moved to hidden expert tab + - mavlink MAVLINK_CMD_SETSCRIPTCONTROL added +v0.53: + - bug: _imu_do_lpf4imusensor(), not really important + - bug: pan deadband was linked to Setup.PanDeadBand.Yaw + - beeps: beeps with motors, at Normal, Store, SetCalibration (suggested by GekoCH/Andi) + - lander below yaw motor: correct startup now with PID=0 (suggested by nicodh) + - TASK_CALIBRATE_RCTRIM instead of STATE_CALIBRATE_RCTRIM + - RcAdcLPF: lpf for POT + - PanDeadbandHysteresis: hysteresis for pan deadband edge, use with care! + - script: restore changed to restoreall, restore param added + - script: active from the beginning + - script: WAIT command + - setup_init(): carries over values from v0.51 layout + - beeps: no Vmax scaling, on/off better +v0.54: + - script: extension to 4 scripts in parallel + - script: script control for scripts 2,3,4 can be changed from script1 +v0.55: + - baudrate adjustable, 'xu' command added, stores in EEPROM (suggested by flyingbison) + - beeps: several modes, beep on pan change & all (suggested by GekoCH/Andi) + - beeps: rctrim @ basic, recenter @ all + - behavior of 'xn' command changed, stores now in EEPROM + - uart_transmit(), usb only once +v0.56: + - gui: bt auto configure adapted to uart baudrate changes + - PanDeadbandHysteresis put to the front, got tested and found to be good by GekoCH, is identical for all three axes +VERSION RELEASED as version v0.56 on 28.Nov.2014 + +v0.57 + - bug: pid_init() corrected + - bug gui: yaw alignment allows +-45° (wdaehn/Werner) + - #define SECONDIMU removed, oscillation detection removed + - Set_System() renamed to USB_Set_System(), moved USB_Interrupts_Config() in init + - usb_init() first, uart_do_serial() with return, 'xx' changed to 'xX' for hard reset, + - MAININIT scheduler, 'xx' to restart, 'xW' + - gui: Calibration Tool significantly extended +VERSION distributed as version v0.57e on 13.Dez.2014 +v0.58: + - bug gui: com write params corrected, solves hang up when wrong com port is selected + - gui: $ExecuteCmdBTAddedTimeOut added to ini + - RcHysteresis set to 5 as default + - rcchannels-lib: rc_status: failsafe flag reset on disable/enable; in rc_init & rc_disable: PPM_DEFAULT; no _disable() + - spektrum support +VERSION distributed as version v0.58e on 25.Jan.2015 + - bug gui: com write params corrected, solves hang up when wrong com port is selected + - gui: $ExecuteCmdBTAddedTimeOut added to ini + - RcHysteresis set to 5 as default + - rcchannels-lib: rc_status: failsafe flag reset on disable/enable; in rc_init & rc_disable: PPM_DEFAULT; no _disable() + - spektrum support +VERSION distributed as version v0.58e on 25.Jan.2015 +v0.59: + - bug: spektrum two-frame case wasn't handled correctly?? + - ir: use IR_RCC_APBxPeriphClockCmd() + - uart2_init_off() + - sbus support, tested by nicodh, seems to work + - gui: 'gimbal support' renamed to 'full' + - 16 virtual channels (confirmed by nicodh to work) + - spektrum sbus struct simplified +v0.60: + - gui: simplified pid tuning + - eeprom version adaption +VERSION distributed as version v0.60e on 29.Jan.2015 +v0.61: + - bug gui: Configure Gimbal Tool broke after reset with UART, but not with USB, solved + - gui: simplified PID tuning, handling improved + - gui: init tool windows at first call + - gui: Share Settings redone + - gui: help + - Setup.MotorConfigfuration renamed to MotorMapping, and similarly in o323bgc-motor.h + - ImuMapping + - eeprom carried over from L056, L060 + - Offsets shift zero of imu1 acc sensor data +VERSION distributed as version v0.61e on 3.Feb.2015 +v0.62: + - bug: usb OUT_DATA_SIZE (VIRTUAL_COM_PORT_DATA_SIZE-4) + - DEBUG_STARTUPSENSORMESSAGES + - old mavlink: is called now mavlinkrc, startbyte changed to 0xFD + - real mavlink: + *tested: heartbeat, param_value, param_request_list, param_set, + *prepared: command_ack, param_request_read, command_long + *setup parameters: MavSystemId, MavComponentId, MavConfiguration, + - first attempt towards Remote.Angle +v0.63: + - bug gui: Acc16PCalibrationCalc1PointCalibration() limits to narrow (kurtrdoc) + - bug gui: ShareSettings could get outside of desktop window (irun4fundotca) + - real mavlink: all parameters, some are NU + - real mavlink: set of parameters with change flag //untested //could be improved + - Remote.Angle should work exactly as Remote.Input //not thoroughly + - eeprom carried over from L056, L060, L061 +VERSION distributed as version v0.63e on 11.Feb.2015 + - bug gui: mavlink rc GetData() failed, too short length (lvale) + - bug gui: Configuer Gimbal Tool store to eeprom failed + - gui: acc calibration and configure gimbal tool streamlined with connect stuff +VERSION distributed as version v0.63ec on 13.Feb.2015 +v0.64: + - bug gui: fixed status bar font & font size (lvale) + - bug gui: Execute_IsRunning used for main buttons + - bug: BT configure tool 'a'...'h' in names, changed to use '@' (lvale) + - bug: RcSpeedLimit=0 didn't work in relative mode + - bug: RcOffset, now limited separately to avoid strange looking situations + - speed limiter and min-max limiter swapped, works equally fine + - Remote.Angle outside of min-max limiter, infinite Remote.Angle control, use is controlled by Remote.AngleFlags + - recenter clears also Remote.Angle in both rel and abs mode +VERSION distributed as version v0.64e on 25.Feb.2015 +v0.65: + - bug: Remote.AngleFlags worked only for pitch, not roll, yaw + - gui: simple motion control support +VERSION distributed as version v0.65e on 27.Feb.2015 +v0.66: (L066) + - bug gui: packed values were displayed wrongly + - bug gui: $MaxConnectionLost was zero + - bug: #define SETUP_ScriptControlx were wrong + - bug: input_reset(0xFFFF), and not 0xFF; + - gui: Execute_IsRunning systematically for all buttons and clicks, Execute_IsRunning in main timer, FlushPort in timer + - gui: Motion Control SetParameter() command + - some optimizations in rcchannels.h, spektrum.h + - mavlink buf usage changed + - doserial 4 times per loop + - pwmout, speed, minmax, active from start on + Setup adapted, Remote adapted, gui adapted, MavlinkSetup adapted, Mavlink RC cmds adapted, Mavlink RC Tool adapted + Motion Control adapted + - MAVLINKRC_CMD_SETPITCHROLLYAW + - 180 MAV_CMD_DO_SET_PARAMETER, (nu) 220 MAV_CMD_DO_MOUNT_CONTROL_QUAT in NED + - STorM32 specific Mavlink commands, see mavlink_storm32.xml + 236 MAVLINK_MSG_ID_PARAM_READ2, 237 MAVLINK_MSG_ID_PARAM_SET2, 238 MAVLINK_MSG_ID_PARAM_VALUE2 + 234 MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC, 235 MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC_ACK + - eeprom update things changed a bit + - eeprom update from L056, L062 (=v0.65e) +VERSION distributed as version v0.66e on 6.Mar.2015 +v0.67: (L066) + - bug: eeprom update, INPUTFUNCTIONUNDEFINED_L056, INPUTFUNCTIONUNDEFINED_L062 + - bug: msg_id, target sys/comp wrong in COMMAND_TARGET_SPECIFIC_ACK_CRC + - mavlink_message_t is never allocated, so use payload64[64] + - eeprom update from L056, L062, L066: v0.56,v0.65e,v0.66e +VERSION distributed as version v0.67e on 10.Mar.2015 +v0.68: + - bug: MAV_CMD_DO_MOUNT_CONTROL memcpy instead of type cast for param6 + - bug gui: displayed bytes when getcommand + - gui: Configure Gimbal Tool checks for presence of imu(s) + - mavlink-wrapper crc simplified + - maximum serial chars per cycle, but only one command +VERSION RELEASED as version v0.68 on 28.Mar.2015 +v0.69: + - bug gui: negative values in scripts (chsw) + - bug gui: simple PID clicks, now only one step + - bug gui: Clear GUI -> sets always defaults + - bug: maximum serial chars per cycle, but only one command, done hopefully correctly now +v0.70: + - bug: ff quaternion filter wasn't active +VERSION RELEASED as version v0.70 on 5.Apr.2015 + +v0.71: + - first attempt to implement HoTT SUMD, no crc check yet, limited to 16 channels => doesn't work (by joebarteam/Menno) +VERSION distributed as version v0.71e on 6.Apr.2015 +v0.72: + - bug: filled empty channels at wrong place in spektrum_update() + - gui: ExecuteCmdTimeOutFirst=8 instead of 3 as default to work with 3DR radio (by RYBAT) +VERSION distributed as version v0.72a to joebarteam/Menno +v0.73x: + for STorM32-Link: continuation of v0.69-bc, heartbeat is off, UART is solely for STorM32-Link + - gui: LINK fields added + - fYawAngleTargetPrediction to remove a dirty trick + - STorM32 Link: seems to work :D:D:D +VERSION distributed as version v0.73x on 22.Apr.2015 +v0.74: + - bug: MAV_CMD_DO_MOUNT_CONTROL_QUAT quat converted along the lines found for the STorM32 link, untested + - bug: HoTT, 2*len+5, works, tested&confirmed (by fpvberlin/Jörg) + - gui: Configure Gimbal Tool detects i2c errors and $STATUS_LEVEL_FAILED in StepII + - MAV_CMD_DO_SET_SERVO added, untested +VERSION distributed as version v0.74a on 25.Apr.2015 to fpvberlin/Jörg +VERSION distributed as version v0.74e on 26.Apr.2015 +v0.75: + - bug: current_time - loop_time_micros doesn't work + - gui: mavlink embedding for Motion Control + - TASK_MAV_SENDHEARTBEAT instead of doHeartBeat + - added mavLink message STATUSTEXT #234 + - added mavLink command MAV_CMD_DO_DIGICAM_CONTROL #76#203 + - MAV_CMD_DO_MOUNT_CONTROL: + type 0x01 added to choose pwm input + flags changed such that unlimited is default (0x00) + pwm input made to mimic RCMavlink + - MAVLINKRC_CMD_SETPITCHROLLYAW: changed such that 700>=in<=2300 is required, 0 = recenter, otherwise it is ignored +VERSION distributed as version v0.75a on 9.Mai.2015 +v0.76: + - bug: script stateness wrong for no>0 + - gui: script compiler adapted (SETPITCH, SETROLL, SETYAW, SETPITCHROLLYAW, not supported) + - consistent treatment of PWMPASSTHROUGH in script, mavlinkrc, mavlink + - online scripts: added motion control commands + SETANGLEPITCH, SETANGLEROLL, SETANGLEYAW, SETANGLE, + SETPITCH, SETROLL, SETYAW, SETPITCHROLLYAW, + SETSTANDBY, DOCAMERA, DORECENTER, SETPWM +VERSION distributed as version v0.76a on 12.Mai.2015 +v0.77: + - gui: script editor window sizeable, quick buttons + - gui: motion control script editor window sizeable, quick buttons + - added mavlink messages MAVLINK_MSG_ID_DIGICAM_CONTROL, MAVLINK_MSG_ID_MOUNT_CONFIGURE, MAVLINK_MSG_ID_MOUNT_CONTROL + - added mavlink command COMMAND_LONG - MAV_CMD_DO_MOUNT_CONFIGURE + - Multiplex SRXL support added (untested so far) +VERSION distributed as version v0.77e on 16.Mai.2015 +v0.78: (L078) + - bug: do time check in serial only after at least one char was processed, prevents disconnect on I2C blocking (by Noircogi) + - bug gui: Read Calibration failed sometimes, bug in ExecuteCommandFull, len not correctly considered (by lakeroe/Bernhard) + - bug gui: Share Settings window adaptive + - gui: do a Read after a Motion Control Run + - gui: added motion control commands RestoreParameter(), RestoreAllParameter() + - gui: changed to RcCmd + - L078 is identical to L066, but commands have changed, hence the layout change + - serial_transmit, remove numberofcharspercall + - live data handling changed to use flags + - remote stuff moved to h + - serial handler massively revised (!) + - MAVLINKRC commands dropped and implemented as RCCMD commands instead + - simple serial commands also embedded in MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC + - rc command CMD_GETDATAFIELDS changed to use live data flags + - MAVLINK_MSG_ID_COMMAND_LONG-MAV_CMD_DO_SET_PARAMETER with param7==83 it does a restore parameter + - MAVLINK_MSG_ID_COMMAND_LONG-MAV_CMD_DO_MOUNT_CONTROL param6 handling changed to typeflags = param6 (not memcpy) + => this needs also change in betacopter! + - added mavlink message MAVLINK_MSG_ID_PARAM_SET, write+stores parameter change (ATTENTION: only because of APM!) + - added mavlink command MAVLINK_MSG_ID_COMMAND_LONG-MAV_CMD_PREFLIGHT_STORAGE + - added mavlink message MAVLINK_MSG_ID_ATTITUDE + - Setup MavConfiguration, new option 2, emits heartbeat at 1Hz and attitude at 2Hz + - mavlink crc check enabled + - when mavlink enabled, accept only mavlink messages from UARTA (mavlink from USB allowed, but there is no heartbeat on USB) + - emit mavlink attitude only when other system was detected + - mavlink heartbeat sets also base_mode for armed/disarmed + - RCCMD commands RESTOREPARAMETER, RESTOREALLPARAMETER added +VERSION distributed as version v0.78e on 26.Mai.2015 +v0.79: + - gui: links in .ini + - gui: wiki link when StepII error + - clocks moved to h + - use millis in livedata timestamp + - mavlink message MAVLINK_MSG_ID_PARAM_SET, remove store, in MissionPlanner use Ctrl-Y to store +VERSION RELEASED as version v0.79 on 6.June.2015 + +v0.80: + - bug: parameters are not properly updated from L066 when flashing (by irun4fundotca) + - gui bug: errors in stepII wrong (by twang) + - gui bug: starting Configure Gimbal Tool or Acc Calibration with invalid com port failed fatally + - gui: better message when firmware version mismatch + - 5S and 6S lipo handling added (by djberna) + - ntbus: ntbus mpu support + - ntbus: i2c is not possible, when run simultaneously on imu2 + - ntbus: priority of ntbus uart set to 1, higher than usb + - ntbus: changes in motor.h to record states to support ntbus motor drivers + - motor.h further modified + - s16tempraw after raw a,g +VERSION RELEASED as version v0.80 on 13.June.2015 + + +v0.81: + - uart,uartc faster rx isr method + - ntbus: noise errors removed, xor crc +v0.82: + - bug: i2c_reseterrorcnt() in find and init + - bug gui: OK in Configure Gimbal Tool sometimes not enabled + - motor mapping all six combinations + - uart tx isr, faster rx isr + - ntbus protocol changed in some parts + - ntbus find module faster, uses shorter timeout +v0.83: + - bug: avoid too short first loop + - bug ntbus: ntbus_module_config_str() broken get configuration + - gui: better GUI message for firmware flashing + - default yaw pan deadband, hysteresis changed + - clocks.h largely replaced by looptime + - ntbus tx isr, interlaced (gains 100us), setmotorall() no rx flush + - ntbus NT Logger data added + - ntbus make compatible with I2C1 for on-board 2nd IMU + - i2c.h,mpu6050.h changed to not rely on CPAL_USE_I2Cx +v0.84: + - bug: voltage correction produced buzz every ca 49s (by bikemikem) + - direction detection in startup_level_do() only if MOTORDIRAUTO (by wdaehn) + - gui: allow larger Rc Hysteresis (by wdaehn) + - ntbus tx per dma + - log imu raw data +v0.85: (L085) + - ntbus log, add pid data (adds 80us!) + - ntbus log, selectable data + - ntbus modules support setting into bootloader mode + - gui: flash firmware adapted, sets nt module into bootloader mode + - TASK_MAV checks time +v0.86: + - gui: hidden checkbox in acc calibration to override value checks (by GekoCH) + - ntbus modules, set ports to zero on flash +v0.87: (L087) + - bug: ts16Imu6Vector s32filtered needs s32 + - bug gui: Silabs adapters didn't work (by hexakopter) + - bug gui: sanity check of Dialog&DataDisplay init positions + - update to gcc-arm-none-eabi-4_9-2015q3-20150921 + - gui: add option to remove flash protections to flash tab + - gui: gimbal config tool i2c check in stepI + - gui: live recording of DataDisplay data into file + - gui: data in DataDisplay and NT Tool can be saved in CSV format + - gui: data in DataDisplay and NT Tool can be saved in PX4 .bin format, for reading with MissianPlanner + - gui: VIBE along the lines of APM added to stored data files + - gui&ntbus: new NTDataLoggerTool written in PyQT + - new rc input absolute modes: old 'absolute' becomes 'absolute centered', 'absolute' is now simple fashioned + - mavlink message MAVLINK_MSG_ID_ATTITUDE, yaw angle with respect to copter direction (by ljalves) + - defaults for yaw pan changed +v0.88a: + - gui bug: halt acc calibration upon disconnect + - gui nt logger bug: some bugs with loading + - ee_getpagebaseaddress() instead of EE_PAGE0_BASE_ADDRESS + - q30_asin_normalized() changed a bit + - enum IMU2CONFIGURATIONTYPE changed a bit + - multi-click keys: 4step for but, aux0, aux1, aux2 (by andreas.brett), _input_keyispressed(),_input_keypress() modularized + - futaba sbus2 support (by gmamo) + - nikon IR led protocol (by gmamo) + - fullv2 2nd IMU support + - bug: pitch for fullv2 corrected for effective setpoint + - bug; sbus2 end byte wrong order + - gui bug: PanModeControl, IRCameraControl grayed out for step option (by pawelsky) + - bug: sbus2 doesn't work => canceled + - bug: uart had a left-in uncomment, made BT to fail (by Stevie69) + - bug: change to SCRIPTSIZE_L088, tSetup_L088 + - bug: also track VERSIONSTR and BOARDSTR changes + - only one pan-hold transition time variable + - fdT removed + - yaw pan new mechanism with Yaw Pan LPF +v0.89: (L089) + - bug: mavlink parameters out of order + - gui: dashboard added, some parameters moved + - gui: simplified pids as default + - gui: show notes dialog at startup + - gui&ntbus: NTDataLoggerTool v005 with Graph + - for hold->pan make transition time a bit faster + - motor active status added to status2 + - recenter also resets an accumulated yaw pan set point, a bit rough but works + - space for one more parameter in setup_ptr + - mavlink SetupParam adapted + - no EEPROM setup correction, reset all + - IMU2CONFIGURATIONTYPE renamed and rearranged ! + - gui bug: Configure Tool aborted due to missing GetState() (by MatixYo) + - gui: auto write upon PID changes (by wdaehn) + - gui: info center slightly changed diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STLink/FlashLoader/0x410.stldr b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STLink/FlashLoader/0x410.stldr new file mode 100644 index 0000000..cf034fa Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STLink/FlashLoader/0x410.stldr differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STLink/FlashLoader/0x411.stldr b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STLink/FlashLoader/0x411.stldr new file mode 100644 index 0000000..3967e6a Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STLink/FlashLoader/0x411.stldr differ diff --git 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gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_16K.STmap @@ -0,0 +1,152 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32F0_16K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + +[Product] +Name=STM32F0_16K +PID=0440 +BID=1FFFF7A6 +FlashSize=0010 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0004 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 7; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08002000 +Size=00000400 +Type=111 +UFO=111 +[Page9] +Name=Page9 +Index=09 +Address=08002400 +Size=00000400 +Type=111 +UFO=111 +[Page10] +Name=Page10 +Index=0A +Address=08002800 +Size=00000400 +Type=111 +UFO=111 +[Page11] +Name=Page11 +Index=0B +Address=08002C00 +Size=00000400 +Type=111 +UFO=111 +[Page12] +Name=Page12 +Index=0C +Address=08003000 +Size=00000400 +Type=111 +UFO=111 +[Page13] +Name=Page13 +Index=0D +Address=08003400 +Size=00000400 +Type=111 +UFO=111 +[Page14] +Name=Page14 +Index=0E +Address=08003800 +Size=00000400 +Type=111 +UFO=111 +[Page15] +Name=Page15 +Index=0F +Address=08003C00 +Size=00000400 +Type=111 +UFO=111 + +;; OPTION bytes information +[OptBytes] +Name=OptBytes +Address=1FFFF800 +Size=000000C +Type=101 +UFO=111 + + diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_32K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_32K.STmap new file mode 100644 index 0000000..d422892 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_32K.STmap @@ -0,0 +1,265 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32F0_32K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + +[Product] +Name=STM32F0_32K +PID=0440 +BID=1FFFF7A6 +FlashSize=0020 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0004 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 7; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08002000 +Size=00000400 +Type=111 +UFO=111 +[Page9] +Name=Page9 +Index=09 +Address=08002400 +Size=00000400 +Type=111 +UFO=111 +[Page10] +Name=Page10 +Index=0A +Address=08002800 +Size=00000400 +Type=111 +UFO=111 +[Page11] +Name=Page11 +Index=0B +Address=08002C00 +Size=00000400 +Type=111 +UFO=111 +[Page12] +Name=Page12 +Index=0C +Address=08003000 +Size=00000400 +Type=111 +UFO=111 +[Page13] +Name=Page13 +Index=0D +Address=08003400 +Size=00000400 +Type=111 +UFO=111 +[Page14] +Name=Page14 +Index=0E +Address=08003800 +Size=00000400 +Type=111 +UFO=111 +[Page15] +Name=Page15 +Index=0F +Address=08003C00 +Size=00000400 +Type=111 +UFO=111 +[Page16] +Name=Page16 +Index=10 +Address=08004000 +Size=00000400 +Type=111 +UFO=111 +[Page17] +Name=Page17 +Index=11 +Address=08004400 +Size=00000400 +Type=111 +UFO=111 +[Page18] +Name=Page18 +Index=12 +Address=08004800 +Size=00000400 +Type=111 +UFO=111 +[Page19] +Name=Page19 +Index=13 +Address=08004C00 +Size=00000400 +Type=111 +UFO=111 +[Page20] +Name=Page20 +Index=14 +Address=08005000 +Size=00000400 +Type=111 +UFO=111 +[Page21] +Name=Page21 +Index=15 +Address=08005400 +Size=00000400 +Type=111 +UFO=111 +[Page22] +Name=Page22 +Index=16 +Address=08005800 +Size=00000400 +Type=111 +UFO=111 +[Page23] +Name=Page23 +Index=17 +Address=08005C00 +Size=00000400 +Type=111 +UFO=111 +[Page24] +Name=Page24 +Index=18 +Address=08006000 +Size=00000400 +Type=111 +UFO=111 +[Page25] +Name=Page25 +Index=19 +Address=08006400 +Size=00000400 +Type=111 +UFO=111 +[Page26] +Name=Page26 +Index=1A +Address=08006800 +Size=00000400 +Type=111 +UFO=111 +[Page27] +Name=Page27 +Index=1B +Address=08006C00 +Size=00000400 +Type=111 +UFO=111 +[Page28] +Name=Page28 +Index=1C +Address=08007000 +Size=00000400 +Type=111 +UFO=111 +[Page29] +Name=Page29 +Index=1D +Address=08007400 +Size=00000400 +Type=111 +UFO=111 +[Page30] +Name=Page30 +Index=1E +Address=08007800 +Size=00000400 +Type=111 +UFO=111 +[Page31] +Name=Page31 +Index=1F +Address=08007C00 +Size=00000400 +Type=111 +UFO=111 + + +;; OPTION bytes information +[OptBytes] +Name=OptBytes +Address=1FFFF800 +Size=000000C +Type=101 +UFO=111 + + diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_64K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_64K.STmap new file mode 100644 index 0000000..cbebe3a --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_64K.STmap @@ -0,0 +1,487 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32F0_64K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ +[Product] +Name=STM32F0_64K +PID=0440 +BID=1FFFF7A6 +FlashSize=0040 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0008 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 7; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08002000 +Size=00000400 +Type=111 +UFO=111 +[Page9] +Name=Page9 +Index=09 +Address=08002400 +Size=00000400 +Type=111 +UFO=111 +[Page10] +Name=Page10 +Index=0A +Address=08002800 +Size=00000400 +Type=111 +UFO=111 +[Page11] +Name=Page11 +Index=0B +Address=08002C00 +Size=00000400 +Type=111 +UFO=111 +[Page12] +Name=Page12 +Index=0C +Address=08003000 +Size=00000400 +Type=111 +UFO=111 +[Page13] +Name=Page13 +Index=0D +Address=08003400 +Size=00000400 +Type=111 +UFO=111 +[Page14] +Name=Page14 +Index=0E +Address=08003800 +Size=00000400 +Type=111 +UFO=111 +[Page15] +Name=Page15 +Index=0F +Address=08003C00 +Size=00000400 +Type=111 +UFO=111 +[Page16] +Name=Page16 +Index=10 +Address=08004000 +Size=00000400 +Type=111 +UFO=111 +[Page17] +Name=Page17 +Index=11 +Address=08004400 +Size=00000400 +Type=111 +UFO=111 +[Page18] +Name=Page18 +Index=12 +Address=08004800 +Size=00000400 +Type=111 +UFO=111 +[Page19] +Name=Page19 +Index=13 +Address=08004C00 +Size=00000400 +Type=111 +UFO=111 +[Page20] +Name=Page20 +Index=14 +Address=08005000 +Size=00000400 +Type=111 +UFO=111 +[Page21] +Name=Page21 +Index=15 +Address=08005400 +Size=00000400 +Type=111 +UFO=111 +[Page22] +Name=Page22 +Index=16 +Address=08005800 +Size=00000400 +Type=111 +UFO=111 +[Page23] +Name=Page23 +Index=17 +Address=08005C00 +Size=00000400 +Type=111 +UFO=111 +[Page24] +Name=Page24 +Index=18 +Address=08006000 +Size=00000400 +Type=111 +UFO=111 +[Page25] +Name=Page25 +Index=19 +Address=08006400 +Size=00000400 +Type=111 +UFO=111 +[Page26] +Name=Page26 +Index=1A +Address=08006800 +Size=00000400 +Type=111 +UFO=111 +[Page27] +Name=Page27 +Index=1B +Address=08006C00 +Size=00000400 +Type=111 +UFO=111 +[Page28] +Name=Page28 +Index=1C +Address=08007000 +Size=00000400 +Type=111 +UFO=111 +[Page29] +Name=Page29 +Index=1D +Address=08007400 +Size=00000400 +Type=111 +UFO=111 +[Page30] +Name=Page30 +Index=1E +Address=08007800 +Size=00000400 +Type=111 +UFO=111 +[Page31] +Name=Page31 +Index=1F +Address=08007C00 +Size=00000400 +Type=111 +UFO=111 +[Page32] +Name=Page32 +Index=20 +Address=08008000 +Size=00000400 +Type=111 +UFO=111 +[Page33] +Name=Page33 +Index=21 +Address=08008400 +Size=00000400 +Type=111 +UFO=111 +[Page34] +Name=Page34 +Index=22 +Address=08008800 +Size=00000400 +Type=111 +UFO=111 +[Page35] +Name=Page35 +Index=23 +Address=08008C00 +Size=00000400 +Type=111 +UFO=111 +[Page36] +Name=Page36 +Index=24 +Address=08009000 +Size=00000400 +Type=111 +UFO=111 +[Page37] +Name=Page37 +Index=25 +Address=08009400 +Size=00000400 +Type=111 +UFO=111 +[Page38] +Name=Page38 +Index=26 +Address=08009800 +Size=00000400 +Type=111 +UFO=111 +[Page39] +Name=Page39 +Index=27 +Address=08009C00 +Size=00000400 +Type=111 +UFO=111 +[Page40] +Name=Page40 +Index=28 +Address=0800A000 +Size=00000400 +Type=111 +UFO=111 +[Page41] +Name=Page41 +Index=29 +Address=0800A400 +Size=00000400 +Type=111 +UFO=111 +[Page42] +Name=Page42 +Index=2A +Address=0800A800 +Size=00000400 +Type=111 +UFO=111 +[Page43] +Name=Page43 +Index=2B +Address=0800AC00 +Size=00000400 +Type=111 +UFO=111 +[Page44] +Name=Page44 +Index=2C +Address=0800B000 +Size=00000400 +Type=111 +UFO=111 +[Page45] +Name=Page45 +Index=2D +Address=0800B400 +Size=00000400 +Type=111 +UFO=111 +[Page46] +Name=Page46 +Index=2E +Address=0800B800 +Size=00000400 +Type=111 +UFO=111 +[Page47] +Name=Page47 +Index=2F +Address=0800BC00 +Size=00000400 +Type=111 +UFO=111 +[Page48] +Name=Page48 +Index=30 +Address=0800C000 +Size=00000400 +Type=111 +UFO=111 +[Page49] +Name=Page49 +Index=31 +Address=0800C400 +Size=00000400 +Type=111 +UFO=111 +[Page50] +Name=Page50 +Index=32 +Address=0800C800 +Size=00000400 +Type=111 +UFO=111 +[Page51] +Name=Page51 +Index=33 +Address=0800CC00 +Size=00000400 +Type=111 +UFO=111 +[Page52] +Name=Page52 +Index=34 +Address=0800D000 +Size=00000400 +Type=111 +UFO=111 +[Page53] +Name=Page53 +Index=35 +Address=0800D400 +Size=00000400 +Type=111 +UFO=111 +[Page54] +Name=Page54 +Index=36 +Address=0800D800 +Size=00000400 +Type=111 +UFO=111 +[Page55] +Name=Page55 +Index=37 +Address=0800DC00 +Size=00000400 +Type=111 +UFO=111 +[Page56] +Name=Page56 +Index=38 +Address=0800E000 +Size=00000400 +Type=111 +UFO=111 +[Page57] +Name=Page57 +Index=39 +Address=0800E400 +Size=00000400 +Type=111 +UFO=111 +[Page58] +Name=Page58 +Index=3A +Address=0800E800 +Size=00000400 +Type=111 +UFO=111 +[Page59] +Name=Page59 +Index=3B +Address=0800EC00 +Size=00000400 +Type=111 +UFO=111 +[Page60] +Name=Page60 +Index=3C +Address=0800F000 +Size=00000400 +Type=111 +UFO=111 +[Page61] +Name=Page61 +Index=3D +Address=0800F400 +Size=00000400 +Type=111 +UFO=111 +[Page62] +Name=Page62 +Index=3E +Address=0800F800 +Size=00000400 +Type=111 +UFO=111 +[Page63] +Name=Page63 +Index=3F +Address=0800FC00 +Size=00000400 +Type=111 +UFO=111 + +;; OPTION bytes information +[OptBytes] +Name=OptBytes +Address=1FFFF800 +Size=000000C +Type=101 +UFO=111 + + diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_Low-density_16K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_Low-density_16K.STmap new file mode 100644 index 0000000..6f5bdb8 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_Low-density_16K.STmap @@ -0,0 +1,152 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32F0_Low-density_16K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + +[Product] +Name=STM32F0_Low-density_16K +PID=0444 +BID=1FFFF7A6 +FlashSize=0010 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0004 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 7; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08002000 +Size=00000400 +Type=111 +UFO=111 +[Page9] +Name=Page9 +Index=09 +Address=08002400 +Size=00000400 +Type=111 +UFO=111 +[Page10] +Name=Page10 +Index=0A +Address=08002800 +Size=00000400 +Type=111 +UFO=111 +[Page11] +Name=Page11 +Index=0B +Address=08002C00 +Size=00000400 +Type=111 +UFO=111 +[Page12] +Name=Page12 +Index=0C +Address=08003000 +Size=00000400 +Type=111 +UFO=111 +[Page13] +Name=Page13 +Index=0D +Address=08003400 +Size=00000400 +Type=111 +UFO=111 +[Page14] +Name=Page14 +Index=0E +Address=08003800 +Size=00000400 +Type=111 +UFO=111 +[Page15] +Name=Page15 +Index=0F +Address=08003C00 +Size=00000400 +Type=111 +UFO=111 + +;; OPTION bytes information +[OptBytes] +Name=OptBytes +Address=1FFFF800 +Size=000000C +Type=101 +UFO=111 + + diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_Low-density_32K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_Low-density_32K.STmap new file mode 100644 index 0000000..27ecec4 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F0_Low-density_32K.STmap @@ -0,0 +1,265 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32F0_Low-density_32K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + +[Product] +Name=STM32F0_Low-density_32K +PID=0444 +BID=1FFFF7A6 +FlashSize=0020 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0004 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 7; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08002000 +Size=00000400 +Type=111 +UFO=111 +[Page9] +Name=Page9 +Index=09 +Address=08002400 +Size=00000400 +Type=111 +UFO=111 +[Page10] +Name=Page10 +Index=0A +Address=08002800 +Size=00000400 +Type=111 +UFO=111 +[Page11] +Name=Page11 +Index=0B +Address=08002C00 +Size=00000400 +Type=111 +UFO=111 +[Page12] +Name=Page12 +Index=0C +Address=08003000 +Size=00000400 +Type=111 +UFO=111 +[Page13] +Name=Page13 +Index=0D +Address=08003400 +Size=00000400 +Type=111 +UFO=111 +[Page14] +Name=Page14 +Index=0E +Address=08003800 +Size=00000400 +Type=111 +UFO=111 +[Page15] +Name=Page15 +Index=0F +Address=08003C00 +Size=00000400 +Type=111 +UFO=111 +[Page16] +Name=Page16 +Index=10 +Address=08004000 +Size=00000400 +Type=111 +UFO=111 +[Page17] +Name=Page17 +Index=11 +Address=08004400 +Size=00000400 +Type=111 +UFO=111 +[Page18] +Name=Page18 +Index=12 +Address=08004800 +Size=00000400 +Type=111 +UFO=111 +[Page19] +Name=Page19 +Index=13 +Address=08004C00 +Size=00000400 +Type=111 +UFO=111 +[Page20] +Name=Page20 +Index=14 +Address=08005000 +Size=00000400 +Type=111 +UFO=111 +[Page21] +Name=Page21 +Index=15 +Address=08005400 +Size=00000400 +Type=111 +UFO=111 +[Page22] +Name=Page22 +Index=16 +Address=08005800 +Size=00000400 +Type=111 +UFO=111 +[Page23] +Name=Page23 +Index=17 +Address=08005C00 +Size=00000400 +Type=111 +UFO=111 +[Page24] +Name=Page24 +Index=18 +Address=08006000 +Size=00000400 +Type=111 +UFO=111 +[Page25] +Name=Page25 +Index=19 +Address=08006400 +Size=00000400 +Type=111 +UFO=111 +[Page26] +Name=Page26 +Index=1A +Address=08006800 +Size=00000400 +Type=111 +UFO=111 +[Page27] +Name=Page27 +Index=1B +Address=08006C00 +Size=00000400 +Type=111 +UFO=111 +[Page28] +Name=Page28 +Index=1C +Address=08007000 +Size=00000400 +Type=111 +UFO=111 +[Page29] +Name=Page29 +Index=1D +Address=08007400 +Size=00000400 +Type=111 +UFO=111 +[Page30] +Name=Page30 +Index=1E +Address=08007800 +Size=00000400 +Type=111 +UFO=111 +[Page31] +Name=Page31 +Index=1F +Address=08007C00 +Size=00000400 +Type=111 +UFO=111 + + +;; OPTION bytes information +[OptBytes] +Name=OptBytes +Address=1FFFF800 +Size=000000C +Type=101 +UFO=111 + + diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_1024K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_1024K.STmap new file mode 100644 index 0000000..3287a1d --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_1024K.STmap @@ -0,0 +1,111 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32F2_1024K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + + +[Product] +Name=STM32F2_1024K +PID=0411 +BID=1FFF77DE +FlashSize=0400 ;;ADDR_FLASH_SIZE=FFFFFFFF; TO BE DONE !!!! +PacketSize=80 +ACKVAL=79 +MAPNAME=Sectors +PagesPerSector=1 +family = 6; + +[Page0] +Name=Sector0 +Index=000 +Address=08000000 +Size=4000 +Type=111 +UFO=111 +[Page1] +Name=Sector1 +Index=001 +Address=08004000 +Size=4000 +Type=111 +UFO=111 +[Page2] +Name=Sector2 +Index=002 +Address=08008000 +Size=4000 +Type=111 +UFO=111 +[Page3] +Name=Sector3 +Index=003 +Address=0800C000 +Size=4000 +Type=111 +UFO=111 +[Page4] +Name=Sector4 +Index=004 +Address=08010000 +Size=10000 +Type=111 +UFO=111 +[Page5] +Name=Sector5 +Index=005 +Address=08020000 +Size=20000 +Type=111 +UFO=111 +[Page6] +Name=Sector6 +Index=006 +Address=08040000 +Size=20000 +Type=111 +UFO=111 +[Page7] +Name=Sector7 +Index=007 +Address=08060000 +Size=20000 +Type=111 +UFO=111 +[Page8] +Name=Sector8 +Index=008 +Address=08080000 +Size=20000 +Type=111 +UFO=111 +[Page9] +Name=Sector9 +Index=009 +Address=080A0000 +Size=20000 +Type=111 +UFO=111 +[Page10] +Name=Sector10 +Index=00A +Address=080C0000 +Size=20000 +Type=111 +UFO=111 +[Page11] +Name=Sector11 +Index=00B +Address=080E0000 +Size=20000 +Type=111 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_128K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_128K.STmap new file mode 100644 index 0000000..d8faa3e --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_128K.STmap @@ -0,0 +1,62 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32F2_128K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + + +[Product] +Name=STM32F2_128K +PID=0411 +BID=1FFF77DE +FlashSize=0080 ;;ADDR_FLASH_SIZE=FFFFFFFF; TO BE DONE !!!! +PacketSize=80 +ACKVAL=79 +MAPNAME=Sectors +PagesPerSector=1 +family = 6; + +[Page0] +Name=Sector0 +Index=000 +Address=08000000 +Size=4000 +Type=111 +UFO=111 +[Page1] +Name=Sector1 +Index=001 +Address=08004000 +Size=4000 +Type=111 +UFO=111 +[Page2] +Name=Sector2 +Index=002 +Address=08008000 +Size=4000 +Type=111 +UFO=111 +[Page3] +Name=Sector3 +Index=003 +Address=0800C000 +Size=4000 +Type=111 +UFO=111 +[Page4] +Name=Sector4 +Index=004 +Address=08010000 +Size=10000 +Type=111 +UFO=111 \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_256K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_256K.STmap new file mode 100644 index 0000000..ccc0564 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_256K.STmap @@ -0,0 +1,69 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32F2_256K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + + +[Product] +Name=STM32F2_256K +PID=0411 +BID=1FFF77DE +FlashSize=0100 ;;ADDR_FLASH_SIZE=FFFFFFFF; TO BE DONE !!!! +PacketSize=80 +ACKVAL=79 +MAPNAME=Sectors +PagesPerSector=1 +family = 6; + +[Page0] +Name=Sector0 +Index=000 +Address=08000000 +Size=4000 +Type=111 +UFO=111 +[Page1] +Name=Sector1 +Index=001 +Address=08004000 +Size=4000 +Type=111 +UFO=111 +[Page2] +Name=Sector2 +Index=002 +Address=08008000 +Size=4000 +Type=111 +UFO=111 +[Page3] +Name=Sector3 +Index=003 +Address=0800C000 +Size=4000 +Type=111 +UFO=111 +[Page4] +Name=Sector4 +Index=004 +Address=08010000 +Size=10000 +Type=111 +UFO=111 +[Page5] +Name=Sector5 +Index=005 +Address=08020000 +Size=20000 +Type=111 +UFO=111 \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_512K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_512K.STmap new file mode 100644 index 0000000..d1a3589 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F2_512K.STmap @@ -0,0 +1,83 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32F2_512K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + + +[Product] +Name=STM32F2_512K +PID=0411 +BID=1FFF77DE +FlashSize=0200 ;;ADDR_FLASH_SIZE=FFFFFFFF; TO BE DONE !!!! +PacketSize=80 +ACKVAL=79 +MAPNAME=Sectors +PagesPerSector=1 +family = 6; + +[Page0] +Name=Sector0 +Index=000 +Address=08000000 +Size=4000 +Type=111 +UFO=111 +[Page1] +Name=Sector1 +Index=001 +Address=08004000 +Size=4000 +Type=111 +UFO=111 +[Page2] +Name=Sector2 +Index=002 +Address=08008000 +Size=4000 +Type=111 +UFO=111 +[Page3] +Name=Sector3 +Index=003 +Address=0800C000 +Size=4000 +Type=111 +UFO=111 +[Page4] +Name=Sector4 +Index=004 +Address=08010000 +Size=10000 +Type=111 +UFO=111 +[Page5] +Name=Sector5 +Index=005 +Address=08020000 +Size=20000 +Type=111 +UFO=111 +[Page6] +Name=Sector6 +Index=006 +Address=08040000 +Size=20000 +Type=111 +UFO=111 +[Page7] +Name=Sector7 +Index=007 +Address=08060000 +Size=20000 +Type=111 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F303_128K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F303_128K.STmap new file mode 100644 index 0000000..67a76ba --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F303_128K.STmap @@ -0,0 +1,487 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32F303_128K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + +[Product] +Name=STM32F303_128K +PID=0422 +BID=1FFFF796 +FlashSize=0080 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0030 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 2 +family = 7; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000800 +Type=111 +UFO=111 + +[Page1] +Name=Page1 +Index=01 +Address=08000800 +Size=00000800 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08001000 +Size=00000800 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 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+;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + +[Product] +Name=STM32F303_256K +PID=0422 +BID=1FFFF796 +FlashSize=0100 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0030 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 2 +family = 7; + +[Page0] +Name=Page0 +Index=00 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+Size=0000010 +Type=101 +UFO=111 + diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F303_64K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F303_64K.STmap new file mode 100644 index 0000000..059fdd4 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F303_64K.STmap @@ -0,0 +1,262 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32F303_64K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + +[Product] +Name=STM32F303_64K +PID=0422 +BID=1FFFF796 +FlashSize=0040 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0030 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 2 +family = 7; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000800 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000800 +Size=00000800 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08001000 +Size=00000800 +Type=111 +UFO=111 +[Page3] +Name=Page3 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STMicroelectronics ******************** +;;* File Name : STM32F373_128K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + +[Product] +Name=STM32F373_128K +PID=0432 +BID=1FFFF7A6 +FlashSize=0080 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0020 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 2 +family = 7; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000800 +Type=111 +UFO=111 + +[Page1] +Name=Page1 +Index=01 +Address=08000800 +Size=00000800 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08001000 +Size=00000800 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08001800 +Size=00000800 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08002000 +Size=00000800 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08002800 +Size=00000800 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08003000 +Size=00000800 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08003800 +Size=00000800 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08004000 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+Size=00000800 +Type=111 +UFO=111 +[Page56] +Name=Page56 +Index=38 +Address=0801C000 +Size=00000800 +Type=111 +UFO=111 +[Page57] +Name=Page57 +Index=39 +Address=0801C800 +Size=00000800 +Type=111 +UFO=111 +[Page58] +Name=Page58 +Index=3A +Address=0801D000 +Size=00000800 +Type=111 +UFO=111 +[Page59] +Name=Page59 +Index=3B +Address=0801D800 +Size=00000800 +Type=111 +UFO=111 +[Page60] +Name=Page60 +Index=3C +Address=0801E000 +Size=00000800 +Type=111 +UFO=111 +[Page61] +Name=Page61 +Index=3D +Address=0801E800 +Size=00000800 +Type=111 +UFO=111 +[Page62] +Name=Page62 +Index=3E +Address=0801F000 +Size=00000800 +Type=111 +UFO=111 +[Page63] +Name=Page63 +Index=3F +Address=0801F800 +Size=00000800 +Type=111 +UFO=111 + +;; OPTION bytes information +[OptBytes] +Name=OptBytes +Address=1FFFF800 +Size=0000010 +Type=101 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F373_256K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F373_256K.STmap new file mode 100644 index 0000000..fbe7592 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F373_256K.STmap @@ -0,0 +1,935 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32F373_256K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + +[Product] +Name=STM32F373_256K +PID=0432 +BID=1FFFF7A6 +FlashSize=0100 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0020 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 2 +family = 7; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000800 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000800 +Size=00000800 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08001000 +Size=00000800 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08001800 +Size=00000800 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08002000 +Size=00000800 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 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+[Page122] +Name=Page122 +Index=7A +Address=0803D000 +Size=00000800 +Type=111 +UFO=111 +[Page123] +Name=Page123 +Index=7B +Address=0803D800 +Size=00000800 +Type=111 +UFO=111 +[Page124] +Name=Page124 +Index=7C +Address=0803E000 +Size=00000800 +Type=111 +UFO=111 +[Page125] +Name=Page125 +Index=7D +Address=0803E800 +Size=00000800 +Type=111 +UFO=111 +[Page126] +Name=Page126 +Index=7E +Address=0803F000 +Size=00000800 +Type=111 +UFO=111 +[Page127] +Name=Page127 +Index=7F +Address=0803F800 +Size=00000800 +Type=111 +UFO=111 + +;; OPTION bytes information +[OptBytes] +Name=OptBytes +Address=1FFFF800 +Size=0000010 +Type=101 +UFO=111 + diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F373_64K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F373_64K.STmap new file mode 100644 index 0000000..a9a713f --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F373_64K.STmap @@ -0,0 +1,262 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32F373_64K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + +[Product] +Name=STM32F373_64K +PID=0432 +BID=1FFFF7A6 +FlashSize=0040 ;;ADDR_FLASH_SIZE= 0xFFFFFFFF; +RAMSize=0020 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 2 +family = 7; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000800 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000800 +Size=00000800 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08001000 +Size=00000800 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08001800 +Size=00000800 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08002000 +Size=00000800 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08002800 +Size=00000800 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08003000 +Size=00000800 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08003800 +Size=00000800 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08004000 +Size=00000800 +Type=111 +UFO=111 +[Page9] +Name=Page9 +Index=09 +Address=08004800 +Size=00000800 +Type=111 +UFO=111 +[Page10] +Name=Page10 +Index=0A +Address=08005000 +Size=00000800 +Type=111 +UFO=111 +[Page11] +Name=Page11 +Index=0B +Address=08005800 +Size=00000800 +Type=111 +UFO=111 +[Page12] +Name=Page12 +Index=0C +Address=08006000 +Size=00000800 +Type=111 +UFO=111 +[Page13] +Name=Page13 +Index=0D +Address=08006800 +Size=00000800 +Type=111 +UFO=111 +[Page14] +Name=Page14 +Index=0E +Address=08007000 +Size=00000800 +Type=111 +UFO=111 +[Page15] +Name=Page15 +Index=0F +Address=08007800 +Size=00000800 +Type=111 +UFO=111 +[Page16] +Name=Page16 +Index=10 +Address=08008000 +Size=00000800 +Type=111 +UFO=111 +[Page17] +Name=Page17 +Index=11 +Address=08008800 +Size=00000800 +Type=111 +UFO=111 +[Page18] +Name=Page18 +Index=12 +Address=08009000 +Size=00000800 +Type=111 +UFO=111 +[Page19] +Name=Page19 +Index=13 +Address=08009800 +Size=00000800 +Type=111 +UFO=111 +[Page20] +Name=Page20 +Index=14 +Address=0800A000 +Size=00000800 +Type=111 +UFO=111 +[Page21] +Name=Page21 +Index=15 +Address=0800A800 +Size=00000800 +Type=111 +UFO=111 +[Page22] +Name=Page22 +Index=16 +Address=0800B000 +Size=00000800 +Type=111 +UFO=111 +[Page23] +Name=Page23 +Index=17 +Address=0800B800 +Size=00000800 +Type=111 +UFO=111 +[Page24] +Name=Page24 +Index=18 +Address=0800C000 +Size=00000800 +Type=111 +UFO=111 +[Page25] +Name=Page25 +Index=19 +Address=0800C800 +Size=00000800 +Type=111 +UFO=111 +[Page26] +Name=Page26 +Index=1A +Address=0800D000 +Size=00000800 +Type=111 +UFO=111 +[Page27] +Name=Page27 +Index=1B +Address=0800D800 +Size=00000800 +Type=111 +UFO=111 +[Page28] +Name=Page28 +Index=1C +Address=0800E000 +Size=00000800 +Type=111 +UFO=111 +[Page29] +Name=Page29 +Index=1D +Address=0800E800 +Size=00000800 +Type=111 +UFO=111 +[Page30] +Name=Page30 +Index=1E +Address=0800F000 +Size=00000800 +Type=111 +UFO=111 +[Page31] +Name=Page31 +Index=1F +Address=0800F800 +Size=00000800 +Type=111 +UFO=111 + +;; OPTION bytes information +[OptBytes] +Name=OptBytes +Address=1FFFF800 +Size=0000010 +Type=101 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_1024K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_1024K.STmap new file mode 100644 index 0000000..7f014af --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_1024K.STmap @@ -0,0 +1,111 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32F4_1024K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + + +[Product] +Name=STM32F4_1024K +PID=0413 +BID=1FFF77DE +FlashSize=0400 ;;ADDR_FLASH_SIZE=FFFFFFFF; TO BE DONE !!!! +PacketSize=80 +ACKVAL=79 +MAPNAME=Sectors +PagesPerSector=1 +family = 6; + +[Page0] +Name=Sector0 +Index=000 +Address=08000000 +Size=4000 +Type=111 +UFO=111 +[Page1] +Name=Sector1 +Index=001 +Address=08004000 +Size=4000 +Type=111 +UFO=111 +[Page2] +Name=Sector2 +Index=002 +Address=08008000 +Size=4000 +Type=111 +UFO=111 +[Page3] +Name=Sector3 +Index=003 +Address=0800C000 +Size=4000 +Type=111 +UFO=111 +[Page4] +Name=Sector4 +Index=004 +Address=08010000 +Size=10000 +Type=111 +UFO=111 +[Page5] +Name=Sector5 +Index=005 +Address=08020000 +Size=20000 +Type=111 +UFO=111 +[Page6] +Name=Sector6 +Index=006 +Address=08040000 +Size=20000 +Type=111 +UFO=111 +[Page7] +Name=Sector7 +Index=007 +Address=08060000 +Size=20000 +Type=111 +UFO=111 +[Page8] +Name=Sector8 +Index=008 +Address=08080000 +Size=20000 +Type=111 +UFO=111 +[Page9] +Name=Sector9 +Index=009 +Address=080A0000 +Size=20000 +Type=111 +UFO=111 +[Page10] +Name=Sector10 +Index=00A +Address=080C0000 +Size=20000 +Type=111 +UFO=111 +[Page11] +Name=Sector11 +Index=00B +Address=080E0000 +Size=20000 +Type=111 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_128K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_128K.STmap new file mode 100644 index 0000000..cf046de --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_128K.STmap @@ -0,0 +1,62 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32F4_128K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + + +[Product] +Name=STM32F4_128K +PID=0413 +BID=1FFF77DE +FlashSize=0080 ;;ADDR_FLASH_SIZE=FFFFFFFF; TO BE DONE !!!! +PacketSize=80 +ACKVAL=79 +MAPNAME=Sectors +PagesPerSector=1 +family = 6; + +[Page0] +Name=Sector0 +Index=000 +Address=08000000 +Size=4000 +Type=111 +UFO=111 +[Page1] +Name=Sector1 +Index=001 +Address=08004000 +Size=4000 +Type=111 +UFO=111 +[Page2] +Name=Sector2 +Index=002 +Address=08008000 +Size=4000 +Type=111 +UFO=111 +[Page3] +Name=Sector3 +Index=003 +Address=0800C000 +Size=4000 +Type=111 +UFO=111 +[Page4] +Name=Sector4 +Index=004 +Address=08010000 +Size=10000 +Type=111 +UFO=111 \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_256K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_256K.STmap new file mode 100644 index 0000000..324c2e8 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_256K.STmap @@ -0,0 +1,69 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32F4_256K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + + +[Product] +Name=STM32F4_256K +PID=0413 +BID=1FFF77DE +FlashSize=0100 ;;ADDR_FLASH_SIZE=FFFFFFFF; TO BE DONE !!!! +PacketSize=80 +ACKVAL=79 +MAPNAME=Sectors +PagesPerSector=1 +family = 6; + +[Page0] +Name=Sector0 +Index=000 +Address=08000000 +Size=4000 +Type=111 +UFO=111 +[Page1] +Name=Sector1 +Index=001 +Address=08004000 +Size=4000 +Type=111 +UFO=111 +[Page2] +Name=Sector2 +Index=002 +Address=08008000 +Size=4000 +Type=111 +UFO=111 +[Page3] +Name=Sector3 +Index=003 +Address=0800C000 +Size=4000 +Type=111 +UFO=111 +[Page4] +Name=Sector4 +Index=004 +Address=08010000 +Size=10000 +Type=111 +UFO=111 +[Page5] +Name=Sector5 +Index=005 +Address=08020000 +Size=20000 +Type=111 +UFO=111 \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_512K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_512K.STmap new file mode 100644 index 0000000..9812241 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32F4_512K.STmap @@ -0,0 +1,83 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32F4_512K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + + +[Product] +Name=STM32F4_512K +PID=0413 +BID=1FFF77DE +FlashSize=0200 ;;ADDR_FLASH_SIZE=FFFFFFFF; TO BE DONE !!!! +PacketSize=80 +ACKVAL=79 +MAPNAME=Sectors +PagesPerSector=1 +family = 6; + +[Page0] +Name=Sector0 +Index=000 +Address=08000000 +Size=4000 +Type=111 +UFO=111 +[Page1] +Name=Sector1 +Index=001 +Address=08004000 +Size=4000 +Type=111 +UFO=111 +[Page2] +Name=Sector2 +Index=002 +Address=08008000 +Size=4000 +Type=111 +UFO=111 +[Page3] +Name=Sector3 +Index=003 +Address=0800C000 +Size=4000 +Type=111 +UFO=111 +[Page4] +Name=Sector4 +Index=004 +Address=08010000 +Size=10000 +Type=111 +UFO=111 +[Page5] +Name=Sector5 +Index=005 +Address=08020000 +Size=20000 +Type=111 +UFO=111 +[Page6] +Name=Sector6 +Index=006 +Address=08040000 +Size=20000 +Type=111 +UFO=111 +[Page7] +Name=Sector7 +Index=007 +Address=08060000 +Size=20000 +Type=111 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_High-density-256K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_High-density-256K.STmap new file mode 100644 index 0000000..0756482 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_High-density-256K.STmap @@ -0,0 +1,7222 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32L_High-density-256K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + + +[Product] +Name=STM32L_High-density-256K +PID=0436 +BID=1FF00FFE +FlashSize=0100 ;;ADDR_FLASH_SIZE=1FF8004C; +RamSize=0030 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=16 +family = 5; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000100 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000100 +Size=00000100 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000200 +Size=00000100 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000300 +Size=00000100 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08000400 +Size=00000100 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08000500 +Size=00000100 +Type=111 +UFO=111 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binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_High-density-384K.STmap @@ -0,0 +1,10806 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32L_High-density-384K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + + +[Product] +Name=STM32L_High-density-384K +PID=0436 +BID=1FF00FFE +FlashSize=0180 ;;ADDR_FLASH_SIZE=1FF8004C; +RamSize=0030 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=16 +family = 5; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000100 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000100 +Size=00000100 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000200 +Size=00000100 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000300 +Size=00000100 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08000400 +Size=00000100 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08000500 +Size=00000100 +Type=111 +UFO=111 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+Size=3000 +Type=101 +UFO=111 + +;; OPTION bytes information +[OptBytesB1] +Name=OptBytesB1 +Address=1FF80000 +Size=0000020 +Type=101 +UFO=111 + +[OptBytesB2] +Name=OptBytesB2 +Address=1FF80080 +Size=0000020 +Type=101 +UFO=111 + diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_Med-density-128K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_Med-density-128K.STmap new file mode 100644 index 0000000..8059a34 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_Med-density-128K.STmap @@ -0,0 +1,3631 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32L_Med-density-128K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + + +[Product] +Name=STM32L_Med-density-128K +PID=0416 +BID=1FF00FFE +FlashSize=0080 ;;ADDR_FLASH_SIZE=1FF8004C; +RamSize=0010 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=16 +family = 5; + +[Page0] +Name=Page0 +Index=000 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+1,943 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32L_Med-density-32K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + + +[Product] +Name=STM32L_Med-density-32K +PID=0416 +BID=1FF00FFE +FlashSize=0040 ;;ADDR_FLASH_SIZE=1FF8004C; +RamSize=000A +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=16 +family = 5; + +[Page0] +Name=Page0 +Index=000 +Address=08000000 +Size=100 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=001 +Address=08000100 +Size=100 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=002 +Address=08000200 +Size=100 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=003 +Address=08000300 +Size=100 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=004 +Address=08000400 +Size=100 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=005 +Address=08000500 +Size=100 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=006 +Address=08000600 +Size=100 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=007 +Address=08000700 +Size=100 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=008 +Address=08000800 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gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_Med-density-64K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_Med-density-64K.STmap new file mode 100644 index 0000000..f18c6f2 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_Med-density-64K.STmap @@ -0,0 +1,1839 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32L_Med-density-64K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + + +[Product] +Name=STM32L_Med-density-64K +PID=0416 +BID=1FF00FFE +FlashSize=0040 ;;ADDR_FLASH_SIZE=1FF8004C; +RamSize=000A +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=16 +family = 5; + +[Page0] +Name=Page0 +Index=000 +Address=08000000 +Size=100 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=001 +Address=08000100 +Size=100 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=002 +Address=08000200 +Size=100 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=003 +Address=08000300 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--git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_Med-density-Plus-256K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_Med-density-Plus-256K.STmap new file mode 100644 index 0000000..3437b11 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32L_Med-density-Plus-256K.STmap @@ -0,0 +1,7214 @@ +;;******************** (C) COPYRIGHT 2012 STMicroelectronics ******************** +;;* File Name : STM32L_Med-density-Plus-256K.STmap +;;* Author : MCD Application Team +;;* Version : v2.6.0 +*;; Date : 07-November-2012 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** +;;* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE +;;* "MCD-ST Liberty SW License Agreement V2.pdf" +;;*******************************************************************************/ + + +[Product] +Name=STM32L_Med-density-Plus-256K +PID=0427 +BID=1FF01FFE +FlashSize=0100 ;;ADDR_FLASH_SIZE=FFFFFFFF; +RamSize=0030 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=16 +family = 5; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000100 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000100 +Size=00000100 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000200 +Size=00000100 +Type=111 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gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Connectivity-line_128K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Connectivity-line_128K.STmap new file mode 100644 index 0000000..3d31cd4 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Connectivity-line_128K.STmap @@ -0,0 +1,475 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_Connectivity-line_128K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_Connectivity-line_128K +PID=0418 +FlashSize=0080 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0020 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=2 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000800 +Type=111 +UFO=111 + +[Page1] +Name=Page1 +Index=01 +Address=08000800 +Size=00000800 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08001000 +Size=00000800 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08001800 +Size=00000800 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08002000 +Size=00000800 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08002800 +Size=00000800 +Type=111 +UFO=111 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binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Connectivity-line_256K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Connectivity-line_256K.STmap new file mode 100644 index 0000000..3b7fc08 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Connectivity-line_256K.STmap @@ -0,0 +1,922 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_Connectivity-line_256K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY 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******************** +;;* File Name : STM32_Connectivity-line_64K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_Connectivity-line_64K +PID=0418 +FlashSize=0040 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0014 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages 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gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_High-density-value_256K.STmap new file mode 100644 index 0000000..2b511c7 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_High-density-value_256K.STmap @@ -0,0 +1,924 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_High-density-value_256K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR 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: V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_High-density-value_384K +PID=0428 +BID=1FFFF7D6 +FlashSize=0180 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0020 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=2 +family = 1; +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000800 +Type=111 +UFO=111 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STM32_High-density-value_512K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_High-density-value_512K +PID=0428 +BID=1FFFF7D6 +FlashSize=0200 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0020 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=2 +family = 1; 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+UFO=111 +[Page255] +Name=Page255 +Index=FF +Address=0807F800 +Size=00000800 +Type=111 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_High-density_256K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_High-density_256K.STmap new file mode 100644 index 0000000..06ea89e --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_High-density_256K.STmap @@ -0,0 +1,923 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_High-density_256K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_High-density_256K +PID=0414 +FlashSize=0100 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0030 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=2 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000800 +Type=111 +UFO=111 + +[Page1] +Name=Page1 +Index=01 +Address=08000800 +Size=00000800 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08001000 +Size=00000800 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08001800 +Size=00000800 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08002000 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+1,1370 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_High-density_384K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_High-density_384K +PID=0414 +FlashSize=0180 ;;ADDR_FLASH_SIZE=1FFFF7E0; 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gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_High-density_512K.STmap @@ -0,0 +1,1818 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_High-density_512K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. 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21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_High-density_256K +PID=0414 +FlashSize=0100 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0030 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=2 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000800 +Type=111 +UFO=111 + +[Page1] +Name=Page1 +Index=01 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gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density-value_16K.STmap new file mode 100644 index 0000000..d784208 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density-value_16K.STmap @@ -0,0 +1,138 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_Low-density-value_16K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_Low-density-value_32K +PID=0420 +BID=1FFFF7D6 +FlashSize=0010 ;;ADDR_FLASH_SIZE=1FFFF7E0; +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08002000 +Size=00000400 +Type=111 +UFO=111 +[Page9] +Name=Page9 +Index=09 +Address=08002400 +Size=00000400 +Type=111 +UFO=111 +[Page10] +Name=Page10 +Index=0A +Address=08002800 +Size=00000400 +Type=111 +UFO=111 +[Page11] +Name=Page11 +Index=0B +Address=08002C00 +Size=00000400 +Type=111 +UFO=111 +[Page12] +Name=Page12 +Index=0C +Address=08003000 +Size=00000400 +Type=111 +UFO=111 +[Page13] +Name=Page13 +Index=0D +Address=08003400 +Size=00000400 +Type=111 +UFO=111 +[Page14] +Name=Page14 +Index=0E +Address=08003800 +Size=00000400 +Type=111 +UFO=111 +[Page15] +Name=Page15 +Index=0F +Address=08003C00 +Size=00000400 +Type=111 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density-value_32K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density-value_32K.STmap new file mode 100644 index 0000000..e978adf --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density-value_32K.STmap @@ -0,0 +1,250 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_Low-density-value_32K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_Low-density-value_32K +PID=0420 +BID=1FFFF7D6 +FlashSize=0020 ;;ADDR_FLASH_SIZE=1FFFF7E0; +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08002000 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+Address=08005000 +Size=00000400 +Type=111 +UFO=111 +[Page21] +Name=Page21 +Index=15 +Address=08005400 +Size=00000400 +Type=111 +UFO=111 +[Page22] +Name=Page22 +Index=16 +Address=08005800 +Size=00000400 +Type=111 +UFO=111 +[Page23] +Name=Page23 +Index=17 +Address=08005C00 +Size=00000400 +Type=111 +UFO=111 +[Page24] +Name=Page24 +Index=18 +Address=08006000 +Size=00000400 +Type=111 +UFO=111 +[Page25] +Name=Page25 +Index=19 +Address=08006400 +Size=00000400 +Type=111 +UFO=111 +[Page26] +Name=Page26 +Index=1A +Address=08006800 +Size=00000400 +Type=111 +UFO=111 +[Page27] +Name=Page27 +Index=1B +Address=08006C00 +Size=00000400 +Type=111 +UFO=111 +[Page28] +Name=Page28 +Index=1C +Address=08007000 +Size=00000400 +Type=111 +UFO=111 +[Page29] +Name=Page29 +Index=1D +Address=08007400 +Size=00000400 +Type=111 +UFO=111 +[Page30] +Name=Page30 +Index=1E +Address=08007800 +Size=00000400 +Type=111 +UFO=111 +[Page31] +Name=Page31 +Index=1F +Address=08007C00 +Size=00000400 +Type=111 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density_16K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density_16K.STmap new file mode 100644 index 0000000..c31ab7a --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density_16K.STmap @@ -0,0 +1,140 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_Low-density_16K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_Low-density_16K +PID=0412 +FlashSize=0010 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0006 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 1; + + + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08002000 +Size=00000400 +Type=111 +UFO=111 +[Page9] +Name=Page9 +Index=09 +Address=08002400 +Size=00000400 +Type=111 +UFO=111 +[Page10] +Name=Page10 +Index=0A +Address=08002800 +Size=00000400 +Type=111 +UFO=111 +[Page11] +Name=Page11 +Index=0B +Address=08002C00 +Size=00000400 +Type=111 +UFO=111 +[Page12] +Name=Page12 +Index=0C +Address=08003000 +Size=00000400 +Type=111 +UFO=111 +[Page13] +Name=Page13 +Index=0D +Address=08003400 +Size=00000400 +Type=111 +UFO=111 +[Page14] +Name=Page14 +Index=0E +Address=08003800 +Size=00000400 +Type=111 +UFO=111 +[Page15] +Name=Page15 +Index=0F +Address=08003C00 +Size=00000400 +Type=111 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density_32K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density_32K.STmap new file mode 100644 index 0000000..5e30bb0 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Low-density_32K.STmap @@ -0,0 +1,250 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_Low-density_32K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_Low-density_32K +PID=0412 +FlashSize=0020 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=000A +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08002000 +Size=00000400 +Type=111 +UFO=111 +[Page9] +Name=Page9 +Index=09 +Address=08002400 +Size=00000400 +Type=111 +UFO=111 +[Page10] +Name=Page10 +Index=0A +Address=08002800 +Size=00000400 +Type=111 +UFO=111 +[Page11] +Name=Page11 +Index=0B +Address=08002C00 +Size=00000400 +Type=111 +UFO=111 +[Page12] +Name=Page12 +Index=0C +Address=08003000 +Size=00000400 +Type=111 +UFO=111 +[Page13] +Name=Page13 +Index=0D +Address=08003400 +Size=00000400 +Type=111 +UFO=111 +[Page14] +Name=Page14 +Index=0E +Address=08003800 +Size=00000400 +Type=111 +UFO=111 +[Page15] +Name=Page15 +Index=0F +Address=08003C00 +Size=00000400 +Type=111 +UFO=111 +[Page16] +Name=Page16 +Index=10 +Address=08004000 +Size=00000400 +Type=111 +UFO=111 +[Page17] +Name=Page17 +Index=11 +Address=08004400 +Size=00000400 +Type=111 +UFO=111 +[Page18] +Name=Page18 +Index=12 +Address=08004800 +Size=00000400 +Type=111 +UFO=111 +[Page19] +Name=Page19 +Index=13 +Address=08004C00 +Size=00000400 +Type=111 +UFO=111 +[Page20] +Name=Page20 +Index=14 +Address=08005000 +Size=00000400 +Type=111 +UFO=111 +[Page21] +Name=Page21 +Index=15 +Address=08005400 +Size=00000400 +Type=111 +UFO=111 +[Page22] +Name=Page22 +Index=16 +Address=08005800 +Size=00000400 +Type=111 +UFO=111 +[Page23] +Name=Page23 +Index=17 +Address=08005C00 +Size=00000400 +Type=111 +UFO=111 +[Page24] +Name=Page24 +Index=18 +Address=08006000 +Size=00000400 +Type=111 +UFO=111 +[Page25] +Name=Page25 +Index=19 +Address=08006400 +Size=00000400 +Type=111 +UFO=111 +[Page26] +Name=Page26 +Index=1A +Address=08006800 +Size=00000400 +Type=111 +UFO=111 +[Page27] +Name=Page27 +Index=1B +Address=08006C00 +Size=00000400 +Type=111 +UFO=111 +[Page28] +Name=Page28 +Index=1C +Address=08007000 +Size=00000400 +Type=111 +UFO=111 +[Page29] +Name=Page29 +Index=1D +Address=08007400 +Size=00000400 +Type=111 +UFO=111 +[Page30] +Name=Page30 +Index=1E +Address=08007800 +Size=00000400 +Type=111 +UFO=111 +[Page31] +Name=Page31 +Index=1F +Address=08007C00 +Size=00000400 +Type=111 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Med-density-value_128K.STmap b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Med-density-value_128K.STmap new file mode 100644 index 0000000..b0dea1e --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Med-density-value_128K.STmap @@ -0,0 +1,923 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_Med-density-value_128K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_Med-density-value_128K +PID=0420 +BID=1FFFF7D6 +FlashSize=0080 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0008 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 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gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Med-density-value_64K.STmap @@ -0,0 +1,475 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_Med-density-value_64K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_Med-density-value_64K +PID=0420 +BID=1FFFF7D6 +FlashSize=0040 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0008 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 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index 0000000..9b767e3 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/Map/STM32_Med-density_128K.STmap @@ -0,0 +1,922 @@ +;;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;;* File Name : STM32_Med-density_128K.STmap +;;* Author : MCD Application Team +;;* Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_Med-density_128K +PID=0410 +FlashSize=0080 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0014 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08000C00 +Size=00000400 +Type=111 +UFO=111 +[Page4] +Name=Page4 +Index=04 +Address=08001000 +Size=00000400 +Type=111 +UFO=111 +[Page5] +Name=Page5 +Index=05 +Address=08001400 +Size=00000400 +Type=111 +UFO=111 +[Page6] +Name=Page6 +Index=06 +Address=08001800 +Size=00000400 +Type=111 +UFO=111 +[Page7] +Name=Page7 +Index=07 +Address=08001C00 +Size=00000400 +Type=111 +UFO=111 +[Page8] +Name=Page8 +Index=08 +Address=08002000 +Size=00000400 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SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_Med-density_64K.STmap +PID=0410 +FlashSize=0040 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0014 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector = 4 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000400 +Size=00000400 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08000800 +Size=00000400 +Type=111 +UFO=111 +[Page3] 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PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_XL-density_1024K +PID=0430 +BID=1FFFF7D6 +FlashSize=0400 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0060 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=2 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000800 +Type=111 +UFO=111 +[Page1] +Name=Page1 +Index=01 +Address=08000800 +Size=00000800 +Type=111 +UFO=111 +[Page2] +Name=Page2 +Index=02 +Address=08001000 +Size=00000800 +Type=111 +UFO=111 +[Page3] +Name=Page3 +Index=03 +Address=08001800 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Version : V2.5.0 +;;* Date : 21-November-2011 +;;* Description : memory mapping +;;******************************************************************************** +;;* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +;;* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +;;* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +;;* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +;;* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +;;* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;;******************************************************************************** + +[Product] +Name=STM32_XL-density_768K +PID=0430 +BID=1FFFF7D6 +FlashSize=0300 ;;ADDR_FLASH_SIZE=1FFFF7E0; +RAMSize=0060 +PacketSize=80 +ACKVAL=79 +MAPNAME=Pages +PagesPerSector=2 +family = 1; + +[Page0] +Name=Page0 +Index=00 +Address=08000000 +Size=00000400 +Type=111 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+Name=Page709 +Index=2C5 +Address=080B1400 +Size=00000400 +Type=111 +UFO=111 +[Page710] +Name=Page710 +Index=2C6 +Address=080B1800 +Size=00000400 +Type=111 +UFO=111 +[Page711] +Name=Page711 +Index=2C7 +Address=080B1C00 +Size=00000400 +Type=111 +UFO=111 +[Page712] +Name=Page712 +Index=2C8 +Address=080B2000 +Size=00000400 +Type=111 +UFO=111 +[Page713] +Name=Page713 +Index=2C9 +Address=080B2400 +Size=00000400 +Type=111 +UFO=111 +[Page714] +Name=Page714 +Index=2CA +Address=080B2800 +Size=00000400 +Type=111 +UFO=111 +[Page715] +Name=Page715 +Index=2CB +Address=080B2C00 +Size=00000400 +Type=111 +UFO=111 +[Page716] +Name=Page716 +Index=2CC +Address=080B3000 +Size=00000400 +Type=111 +UFO=111 +[Page717] +Name=Page717 +Index=2CD +Address=080B3400 +Size=00000400 +Type=111 +UFO=111 +[Page718] +Name=Page718 +Index=2CE +Address=080B3800 +Size=00000400 +Type=111 +UFO=111 +[Page719] +Name=Page719 +Index=2CF +Address=080B3C00 +Size=00000400 +Type=111 +UFO=111 +[Page720] +Name=Page720 +Index=2D0 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+Name=Page743 +Index=2E7 +Address=080B9C00 +Size=00000400 +Type=111 +UFO=111 +[Page744] +Name=Page744 +Index=2E8 +Address=080BA000 +Size=00000400 +Type=111 +UFO=111 +[Page745] +Name=Page745 +Index=2E9 +Address=080BA400 +Size=00000400 +Type=111 +UFO=111 +[Page746] +Name=Page746 +Index=2EA +Address=080BA800 +Size=00000400 +Type=111 +UFO=111 +[Page747] +Name=Page747 +Index=2EB +Address=080BAC00 +Size=00000400 +Type=111 +UFO=111 +[Page748] +Name=Page748 +Index=2EC +Address=080BB000 +Size=00000400 +Type=111 +UFO=111 +[Page749] +Name=Page749 +Index=2ED +Address=080BB400 +Size=00000400 +Type=111 +UFO=111 +[Page750] +Name=Page750 +Index=2EE +Address=080BB800 +Size=00000400 +Type=111 +UFO=111 +[Page751] +Name=Page751 +Index=2EF +Address=080BBC00 +Size=00000400 +Type=111 +UFO=111 +[Page752] +Name=Page752 +Index=2F0 +Address=080BC000 +Size=00000400 +Type=111 +UFO=111 +[Page753] +Name=Page753 +Index=2F1 +Address=080BC400 +Size=00000400 +Type=111 +UFO=111 +[Page754] +Name=Page754 +Index=2F2 +Address=080BC800 +Size=00000400 +Type=111 +UFO=111 +[Page755] +Name=Page755 +Index=2F3 +Address=080BCC00 +Size=00000400 +Type=111 +UFO=111 +[Page756] +Name=Page756 +Index=2F4 +Address=080BD000 +Size=00000400 +Type=111 +UFO=111 +[Page757] +Name=Page757 +Index=2F5 +Address=080BD400 +Size=00000400 +Type=111 +UFO=111 +[Page758] +Name=Page758 +Index=2F6 +Address=080BD800 +Size=00000400 +Type=111 +UFO=111 +[Page759] +Name=Page759 +Index=2F7 +Address=080BDC00 +Size=00000400 +Type=111 +UFO=111 +[Page760] +Name=Page760 +Index=2F8 +Address=080BE000 +Size=00000400 +Type=111 +UFO=111 +[Page761] +Name=Page761 +Index=2F9 +Address=080BE400 +Size=00000400 +Type=111 +UFO=111 +[Page762] +Name=Page762 +Index=2FA +Address=080BE800 +Size=00000400 +Type=111 +UFO=111 +[Page763] +Name=Page763 +Index=2FB +Address=080BEC00 +Size=00000400 +Type=111 +UFO=111 +[Page764] +Name=Page764 +Index=2FC +Address=080BF000 +Size=00000400 +Type=111 +UFO=111 +[Page765] +Name=Page765 +Index=2FD +Address=080BF400 +Size=00000400 +Type=111 +UFO=111 +[Page766] +Name=Page766 +Index=2FE +Address=080BF800 +Size=00000400 +Type=111 +UFO=111 +[Page767] +Name=Page767 +Index=2FF +Address=080BFC00 +Size=00000400 +Type=111 +UFO=111 diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STBLLIB.dll b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STBLLIB.dll new file mode 100644 index 0000000..01e970f Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STBLLIB.dll differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STMFlashLoader.exe b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STMFlashLoader.exe new file mode 100644 index 0000000..f617b98 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STMFlashLoader.exe differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STMFlashLoaderOlliW.exe b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STMFlashLoaderOlliW.exe new file mode 100644 index 0000000..b72a2a4 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STMFlashLoaderOlliW.exe differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STUARTBLLIB.dll b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STUARTBLLIB.dll new file mode 100644 index 0000000..5ee7c81 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/STUARTBLLIB.dll differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/cmdcom.bat b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/cmdcom.bat new file mode 100644 index 0000000..911dc38 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/ST/STMFlashLoader/cmdcom.bat @@ -0,0 +1 @@ +cmd \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/STM32 Virtual COM Port Driver/stsw-stm32102/VCP_V1.4.0_Setup.exe b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/STM32 Virtual COM Port Driver/stsw-stm32102/VCP_V1.4.0_Setup.exe new file mode 100644 index 0000000..643b486 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/STM32 Virtual COM Port Driver/stsw-stm32102/VCP_V1.4.0_Setup.exe differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/STM32 Virtual COM Port Driver/stsw-stm32102/readme.txt b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/STM32 Virtual COM Port Driver/stsw-stm32102/readme.txt new file mode 100644 index 0000000..a7f9a9d --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/STM32 Virtual COM Port Driver/stsw-stm32102/readme.txt @@ -0,0 +1,47 @@ +/******************** (C) COPYRIGHT 2014 STMicroelectronics ******************** +* File Name : readme.txt +* Author : MCD Application Team +* Version : V1.4.0 +* Date : 10/20/2014 +* Description : read me file for Virtual COM Port driver +******************************************************************************** +* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +*******************************************************************************/ + +Last version +*************** + - V1.4.0 - 10/20/2014 +Supported OS +*************** + + + Windows 98SE, 2000, XP, Vista, Seven, 8.x (x86 & x64 Windows platforms) + +Contents +*********** + + VCP_V1.4.0_Setup.exe : Setup file to Copy required files + + version.txt : History of versions + + readme.txt : This file + +How to use +*************** + + 1- Uninstall previous versions (Start-> Settings-> Control Panel-> Add or remove programs) + + 2- Run your "VCP_V1.4.0_Setup.exe" + + 3- Go to Your installation directory - Example, C:\Program Files (x86)\STMicroelectronics\Software\Virtual comport driver + + 4- Go to Your OS version directory ([Win7] or [Win8]) + + Then : + - Double click on dpinst_x86.exe if you are running a 32-bits OS version + - Double click on dpinst_amd64.exe if you are running a 64-bits OS version + + Follow the instructions. + + + +******************* (C) COPYRIGHT 2014 STMicroelectronics *****END OF FILE****** \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/STM32 Virtual COM Port Driver/stsw-stm32102/version.txt b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/STM32 Virtual COM Port Driver/stsw-stm32102/version.txt new file mode 100644 index 0000000..5188ba4 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/STM32 Virtual COM Port Driver/stsw-stm32102/version.txt @@ -0,0 +1,64 @@ +/******************** (C) COPYRIGHT 2014 STMicroelectronics ******************** +* File Name : version.txt +* Author : MCD Application Team +* Version : V1.4.0 +* Date : 10/20/2014 +* Description : Version file for Virtual COM Port driver +******************************************************************************** +* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +*******************************************************************************/ + + +* V1.4.0 - 10/20/2014 +===================== + +New Features +************ + + Signed version for Microsoft Windows 8.x (x86 & x64) + +How to use +********** + + Go to your OS version directory (Win7 or Win8) + + Then : + - Double click on dpinst_x86.exe if you are running a 32-bits OS version + - Double click on dpinst_amd64.exe if you are running a 64-bits OS version + + Follow the instructions. + + +* V1.3.1 - 07/23/2010 +===================== + +New Features +************ + + WHQL Certified with and published at WindowsUpdate web site : + - Microsoft Windows 2000 family, + - Microsoft Windows XP family, x86 + - Microsoft Windows XP family, x64 + - Microsoft Windows Vista family, x86 + - Microsoft Windows Vista family, x64 + - Microsoft Windows 7 + + +* V1.2.0 - 07/21/2009 +===================== + + Solving msports.dll copy issue when this file is already used by the operating system + + +* V1.1.0 - 06/13/2008 +===================== + + Remove the Firmware License Agreement file + + resolved issues + 1) Creation of "WINNT" and "Windows" directories in different disck partitions + 2) Creation of multiple uninstall entries in "Add/Remove programs" service + +* V1.0.0 - 05/08/2008 +==================== + Created. + + +******************* (C) COPYRIGHT 2014 STMicroelectronics *****END OF FILE****** \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libeay32.dll b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libeay32.dll new file mode 100644 index 0000000..8d31f86 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libeay32.dll differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libiconv2.dll b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libiconv2.dll new file mode 100644 index 0000000..544dd92 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libiconv2.dll differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libintl3.dll b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libintl3.dll new file mode 100644 index 0000000..ec11e6b Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libintl3.dll differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libssl32.dll b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libssl32.dll new file mode 100644 index 0000000..a30ff0e Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/libssl32.dll differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/wget.exe b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/wget.exe new file mode 100644 index 0000000..54b372e Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/bin/wget/wget.exe differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/lander.scr b/firmware binaries & gui/o323bgc-release-v230-v20170730/lander.scr new file mode 100644 index 0000000..1b12e33 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/lander.scr @@ -0,0 +1,10 @@ +CASE#DEFAULT + RESTORE "Yaw P" + RESTORE "Yaw I" + RESTORE "Yaw D" + STOP +CASE#1 + SET "Yaw P" 0 + SET "Yaw I" 0 + SET "Yaw D" 0 + STOP diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/mavlinkembedding-pano-example1.mcs b/firmware binaries & gui/o323bgc-release-v230-v20170730/mavlinkembedding-pano-example1.mcs new file mode 100644 index 0000000..8795d0d --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/mavlinkembedding-pano-example1.mcs @@ -0,0 +1,38 @@ +# this is a simple pano example to demonstrate some things +# the script is Perl code, with some convenience functions +# for controlling the gimbal + +#this activates the Mavlink Embedding mode +#the paramters are +#baudrate, GUI SysID, GUI CompID, Board SysID, Board CompID +#the COM port is determined by the GUI's >Port< field + +UseMavlinkEmbedding( 57600, 82, 67, 71, 67 ); + +TextOut( "Start\n" ); # display text in the message console + +SetAngle( 0, 0, -50 ); # sets pitch, roll, yaw, in degrees +Wait( 3 ); # waits 3 seconds +DoCamera( 'Shutter' ); # releases the camera shutter, if activated + +SetAngle( 0, 0, 0 ); +Wait( 3 ); +DoCamera( 'Shutter' ); + +SetAngle( 0, 0, +50 ); +Wait( 3 ); +DoCamera( 'Shutter' ); + +SetAngle( -20, 0, -50 ); #this is a long path, so wait longer +Wait( 3 ); + +# since it's just Perl, one can use all its language features +# such as defining variables, and for loops +for( my $yaw=-50; $yaw<=50.1; $yaw+=50 ){ + SetAngle( -20, 0, $yaw ); + Wait( 3 ); + DoCamera( 'Shutter' ); +} + +RecenterCamera(); # recenters all three axes +TextOut( "End\n" ); \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/mavlinkembedding-pano-example2.mcs b/firmware binaries & gui/o323bgc-release-v230-v20170730/mavlinkembedding-pano-example2.mcs new file mode 100644 index 0000000..fd4228a --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/mavlinkembedding-pano-example2.mcs @@ -0,0 +1,42 @@ +# this is a simple pano example to demonstrate some things +# the script is Perl code, with some convenience functions +# for controlling the gimbal + +#this activates the Mavlink Embedding mode +#the paramters are +#baudrate, GUI SysID, GUI CompID, Board SysID, Board CompID +#the COM port is determined by the GUI's >Port< field + +UseMavlinkEmbedding( 57600, 82, 67, 71, 67 ); + +TextOut( "Start\n" ); # display text in the message console + +SetAngle( -20, 0, -50 ); # sets pitch, roll, yaw, in degrees +Wait( 2 ); # waits 3 seconds +DoCamera( 'Shutter' ); # releases the camera shutter, if activated + +SetAngle( -20, 0, 0 ); +Wait( 2 ); +DoCamera( 'Shutter' ); + +SetAngle( -20, 0, +50 ); +Wait( 2 ); +DoCamera( 'Shutter' ); + +# since it's just Perl, one can use all its language features +# such as defining variables, and for loops +for( my $yaw= 50; $yaw>=-50.1; $yaw-=50 ){ + SetAngle( 0, 0, $yaw ); + Wait( 2 ); + DoCamera( 'Shutter' ); +} + +for( my $yaw=-50; $yaw<=50.1; $yaw+=50 ){ + SetAngle( 20, 0, $yaw ); + Wait( 2 ); + DoCamera( 'Shutter' ); +} + + +RecenterCamera(); # recenters all three axes +TextOut( "End\n" ); \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/mp-pano-example1.py b/firmware binaries & gui/o323bgc-release-v230-v20170730/mp-pano-example1.py new file mode 100644 index 0000000..d37e6a4 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/mp-pano-example1.py @@ -0,0 +1,80 @@ +# This script can be used for three situations: +# A) communication channel is connected to the Pixhawk +# Mission Planner is connected to Pixhawk (Sys/Comp ID 01/01) +# B) communication channel is connected to the Pixhawk +# Mission Planner is connected to STorM32 (Sys/Comp ID 71/67) +# C) communication channel is connected to the STorM32 +# Mission Planner is connected to STorM32 (Sys/Comp ID 71/67) +# +# Note: +# * AC does NOT support the common messages COMMAND_LONG:DO_MOUNT_CONTROL and COMMAND_LONG:DO_DIGICAM_CONTROL +# but instead uses the APM specific messages DO_MOUNT_CONTROL and DO_DIGICAM_CONTROL +# * STorM32 DOES support the common messages COMMAND_LONG:DO_MOUNT_CONTROL and COMMAND_LONG:DO_DIGICAM_CONTROL +# as well as the APM specific messages DO_MOUNT_CONTROL and DO_DIGICAM_CONTROL +# +# This script uses the DO_MOUNT_CONTROL, DO_MOUNT_CONFIGURE, and DO_DIGICAM_CONTROL messages. + +import clr +import MissionPlanner +clr.AddReference("MAVLink") +import MAVLink + + +print 'Start' + +MAV.setMountConfigure(MAVLink.MAV_MOUNT_MODE.NEUTRAL, False, False, False) +Script.Sleep(2000) +MAV.setMountConfigure(MAVLink.MAV_MOUNT_MODE.MAVLINK_TARGETING, False, False, False) + + +MAV.setMountControl( -2000, 0, 5000, False) +Script.Sleep(3000) +print 'click' +MAV.setDigicamControl(1) + +MAV.setMountControl( -2000, 0, 0, False) +Script.Sleep(2000) +print 'click' +MAV.setDigicamControl(1) + +MAV.setMountControl( -2000, 0, -5000, False) +Script.Sleep(2000) +print 'click' +MAV.setDigicamControl(1) + +MAV.setMountControl( 0, 0, -5000, False) +Script.Sleep(2000) +print 'click' +MAV.setDigicamControl(1) + +MAV.setMountControl( 0, 0, 0, False) +Script.Sleep(2000) +print 'click' +MAV.setDigicamControl(1) + +MAV.setMountControl( 0, 0, 5000, False) +Script.Sleep(2000) +print 'click' +MAV.setDigicamControl(1) + +MAV.setMountControl( 2000, 0, 5000, False) +Script.Sleep(2000) +print 'click' +MAV.setDigicamControl(1) + +MAV.setMountControl( 2000, 0, 0, False) +Script.Sleep(2000) +print 'click' +MAV.setDigicamControl(1) + +MAV.setMountControl( 2000, 0, -5000, False) +Script.Sleep(2000) +print 'click' +MAV.setDigicamControl(1) + + +MAV.setMountConfigure(MAVLink.MAV_MOUNT_MODE.NEUTRAL, False, False, False) +Script.Sleep(500) +MAV.setMountConfigure(MAVLink.MAV_MOUNT_MODE.RC_TARGETING, False, False, False) + +print 'End' \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/mp-pano-example2.py b/firmware binaries & gui/o323bgc-release-v230-v20170730/mp-pano-example2.py new file mode 100644 index 0000000..77e6266 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/mp-pano-example2.py @@ -0,0 +1,124 @@ +# This script can be used for three situations: +# A) communication channel is connected to the Pixhawk +# Mission Planner is connected to Pixhawk (Sys/Comp ID 01/01) +# B) communication channel is connected to the Pixhawk +# Mission Planner is connected to STorM32 (Sys/Comp ID 71/67) +# C) communication channel is connected to the STorM32 +# Mission Planner is connected to STorM32 (Sys/Comp ID 71/67) +# +# Note: +# * AC does NOT support the common messages COMMAND_LONG:DO_MOUNT_CONTROL and COMMAND_LONG:DO_DIGICAM_CONTROL +# but instead uses the APM specific messages DO_MOUNT_CONTROL and DO_DIGICAM_CONTROL +# * STorM32 DOES support the common messages COMMAND_LONG:DO_MOUNT_CONTROL and COMMAND_LONG:DO_DIGICAM_CONTROL +# as well as the APM specific messages DO_MOUNT_CONTROL and DO_DIGICAM_CONTROL +# +# This script uses the DO_MOUNT_CONTROL, DO_MOUNT_CONFIGURE, and DO_DIGICAM_CONTROL messages. +# It however sets the target Sys/Comp IDs to that of the STorM32 (Sys/Comp ID 71/67) +# which measn that in case (A) the mavlink messages are passed through by the Pixhawk. +# +# Many thanks go to Michael Oborne for helping me getting this to work! + +import clr +import MissionPlanner +clr.AddReference("MAVLink") +import MAVLink + +from MAVLink import mavlink_digicam_control_t +from MAVLink import mavlink_mount_configure_t +from MAVLink import mavlink_mount_control_t + +digicam = mavlink_digicam_control_t() +mavlink_digicam_control_t.target_system.SetValue(digicam,71) +mavlink_digicam_control_t.target_component.SetValue(digicam,67) +mavlink_digicam_control_t.shot.SetValue(digicam, 1) + +mountconfigure = mavlink_mount_configure_t() +mavlink_mount_configure_t.target_system.SetValue(mountconfigure,71) +mavlink_mount_configure_t.target_component.SetValue(mountconfigure,67) + +mount = mavlink_mount_control_t() +mavlink_mount_control_t.target_system.SetValue(mount,71) +mavlink_mount_control_t.target_component.SetValue(mount,67) +mavlink_mount_control_t.input_a.SetValue(mount,0) +mavlink_mount_control_t.input_b.SetValue(mount,0) +mavlink_mount_control_t.input_c.SetValue(mount,0) + + +print 'Start' + +#mavlink_mount_configure_t.mount_mode.SetValue(mountconfigure, MAVLink.MAV_MOUNT_MODE.NEUTRAL) +#typecasting is non-trivial, so just play it simple: +mavlink_mount_configure_t.mount_mode.SetValue(mountconfigure, 1) +MAV.sendPacket(mountconfigure) +Script.Sleep(2000) + +mavlink_mount_control_t.input_a.SetValue(mount, -2000) +mavlink_mount_control_t.input_c.SetValue(mount, 5000) +MAV.sendPacket(mount) +Script.Sleep(3000) +print 'click' +MAV.sendPacket(digicam) + +mavlink_mount_control_t.input_a.SetValue(mount, -2000) +mavlink_mount_control_t.input_c.SetValue(mount, 0) +MAV.sendPacket(mount) +Script.Sleep(2000) +print 'click' +MAV.sendPacket(digicam) + +mavlink_mount_control_t.input_a.SetValue(mount, -2000) +mavlink_mount_control_t.input_c.SetValue(mount, -5000) +MAV.sendPacket(mount) +Script.Sleep(2000) +print 'click' +MAV.sendPacket(digicam) + +mavlink_mount_control_t.input_a.SetValue(mount, 0) +mavlink_mount_control_t.input_c.SetValue(mount, -5000) +MAV.sendPacket(mount) +Script.Sleep(2000) +print 'click' +MAV.sendPacket(digicam) + +mavlink_mount_control_t.input_a.SetValue(mount, 0) +mavlink_mount_control_t.input_c.SetValue(mount, 0) +MAV.sendPacket(mount) +Script.Sleep(2000) +print 'click' +MAV.sendPacket(digicam) + +mavlink_mount_control_t.input_a.SetValue(mount, 0) +mavlink_mount_control_t.input_c.SetValue(mount, 5000) +MAV.sendPacket(mount) +Script.Sleep(2000) +print 'click' +MAV.sendPacket(digicam) + +mavlink_mount_control_t.input_a.SetValue(mount, 2000) +mavlink_mount_control_t.input_c.SetValue(mount, 5000) +MAV.sendPacket(mount) +Script.Sleep(2000) +print 'click' +MAV.sendPacket(digicam) + +mavlink_mount_control_t.input_a.SetValue(mount, 2000) +mavlink_mount_control_t.input_c.SetValue(mount, 0) +MAV.sendPacket(mount) +Script.Sleep(2000) +print 'click' +MAV.sendPacket(digicam) + +mavlink_mount_control_t.input_a.SetValue(mount, 2000) +mavlink_mount_control_t.input_c.SetValue(mount, -5000) +MAV.sendPacket(mount) +Script.Sleep(2000) +print 'click' +MAV.sendPacket(digicam) + + +#mavlink_mount_configure_t.mount_mode.SetValue(mountconfigure, MAVLink.MAV_MOUNT_MODE.NEUTRAL) +mavlink_mount_configure_t.mount_mode.SetValue(mountconfigure, 1) +MAV.sendPacket(mountconfigure) +Script.Sleep(500) + +print 'End' \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/mp-storm32-pano-example1.py b/firmware binaries & gui/o323bgc-release-v230-v20170730/mp-storm32-pano-example1.py new file mode 100644 index 0000000..1d9166a --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/mp-storm32-pano-example1.py @@ -0,0 +1,78 @@ +# This script can be used for three situations: +# B) communication channel is connected to the Pixhawk +# Mission Planner is connected to STorM32 (Sys/Comp ID 71/67) +# C) communication channel is connected to the STorM32 +# Mission Planner is connected to STorM32 (Sys/Comp ID 71/67) +# +# Note: +# * AC does NOT support the common messages COMMAND_LONG:DO_MOUNT_CONTROL and COMMAND_LONG:DO_DIGICAM_CONTROL +# but instead uses the APM specific messages DO_MOUNT_CONTROL and DO_DIGICAM_CONTROL +# * STorM32 DOES support the common messages COMMAND_LONG:DO_MOUNT_CONTROL and COMMAND_LONG:DO_DIGICAM_CONTROL +# as well as the APM specific messages DO_MOUNT_CONTROL and DO_DIGICAM_CONTROL +# +# This script uses the COMMAND_LONG commands, hence it works only for the STorM32. + +import clr +import MissionPlanner +clr.AddReference("MAVLink") +import MAVLink + + +print 'Start' + +#MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONFIGURE, MAVLink.MAV_MOUNT_MODE.NEUTRAL, 0, 0, 0, 0, 0, 0); +#typecasting is non-trivial, so just play it simple: +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONFIGURE, 1, 0, 0, 0, 0, 0, 0); +Script.Sleep(2000) + + +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONTROL, -20.0, 0, 50.0, 0, 0, 0, 0); +Script.Sleep(3000) +print 'click' +MAV.doCommand(MAVLink.MAV_CMD.DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0); + +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONTROL, -20.0, 0, 0.0, 0, 0, 0, 0); +Script.Sleep(2000) +print 'click' +MAV.doCommand(MAVLink.MAV_CMD.DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0); + +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONTROL, -20.0, 0, -50.0, 0, 0, 0, 0); +Script.Sleep(2000) +print 'click' +MAV.doCommand(MAVLink.MAV_CMD.DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0); + +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONTROL, 0.0, 0, -50.0, 0, 0, 0, 0); +Script.Sleep(2000) +print 'click' +MAV.doCommand(MAVLink.MAV_CMD.DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0); + +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONTROL, 0.0, 0, 0.0, 0, 0, 0, 0); +Script.Sleep(2000) +print 'click' +MAV.doCommand(MAVLink.MAV_CMD.DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0); + +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONTROL, 0.0, 0, 50.0, 0, 0, 0, 0); +Script.Sleep(2000) +print 'click' +MAV.doCommand(MAVLink.MAV_CMD.DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0); + +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONTROL, 20.0, 0, 50.0, 0, 0, 0, 0); +Script.Sleep(2000) +print 'click' +MAV.doCommand(MAVLink.MAV_CMD.DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0); + +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONTROL, 20.0, 0, 0.0, 0, 0, 0, 0); +Script.Sleep(2000) +print 'click' +MAV.doCommand(MAVLink.MAV_CMD.DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0); + +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONTROL, 20.0, 0, -50.0, 0, 0, 0, 0); +Script.Sleep(2000) +print 'click' +MAV.doCommand(MAVLink.MAV_CMD.DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0); + + +#MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONFIGURE, MAVLink.MAV_MOUNT_MODE.NEUTRAL, 0, 0, 0, 0, 0, 0); +#typecasting is non-trivial, so just play it simple: +MAV.doCommand(MAVLink.MAV_CMD.DO_MOUNT_CONFIGURE, 1, 0, 0, 0, 0, 0, 0);Script.Sleep(500) +print 'End' \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool.ini b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool.ini new file mode 100644 index 0000000..6f67b2a --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool.ini @@ -0,0 +1,54 @@ +[SYSTEM] +XPos=100 +YPos=100 +DataDisplayXPos=150 +DataDisplayYPos=150 +FontName=Tahoma +FontSize=8 +TextFontSize=10 +UseSimplifiedPIDs=0 +UseAutoWritePIDChanges=1 +ShowNotesAtStartup=1 + +[BOARDCONFIGURATION] +LastActiveConfiguration=0 + +[PORT] +Port=COM1 +BaudRate=115200 + +[PROTOCOL] +MavlinkRcUse0xFE=0 + +[TIMING] +ExecuteCmdTimeOutFirst=8 +ExecuteCmdTimeOut=50 +ExecuteCmdBTAddedTimeOut=10 +MaxConnectionLost=2 + +[DIALOG] +OptionInvalidColor=0xaaaaff +OptionValidColor=0xbbffbb +OptionModifiedColor=0xffbbbb + +[FLASH] +Board=STorM32 v1.3 +HexFileDir=o323BgcFirmwareFiles +Version=v2.30 NT +Programmer=System Bootloader @ UART1 +STLinkPath=bin\ST\STLink +STMFlashLoaderPath=bin\ST\STMFlashLoader +Stm32Programmer=System Bootloader @ UART1 +NtProgrammer=Upgrade via STorM32 USB port + +[LINKS] +HelpLink=http://www.olliw.eu/storm32bgc-wiki/Manuals_and_Tutorials +ConfigureGimbalStepIIHelpLink=http://www.olliw.eu/storm32bgc-wiki/Getting_Started#Basic_Controller_Configuration_Quick_Trouble_Shooting + +[ESP] +EspWebAppPath=o323BgcEspWebApp +EspToolExe=esptool.exe +EspWebAppBin=storm32web.ino.generic.bin +EspMkSpiffsExe=mkspiffs.exe +EspSpiffsBin=storm32web.spiffs.bin +EspConfigFile=storm32web.cfg diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool_Run.bat b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool_Run.bat new file mode 100644 index 0000000..797ad0a --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool_Run.bat @@ -0,0 +1,3 @@ +"bin\ST\STLink\st-link_cli.exe" -P "o323BgcNtFirmwareFiles\o323bgc_ntmotor_v033_module_v2x_f103t8.hex" -V +"bin\ST\STLink\st-link_cli.exe" -Rst +@pause diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool_v230.exe b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool_v230.exe new file mode 100644 index 0000000..a427221 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool_v230.exe differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool_v230.pl b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool_v230.pl new file mode 100644 index 0000000..680c80f --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BGCTool_v230.pl @@ -0,0 +1,13408 @@ +#! perl -w +############################################################################### +# o32BGCTool (derived from BGCTool v0.07) +# v1.00: + +# TO DO: +############################################################################### + +#a comment on the HC06 BT module +#changes of the Parity with AT+PN, AT+PE, AT+PO become effective only after the next power up +#with parity the BT module does work together with stmflashloder!!!! #XX + +use strict; +#no warnings 'deprecated'; +use Win32; +use Win32::GUI(); +use Win32::GUI::Constants qw( /^WS_/ ); +my ($PerlWindow) = Win32::GUI::GetPerlWindow(); +Win32::GUI::Hide($PerlWindow); + +use Win32::SerialPort 0.22; +use Switch; +use Win32API::File qw(QueryDosDevice); #produces error: (in cleanup) Can't call method "FETCH" on an undefined value at C:/Perl/site/lib/Win32/GUI.pm line 3480 during global destruction. +use Win32::Wlan; +use IO::Socket::INET; +use IO::Select; +use Config::IniFiles; +use File::Basename; +use Cwd 'abs_path'; +use Win32::GUI::TabFrame; +use Win32::GUI::BitmapInline (); +#use PDL; #XX + +use Win32::GUI::DIBitmap; + +my $VersionStr= '30. July 2017 v2.30'; + +#CAREFULL: in Data Display version is not double checked! +my @SupportedBGCLayoutVersions= ( '229' ); #layout versions supported by o32BGCTool, used in ExecuteHeader() + +my @FirmwareVersionList= ( 'v2.30 NT','v2.27e NT','v0.96 NT' ); #versions available in the flash tab selector +my @FirmwareVReplaceList= ( 'v230_nt','v227e_nt','v096_nt' ); #versions available in the flash tab selector + +my @STorM32BoardList= ( +{ + name => 'STorM32 v3.1', hexfile => 'o323bgc_V_storm32bgc_v310_f103rc', +},{ + name => 'STorM32 v1.3', hexfile => 'o323bgc_V_storm32bgc_v130_f103rc', +},{ + name => 'STorM32 v1.2', hexfile => 'o323bgc_V_storm32bgc_v120_f103rc', +},{ + name => 'STorM32 v1.1', hexfile => 'o323bgc_V_storm32bgc_v110_f103rc', +},{ + name => 'STorM32 v1.3x', hexfile => 'o323bgc_V_storm32bgc_v130_f103rc', +},{ +# name => 'STorM32 CC3D Atom', hexfile => 'o323bgc_V_storm32bgc_cc3d', +#},{ + name => 'NT Imu Module v2.x', hexfile => 'o323bgc_ntimu_V_module_v2x_f103t8', + versions => [ 'v0.33' ], + vreplaces => [ 'v033' ], + boards => [ 'v2.1 F103T8' ], +},{ + name => 'NT Imu Module v1.x', hexfile => 'o323bgc_ntimu_V_module_v1x_f103t8', + versions => [ 'v0.33' ], + vreplaces => [ 'v033' ], + boards => [ 'v1.0 F103T8','v1.1 F103T8' ], +},{ + name => 'NT Motor Module v2.x', hexfile => 'o323bgc_ntmotor_V_module_v2x_f103t8', + versions => [ 'v0.33' ], + vreplaces => [ 'v033' ], + boards => [ 'v2.3E F103T8','v2.4E F103T8','v2.4Em F103T8'], +},{ + name => 'NT Motor Module v1.1', hexfile => 'o323bgc_ntmotor_V_module_v11_f103t8', + versions => [ 'v0.31' ], + vreplaces => [ 'v031' ], + boards => [ 'v1.1 F103T8' , 'v1.0 F103T8'], +},{ + name => 'NT Logger Module v1.x', hexfile => 'o323bgc_ntlogger_V_module_v1x_f103t8', + versions => [ 'v0.33' ], + vreplaces => [ 'v033' ], + boards => [ 'v1.0 F103T8','v1.1 F103T8' ], +},{ + name => 'NT Imu Module CC3D Atom', hexfile => 'o323bgc_ntimu_V_module_cc3d', + versions => [ 'v0.33' ], + vreplaces => [ 'v033' ], + boards => [ 'CC3D F103CB' ], + #the boardversion is checked before flashing, so allow the possibility + # to have different boards fitting a firmware file +} +); + +my $UpdateInstructionsStr = +"When you're updating from v2.26a or later then you just need to flash the new firmware. ". +"All settings, including the scripts and calibration data, are copied over. + +For version v2.22e and older, the firmware will reset all parameters, scripts and calibration settings when flashed. Please memorize your old settings before flashing, and restore them afterwards manually. + +The NT module firmwares were not modified; nothing to do here. + +Please note that, for reasons of size, the NTLoggerTool is NOT included in the standard package! ". +"If you require them then please download the latest version from the project web page, or the wiki."; + + +my $ReleaseNotesStr = "Please visit the main STorM32 thread at rcgroups."; + +my $BGCStr= "o323BGC"; + +my $ErrorStr= ''; + +my $ExePath= dirname(abs_path($0)); +$ExePath=~ tr/\//\\/; + + +#--------------------------- +# ALWAYS finish with a retrun value in Event Handlers! +# 1: Proceed, taking the default action defined for the event. +# 0: Proceed, but do not take the default action. +# -1: Terminate the message loop. +#--------------------------- + +############################################################################### +# Allgemeine Resourcen + +#my $StdWinFont= Win32::GUI::Font->new(-name=>'Tahoma',-size=>8,); #good, but not exactly it +#my $StdWinFont= Win32::GUI::Font->new(-name=>'Segoe UI',-size=>7,); #good, but not exactly it + +#my $StdWinFont= Win32::GUI::Font->new(-name=>'Verdana',-size=>8,); #solala, but not exactly it +#my $StdWinFont= Win32::GUI::Font->new(-name=>'Consolas',-size=>8,); #no +#my $StdWinFont= Win32::GUI::Font->new(-name=>'Courier',-size=>7,); #no +#my $StdWinFont= Win32::GUI::Font->new(-name=>'Lucida Console',-size=>9,); #no +#my $StdWinFont= Win32::GUI::Font->new(-name=>'Arial',-size=>8,); #this is it not! +#my $StdWinFont= Win32::GUI::Font->new(-name=>'Calibri',-size=>9,); #this is it not! + +#my $StdTextFont= Win32::GUI::Font->new(-name=>'Lucida Console',-size=>10,); +#my $StdHelpFont= Win32::GUI::Font->new(-name=>'Lucida Console',-size=>10,); + +#In whatever language you are using, read the value for +#HKEY_CURRENT_USER \Control Panel\Desktop\WindowMetrics AppliedDPI +#The value returned for +#smaller: 96 +#medium: 120 +#larger: 144 + + +#my $Icon = new Win32::GUI::Icon('BLHELITOOL.ICO'); + +#create from cmd line with +#perl -MWin32::GUI::BitmapInline -e "inline('BLHeliTool.ico')" >>script.pl +#http://perl-win32-gui.sourceforge.net/cgi-bin/docs.cgi?doc=bitmapinline +my $Icon = Win32::GUI::BitmapInline->newIcon( q( +AAABAAEAICAQAAEABADoAgAAFgAAACgAAAAgAAAAQAAAAAEABAAAAAAAAAAAAAAAAAAAAAAAAAAA +AAAAAAA6PToATlBPAEJaPwBhZGIAbXBuAHl8egBeilwAhYiGAI+SkACJo38Am56cAK+zsACR0aEA +yMvJAO3w7gAAAAAA//////////hBf///////////qIqP/4iBEBr/dzM0eP//9BEBFHgRAYEV9QAA +ABiP/zNLqEEBMRCqM1AAAAAUj/8TSqvdoLowAAAAEREAE///E0vd3dEBGlAF8wAAQT///xNNu73d +u92FFRFF/xf///8UXd3dvd3eux////RP////E6693d3d3dsf///xj////xPbmZmbve3bD///hP// +//8U2mZmZmC92x///zj/////EdoRImZh3bof//84/////xXd3bhRJL2KH///OP////8Uu7q7u7u7 +eh///zj/////Fbuoi7u7unof//84/////xR1V3i6irh6H///OP////8TW6iFd47rWB////Sv//// +E4VFekW97kof///zf////xNHWoVXqt5IH///8Y////8TRVQ1VXq6SB////OP////FEdURUREREcf +///zj////xNbu4h3VERYH///84////8TW9u7qqqopx////N/////E127u6qqrCgf///xr////3q9 +3burqqZXP///8///////q4p6qzFKpf///3T///////////hRBH////8V////////////9D/////x +f/////////////Nf////M//////////////xtf//UU//////////////+Dq3Ux////////////// +//+INY///////////h//8HAMA+AACAHAAAABwAAAA8AACAfAAADPwAAfn8AAH5/AAB8/wAAfP8AA +Hz/AAB8/wAAfP8AAHz/AAB8/wAAfn8AAH5/AAB+fwAAfn8AAH5/AAB+fwAAfn8AAH5/AAB+/8AA/ +P//gfz//+f5///n8///48f//+Af///wf/w== +) ); + +#perl -MWin32::GUI::BitmapInline -e "inline('camera-orientations.bmp')" >>script.pl; + +#ImuOrientation no. = index in List +#ImuOrientation value = if( no.>11 ) value= no. + 4 else value= no.; +my @ImuOrientationList=( +{ name => 'z0°', axes => '+x +y +z', value => 0, }, +{ name => 'z90°', axes => '-y +x +z', value => 1, }, +{ name => 'z180°', axes => '-x -y +z', value => 2, }, +{ name => 'z270°', axes => '+y -x +z', value => 3, }, + +{ name => 'x0°', axes => '+y +z +x', value => 4, }, +{ name => 'x90°', axes => '-z +y +x', value => 5, }, +{ name => 'x180°', axes => '-y -z +x', value => 6, }, +{ name => 'x270°', axes => '+z -y +x', value => 7, }, + +{ name => 'y0°', axes => '+z +x +y', value => 8, }, +{ name => 'y90°', axes => '-x +z +y', value => 9, }, +{ name => 'y180°', axes => '-z -x +y', value => 10, }, +{ name => 'y270°', axes => '+x -z +y', value => 11, }, + +{ name => '-z0°', axes => '+y +x -z', value => 16, }, +{ name => '-z90°', axes => '-x +y -z', value => 17, }, +{ name => '-z180°', axes => '-y -x -z', value => 18, }, +{ name => '-z270°', axes => '+x -y -z', value => 19, }, + +{ name => '-x0°', axes => '+z +y -x', value => 20, }, +{ name => '-x90°', axes => '-y +z -x', value => 21, }, +{ name => '-x180°', axes => '-z -y -x', value => 22, }, +{ name => '-x270°', axes => '+y -z -x', value => 23, }, + +{ name => '-y0°', axes => '+x +z -y', value => 24, }, +{ name => '-y90°', axes => '-z +x -y', value => 25, }, +{ name => '-y180°', axes => '-x -z -y', value => 26, }, +{ name => '-y270°', axes => '+z -x -y', value => 27, }, +); + +my @ImuChoicesList= (); +my $no= 0; +foreach my $orientation (@ImuOrientationList){ + push( @ImuChoicesList, 'no.'.$no.': '.$orientation->{name}.' '.AxesRemovePlus($orientation->{axes}) ); + $no++; +} + +my @FunctionInputChoicesList= ( + 'off', 'Rc-0', 'Rc-1', 'Rc-2', 'Rc2-0', 'Rc2-1', 'Rc2-2', 'Rc2-3', 'Pot-0', 'Pot-1', 'Pot-2', + 'Virtual-1', 'Virtual-2', 'Virtual-3', 'Virtual-4', 'Virtual-5', 'Virtual-6', 'Virtual-7', 'Virtual-8', + 'Virtual-9', 'Virtual-10', 'Virtual-11', 'Virtual-12', 'Virtual-13', 'Virtual-14', 'Virtual-15', 'Virtual-16', + 'But switch', 'But latch', 'But step', + 'Aux-0 switch', 'Aux-1 switch', 'Aux-2 switch', 'Aux-01 switch', 'Aux-012 switch', + 'Aux-0 latch', 'Aux-1 latch', 'Aux-2 latch', 'Aux-01 latch', 'Aux-012 latch', + 'Aux-0 step', 'Aux-1 step', 'Aux-2 step', +); +my $FunctionInputMax = 43 -1; + +my @SetupTabList= ( 'dashboard', 'pid', 'pan', 'rcinputs', 'functions', 'scripts', 'setup', + 'gimbalconfig', 'expert', 'interfaces' ); + +my $SCRIPTSIZE = 128; +my $CMD_s_PARAMETER_ZAHL = 7; #number of values transmitted with a 's' get data command, V1: 5, V2: 7 +my $CMD_d_PARAMETER_ZAHL = 32; #number of values transmitted with a 'd' get data command, V1: 32, V2: 32 +my $CMD_g_PARAMETER_ZAHL = 155; #number of values transmitted with a 'g' get data command #is identical for all option lists + +my @OptionList_L223 = ( +{ + name => 'Firmware Version', + type => 'OPTTYPE_STR+OPTTYPE_READONLY', + size => 16, + page=> 'dashboard', + column=> 1, +},{ + name => 'Board', + type => 'OPTTYPE_STR+OPTTYPE_READONLY', + size => 16, +},{ + name => 'Name', + type => 'OPTTYPE_STR+OPTTYPE_READONLY', + size => 16, + +##--- PID tab -------------------- +},{#DEFAULT parameters + name => 'Gyro LPF', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 6, default => 1, steps => 1, + adr => 12, + choices => [ 'off', '1.5 ms', '3.0 ms', '4.5 ms', '6.0 ms', '7.5 ms', '9 ms' ], + page=> 'pid', + pos=>[1,1], +},{#FOC parameters + name => 'Foc Gyro LPF', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 6, default => 1, steps => 1, + adr => 41, + choices => [ 'off', '1.5 ms', '3.0 ms', '4.5 ms', '6.0 ms', '7.5 ms', '9 ms' ], + pos=>[1,1], +},{# all + name => 'Imu2 FeedForward LPF', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 6, default => 1, steps => 1, + adr => 72, + choices => [ 'off', '1.5 ms', '4 ms', '10 ms', '22 ms', '46 ms', '94 ms' ], + +},{ + name => 'Voltage Correction', + type => 'OPTTYPE_UI', len => 7, ppos => 0, min => 0, max => 200, default => 0, steps => 1, + adr => 75, + unit => '%', + pos=>[1,4], +},{ + name => 'Roll Yaw PD Mixing', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 100, default => 0, steps => 1, + adr => 73, + unit => '%', +# pos=> [4,6], + +},{#DEFAULT parameters + name => 'Pitch P', + type => 'OPTTYPE_UI', len => 5, ppos => 2, min => 0, max => 3000, default => 400, steps => 10, + adr => 0, + pos=> [2,1], +},{ + name => 'Pitch I', + type => 'OPTTYPE_UI', len => 7, ppos => 1, min => 0, max => 32000, default => 1000, steps => 50, + adr => 1, +},{ + name => 'Pitch D', + type => 'OPTTYPE_UI', len => 3, ppos => 4, min => 0, max => 8000, default => 500, steps => 50, + adr => 2, +},{ + name => 'Pitch Motor Vmax', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 255, default => 150, steps => 1, + adr => 3, + +},{ + name => 'Roll P', + type => 'OPTTYPE_UI', len => 5, ppos => 2, min => 0, max => 3000, default => 400, steps => 10, + adr => 4, + pos=> [3,1], +},{ + name => 'Roll I', + type => 'OPTTYPE_UI', len => 7, ppos => 1, min => 0, max => 32000, default => 1000, steps => 50, + adr => 5, +},{ + name => 'Roll D', + type => 'OPTTYPE_UI', len => 3, ppos => 4, min => 0, max => 8000, default => 500, steps => 50, + adr => 6, +},{ + name => 'Roll Motor Vmax', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 255, default => 150, steps => 1, + adr => 7, + +},{ + name => 'Yaw P', + type => 'OPTTYPE_UI', len => 5, ppos => 2, min => 0, max => 3000, default => 400, steps => 10, + adr => 8, + pos=> [4,1], +},{ + name => 'Yaw I', + type => 'OPTTYPE_UI', len => 7, ppos => 1, min => 0, max => 32000, default => 1000, steps => 50, + adr => 9, +},{ + name => 'Yaw D', + type => 'OPTTYPE_UI', len => 3, ppos => 4, min => 0, max => 8000, default => 500, steps => 50, + adr => 10, +},{ + name => 'Yaw Motor Vmax', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 255, default => 150, steps => 1, + adr => 11, + +},{#FOC parameters + name => 'Foc Pitch P', + type => 'OPTTYPE_UI', len => 5, ppos => 2, min => 0, max => 3000, default => 400, steps => 10, + adr => 23, + pos=> [2,1], +},{ + name => 'Foc Pitch I', + type => 'OPTTYPE_UI', len => 7, ppos => 1, min => 0, max => 32000, default => 100, steps => 50, + adr => 24, +},{ + name => 'Foc Pitch D', + type => 'OPTTYPE_UI', len => 3, ppos => 4, min => 0, max => 8000, default => 2000, steps => 50, + adr => 25, +},{ + name => 'Foc Pitch K', + type => 'OPTTYPE_UI', len => 5, ppos => 1, min => 1, max => 100, default => 10, steps => 1, + adr => 26, + +},{ + name => 'Foc Roll P', + type => 'OPTTYPE_UI', len => 5, ppos => 2, min => 0, max => 3000, default => 400, steps => 10, + adr => 29, + pos=> [3,1], +},{ + name => 'Foc Roll I', + type => 'OPTTYPE_UI', len => 7, ppos => 1, min => 0, max => 32000, default => 100, steps => 50, + adr => 30, +},{ + name => 'Foc Roll D', + type => 'OPTTYPE_UI', len => 3, ppos => 4, min => 0, max => 8000, default => 2000, steps => 50, + adr => 31, +},{ + name => 'Foc Roll K', + type => 'OPTTYPE_UI', len => 5, ppos => 1, min => 1, max => 100, default => 10, steps => 1, + adr => 32, + +},{ + name => 'Foc Yaw P', + type => 'OPTTYPE_UI', len => 5, ppos => 2, min => 0, max => 3000, default => 400, steps => 10, + adr => 35, + pos=> [4,1], +},{ + name => 'Foc Yaw I', + type => 'OPTTYPE_UI', len => 7, ppos => 1, min => 0, max => 32000, default => 100, steps => 50, + adr => 36, +},{ + name => 'Foc Yaw D', + type => 'OPTTYPE_UI', len => 3, ppos => 4, min => 0, max => 8000, default => 2000, steps => 50, + adr => 37, +},{ + name => 'Foc Yaw K', + type => 'OPTTYPE_UI', len => 5, ppos => 1, min => 1, max => 100, default => 10, steps => 1, + adr => 38, + + + +##--- PAN tab -------------------- +},{ + name => 'Pan Mode Control', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => 79, + choices => \@FunctionInputChoicesList, + page=> 'pan', + column=> 1, +},{ + name => 'Pan Mode Default Setting', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 5, default => 0, steps => 1, + adr => 80, + choices => [ 'hold hold pan', 'hold hold hold', 'pan pan pan', 'pan hold hold', 'pan hold pan', 'hold pan pan', 'off'], +},{ + name => 'Pan Mode Setting #1', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 6, default => 1, steps => 1, + adr => 81, + choices => [ 'hold hold pan', 'hold hold hold', 'pan pan pan', 'pan hold hold', 'pan hold pan', 'hold pan pan', 'off'], +},{ + name => 'Pan Mode Setting #2', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 6, default => 4, steps => 1, + adr => 82, + choices => [ 'hold hold pan', 'hold hold hold', 'pan pan pan', 'pan hold hold', 'pan hold pan', 'hold pan pan', 'off'], +},{ + name => 'Pan Mode Setting #3', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 6, default => 2, steps => 1, + adr => 83, + choices => [ 'hold hold pan', 'hold hold hold', 'pan pan pan', 'pan hold hold', 'pan hold pan', 'hold pan pan', 'off'], + +},{ + name => 'Pitch Pan (0 = hold)', + type => 'OPTTYPE_UI', len => 5, ppos => 1, min => 0, max => 50, default => 20, steps => 1, + adr => 84, + column=> 2, +},{ + name => 'Pitch Pan Deadband', + type => 'OPTTYPE_UI', len => 5, ppos => 1, min => 0, max => 600, default => 0, steps => 10, + adr => 85, + unit=> '°', + pos=> [2,3], +},{ + name => 'Pitch Pan Expo', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 100, default => 0, steps => 1, + adr => 86, + unit=> '%', + +},{ + name => 'Roll Pan (0 = hold)', + type => 'OPTTYPE_UI', len => 5, ppos => 1, min => 0, max => 50, default => 20, steps => 1, + adr => 87, + column=> 3, +},{ + name => 'Roll Pan Deadband', + type => 'OPTTYPE_UI', len => 5, ppos => 1, min => 0, max => 600, default => 0, steps => 10, + adr => 88, + unit=> '°', + pos=> [3,3], +},{ + name => 'Roll Pan Expo', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 100, default => 0, steps => 1, + adr => 89, + unit=> '%', + +},{ + name => 'Yaw Pan (0 = hold)', + type => 'OPTTYPE_UI', len => 5, ppos => 1, min => 0, max => 50, default => 20, steps => 1, + adr => 90, + column=> 4, +},{ + name => 'Yaw Pan Deadband', + type => 'OPTTYPE_UI', len => 5, ppos => 1, min => 0, max => 100, default => 50, steps => 5, + adr => 91, + unit=> '°', + pos=> [4,3], +},{ + name => 'Yaw Pan Expo', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 100, default => 0, steps => 1, + adr => 92, + unit=> '%', +},{ + name => 'Yaw Pan Deadband LPF', + type => 'OPTTYPE_UI', len => 5, ppos => 2, min => 0, max => 300, default => 150, steps => 5, + adr => 93, + unit=> 's', +},{ + name => 'Yaw Pan Deadband Hysteresis', + type => 'OPTTYPE_UI', len => 5, ppos => 1, min => 0, max => 50, default => 0, steps => 1, + adr => 94, + unit=> '°', + pos=> [4,6], + +##--- RC INPUTS tab -------------------- +},{ + name => 'Rc Dead Band', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 0, max => 50, default => 10, steps => 1, + adr => 96, + unit => 'us', + page=> 'rcinputs', +},{ + name => 'Rc Hysteresis', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 0, max => 50, default => 5, steps => 1, + adr => 97, + unit => 'us', + +},{ + name => 'Rc Pitch Trim', + type => 'OPTTYPE_SI', len => 0, ppos => 0, min => -100, max => 100, default => 0, steps => 1, + adr => 104, + unit => 'us', + pos=>[1,4], +},{ + name => 'Rc Roll Trim', + type => 'OPTTYPE_SI', len => 0, ppos => 0, min => -100, max => 100, default => 0, steps => 1, + adr => 111, + unit => 'us', +},{ + name => 'Rc Yaw Trim', + type => 'OPTTYPE_SI', len => 0, ppos => 0, min => -100, max => 100, default => 0, steps => 1, + adr => 118, + unit => 'us', + +},{ + name => 'Rc Pitch', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => 102, + choices => \@FunctionInputChoicesList, + column => 2, +},{ + name => 'Rc Pitch Mode', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 2, default => 0, steps => 1, + adr => 103, + choices => [ 'absolute', 'relative', 'absolute centered'], +},{ + name => 'Rc Pitch Min', + type => 'OPTTYPE_SI', len => 0, ppos => 1, min => -1200, max => 1200, default => -250, steps => 5, + adr => 105, + unit => '°', +},{ + name => 'Rc Pitch Max', + type => 'OPTTYPE_SI', len => 0, ppos => 1, min => -1200, max => 1200, default => 250, steps => 5, + adr => 106, + unit => '°', +},{ + name => 'Rc Pitch Speed Limit (0 = off)', + type => 'OPTTYPE_UI', len => 0, ppos => 1, min => 0, max => 1000, default => 400, steps => 5, + adr => 107, + unit => '°/s', +},{ + name => 'Rc Pitch Accel Limit (0 = off)', + type => 'OPTTYPE_UI', len => 0, ppos => 3, min => 0, max => 1000, default => 300, steps => 10, + adr => 108, + +},{ + name => 'Rc Roll', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => 109, + choices => \@FunctionInputChoicesList, + column => 3, +},{ + name => 'Rc Roll Mode', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 2, default => 0, steps => 1, + adr => 110, + choices => [ 'absolute', 'relative', 'absolute centered'], +},{ + name => 'Rc Roll Min', + type => 'OPTTYPE_SI', len => 0, ppos => 1, min => -450, max => 450, default => -250, steps => 5, + adr => 112, + unit => '°', +},{ + name => 'Rc Roll Max', + type => 'OPTTYPE_SI', len => 0, ppos => 1, min => -450, max => 450, default => 250, steps => 5, + adr => 113, + unit => '°', +},{ + name => 'Rc Roll Speed Limit (0 = off)', + type => 'OPTTYPE_UI', len => 0, ppos => 1, min => 0, max => 1000, default => 400, steps => 5, + adr => 114, + unit => '°/s', +},{ + name => 'Rc Roll Accel Limit (0 = off)', + type => 'OPTTYPE_UI', len => 0, ppos => 3, min => 0, max => 1000, default => 300, steps => 10, + adr => 115, + +},{ + name => 'Rc Yaw', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => 116, + choices => \@FunctionInputChoicesList, + column => 4, +},{ + name => 'Rc Yaw Mode', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 3, default => 0, steps => 1, + adr => 117, + choices => [ 'absolute', 'relative', 'absolute centered', 'relative turn around' ], #'relative slip ring' ], +},{ + name => 'Rc Yaw Min', + type => 'OPTTYPE_SI', len => 0, ppos => 1, min => -2700, max => 2700, default => -250, steps => 10, + adr => 119, + unit => '°', +},{ + name => 'Rc Yaw Max', + type => 'OPTTYPE_SI', len => 0, ppos => 1, min => -2700, max => 2700, default => 250, steps => 10, + adr => 120, + unit => '°', +},{ + name => 'Rc Yaw Speed Limit (0 = off)', + type => 'OPTTYPE_UI', len => 0, ppos => 1, min => 0, max => 1000, default => 400, steps => 5, + adr => 121, + unit => '°/s', +},{ + name => 'Rc Yaw Accel Limit (0 = off)', + type => 'OPTTYPE_UI', len => 0, ppos => 3, min => 0, max => 1000, default => 300, steps => 10, + adr => 122, + +##--- FUNCTIONS tab -------------------- +},{ + name => 'Standby', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => 123, + choices => \@FunctionInputChoicesList, + page=> 'functions', + column=> 1, + +},{ + name => 'Re-center Camera', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => 124, + choices => \@FunctionInputChoicesList, + pos=>[1,3], + +},{ + name => 'IR Camera Control', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => 125, + choices => \@FunctionInputChoicesList, + column=> 2, #3, +},{ + name => 'Camera Model', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 5, default => 0, steps => 1, + adr => 126, + choices => [ 'Sony Nex', 'Canon', 'Panasonic', 'Nikon', 'Git2 Rc', 'CAMremote' ], +},{ + name => 'IR Camera Setting #1', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 2, default => 0, steps => 1, + adr => 127, + choices => [ 'shutter', 'shutter delay', 'video on/off' ], +},{ + name => 'IR Camera Setting #2', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 3, default => 2, steps => 1, + adr => 128, + choices => [ 'shutter', 'shutter delay', 'video on/off', 'off' ], +},{ + name => 'Time Interval (0 = off)', + type => 'OPTTYPE_UI', len => 0, ppos => 1, min => 0, max => 150, default => 0, steps => 1, + adr => 129, + unit => 's', + +},{ + name => 'Pwm Out Control', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => 130, + choices => \@FunctionInputChoicesList, + column=> 3, +},{ + name => 'Pwm Out Mid', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 900, max => 2100, default => 1500, steps => 1, + adr => 131, + unit => 'us', +},{ + name => 'Pwm Out Min', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 900, max => 2100, default => 1100, steps => 10, + adr => 132, + unit => 'us', +},{ + name => 'Pwm Out Max', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 900, max => 2100, default => 1900, steps => 10, + adr => 133, + unit => 'us', +},{ + name => 'Pwm Out Speed Limit (0 = off)', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 0, max => 1000, default => 0, steps => 5, + adr => 134, + unit => 'us/s', + +##--- SCRIPTS tab -------------------- +},{ + name => 'Script1 Control', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => $CMD_g_PARAMETER_ZAHL-5, + choices => \@FunctionInputChoicesList, + page=> 'scripts', + column=> 1, +},{ + name => 'Script2 Control', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => $CMD_g_PARAMETER_ZAHL-4, + choices => \@FunctionInputChoicesList, + column=> 2, +},{ + name => 'Script3 Control', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => $CMD_g_PARAMETER_ZAHL-3, + choices => \@FunctionInputChoicesList, + column=> 3, +},{ + name => 'Script4 Control', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => $FunctionInputMax, default => 0, steps => 1, + adr => $CMD_g_PARAMETER_ZAHL-2, + choices => \@FunctionInputChoicesList, + column=> 4, + +},{ + name => 'Scripts', + type => 'OPTTYPE_SCRIPT', len => 0, ppos => 0, min => 0, max => 0, default => '', steps => 0, + size => $SCRIPTSIZE, + adr => $CMD_g_PARAMETER_ZAHL-1, + hidden => 1, + +##--- GIMBAL SETUP tab -------------------- +},{ + name => 'Imu2 Configuration', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 2, default => 0, steps => 1, + adr => 53, + choices => [ 'off', 'full', 'full xy' ], ##'full v1', 'full v1 xy' ], + page=> 'setup', + +},{ + name => 'Startup Mode', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 1, default => 0, steps => 1, + adr => 140, + choices => [ 'normal', 'fast'], + pos=> [1,4], +},{ + name => 'Startup Delay', + type => 'OPTTYPE_UI', len => 0, ppos => 1, min => 0, max => 250, default => 0, steps => 5, + adr => 141, + unit => 's', +},{ + name => 'Imu AHRS', + type => 'OPTTYPE_UI', len => 5, ppos => 2, min => 0, max => 2500, default => 1000, steps => 100, + adr => 61, + unit => 's', + +},{ + name => 'Virtual Channel Configuration', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 11, default => 0, steps => 1, + adr => 77, + choices => [ 'off', 'sum ppm 6', 'sum ppm 7', 'sum ppm 8', 'sum ppm 10', 'sum ppm 12', + 'spektrum 10 bit', 'spektrum 11 bit', 'sbus', 'hott sumd', 'srxl', 'serial' ], + column=> 2, +},{ + name => 'Pwm Out Configuration', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 2, default => 0, steps => 1, + adr => 78, + choices => [ 'off', '1520 us 55 Hz', '1520 us 250 Hz' ], + +},{ + name => 'Rc Pitch Offset', + type => 'OPTTYPE_SI', len => 0, ppos => 1, min => -1200, max => 1200, default => 0, steps => 5, + adr => 99, + unit => '°', + pos=> [2,4], +},{ + name => 'Rc Roll Offset', + type => 'OPTTYPE_SI', len => 0, ppos => 1, min => -1200, max => 1200, default => 0, steps => 5, + adr => 100, + unit => '°', +},{ + name => 'Rc Yaw Offset', + type => 'OPTTYPE_SI', len => 0, ppos => 1, min => -1200, max => 1200, default => 0, steps => 5, + adr => 101, + unit => '°', + +},{ + name => 'Esp Configuration', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 2, default => 0, steps => 1, + adr => 147, + choices => [ 'off', 'uart', 'uart2' ], + pos=> [3,1], + +},{ + name => 'Low Voltage Limit', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 7, default => 1, steps => 1, + adr => 74, + choices => [ 'off', '2.9 V/cell', '3.0 V/cell', '3.1 V/cell', '3.2 V/cell', '3.3 V/cell', '3.4 V/cell', '3.5 V/cell' ], + pos=>[3,4], + +},{ + name => 'Beep with Motors', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 2, default => 0, steps => 1, + adr => 143, + choices => [ 'off', 'basic', 'all' ], +# pos=> [3,4], +},{ + name => 'NT Logging', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 7, default => 0, steps => 1, + adr => 142, + choices => [ 'off', 'basic', 'basic + pid', 'basic + accgyro', 'basic + accgyro_raw', + 'basic + pid + accgyro', 'basic + pid + ag_raw', 'full' ], + +},{ + name => 'Pitch Motor Usage', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 3, default => 3, steps => 1, + adr => 55, + choices => [ 'normal', 'level', 'startup pos', 'disabled'], + column=> 4, +},{ + name => 'Roll Motor Usage', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 3, default => 3, steps => 1, + adr => 56, + choices => [ 'normal', 'level', 'startup pos', 'disabled'], +},{ + name => 'Yaw Motor Usage', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 3, default => 3, steps => 1, + adr => 57, + choices => [ 'normal', 'level', 'startup pos', 'disabled'], + +##--- CONFIGURE GIMBAL tab -------------------- +},{ + name => 'Imu Orientation', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 23, default => 0, steps => 1, + adr => 51, + choices => \@ImuChoicesList, + page=> 'gimbalconfig', + pos=>[1,1], +},{ + name => 'Imu2 Orientation', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 23, default => 0, steps => 1, + adr => 54, + choices => \@ImuChoicesList, + +},{#DEFAULT parameters + name => 'Pitch Motor Poles', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 8, max => 28, default => 14, steps => 2, + adr => 13, + pos=> [2,1], +},{ + name => 'Pitch Motor Direction', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 2, default => 2, steps => 1, + adr => 14, + choices => [ 'normal', 'reversed', 'auto' ], +},{ + name => 'Pitch Startup Motor Pos', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 1008, default => 504, steps => 1, + adr => 15, +},{#FOC parameters + name => 'Foc Pitch Motor Direction', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 1, default => 0, steps => 1, + adr => 42, + choices => [ 'normal', 'reversed', 'auto' ], + pos=> [2,1], +},{ + name => 'Foc Pitch Zero Pos', + type => 'OPTTYPE_SI', len => 5, ppos => 0, min => -16384, max => 16383, default => 0, steps => 8, + adr => 43, +},{#for all + name => 'Pitch Offset', + type => 'OPTTYPE_SI', len => 5, ppos => 2, min => -300, max => 300, default => 0, steps => 5, + adr => 58, + unit=> '°', + pos=> [2,4], + +},{#DEFAULT parameters + name => 'Roll Motor Poles', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 8, max => 28, default => 14, steps => 2, + adr => 16, + pos=> [3,1], +},{ + name => 'Roll Motor Direction', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 2, default => 2, steps => 1, + adr => 17, + choices => [ 'normal', 'reversed', 'auto' ], +},{ + name => 'Roll Startup Motor Pos', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 1008, default => 504, steps => 1, + adr => 18, +},{#FOC parameters + name => 'Foc Roll Motor Direction', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 1, default => 0, steps => 1, + adr => 44, + choices => [ 'normal', 'reversed', 'auto' ], + pos=> [3,1], +},{ + name => 'Foc Roll Zero Pos', + type => 'OPTTYPE_SI', len => 5, ppos => 0, min => -16384, max => 16383, default => 0, steps => 8, + adr => 45, +},{#for all + name => 'Roll Offset', + type => 'OPTTYPE_SI', len => 5, ppos => 2, min => -300, max => 300, default => 0, steps => 5, + adr => 59, + unit=> '°', + pos=> [3,4], + +},{#DEFAULT parameters + name => 'Yaw Motor Poles', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 8, max => 28, default => 14, steps => 2, + adr => 19, + pos=> [4,1], +},{ + name => 'Yaw Motor Direction', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 2, default => 2, steps => 1, + adr => 20, + choices => [ 'normal', 'reversed', 'auto', ], +},{ + name => 'Yaw Startup Motor Pos', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 1008, default => 504, steps => 1, + adr => 21, +},{#FOC parameters + name => 'Foc Yaw Motor Direction', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 1, default => 0, steps => 1, + adr => 46, + choices => [ 'normal', 'reversed', 'auto' ], + pos=> [4,1], +},{ + name => 'Foc Yaw Zero Pos', + type => 'OPTTYPE_SI', len => 5, ppos => 0, min => -16384, max => 16383, default => 0, steps => 8, + adr => 47, +},{#for all + name => 'Yaw Offset', + type => 'OPTTYPE_SI', len => 5, ppos => 2, min => -300, max => 300, default => 0, steps => 5, + adr => 60, + unit=> '°', + pos=> [4,4], + +##--- EXPERT tab -------------------- +},{ + name => 'Acc LPF', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 6, default => 2, steps => 1, + adr => 71, + choices => [ 'off', '1.5 ms', '4.5 ms', '12 ms', '25 ms', '50 ms', '100 ms' ], + page=> 'expert', +},{ + name => 'Rc Adc LPF', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 6, default => 0, steps => 1, + adr => 98, + choices => [ 'off', '1.5 ms', '4.5 ms', '12 ms', '25 ms', '50 ms', '100 ms' ], +},{ + name => 'Hold To Pan Transition Time', + type => 'OPTTYPE_UI', len => 5, ppos => 0, min => 0, max => 1000, default => 250, steps => 25, + adr => 95, + unit => 'ms', + +},{ + name => 'Acc Compensation Method', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 1, default => 1, steps => 1, + adr => 65, + choices => [ 'standard', 'advanced'], + pos=> [1,6], + +},{ + name => 'Imu Acc Threshold (0 = off)', + type => 'OPTTYPE_UI', len => 5, ppos => 2, min => 0, max => 100, default => 25, steps => 1, + adr => 64, + unit => 'g', + column=> 2, +},{ + name => 'Acc Noise Level', + type => 'OPTTYPE_UI', len => 0, ppos => 3, min => 0, max => 150, default => 40, steps => 1, + adr => 66, + unit => 'g', +},{ + name => 'Acc Threshold (0 = off)', + type => 'OPTTYPE_UI', len => 0, ppos => 2, min => 0, max => 100, default => 50, steps => 1, + adr => 67, + unit => 'g', +},{ + name => 'Acc Vertical Weight', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 0, max => 100, default => 25, steps => 5, + adr => 68, + unit => '%', +},{ + name => 'Acc Zentrifugal Correction', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 0, max => 100, default => 30, steps => 5, + adr => 69, + unit => '%', +},{ + name => 'Acc Recover Time', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 0, max => 1000, default => 250, steps => 5, + adr => 70, + unit => ' ms', + +},{ + name => 'Motor Mapping', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 5, default => 0, steps => 1, + adr => 22, + choices => [ 'M0=pitch , M1=roll', 'M0=roll , M1=pitch', 'roll yaw pitch', 'yaw roll pitch', 'pitch yaw roll', 'yaw pitch roll', ], + column=> 3, +},{ + name => 'Imu Mapping', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 1, default => 0, steps => 1, + adr => 52, + choices => [ '1 = id1 , 2 = id2', '1 = id2 , 2 = id1', ], +},{ + name => 'ADC Calibration', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 1000, max => 2000, default => 1550, steps => 10, + adr => 76, + +},{ + name => 'Imu3 Configuration', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 5, default => 0, steps => 1, + adr => 135, + choices => [ 'off', 'default', '2 = id2, 3 = onboard', '2 = onboard, 3 = id2', '2 = onboard, 3 = id3', '2 = onboard, 3 = off' ], + column=> 4, +},{ + name => 'Imu3 Orientation', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 23, default => 0, steps => 1, + adr => 136, + choices => \@ImuChoicesList, + +},{ + name => 'Uart1 Configuration', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 1, default => 0, steps => 1, + adr => 139, + choices => [ 'off', 'gps target' ], + pos=> [4,5], + + +},{ + name => 'Mavlink Configuration', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 3, default => 0, steps => 1, + adr => 144, + choices => [ 'no heartbeat', 'emit heartbeat', 'heartbeat + attitude', 'h.b. + mountstatus' ], + page=> 'interfaces', + #pos=> [3,5], +},{ + name => 'Mavlink System ID', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 0, max => 255, default => 71, steps => 1, + adr => 145, +},{ + name => 'Mavlink Component ID', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 0, max => 255, default => 67, steps => 1, + adr => 146, + +},{ + name => 'Uavcan Configuration', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 1, default => 0, steps => 1, + adr => 148, + choices => [ 'off', 'normal' ], + pos=> [2,1], +},{ + name => 'Uavcan Node ID', + type => 'OPTTYPE_UI', len => 0, ppos => 0, min => 11, max => 124, default => 71, steps => 1, + adr => 149, + +},{ + name => 'STorM32Link Configuration', + type => 'OPTTYPE_LISTA', len => 0, ppos => 0, min => 0, max => 1, default => 0, steps => 1, + adr => 137, + choices => [ 'off', 'normal' ], + pos=> [3,1], +},{ + name => 'STorM32Link Wait Time', + type => 'OPTTYPE_UI', len => 0, ppos => 1, min => 0, max => 250, default => 50, steps => 5, + adr => 138, + unit => 's', +} +); + + +my %NameToOptionHash= (); #will be populated by PopulateOptions() + +sub OptionToSkip{ + my $Option= shift; + if( uc($Option->{name}) eq uc('Firmware Version') ){ return 1; } + if( uc($Option->{name}) eq uc('Name') ){ return 2; } + if( uc($Option->{name}) eq uc('Board') ){ return 3; } + return 0; +} + +#--------------------------- +# Inifile +#--------------------------- +my $IniFileName= $BGCStr."Tool.ini"; +my $IniFile; +if( open(F,"<$IniFileName") ){ + close( F ); + $IniFile = new Config::IniFiles( -file => $IniFileName ); +} +if( not defined $IniFile ){ + #$ErrorStr.= "Error in ".$IniFileName." or ini file not found\n"; +}else{ + $IniFile->ReadConfig(); +} + +#--------------------------- +# Init: Font +#--------------------------- +my $StdWinFontName= 'Tahoma'; +my $StdWinFontSize= 8; +my $StdTextFontSize= 10; + +if( defined $IniFile ){ + if( defined $IniFile->val('SYSTEM','FontName') ){ $StdWinFontName= $IniFile->val( 'SYSTEM','FontName'); } + if( defined $IniFile->val('SYSTEM','FontSize') ){ $StdWinFontSize= $IniFile->val( 'SYSTEM','FontSize'); } + if( defined $IniFile->val('SYSTEM','TextFontSize') ){ $StdTextFontSize= $IniFile->val( 'SYSTEM','TextFontSize'); } +} +my $StdWinFont= Win32::GUI::Font->new(-name=>$StdWinFontName, -size=>$StdWinFontSize, -bold => 0, ); +my $StdWinFontBold= Win32::GUI::Font->new(-name=>$StdWinFontName, -size=>$StdWinFontSize, -bold => 0, ); +my $StdTextFont= Win32::GUI::Font->new(-name=>'Lucida Console', -size=>$StdTextFontSize ); +my $StdScriptFont= Win32::GUI::Font->new(-name=>$StdWinFontName, -size=>$StdWinFontSize, -bold => 0, ); +#my $StdScriptFont= Win32::GUI::Font->new(-name=>'Lucida Console', -size=>$StdWinFontSize, -bold => 0, ); + +my $MicroFont= Win32::GUI::Font->new(-name=>'Lucida Console',-size=>1,); +my $StatusFont= Win32::GUI::Font->new(-name=>'Tahoma',-size=>8,); + + +#--------------------------- +# Init: Dialog location +#--------------------------- +my $DialogXPos= 100; +my $DialogYPos= 100; +if( defined $IniFile ){ + if( defined $IniFile->val('SYSTEM','XPos') ){ $DialogXPos= $IniFile->val( 'SYSTEM','XPos'); } + if( defined $IniFile->val('SYSTEM','YPos') ){ $DialogYPos= $IniFile->val( 'SYSTEM','YPos'); } +} +if( $DialogXPos<0 ){ $DialogXPos = 100; } +if( $DialogYPos<0 ){ $DialogYPos = 100; } + +my $DataDisplayXPos= 100; +my $DataDisplayYPos= 100; +if( defined $IniFile ){ + if( defined $IniFile->val('SYSTEM','DataDisplayXPos') ){ $DataDisplayXPos= $IniFile->val( 'SYSTEM','DataDisplayXPos'); } + if( defined $IniFile->val('SYSTEM','DataDisplayYPos') ){ $DataDisplayYPos= $IniFile->val( 'SYSTEM','DataDisplayYPos'); } +} +if( $DataDisplayXPos<0 ){ $DataDisplayXPos = 100; } +if( $DataDisplayYPos<0 ){ $DataDisplayYPos = 100; } + +#--------------------------- +# Init: Port & enumerate ports +#--------------------------- +my $Port = ''; + +my $PortTypeUndefined = 0; #constant +my $PortTypeCOM = 1; #constant +my $PortTypeESP = 2; #constant + +my $PortType = $PortTypeUndefined; #this is set whenever $Port is opened + +my $EspWifiSSID = '192.168.4.1'; +my $EspWifiPort = '80'; #'23'; #'7167'; #23'; +my $EspWifiName = 'STorM32 ESP'; + + +sub ESPIsAvailable{ + my $wlan = Win32::Wlan->new; + if( $wlan->available ){ + if( $wlan->connection->{profile_name} eq $EspWifiName ){ return 1; } + } + return 0; +} + +sub GetComPorts{ + my @ComList= (); + #http://cpansearch.perl.org/src/CHORNY/Win32API-File-0.1200/ex/ListDevs.plx + my $size= 4096; my $all; + while( !QueryDosDevice([],$all,$size) ){ $size*= 2; } + for( split(/\0/,$all) ){ + if(( QueryDosDevice($_,$all,0) )&&( $_ =~ /^COM/ )){ + push( @ComList, TrimStrToLength($_,10+4-length($_))."( ".ExtractComName($all)." )" ); + } + } + @ComList = sort{substr($a,3,3)<=>substr($b,3,3)} @ComList; + if( ESPIsAvailable() ){ push( @ComList, "ESP ($EspWifiName)" ); } + if( scalar @ComList==0 ){ push( @ComList, 'COM1' ); } + return (scalar @ComList, @ComList); + #return (scalar @ComList, sort{substr($a,3,3)<=>substr($b,3,3)} @ComList); +} + +my ( $GetComPortOK, @PortList )= GetComPorts(); +if( defined $IniFile ){ + if( defined $IniFile->val('PORT','Port') ){ $Port= $IniFile->val('PORT','Port'); } #$Port has only COMXX part + #this adds the port specified in Ini file even if it is not present on system + if( not grep{ExtractCom($_) eq ExtractCom($Port)} @PortList ){ push( @PortList, $Port ); } +} +if( $Port eq '' ){ + if( $GetComPortOK>0 ){ $Port= $PortList[0]; } +}else{ + if( $GetComPortOK>0 ){ + if( not grep{ExtractCom($_) eq $Port} @PortList ){ + if( scalar @PortList>1 ){ $Port= $PortList[1]; }else{ $Port= $PortList[0]; } + } + }else{ + $Port= ''; + } +} +#$Port has now COM part + friendly name, or ESP + friendly name + +sub ExtractCom{ + my $s = shift; + if( substr($s,0,3) eq "ESP" ){ return "ESP"; } #"ESP (STorM32 ESP Bridge)" + $s =~ s/^(COM\d{1,3}).*/$1/; #gets "COMxxx" + return $s; +} + +sub ExtractComName{ + my $s = shift; #can be e.g. \Device\Silabser26NULNUL + $s =~ s/.*\\(\w+)\x00*$/$1/; + return $s; +} + +sub ExtractComType{ #helper for ComIsUSB(), ComIsBlueTooth() + my $s = uc(shift); + $s = ExtractComName($s); + $s =~ s/^ESP(.*)/$1/; #strip off ESP part, doesn't affect COM entries + $s =~ s/^COM\d{1,3}(.*)/$1/; #strip off COM part + $s =~ s/\(//; #strip off remaining ( + $s =~ s/\)//; #strip off remaining ) + return CleanLeftRightStr($s); +} + +sub GetComNameFromList{ #helper for ComIsUSB(), ComIsBlueTooth() + my $port = shift; + my ($GetComPortOK,@PortList)= GetComPorts(); + if( $GetComPortOK > 0 ){ + for( @PortList ){ if(ExtractCom($_) eq $port){ $port = $_; }} + } + return $port +} + +sub ComIsUSB{ + my $port = uc(shift); + my $s = ExtractComType($port); + if( $s eq '' ){ $s = ExtractComType(GetComNameFromList($port)); } + #since v3.x boards have a usb-ttl on board, we can't distinguish usb from usb-ttl anymore + #so, just check that it's not bluetooth and not ESP + #if( $s =~ m/usb/i ){ return 1; } + if( $s =~ m/bth/i ){ return 0; } + if( $s =~ m/esp/i ){ return 0; } #the type here is 'STorM32 ESP Bridge', so we identify it by esp + return 1; +} + +#a strict test for a usb port, can be used only if it's known that it's a v1.x board! +sub ComIsUSBStrict{ + my $port = uc(shift); + my $s = ExtractComType($port); + if( $s eq '' ){ $s = ExtractComType(GetComNameFromList($port)); } + if( $s =~ m/usb/i ){ return 1; } + return 0; +} + + +sub ComIsBlueTooth{ + my $port = uc(shift); + my $s = ExtractComType($port); + if( $s eq '' ){ $s = ExtractComType(GetComNameFromList($port)); } + if( $s =~ m/bth/i ){ return 1; } + return 0; +} + +sub ComIsESP{ + my $port = uc(shift); + my $s = ExtractComType($port); + if( $s eq '' ){ $s = ExtractComType(GetComNameFromList($port)); } + if( $s =~ m/esp/i ){ return 1; } #the type here is 'STorM32 ESP Bridge', so we identify it by esp + return 0; +} + +#--------------------------- +# Init: Baudrate +#--------------------------- +my $Baudrate = 115200; #57600; #9600; #115200; + +if( defined $IniFile ){ + if( defined $IniFile->val('PORT','BaudRate') ){ + $Baudrate= StrToDez( $IniFile->val( 'PORT','BaudRate') ); + } +} + +#--------------------------- +# Init: Timing +#--------------------------- +my $ExecuteCmdTimeOutFirst= 8; #3; +my $ExecuteCmdTimeOut= 50; #100 ms +my $ExecuteCmdBTAddedTimeOut= 10; #100 ms +my $MaxConnectionLost = 2; # this allows two failures + +if( defined $IniFile ){ + if( defined $IniFile->val('TIMING','ExecuteCmdTimeOutFirst') ){ + $ExecuteCmdTimeOutFirst= $IniFile->val('TIMING','ExecuteCmdTimeOutFirst'); + } + if( defined $IniFile->val('TIMING','ExecuteCmdTimeOut') ){ + $ExecuteCmdTimeOut= $IniFile->val('TIMING','ExecuteCmdTimeOut'); + } + if( defined $IniFile->val('TIMING','MaxConnectionLost') ){ + $MaxConnectionLost= $IniFile->val('TIMING','MaxConnectionLost'); + } + if( defined $IniFile->val('TIMING','ExecuteCmdBTAddedTimeOut') ){ + $ExecuteCmdBTAddedTimeOut= $IniFile->val('TIMING','ExecuteCmdBTAddedTimeOut'); + } +} + +#--------------------------- +# Init: Protocol +#--------------------------- +my $MavlinkRcUse0xFE = 0; + +##if( defined $IniFile ){ +## if( defined $IniFile->val('PROTOCOL','MavlinkRcUse0xFE') ){ $MavlinkRcUse0xFE= $IniFile->val('PROTOCOL','MavlinkRcUse0xFE'); } +##} + +#--------------------------- +# Init: Options +#--------------------------- +my $BOARDCONFIGURATION_IS_DEFAULT = 0; # = $cfDefault +my $BOARDCONFIGURATION_IS_FOC = 1; # = $cfFoc + +my $ActiveBoardConfiguration = $BOARDCONFIGURATION_IS_DEFAULT; +##my $ActiveBoardConfiguration = $BOARDCONFIGURATION_IS_FOC; + +if( defined $IniFile ){ + if( defined $IniFile->val('BOARDCONFIGURATION','LastActiveConfiguration') ){ + $ActiveBoardConfiguration = $IniFile->val('BOARDCONFIGURATION','LastActiveConfiguration'); + } +} + +my @OptionList = (); +my $ColNumber = 4; +my $RowNumber = 7; + +##JSON +#use JSON; +#if( open(F,">o323BGCTool_L229.json") ){ my $json = new JSON; +# SetOptionList(); if($ErrorStr ne ''){ print($ErrorStr); die;} +# print F $json->objToJson(\@OptionList, {pretty => 1, indent => 4}); #json must have "", not '' +# #print F $json->objToJson(\@OptionList_L223, {pretty => 1, indent => 4}); #json must have "", not '' +# close F; } +#die; + +sub ClearOptionList{ + @OptionList= (); undef @OptionList; +} + +#is called in Read with parameters, in ClearOptions as SetOptionList() +# ensures proper entries in options +# requires: type, name, and len, ppos, min, max if not str +# adds: size, default, steps, unit, expert, hidden +# untouched: choices, pos, column +sub SetOptionList{ + #clear optionlist + ClearOptionList(); + #DO HERE THE AVAILABLE OPTIONS! + @OptionList = @OptionList_L223; + #check options for consistency and validity + my $page = 'dashboard'; ##XX0; + foreach my $Option (@OptionList){ + # check len, ppos, min, max + switch( $Option->{type} ){ + case ['OPTTYPE_LISTA','OPTTYPE_LISTB','OPTTYPE_UC','OPTTYPE_SC', + 'OPTTYPE_UI','OPTTYPE_SI']{ + if( not defined $Option->{len} ){ $ErrorStr .= "Error in options, len is missing\n"; next; } + if( not defined $Option->{ppos} ){ $ErrorStr .= "Error in options, ppos is missing\n"; next; } + if( not defined $Option->{min} ){ $ErrorStr .= "Error in options, min is missing\n"; next; } + if( not defined $Option->{max} ){ $ErrorStr .= "Error in options, max is missing\n"; next; } + } + } + + # set and check size + switch( $Option->{type} ){ + case ['OPTTYPE_LISTA','OPTTYPE_LISTB','OPTTYPE_UC','OPTTYPE_SC','OPTTYPE_UC+OPTTYPE_READONLY','OPTTYPE_SC+OPTTYPE_READONLY']{ + $Option->{size} = 1; ## the size is actually 2 since always a uint16_t is used !!!! + } + case ['OPTTYPE_VER','OPTTYPE_UI','OPTTYPE_SI','OPTTYPE_UI+OPTTYPE_READONLY','OPTTYPE_SI+OPTTYPE_READONLY']{ + $Option->{size} = 2; + } + else{ + if( not defined $Option->{size} ){ $ErrorStr .= "Error in options, size is missing\n"; next; } + } + } + if( not defined $Option->{size} ){ $ErrorStr .= "Error in options, size is missing (2)\n"; next; } + + # check lists + if( ($Option->{type} eq 'OPTTYPE_LISTA') or ($Option->{type} eq 'OPTTYPE_LISTB') ){ + if( not defined $Option->{choices} ){ $ErrorStr .= "Error in options, no choices in list\n"; } + } + + #MISSING: check that $Option->{modes}->{lc($s)} is existing and correct (no problem in write) + # complete options + if( not defined $Option->{default} ){ + if( index($Option->{type},'OPTTYPE_STR') >= 0 ){ + $Option->{default} = ''; + }else{ + if( $Option->{min} > 0 ) { $Option->{default} = $Option->{min}; } + elsif( $Option->{max} < 0 ){ $Option->{default} = $Option->{max}; } + else{ $Option->{default} = 0; } + } + } + if( not defined $Option->{steps} ) { $Option->{steps} = 1; } + if( not defined $Option->{unit} ) { $Option->{unit} = ''; } + if( not defined $Option->{page} ){ + $Option->{page} = $page; + }else{ + $page = $Option->{page}; + if( GetTabIndex($page) < 0 ){ $ErrorStr .= "Error in options, page (".$page.") is incorrect (3)\n"; next } + } + if( not defined $Option->{hidden} ){ $Option->{hidden} = 0; } + } +} + +#--------------------------- +# Init: Flash tab +#--------------------------- +my $FirmwareHexFileDir= 'o323BgcFirmwareFiles'; +my $NtFirmwareHexFileDir= 'o323BgcNtFirmwareFiles'; +my $STorM32Board= ''; +my $FirmwareVersion= ''; +my $Storm32Programmer= 'System Bootloader @ UART1'; +my $NtProgrammer= 'Upgrade via STorM32 USB port'; +my $STLinkPath='bin\ST\STLink'; +my $STMFlashLoaderPath='bin\ST\STMFlashLoader'; +my $STMFlashLoaderExe='STMFlashLoaderOlliW.exe'; + +my $BGCToolRunFile = $BGCStr."Tool_Run"; +my $StLink = 'ST-Link/V2 SWD'; +my $SystemBootloader = 'System Bootloader @ UART1'; +#my $Storm32UpgradeViaSystemBootloader = 'Upgrade via System Bootloader @ UART1'; +my $Storm32UpgradeViaUSB = 'Upgrade via STorM32 USB port'; +my $NtUpgradeViaUSB = 'Upgrade via STorM32 USB port'; +my $NtUpgradeViaSystemBootloader = 'Upgrade via System Bootloader @ UART1'; +my @Storm32ProgrammerList = ( $StLink, $SystemBootloader ); +my @Storm32ProgrammerListV3X = ( $Storm32UpgradeViaUSB, $StLink, $SystemBootloader ); +my @NtProgrammerList = ( $NtUpgradeViaUSB, $NtUpgradeViaSystemBootloader, $StLink, $SystemBootloader ); + +if( defined $IniFile ){ + if( defined $IniFile->val('FLASH','HexFileDir') ){ $FirmwareHexFileDir= RemoveBasePath($IniFile->val('FLASH','HexFileDir')); } + if( defined $IniFile->val('FLASH','NtHexFileDir') ){ $NtFirmwareHexFileDir= RemoveBasePath($IniFile->val('FLASH','NtHexFileDir')); } + if( defined $IniFile->val('FLASH','Board') ){ $STorM32Board= $IniFile->val('FLASH','Board'); } + if( defined $IniFile->val('FLASH','Version') ){ $FirmwareVersion= $IniFile->val('FLASH','Version'); } + if( defined $IniFile->val('FLASH','Stm32Programmer') ){ $Storm32Programmer= $IniFile->val('FLASH','Stm32Programmer'); } + if( defined $IniFile->val('FLASH','NtProgrammer') ){ $NtProgrammer= $IniFile->val('FLASH','NtProgrammer'); } + if( defined $IniFile->val('FLASH','STLinkPath') ){ $STLinkPath= $IniFile->val('FLASH','STLinkPath'); } + if( defined $IniFile->val('FLASH','STMFlashLoader') ){ $STMFlashLoaderPath= $IniFile->val('FLASH','STMFlashLoader'); } +} +if( not grep{$_->{name} eq $STorM32Board} @STorM32BoardList ){ $STorM32Board= $STorM32BoardList[0]->{name}; } +if( not grep{$_ eq $FirmwareVersion} @FirmwareVersionList ){ $FirmwareVersion= $FirmwareVersionList[0]; } +if( not grep{$_ eq $Storm32Programmer} @Storm32ProgrammerList ){ $Storm32Programmer= $Storm32ProgrammerList[0]; } +if( not grep{$_ eq $NtProgrammer} @NtProgrammerList ){ $NtProgrammer= $NtProgrammerList[0]; } + +#--------------------------- +# Init: ESP Config tool +#--------------------------- +my $EspWebAppPath = 'o323BgcEspWebApp'; +my $EspToolExe = 'esptool.exe'; +my $EspWebAppBin = 'storm32web.ino.generic.bin'; +my $EspMkSpiffsExe = 'mkspiffs.exe'; +my $EspSpiffsBin = 'storm32web.spiffs.bin'; +my $EspConfigFile = 'storm32web.cfg'; + +if( defined $IniFile ){ + if( defined $IniFile->val('ESP','EspWebAppPath') ){ $EspWebAppPath= RemoveBasePath($IniFile->val('ESP','EspWebAppPath')); } + if( defined $IniFile->val('ESP','EspToolExe') ){ $EspToolExe= RemoveBasePath($IniFile->val('ESP','EspToolExe')); } + if( defined $IniFile->val('ESP','EspWebAppBin') ){ $EspWebAppBin= RemoveBasePath($IniFile->val('ESP','EspWebAppBin')); } + if( defined $IniFile->val('ESP','EspMkSpiffsExe') ){ $EspMkSpiffsExe= RemoveBasePath($IniFile->val('ESP','EspMkSpiffsExe')); } + if( defined $IniFile->val('ESP','EspSpiffsBin') ){ $EspSpiffsBin= RemoveBasePath($IniFile->val('ESP','EspSpiffsBin')); } + if( defined $IniFile->val('ESP','EspConfigFile') ){ $EspConfigFile= RemoveBasePath($IniFile->val('ESP','EspConfigFile')); } +} + + +#--------------------------- +# Init: Toolsfile +#--------------------------- +my $w_Main; +sub ExecuteTool{ return $w_Main->ShellExecute('open',shift,shift,'',1); } + +#--------------------------- +# Init: Option Colors +#--------------------------- +my $OptionInvalidColor = 0xaaaaFF; #red +my $OptionValidColor = 0xbbFFbb; #green +my $OptionModifiedColor = 0xFFbbbb; #blue +if( defined $IniFile ){ + if( defined $IniFile->val('DIALOG','OptionInvalidColor') ){ $OptionInvalidColor= oct($IniFile->val('DIALOG','OptionInvalidColor')); } + if( defined $IniFile->val('DIALOG','OptionValidColor') ){ $OptionValidColor= oct($IniFile->val('DIALOG','OptionValidColor')); } + if( defined $IniFile->val('DIALOG','OptionModifiedColor') ){ $OptionModifiedColor= oct($IniFile->val('DIALOG','OptionModifiedColor')); } +} + +#--------------------------- +# Init: Links +#--------------------------- +my $HelpLink = 'http://www.olliw.eu/storm32bgc-wiki/Manuals_and_Tutorials'; +my $ConfigureGimbalStepIIHelpLink = 'http://www.olliw.eu/storm32bgc-wiki/Getting_Started#Basic_Controller_Configuration_Quick_Trouble_Shooting'; +if( defined $IniFile ){ + if( defined $IniFile->val('LINKS','HelpLink') ){ $HelpLink= $IniFile->val('LINKS','HelpLink'); } + if( defined $IniFile->val('LINKS','ConfigureGimbalStepIIHelpLink') ){ + $ConfigureGimbalStepIIHelpLink= $IniFile->val('LINKS', 'ConfigureGimbalStepIIHelpLink'); + } +} + +#--------------------------- +# Init: Startup Notes, Simplified PIDs, Auto write PID Changes +#--------------------------- +my $ShowUpdateNotesAtStartup = 1; +my $UseSimplifiedPIDs = 1; #activated by default +my $UseAutoWritePIDChanges = 0; #deactivated by default + +if( defined $IniFile ){ + if( defined $IniFile->val('SYSTEM','ShowNotesAtStartup') ){ $ShowUpdateNotesAtStartup= $IniFile->val('SYSTEM', 'ShowNotesAtStartup'); } + if( defined $IniFile->val('SYSTEM','UseSimplifiedPIDs') ){ $UseSimplifiedPIDs= $IniFile->val('SYSTEM','UseSimplifiedPIDs'); } + if( defined $IniFile->val('SYSTEM','UseAutoWritePIDChanges') ){ $UseAutoWritePIDChanges= $IniFile->val('SYSTEM','UseAutoWritePIDChanges'); } +} +if( $ShowUpdateNotesAtStartup>0 ){ $ShowUpdateNotesAtStartup = 1; }else{ $ShowUpdateNotesAtStartup = 0; } +if( $UseSimplifiedPIDs>0 ){ $UseSimplifiedPIDs = 1; }else{ $UseSimplifiedPIDs = 0; } +if( $UseAutoWritePIDChanges>0 ){ $UseAutoWritePIDChanges = 1; }else{ $UseAutoWritePIDChanges = 0; } + +#--------------------------- +# Further Global Variables +#--------------------------- +my $p_Serial = (); +my $p_Socket = (); + +my $AllFieldsAreReadyToUse = 0; #this is to avoid calling undefined fields +my $OptionsLoaded = 0; #somewhat unfortunate name, controls behavior before first read or load + +my $Connected = 0; #this indicates if teh connection to teh BGC is established + +my $Execute_IsRunning = 0; #to prevent double clicks ###currently not used ???? +my $DataDisplay_IsRunning = 0; +my $ConfigureGimbalTool_IsRunning = 0; +my $Acc16PCalibration_IsRunning = 0; + +my $AccGravityConst = 8192; #16384; #8192; #16384; + + +if( $ErrorStr ne '' ){ ClearOptionList(); } #should however not be needed here. + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# +# Main Window +# +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# +my @InterfacesTool = ( ">Interfaces Tool...", 't_InterfacesTool', ); +my @ExpertTool = ( ">Expert Tool...", 't_ExpertTool', ); + +my $MaxSetupTabs= scalar(@SetupTabList); #9; #this is the number of setup tabs + +sub GetTabIndex{ + my $tab = uc(shift); + for(my $i=0; $i new( + 'Setting' => '', + '>Load from File...', 'm_LoadSettings', #gets Filename, reads file, and extracts all settings + '>Save to File...', 'm_SaveSettings', #saves all settings into another .ini file + '>Retrieve from EEPROM', 'm_RetrieveSettings', + '>-', 0, + '>Store to EEPROM', 'm_StoreSettings', + '>-', 0, + '>Default', 'm_DefaultSettings', + '>-', 0, + '>Clear GUI', 'm_Clear', + '>-', 0, + '>Share Settings...', 'm_ShareSettings', + '>-', 0, + '>Exit', 'm_Exit', + 'Tools' => '', + ">Level Gimbal", "t_LevelGimbal", + ">-", 0, + ">Restart Controller", "t_RestartController", + ">-", 0, + ">Get Current Encoder Positions", 't_GetCurrentEncoderPositions', + ">-", 0, + ">Erase EEPROM to 0xFF", 't_EraseEeprom', + ">-", 0, + ">ESP8266 Configure Tool...", 't_ESPConfigTool', + ">Bluetooth Module Configure Tool...", 't_BTConfigTool', + ">-", 0, + ">Motion Control Tool... ", 't_MotionControlTool', + 'Experts Only' => '', + ">RC Command Tool...", 't_RcCmdTool', + ">-", 0, + @ExpertTool, + @InterfacesTool, + ">-", 0, + ">Change Uart Baudrate Tool...", 't_ChangeBaudrate', +## ">Change Board Configuration Tool...", 't_ChangeBoardConfiguration', + ">Change Encoder Support Tool...", 't_ChangeBoardConfiguration', + '?' => '', + '>Help...' => 'm_Help', + '>Check for Updates...' => 'm_Update', + '>Update Instructions...' => 'm_UpdateNotes', + '>About...' => 'm_About', +); + +$w_Main= Win32::GUI::Window->new( -name=> 'm_Window', -font=> $StdWinFont, + -text=> 'OlliW\'s '.$BGCStr.'Tool for STorM32-NT', -size=> [$xsize,$ysize], -pos=> [$DialogXPos,$DialogYPos], + -menu=> $m_Menubar, + -resizable=>0, -maximizebox=>0, -hasmaximize=>0, +); +$w_Main->SetIcon($Icon); + +my $xpos= 10; +my $ypos= 10; + +my %f_Tab= (); +$w_Main->AddTabFrame(-name=> 'w_Tab', -font=> $StdWinFontBold, + -pos=> [$xpos,$ypos], -size=>[$xsize-22-4, $tabsize ], + #-background=> [96,96,96], + -onChange => sub{ + my $cur= $w_Main->w_Tab->SelectedItem(); + if( $cur<$MaxSetupTabs ){ + $w_Main->m_Read->Enable(); if($OptionsLoaded){ $w_Main->m_Write->Enable(); } + SynchroniseConfigTabs($cur); + }else{ + $w_Main->m_Read->Disable(); $w_Main->m_Write->Disable(); + } + w_Tab_Click(); 1; }, +); +$w_Main->w_Tab->MinTabWidth(65); +$f_Tab{dashboard}= $w_Main->w_Tab->InsertItem(-text=> 'Dashboard'); +$f_Tab{pid}= $w_Main->w_Tab->InsertItem(-text=> ' PID'); +$f_Tab{pan}= $w_Main->w_Tab->InsertItem(-text=> ' Pan'); +$f_Tab{rcinputs}= $w_Main->w_Tab->InsertItem(-text=> ' Rc Inputs'); +$f_Tab{functions}= $w_Main->w_Tab->InsertItem(-text=> ' Functions'); +$f_Tab{scripts}= $w_Main->w_Tab->InsertItem(-text=> ' Scripts'); +$f_Tab{setup}= $w_Main->w_Tab->InsertItem(-text=> ' Setup' ); +$f_Tab{gimbalconfig}= $w_Main->w_Tab->InsertItem(-text=> 'Gimbal Configuration'); +$f_Tab{calibrateacc}= $w_Main->w_Tab->InsertItem(-text=> 'Calibrate Acc'); +$f_Tab{flash}= $w_Main->w_Tab->InsertItem(-text=> 'Flash Firmware'); +#$f_Tab{expert}= $w_Main->w_Tab->InsertItem(-text=> ' Expert'); +#$f_Tab{interfaces}= $w_Main->w_Tab->InsertItem(-text=> ' Interfaces'); + +$f_Tab{expert}= Win32::GUI::DialogBox->new( -name=> 'm_ExpertWindow', -parent => $w_Main, + -text=>'o323BGC Expert Tool', + -size=> [10+4*$OPTIONSWIDTH_X,360-2], -pos=> [$DialogXPos+$xsize-380-180,$DialogYPos+50], -helpbox => 0, +); +$f_Tab{expert}->Hide(); + +sub t_ExpertTool_Click{ + my ($x,$y)=($w_Main->GetWindowRect())[0..1]; + $f_Tab{expert}->Move($x+$ColNumber*$OPTIONSWIDTH_X+40-15+20-385-180+1-180,$y+50-12); + $f_Tab{expert}->Show(); 0; +} +sub m_ExpertWindow_Terminate{ $f_Tab{expert}->Hide(); 0; } + +$f_Tab{interfaces}= Win32::GUI::DialogBox->new( -name=> 'm_InterfacesWindow', -parent => $w_Main, + -text=>'o323BGC Interfaces Tool', + -size=> [10+4*$OPTIONSWIDTH_X,360-2], -pos=> [$DialogXPos+$xsize-380-180,$DialogYPos+50], -helpbox => 0, +); +$f_Tab{interfaces}->Hide(); + +sub t_InterfacesTool_Click{ + my ($x,$y)=($w_Main->GetWindowRect())[0..1]; + $f_Tab{interfaces}->Move($x+$ColNumber*$OPTIONSWIDTH_X+40-15+20-385-180+1-180,$y+50-12); + $f_Tab{interfaces}->Show(); 0; +} +sub m_InterfacesWindow_Terminate{ $f_Tab{interfaces}->Hide(); 0; } + +$ypos= $ysize-204 - $statussize; + +$w_Main->AddLabel( -name=> 'm_Port_label', -font=> $StdWinFont, + -text=> 'Port', -pos=> [$xpos,$ypos], +); +$w_Main->AddCombobox( -name=> 'm_Port', -font=> $StdWinFont, + -pos=> [$xpos+$w_Main->m_Port_label->Width()+3,$ypos-3], -size=> [70,180], + -dropdown=> 1, -vscroll=>1, + -onDropDown=> sub{ + ($GetComPortOK,@PortList)= GetComPorts(); + if($GetComPortOK>0){ + my $s= $_[0]->Text(); + $_[0]->Clear(); $_[0]->Add( @PortList ); $_[0]->SelectString( $s ); #$Port has COM + friendly name + if($_[0]->SelectedItem()<0){ $_[0]->Select(0); } + } + 1; + } +); +$w_Main->m_Port->SetDroppedWidth(160); +$w_Main->m_Port->Add( @PortList ); +if( scalar @PortList){ $w_Main->m_Port->SelectString( $Port ); } #$Port has COM + friendly name +$w_Main->AddButton( -name=> 'm_Connect', -font=> $StdWinFont, + -text=> 'Connect', -pos=> [$xpos+130,$ypos-3], -width=> 80, +); +$w_Main->AddButton( -name=> 'm_DataDisplay', -font=> $StdWinFont, + -text=> 'Data Display', -pos=> [$xpos+130+80+15,$ypos-3], -width=> 80, #15 +); +$w_Main->AddButton( -name=> 'm_Read', -font=> $StdWinFont, + -text=> 'Read', -pos=> [$xpos+130+(80+15)+80+50,$ypos-3], -width=> 80, +); +$w_Main->AddButton( -name=> 'm_Write', -font=> $StdWinFont, + -text=> 'Write', -pos=> [$xpos+130+(80+15)+(80+50)+80+40,$ypos-3], -width=> 80, +); +$w_Main->m_Write->Disable(); +$w_Main->AddCheckbox( -name => 'm_WriteAndStore_check', -font=> $StdWinFont, + -pos=> [$xpos+130+(80+15)+(80+50)+(80+40)+80+20,$ypos+1], -size=> [12,12], + -onClick=> sub{ + if( $_[0]->GetCheck() ){ $w_Main->m_Write->Text('Write+Store'); }else{ $w_Main->m_Write->Text('Write'); } + }, +); +$w_Main->m_WriteAndStore_check->Checked(0); + +$ypos= $ysize-150-40+13 - $statussize -1; +$w_Main->AddTextfield( -name=> 'm_RecieveText', -font=> $StdTextFont, + -pos=> [5,$ypos], -size=> [$xsize-16,93+40-5], + -vscroll=> 1, -multiline=> 1, -readonly => 1, + -foreground =>[ 0, 0, 0], + -background=> [192,192,192],#[96,96,96], +); +$w_Main->m_RecieveText->SetLimitText( 60000 ); + +$ypos= $ysize-60+1 -2 -1; +$w_Main->AddTextfield( -name=> 'm_StatusBlinker', -font=> $MicroFont, + -pos=> [4,$ypos+2], -size=> [11,11], -readonly => 1, + -background=> [255,0,0],#[96,96,96], +); +$w_Main->AddLabel( -name=> 'm_StatusField', -font=> $StatusFont, + -text=>'not connected', + -pos=> [5 +12,$ypos], -size=> [$xsize-16 -12,13], +); + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +### do DASHBOARD tab ### +############################################################################### +#-----------------------------------------------------------------------------# + +my $DashboardStatusBackgroundColor = [224,224,224]; #[96,96,96]; + +$xpos= 20 + 1*$OPTIONSWIDTH_X; +$ypos= 10 + 0*$OPTIONSWIDTH_Y -1; +$f_Tab{dashboard}->AddLabel( -name=> 'dashboard_Status_frame', -font=> $StdWinFont, + -pos=> [$xpos -5,$ypos -5], + -size=>[505+10,127+45+10 +27], + -background => $DashboardStatusBackgroundColor, +); +$f_Tab{dashboard}->AddLabel( -name=> 'dashboard_Status_label', -font=> $StdWinFont, + -text=> 'Info Center:', -pos=> [$xpos,$ypos], -background => $DashboardStatusBackgroundColor, +); +$f_Tab{dashboard}->AddLabel( -name=> 'dashboard_Status_a', -font=> $StdWinFont, + -text=> '', -pos=> [$xpos+10,$ypos+26], -size=>[250,177],#-pos=> [$xpos,$ypos], + -background => $DashboardStatusBackgroundColor, +); +$f_Tab{dashboard}->AddLabel( -name=> 'dashboard_Status_b', -font=> $StdWinFont, + -text=> '', -pos=> [$xpos+10+260,$ypos+26], -size=>[175,177],#-pos=> [$xpos,$ypos], + -background => $DashboardStatusBackgroundColor, +); + +$xpos= 20 +0*$OPTIONSWIDTH_X; +$ypos= 10 +3*$OPTIONSWIDTH_Y; +$f_Tab{dashboard}->AddButton( -name=> 'dashboard_ChangeBoardName', -font=> $StdWinFont, + -text=> 'Change Name', -pos=> [$xpos,$ypos+4], -width=> 120, + -onClick=> sub{ DoChangeBoardName(); 1; }, +); + +$ypos= 10 +5*$OPTIONSWIDTH_Y; +$f_Tab{dashboard}->AddButton( -name=> 'dashboard_ShareSettings', -font=> $StdWinFont, + -text=> 'Share Settings', -pos=> [$xpos,$ypos+4], -width=> 120, + -onClick=> sub{ m_ShareSettings_Click(); 1; }, +); + + +sub DoChangeBoardName{ + if( $OptionsLoaded<1 ){ +# TextOut("\r\nCalibrate rc trims... ABORTED!"); + TextOut( "\r\nEdit Board Name Tool... ABORTED!" ); + TextOut("\r\nPlease do first a read to get controller settings!\r\n"); + return 0; + } + t_EditBoardName_Click(); + return 1; +} + + + + +#-----------------------------------------------------------------------------# +############################################################################### +### do PID tab ### +############################################################################### +#-----------------------------------------------------------------------------# + +my $SimplifiedPID_SetPID2 = 1; #flag to avoid recursive call +my $SimplifiedPIDY = 0; #4 +my $SimplifiedPIDBackgroundColor = [224,224,224]; #[96,96,96]; + +$xpos= 20+(0)*$OPTIONSWIDTH_X; #3 +$ypos= 10 + (6)*$OPTIONSWIDTH_Y; # + 18 -10; #4 +$f_Tab{pid}->AddLabel( -name=> 'UseSimplifiedPID_label', -font=> $StdWinFont, + -text=> 'Use simplified PID tuning', -pos=> [$xpos+15,$ypos], #-pos=> [$xpos,$ypos], +); +$f_Tab{pid}->AddCheckbox( -name => 'UseSimplifiedPID', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+1], #-pos=> [$xpos+130-10,$ypos+1], + -size=> [12,12], +); +$f_Tab{pid}->UseSimplifiedPID->Checked($UseSimplifiedPIDs); + +$xpos= 20+(1)*$OPTIONSWIDTH_X; #3 +$f_Tab{pid}->AddLabel( -name=> 'UseSpecialAlgorithm_label', -font=> $StdWinFont, + -text=> 'special algorithm', -pos=> [$xpos+15,$ypos], #-pos=> [$xpos,$ypos], +); +$f_Tab{pid}->AddCheckbox( -name => 'UseSpecialAlgorithm', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+1], #-pos=> [$xpos+130-10,$ypos+1], + -size=> [12,12], +); +$f_Tab{pid}->UseSpecialAlgorithm->Checked(0); +$f_Tab{pid}->UseSpecialAlgorithm_label->Hide(); ##XX +$f_Tab{pid}->UseSpecialAlgorithm->Hide(); ##XX + +$xpos= 20+(0)*$OPTIONSWIDTH_X; +$ypos += 25; +$f_Tab{pid}->AddLabel( -name=> 'AutoWritePIDChanges_label', -font=> $StdWinFont, + -text=> 'Auto write PID changes', -pos=> [$xpos+15,$ypos], #-pos=> [$xpos,$ypos], +); +$f_Tab{pid}->AddCheckbox( -name => 'AutoWritePIDChanges', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+1], #-pos=> [$xpos+130-10,$ypos+1], + -size=> [12,12], +); +$f_Tab{pid}->AutoWritePIDChanges->Checked($UseAutoWritePIDChanges); + +$xpos= 20+(1)*$OPTIONSWIDTH_X; +$ypos= 10 + ($SimplifiedPIDY+0)*$OPTIONSWIDTH_Y -1; +$f_Tab{pid}->AddLabel( -name=> 'UseSimplifiedPID_frame', -font=> $StdWinFont, + -pos=> [$xpos-5,$ypos-5], -size=> [505+10,127+10], -background => $SimplifiedPIDBackgroundColor, +); +$f_Tab{pid}->UseSimplifiedPID_frame->Hide(); + +$xpos= 20 + (1)*$OPTIONSWIDTH_X; +$ypos= 10+($SimplifiedPIDY+0)*$OPTIONSWIDTH_Y; +my $PitchDamping_label= $f_Tab{pid}->AddLabel( -name=> 'PitchDamping_label', -font=> $StdWinFont, + -text=> 'Pitch Damping', -pos=> [$xpos,$ypos-1], -size=> [150,13+2], -background => $SimplifiedPIDBackgroundColor, +); +my $PitchDamping_value= $f_Tab{pid}->AddLabel( -name=> 'PitchDamping_value', -font=> $StdWinFont, + -text=> '0', -pos=> [$xpos+94 +15,$ypos-1], -size=> [30,13+2 -1], #-background => $SimplifiedPIDBackgroundColor, + -align => 'center', +); +my $PitchDamping_slider= $f_Tab{pid}->AddTrackbar( -name=> 'PitchDamping_sliderfield', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+13], -size=> [150,23], -background => $SimplifiedPIDBackgroundColor, + -aligntop => 1, -autoticks => 0, + -onScroll => sub{ onScrollSetPID2field( 'Pitch' ); 1; }, +); +$PitchDamping_slider->SetLineSize( 1 ); +$PitchDamping_slider->SetPageSize( 1 ); +$ypos= 10+($SimplifiedPIDY+1)*$OPTIONSWIDTH_Y; +my $PitchStability_label= $f_Tab{pid}->AddLabel( -name=> 'PitchStability_label', -font=> $StdWinFont, + -text=> 'Pitch Stability', -pos=> [$xpos,$ypos-1], -size=> [150,13+2], -background => $SimplifiedPIDBackgroundColor, +); +my $PitchStability_value= $f_Tab{pid}->AddLabel( -name=> 'PitchStability_value', -font=> $StdWinFont, + -text=> '0', -pos=> [$xpos+94 +15,$ypos-1], -size=> [30,13+2-1], #-background => $SimplifiedPIDBackgroundColor, + -align => 'center', +); +my $PitchStability_slider= $f_Tab{pid}->AddTrackbar( -name=> 'PitchStability_sliderfield', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+13], -size=> [150,23], -background => $SimplifiedPIDBackgroundColor, + -aligntop => 1, -autoticks => 0, + -onScroll => sub{ onScrollSetPID2field( 'Pitch' ); 1; }, +); +$PitchStability_slider->SetLineSize( 1 ); +$PitchStability_slider->SetPageSize( 1 ); + +$xpos= 20 + (2)*$OPTIONSWIDTH_X; +$ypos= 10+($SimplifiedPIDY+0)*$OPTIONSWIDTH_Y; +my $RollDamping_label= $f_Tab{pid}->AddLabel( -name=> 'RollDamping_label', -font=> $StdWinFont, + -text=> 'Roll Damping', -pos=> [$xpos,$ypos-1], -size=> [150,13+2], -background => $SimplifiedPIDBackgroundColor, +); +my $RollDamping_value= $f_Tab{pid}->AddLabel( -name=> 'RollDamping_value', -font=> $StdWinFont, + -text=> '0', -pos=> [$xpos+94 +15,$ypos-1], -size=> [30,13+2 -1], #-background => $SimplifiedPIDBackgroundColor, + -align => 'center', +); +my $RollDamping_slider= $f_Tab{pid}->AddTrackbar( -name=> 'RollDamping_sliderfield', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+13], -size=> [150,23], -background => $SimplifiedPIDBackgroundColor, + -aligntop => 1, -autoticks => 0, + -onScroll => sub{ onScrollSetPID2field( 'Roll' ); 1; }, +); +$RollDamping_slider->SetLineSize( 1 ); +$RollDamping_slider->SetPageSize( 1 ); +$ypos= 10+($SimplifiedPIDY+1)*$OPTIONSWIDTH_Y; +my $RollStability_label= $f_Tab{pid}->AddLabel( -name=> 'RollStability_label', -font=> $StdWinFont, + -text=> 'Roll Stability', -pos=> [$xpos,$ypos-1], -size=> [150,13+2], -background => $SimplifiedPIDBackgroundColor, +); +my $RollStability_value= $f_Tab{pid}->AddLabel( -name=> 'RollStability_value', -font=> $StdWinFont, + -text=> '0', -pos=> [$xpos+94 +15,$ypos-1], -size=> [30,13+2-1], #-background => $SimplifiedPIDBackgroundColor, + -align => 'center', +); +my $RollStability_slider= $f_Tab{pid}->AddTrackbar( -name=> 'RollStability_sliderfield', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+13], -size=> [150,23], -background => $SimplifiedPIDBackgroundColor, + -aligntop => 1, -autoticks => 0, + -onScroll => sub{ onScrollSetPID2field( 'Roll' ); 1; }, +); +$RollStability_slider->SetLineSize( 1 ); +$RollStability_slider->SetPageSize( 1 ); + +$xpos= 20 + (3)*$OPTIONSWIDTH_X; +$ypos= 10+($SimplifiedPIDY+0)*$OPTIONSWIDTH_Y; +my $YawDamping_label= $f_Tab{pid}->AddLabel( -name=> 'YawDamping_label', -font=> $StdWinFont, + -text=> 'Yaw Damping', -pos=> [$xpos,$ypos-1], -size=> [150,13+2], -background => $SimplifiedPIDBackgroundColor, +); +my $YawDamping_value= $f_Tab{pid}->AddLabel( -name=> 'YawDamping_value', -font=> $StdWinFont, + -text=> '0', -pos=> [$xpos+94 +15,$ypos-1], -size=> [30,13+2 -1], #-background => $SimplifiedPIDBackgroundColor, + -align => 'center', +); +my $YawDamping_slider= $f_Tab{pid}->AddTrackbar( -name=> 'YawDamping_sliderfield', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+13], -size=> [150,23], -background => $SimplifiedPIDBackgroundColor, + -aligntop => 1, -autoticks => 0, + -onScroll => sub{ onScrollSetPID2field( 'Yaw' ); 1; }, +); +$YawDamping_slider->SetLineSize( 1 ); +$YawDamping_slider->SetPageSize( 1 ); +$ypos= 10+($SimplifiedPIDY+1)*$OPTIONSWIDTH_Y; +my $YawStability_label= $f_Tab{pid}->AddLabel( -name=> 'YawStability_label', -font=> $StdWinFont, + -text=> 'Yaw Stability', -pos=> [$xpos,$ypos-1], -size=> [150,13+2], -background => $SimplifiedPIDBackgroundColor, +); +my $YawStability_value= $f_Tab{pid}->AddLabel( -name=> 'YawStability_value', -font=> $StdWinFont, + -text=> '0', -pos=> [$xpos+94 +15,$ypos-1], -size=> [30,13+2-1], #-background => $SimplifiedPIDBackgroundColor, + -align => 'center', +); +my $YawStability_slider= $f_Tab{pid}->AddTrackbar( -name=> 'YawStability_sliderfield', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+13], -size=> [150,23], -background => $SimplifiedPIDBackgroundColor, + -aligntop => 1, -autoticks => 0, + -onScroll => sub{ onScrollSetPID2field( 'Yaw' ); 1; }, +); +$YawStability_slider->SetLineSize( 1 ); +$YawStability_slider->SetPageSize( 1 ); + +my @SimplifiedPIDList = ( + $PitchDamping_value, $RollDamping_value, $YawDamping_value, + $PitchStability_value, $RollStability_value, $YawStability_value, + $PitchDamping_slider, $RollDamping_slider, $YawDamping_slider, + $PitchStability_slider, $RollStability_slider, $YawStability_slider, + $PitchDamping_label, $RollDamping_label, $YawDamping_label, + $PitchStability_label, $RollStability_label, $YawStability_label, +); + +for(my $n=6; $n<6+6; $n++){ + for(my $i= 1; $i<4; $i++){ $SimplifiedPIDList[$n]->SetTic( 25*$i ); } +} + +#this checks PID2 fields and sets PID values +# is called when a simplified slider is changed +sub onScrollSetPID2field{ + my $axis = shift; + if( $AllFieldsAreReadyToUse != 1 ){ return; } + my $ofs = 0; + if( $axis eq 'Roll' ){ $ofs = 1; }elsif( $axis eq 'Yaw' ){ $ofs = 2; } + #get value from slider + my $D = $SimplifiedPIDList[6+$ofs]->GetPos(); + my $S = $SimplifiedPIDList[9+$ofs]->GetPos(); + #set value + $SimplifiedPIDList[0+$ofs]->Text($D); + $SimplifiedPIDList[3+$ofs]->Text($S); + if($OptionsLoaded){ SimplifiedPID_SetBackground(0+$ofs,$OptionModifiedColor); } + if($OptionsLoaded){ SimplifiedPID_SetBackground(3+$ofs,$OptionModifiedColor); } + #calculate new PID values + my $Kd = 0.8/100.0 * $D; #scale from 100 + my $Ki = 2000.0/100.0 * $S; #scale from 100 + if( $f_Tab{pid}->UseSpecialAlgorithm->Checked() ){ + my $f0 = 25.0/100.0 * $D ; + $Kd = divide( $Ki, 39.4784176*$f0*$f0 ); ## $Ki / (39.4784176 * $f0*$f0); + if( $Kd>0.8 ){ $Kd = 0.8; } + $Ki = 3200.0/100.0 * $S; #scale from 100 + } + my $Kp = sqrt( 0.5 * $Kd*$Ki ); #magic number + #set PID fields +$SimplifiedPID_SetPID2 = 0; #this is important, avoids SetPID2 call through SetOption -> onScroll -> SetPID2 + SetOptionField( $NameToOptionHash{$axis.' P'}, 100.0*$Kp ); + SetOptionField( $NameToOptionHash{$axis.' I'}, 10.0*$Ki ); + SetOptionField( $NameToOptionHash{$axis.' D'}, 10000.0*$Kd ); + if($OptionsLoaded){ Option_SetBackground( $NameToOptionHash{$axis.' P'}, $OptionModifiedColor ); } + if($OptionsLoaded){ Option_SetBackground( $NameToOptionHash{$axis.' I'}, $OptionModifiedColor ); } + if($OptionsLoaded){ Option_SetBackground( $NameToOptionHash{$axis.' D'}, $OptionModifiedColor ); } +$SimplifiedPID_SetPID2 = 1; +} + + +#this checks PID values and sets PID2 fields +# is called e.g. when a original field is changed +sub SetPID2{ + my $axis = shift; + if( $AllFieldsAreReadyToUse != 1 ){ return; } + if( $SimplifiedPID_SetPID2 != 1 ){ return; } + #get PID values + #my $Kp= $NameToOptionHash{$axis.' P'}->{textfield}->Text(); + my $Ki = $NameToOptionHash{$axis.' I'}->{textfield}->Text(); + my $Kd = $NameToOptionHash{$axis.' D'}->{textfield}->Text(); + #calculate PID2 values + my $D = 100.0/0.8 * $Kd; #scale to 100 + my $S = 100.0/2000.0 * $Ki; #scale to 100 + if( $f_Tab{pid}->UseSpecialAlgorithm->Checked() ){ + my $f0 = sqrt( divide( $Ki, 39.4784176*$Kd ) ); + if( $f0>25.0 ){ $f0 = 25.0; } + $D = 100.0/25.0 * $f0; + $S = 100.0/3200.0 * $Ki; #scale to 100 + } + #set PID2 values + my $ofs = 0; + if( $axis eq 'Pitch' ){ + $ofs = 0; + $PitchDamping_slider->SetPos( $D ); + $PitchDamping_value->Text( $PitchDamping_slider->GetPos() ); + $PitchStability_slider->SetPos( $S ); + $PitchStability_value->Text( $PitchStability_slider->GetPos() ); + }elsif( $axis eq 'Roll' ){ + $ofs = 1; + $RollDamping_slider->SetPos( $D ); + $RollDamping_value->Text( $RollDamping_slider->GetPos() ); + $RollStability_slider->SetPos( $S ); + $RollStability_value->Text( $RollStability_slider->GetPos() ); + }elsif( $axis eq 'Yaw' ){ + $ofs = 2; + $YawDamping_slider->SetPos( $D ); + $YawDamping_value->Text( $YawDamping_slider->GetPos() ); + $YawStability_slider->SetPos( $S ); + $YawStability_value->Text( $YawStability_slider->GetPos() ); + } + if($OptionsLoaded){ SimplifiedPID_SetBackground(0+$ofs,$OptionModifiedColor); } + if($OptionsLoaded){ SimplifiedPID_SetBackground(3+$ofs,$OptionModifiedColor); } +} + + +sub UseSimplifiedPID_Hide{ + $f_Tab{pid}->UseSimplifiedPID_frame->Hide(); + foreach my $Option (@SimplifiedPIDList){ $Option->Hide(); } +} + + +sub UseSimplifiedPID_Click{ + if( $f_Tab{pid}->UseSimplifiedPID->Checked() ){ + $f_Tab{pid}->UseSimplifiedPID_frame->Show(); + foreach my $Option (@SimplifiedPIDList){ $Option->Show(); } + foreach my $Option (@OptionList){ + if( $Option->{name} =~ /^[PRY]\w+ [PID]$/ ){ + $Option->{label}->Hide(); $Option->{textfield}->Hide(); $Option->{setfield}->Hide(); + } + } +##XX $f_Tab{pid}->UseSpecialAlgorithm->Disable(); #changing special algorithm while in simplified can have nasty effects + }else{ + $f_Tab{pid}->UseSimplifiedPID_frame->Hide(); + foreach my $Option (@SimplifiedPIDList){ $Option->Hide(); } + foreach my $Option (@OptionList){ + if( $Option->{name} =~ /^[PRY]\w+ [PID]$/ ){ + $Option->{label}->Show(); $Option->{textfield}->Show(); $Option->{setfield}->Show(); + } + } +##XX $f_Tab{pid}->UseSpecialAlgorithm->Enable(); + } + 1; +} + +sub UseSpecialAlgorithm_Click{ + if( $f_Tab{pid}->UseSpecialAlgorithm->Checked() ){ + $PitchDamping_label->Text("Pitch f0"); + $RollDamping_label->Text("Roll f0"); + $YawDamping_label->Text("Yaw f0"); + }else{ + $PitchDamping_label->Text("Pitch Damping"); + $RollDamping_label->Text("Roll Damping"); + $YawDamping_label->Text("Yaw Damping"); + } + SetPID2('Pitch'); #update simplified sliders + SetPID2('Roll'); + SetPID2('Yaw'); + 1; +} + +sub SimplifiedPID_SetBackground{ + my $Option = $SimplifiedPIDList[shift]; + my $BackgroundColor = shift; + $Option->Change( -background => $BackgroundColor ); + $Option->InvalidateRect( 1 ); +} + +my $AutoWritePID_ChangesOccured = 0; +my $AutoWritePID_TimeoutCounter = 0; +my %AutoWritePID_HashOptions = (); +my %AutoWritePID_HashChanged = (); +my $AutoWritePID_HashIsInitialized = 0; + +sub AutoWritePID_Clear{ + $AutoWritePID_ChangesOccured = 0; + if( not $AutoWritePID_HashIsInitialized ){ AutoWritePID_InitHash(); } + foreach my $optionname (keys %AutoWritePID_HashChanged){ + $AutoWritePID_HashChanged{$optionname} = 0; + } +} + +sub AutoWritePID_InitHash{ + my $Option; + $Option = $NameToOptionHash{'Pitch P'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Pitch I'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Pitch D'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Roll P'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Roll I'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Roll D'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Yaw P'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Yaw I'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Yaw D'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Pitch Motor Vmax'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Roll Motor Vmax'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Yaw Motor Vmax'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Gyro LPF'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Imu2 FeedForward LPF'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + + $Option = $NameToOptionHash{'Foc Pitch P'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Pitch I'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Pitch D'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Roll P'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Roll I'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Roll D'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Yaw P'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Yaw I'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Yaw D'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Pitch K'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Roll K'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Yaw K'}; $AutoWritePID_HashOptions{ $Option->{name} } = $Option; + $Option = $NameToOptionHash{'Foc Gyro LPF'};$AutoWritePID_HashOptions{ $Option->{name} } = $Option; + + foreach my $optionname (keys %AutoWritePID_HashChanged){ + $AutoWritePID_HashChanged{$optionname} = 0; + } + $AutoWritePID_HashIsInitialized = 1; +} + +#is called in timer routine a regular time intervals +# isn't called when not connected, that's ensured by the timer routine +sub AutoWritePID_CheckIfItShouldBeDone{ + if( not $AutoWritePID_ChangesOccured ){ return 0; } #get out fast + if( $AutoWritePID_TimeoutCounter ){ $AutoWritePID_TimeoutCounter--; return 0; } #get out if time is not yet ripe + if( $w_Main->w_Tab->SelectedItem() != 1 ){ goto EXIT; } + if( not $f_Tab{pid}->AutoWritePIDChanges->Checked() ){ goto EXIT; } + foreach my $optionname (keys %AutoWritePID_HashOptions){ + if( $AutoWritePID_HashChanged{$optionname} ){ +#TextOut("c".$optionname); + my $Option= $AutoWritePID_HashOptions{$optionname}; + my $v = GetOptionField( $Option ); + #TextOut( $v ); + #if( $v<0 ){ $v = $v+65536; } + $v= UIntToHexstrSwapped($v); + my $res1= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. $v ); + #if( $res1 =~ /[tc]/ ){ goto WERROR; } + } + } +#TextOut("X"); + $AutoWritePID_ChangesOccured = 0; + foreach my $optionname (keys %AutoWritePID_HashOptions){ + if( $AutoWritePID_HashChanged{$optionname} ){ + $AutoWritePID_HashChanged{$optionname} = 0; + Option_SetBackground( $AutoWritePID_HashOptions{$optionname}, $OptionValidColor ); + } + } + #foreach my $Option (@OptionList){ Option_SetBackground($Option,$OptionValidColor); } + for(my $i=0; $i<6; $i++){ SimplifiedPID_SetBackground($i,$OptionValidColor); } + return 1; +EXIT: + #$AutoWritePID_ChangesOccured = 0; #no, don't do that + return 0; +} + +sub SetAutoWritePID{ + my $optionname = shift; #= $Option->{name}; + $AutoWritePID_ChangesOccured = 1; + $AutoWritePID_TimeoutCounter = 5; + if( not $AutoWritePID_HashIsInitialized ){ return; } + $AutoWritePID_HashChanged{$optionname} = 1; +} + + +##IMC calculator +my $IMCCalculatorIsDisplayed= 1; + +sub AddIMCCalculatorToPIDTab{ + my $xpos= 30+(1)*$OPTIONSWIDTH_X - 5; + my $ypos= 10 + (6)*$OPTIONSWIDTH_Y; + + $f_Tab{pid}->AddLabel( -name=> 'IMCCalculator_frame', -font=> $StdWinFont, + -pos=> [$xpos-5,$ypos-5], -size=> [505+10+5,127+10], -background => $SimplifiedPIDBackgroundColor, + ); + + $f_Tab{pid}->AddLabel( -name=> 'PitchIMCf0_label', -font=> $StdWinFont, + -text=> ' f0 =', -pos=> [$xpos,$ypos], -size=> [140,13+2], + ); + $f_Tab{pid}->AddLabel( -name=> 'PitchIMCd_label', -font=> $StdWinFont, + -text=> ' d =', -pos=> [$xpos,$ypos+16], -size=> [140,13+2], + ); + $f_Tab{pid}->AddLabel( -name=> 'PitchIMCtau_label', -font=> $StdWinFont, + -text=> 'tau =', -pos=> [$xpos,$ypos+32], -size=> [140,13+2], + ); + + $xpos= 30+(2)*$OPTIONSWIDTH_X; + $ypos= 10 + (6)*$OPTIONSWIDTH_Y; + $f_Tab{pid}->AddLabel( -name=> 'RollIMCf0_label', -font=> $StdWinFont, + -text=> ' f0 =', -pos=> [$xpos,$ypos], -size=> [140,13+2], + ); + $f_Tab{pid}->AddLabel( -name=> 'RollIMCd_label', -font=> $StdWinFont, + -text=> ' d =', -pos=> [$xpos,$ypos+16], -size=> [140,13+2], + ); + $f_Tab{pid}->AddLabel( -name=> 'RollIMCtau_label', -font=> $StdWinFont, + -text=> 'tau =', -pos=> [$xpos,$ypos+32], -size=> [140,13+2], + ); + + $xpos= 30+(3)*$OPTIONSWIDTH_X; + $ypos= 10 + (6)*$OPTIONSWIDTH_Y; + $f_Tab{pid}->AddLabel( -name=> 'YawIMCf0_label', -font=> $StdWinFont, + -text=> ' f0 =', -pos=> [$xpos,$ypos], -size=> [140,13+2], + ); + $f_Tab{pid}->AddLabel( -name=> 'YawIMCd_label', -font=> $StdWinFont, + -text=> ' d =', -pos=> [$xpos,$ypos+16], -size=> [140,13+2], + ); + $f_Tab{pid}->AddLabel( -name=> 'YawIMCtau_label', -font=> $StdWinFont, + -text=> 'tau =', -pos=> [$xpos,$ypos+32], -size=> [140,13+2], + ); + + $IMCCalculatorIsDisplayed= 1; + $f_Tab{pid}->AddButton( -name=> 'ShowIMCCalculator', + -text=> '-', -pos=> [$xsize-41, $tabsize-35], -width=> 12, -height=> 12, + -flat => 1, + ); +} +#AddIMCCalculatorToPIDTab(); + + +sub ShowIMCCalculator_Click{ + if( $AllFieldsAreReadyToUse!=1 ){ return; } + if( $IMCCalculatorIsDisplayed==0 ){ #unfold + $IMCCalculatorIsDisplayed= 1; + $f_Tab{pid}->ShowIMCCalculator->Text( "-"); + $f_Tab{pid}->IMCCalculator_frame->Show(); + $f_Tab{pid}->PitchIMCf0_label->Show(); + $f_Tab{pid}->PitchIMCd_label->Show(); + $f_Tab{pid}->PitchIMCtau_label->Show(); + $f_Tab{pid}->RollIMCf0_label->Show(); + $f_Tab{pid}->RollIMCd_label->Show(); + $f_Tab{pid}->RollIMCtau_label->Show(); + $f_Tab{pid}->YawIMCf0_label->Show(); + $f_Tab{pid}->YawIMCd_label->Show(); + $f_Tab{pid}->YawIMCtau_label->Show(); + }else{ #fold + $IMCCalculatorIsDisplayed= 0; + $f_Tab{pid}->ShowIMCCalculator->Text( "+"); + $f_Tab{pid}->IMCCalculator_frame->Hide(); + $f_Tab{pid}->PitchIMCf0_label->Hide(); + $f_Tab{pid}->PitchIMCd_label->Hide(); + $f_Tab{pid}->PitchIMCtau_label->Hide(); + $f_Tab{pid}->RollIMCf0_label->Hide(); + $f_Tab{pid}->RollIMCd_label->Hide(); + $f_Tab{pid}->RollIMCtau_label->Hide(); + $f_Tab{pid}->YawIMCf0_label->Hide(); + $f_Tab{pid}->YawIMCd_label->Hide(); + $f_Tab{pid}->YawIMCtau_label->Hide(); + } +} + +sub SetIMCCalculator{ + my $s= shift; + if( $AllFieldsAreReadyToUse!=1 ){ return; } + my $Kp = $NameToOptionHash{$s.' P'}->{textfield}->Text(); + my $Ki = $NameToOptionHash{$s.' I'}->{textfield}->Text(); + my $Kd = $NameToOptionHash{$s.' D'}->{textfield}->Text(); + #my $invKi = divide( 1.0, $Ki ); + my $f0 = sqrt( divide( $Ki, 39.4784176*$Kd ) ); + my $d = $Kp * sqrt( divide( 1.0, 4.0*$Kd*$Ki ) ); + if( $s eq 'Pitch' ){ + $f_Tab{pid}->PitchIMCf0_label->Text( ' f0 = '. sprintf("%.4g",$f0).' Hz' ); + $f_Tab{pid}->PitchIMCd_label->Text( ' d = '.sprintf("%.4f",$d) ); + $f_Tab{pid}->PitchIMCtau_label->Text( 'tau = '.sprintf("%.2f",1570.80/(1.0+$Ki)).' ms' ); + } + if( $s eq 'Roll' ){ + $f_Tab{pid}->RollIMCf0_label->Text( ' f0 = '. sprintf("%.4g",$f0).' Hz' ); + $f_Tab{pid}->RollIMCd_label->Text( ' d = '.sprintf("%.4f",$d) ); + $f_Tab{pid}->RollIMCtau_label->Text( 'tau = '.sprintf("%.2f",1570.80/(1.0+$Ki)).' ms' ); + } + if( $s eq 'Yaw' ){ + $f_Tab{pid}->YawIMCf0_label->Text( ' f0 = '. sprintf("%.4g",$f0).' Hz' ); + $f_Tab{pid}->YawIMCd_label->Text( ' d = '.sprintf("%.4f",$d) ); + $f_Tab{pid}->YawIMCtau_label->Text( 'tau = '.sprintf("%.2f",1570.80/(1.0+$Ki)).' ms' ); + } +} + + +#-----------------------------------------------------------------------------# +############################################################################### +### do Pan tab ### +############################################################################### +#-----------------------------------------------------------------------------# + +# nothing to do + + +#-----------------------------------------------------------------------------# +############################################################################### +### do RC Inputs tab ### +############################################################################### +#-----------------------------------------------------------------------------# +$xpos= 20; +$ypos= 20; + +$f_Tab{rcinputs}->AddButton( -name=> 'rcinputs_AutoTrim', -font=> $StdWinFont, + -text=> 'Auto Trim', -pos=> [$xpos+0*$OPTIONSWIDTH_X,$ypos+4+6*$OPTIONSWIDTH_Y], -width=> 120, + -onClick=> sub{ DoAutoTrim(); 1; }, +); + +sub DoAutoTrim{ + if( $OptionsLoaded<1 ){ + TextOut("\r\nCalibrate rc trims... ABORTED!"); + TextOut("\r\nPlease do first a read to get controller settings!\r\n"); + return 0; + } + ExecuteCalibrateRcTrim(); + return 1; +} + + +#-----------------------------------------------------------------------------# +############################################################################### +### do Functions tab ### +############################################################################### +#-----------------------------------------------------------------------------# + +# nothing to do + + +#-----------------------------------------------------------------------------# +############################################################################### +### do Scripts tab ### +############################################################################### +#-----------------------------------------------------------------------------# + +# nothing to do here + + +#-----------------------------------------------------------------------------# +############################################################################### +### do Setup tab ### +############################################################################### +#-----------------------------------------------------------------------------# +$xpos= 20; +$ypos= 20; + +$f_Tab{setup}->AddButton( -name=> 'gimbalconfig_EnableAllMotors', -font=> $StdWinFont, + -text=> 'Enable all Motors', -pos=> [$xpos+3*$OPTIONSWIDTH_X,$ypos+4+4*$OPTIONSWIDTH_Y], -width=> 120, + -onClick=> sub{ + if( $Execute_IsRunning ){ return 1; } + $Execute_IsRunning = 1; + SetUsageOfAllMotors(0); + $Execute_IsRunning = 0; + 1; }, +); + +$f_Tab{setup}->AddButton( -name=> 'gimbalconfig_DisableAllMotors', -font=> $StdWinFont, + -text=> 'Disable all Motors', -pos=> [$xpos+3*$OPTIONSWIDTH_X,$ypos+4+5*$OPTIONSWIDTH_Y], -width=> 120, + -onClick=> sub{ + if( $Execute_IsRunning ){ return 1; } + $Execute_IsRunning = 1; + SetUsageOfAllMotors(3); + $Execute_IsRunning = 0; + 1; }, +); + +sub SetUsageOfAllMotors{ + my $usage= shift; + if( $OptionsLoaded<1 ){ + if( $usage==3 ){ TextOut("\r\nDisable all motors... ABORTED!"); } + elsif( $usage==2 ){ TextOut("\r\nSet all motors to startup pos... ABORTED!"); } + elsif( $usage==1 ){ TextOut("\r\nSet all motors to level.. ABORTED!"); } + else{ TextOut("\r\nEnable all motors... ABORTED"); } + TextOut("\r\nPlease do first a read to get controller settings!\r\n"); + return 1; + } + my $Option= $NameToOptionHash{'Pitch Motor Usage'}; + if( defined $Option ){ + SetOptionField( $Option, $usage ); + $Option->{textfield}->Change( -background => $OptionInvalidColor ); + } + $Option= $NameToOptionHash{'Roll Motor Usage'}; + if( defined $Option ){ + SetOptionField( $Option, $usage ); + $Option->{textfield}->Change( -background => $OptionInvalidColor ); + } + $Option= $NameToOptionHash{'Yaw Motor Usage'}; + if( defined $Option ){ + SetOptionField( $Option, $usage ); + $Option->{textfield}->Change( -background => $OptionInvalidColor ); + } + if( $usage==3 ){ TextOut("\r\nDisable all motors... OK"); } + elsif( $usage==2 ){ TextOut("\r\nSet all motors to startup pos... OK"); } + elsif( $usage==1 ){ TextOut("\r\nSet all motors to level.. OK"); } + else{ TextOut("\r\nEnable all motors... OK"); } + ExecuteWrite(0); + 1; +} + + +#-----------------------------------------------------------------------------# +############################################################################### +### do Configure Gimbal tab ### +############################################################################### +#-----------------------------------------------------------------------------# + +my @ImuZList=( 'up', 'down', 'forward', 'backward', 'right', 'left' ); +my @ImuXList=( 'forward', 'backward', 'right', 'left' ); + +$xpos= 20; +$ypos= 20; + +$f_Tab{gimbalconfig}->AddButton( -name=> 'gimbalconfig_ConfigureGimbal', -font=> $StdWinFont, + -text=> 'Configure Gimbal Tool', -pos=> [$xpos+0*$OPTIONSWIDTH_X,$ypos+4+3*$OPTIONSWIDTH_Y-8], -width=> 120, -height=> 30, +); + +$ypos= 200; + +$ypos+= 30 + 1*13; +$xpos= 50 +30; +$f_Tab{gimbalconfig}->AddLabel( -name=> 'gimbalconfig_ImuNummer_label', -font=> $StdWinFont, + -text=> ' Imu', -pos=> [$xpos-1,$ypos], +); +$f_Tab{gimbalconfig}->AddCombobox( -name=> 'gimbalconfig_ImuNumber', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+20-3], -size=> [120,160], + -dropdown=> 1, -vscroll=>1, + -onChange=> sub{ + my $Option; my $imu; + if( $f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->GetCurSel() == 1 ){ + $Option= $NameToOptionHash{'Imu2 Orientation'}; $imu= '2'; + $f_Tab{gimbalconfig}->gimbalconfig_ImuOrientationText2_label_IMU1->Hide(); + $f_Tab{gimbalconfig}->gimbalconfig_ImuOrientationText2_label_IMU2->Show(); + }elsif( $f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->GetCurSel() == 2 ){ + $Option= $NameToOptionHash{'Imu3 Orientation'}; $imu= '3'; + $f_Tab{gimbalconfig}->gimbalconfig_ImuOrientationText2_label_IMU1->Hide(); + $f_Tab{gimbalconfig}->gimbalconfig_ImuOrientationText2_label_IMU2->Hide(); + }else{ + $Option= $NameToOptionHash{'Imu Orientation'}; $imu= ''; + $f_Tab{gimbalconfig}->gimbalconfig_ImuOrientationText2_label_IMU2->Hide(); + $f_Tab{gimbalconfig}->gimbalconfig_ImuOrientationText2_label_IMU1->Show(); + } + if( defined $Option ){ + my $no= GetOptionField( $Option ); + UpdateZXAxisFields( $no, $imu ); + } + 1; + }, +); +$f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->SetDroppedWidth(100); +$f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->Add( 'Imu (camera IMU)' ); +$f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->Add( 'Imu2 (2nd IMU)' ); +$f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->Add( 'Imu3 (vibrations)' ); +$f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->Select( 0 ); + +$xpos= 120 + 50 + 50 +20; +$f_Tab{gimbalconfig}->AddLabel( -name=> 'gimbalconfig_AxisZ_label', -font=> $StdWinFont, + -text=> ' z axis points', -pos=> [$xpos-1,$ypos], +); +$f_Tab{gimbalconfig}->AddCombobox( -name=> 'gimbalconfig_AxisZ', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+20-3], -size=> [80,160], + -dropdown=> 1, -vscroll=>1, + -onChange=> sub{ + my $Option; my $imu= ''; + if( $f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->GetCurSel() == 1 ){ + $Option= $NameToOptionHash{'Imu2 Orientation'}; $imu= '2'; + }elsif( $f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->GetCurSel() == 2 ){ + $Option= $NameToOptionHash{'Imu3 Orientation'}; $imu= '3'; + }else{ + $Option= $NameToOptionHash{'Imu Orientation'}; $imu= ''; + } + my $z= $_[0]->GetString($_[0]->GetCurSel()); + my $x= $f_Tab{gimbalconfig}->gimbalconfig_AxisX->Text(); + UpdateXAxisField( $z, $x ); + $x= $f_Tab{gimbalconfig}->gimbalconfig_AxisX->GetString( $f_Tab{gimbalconfig}->gimbalconfig_AxisX->GetCurSel() ); + my ($no)= PaintImuOrientation( $imu, $z, $x ); + if( defined $Option ){ + SetOptionField( $Option, $no ); + $Option->{textfield}->Change( -background => $OptionInvalidColor ); + } + 1; + } +); +$f_Tab{gimbalconfig}->gimbalconfig_AxisZ->SetDroppedWidth(60); +$f_Tab{gimbalconfig}->gimbalconfig_AxisZ->Add( @ImuZList ); +$f_Tab{gimbalconfig}->gimbalconfig_AxisZ->Select( 0 ); +#$ypos+= 50; +$xpos+=120; +$f_Tab{gimbalconfig}->AddLabel( -name=> 'gimbalconfig_AxisX_label', -font=> $StdWinFont, + -text=> ' x axis points', -pos=> [$xpos-1,$ypos], +); +$f_Tab{gimbalconfig}->AddCombobox( -name=> 'gimbalconfig_AxisX', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+20-3], -size=> [80,160], + -dropdown=> 1, -vscroll=>1, + -onChange=> sub{ + my $Option; my $imu= ''; + if( $f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->GetCurSel() == 1 ){ + $Option= $NameToOptionHash{'Imu2 Orientation'}; $imu= '2'; + }elsif( $f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->GetCurSel() == 2 ){ + $Option= $NameToOptionHash{'Imu3 Orientation'}; $imu= '3'; + }else{ + $Option= $NameToOptionHash{'Imu Orientation'}; $imu= ''; + } + my $z= $f_Tab{gimbalconfig}->gimbalconfig_AxisZ->Text(); + my $x= $_[0]->GetString( $_[0]->GetCurSel() ); + my ($no)= PaintImuOrientation( $imu, $z, $x ); + if( defined $Option ){ + SetOptionField( $Option, $no ); + $Option->{textfield}->Change( -background => $OptionInvalidColor ); #$OptionModifiedColor ); + } + 1; + } +); +$f_Tab{gimbalconfig}->gimbalconfig_AxisX->SetDroppedWidth(60); +$f_Tab{gimbalconfig}->gimbalconfig_AxisX->Add( @ImuXList ); +$f_Tab{gimbalconfig}->gimbalconfig_AxisX->Select( 0 ); +$xpos= 480 - 8 +50; +$ypos+= 10; +$xpos+=110; +$f_Tab{gimbalconfig}->AddLabel( -name=> 'gimbalconfig_ImuX_label', -font=> $StdWinFont, + -text=> ' ', -pos=> [$xpos,$ypos-40+10], -width=> 70, +); +$f_Tab{gimbalconfig}->AddLabel( -name=> 'gimbalconfig_No_label', -font=> $StdWinFont, + -text=> ' ', -pos=> [$xpos,$ypos-40+25], -width=> 70, +); +$f_Tab{gimbalconfig}->AddLabel( -name=> 'gimbalconfig_Name_label', -font=> $StdWinFont, + -text=> ' ', -pos=> [$xpos,$ypos-40+40], -width=> 70, +); +$f_Tab{gimbalconfig}->AddLabel( -name=> 'gimbalconfig_Axes_label', -font=> $StdWinFont, + -text=> ' ', -pos=> [$xpos,$ypos-40+55], -width=> 70, +); +$f_Tab{gimbalconfig}->AddLabel( -name=> 'gimbalconfig_Value_label', -font=> $StdWinFont, + -text=> ' ', -pos=> [$xpos,$ypos-40+70], -width=> 70, +); +$xpos= 30 +50; +$ypos+= 50-5; +$f_Tab{gimbalconfig}->AddLabel( -name=> 'gimbalconfig_ImuOrientationText2_label_IMU1', -font=> $StdWinFont, + -text=> 'Check in Data Display: Tilting CAMERA downwards must lead '. +'to positive Pitch angles, and rolling it like in a right turn to positive Roll angles.', + -pos=> [$xpos,$ypos], -multiline => 1, -height=>26+13+10, -width=>420, +); +$f_Tab{gimbalconfig}->AddLabel( -name=> 'gimbalconfig_ImuOrientationText2_label_IMU2', -font=> $StdWinFont, + -text=> 'Check in Data Display: Tilting GIMBAL downwards must lead '. +'to positive Pitch2 angles, and rolling it like in a right turn to positive Roll2 angles.', + -pos=> [$xpos,$ypos], -multiline => 1, -height=>26+13, -width=>420, +); + +#moved to here to handle overlap of plot with textfield +my $w_ImuPlot= $f_Tab{gimbalconfig}->AddGraphic( -parent=> $f_Tab{gimbalconfig}, -name=> 'gimbalconfig_Plot', + -pos=> [522,$ypos-77+5], -size=> [100,90], -interactive=> 1, +); + +sub UpdateZXAxisFields{ + my $no = shift; + my $imux = shift; + my $s= $ImuOrientationList[$no]->{axes}; + my $z= ConvertImuOrientation( $s, 'z' ); + my $x= ConvertImuOrientation( $s, 'x' ); + $f_Tab{gimbalconfig}->gimbalconfig_AxisZ->SelectString( $z ); + UpdateXAxisField( $z, $x ); + $f_Tab{gimbalconfig}->gimbalconfig_AxisX->SelectString( $x ); + PaintImuOrientation( $imux, $z, $x ); +} + +sub UpdateXAxisField{ + my $z= shift; + my $x= shift; + if(( $z eq 'up' )or( $z eq 'down' )){ @ImuXList= ( 'forward', 'backward', 'right', 'left' ); } + if(( $z eq 'forward' )or( $z eq 'backward' )){ @ImuXList= ( 'up', 'down', 'right', 'left' ); } + if(( $z eq 'right' )or( $z eq 'left' )){ @ImuXList= ( 'up', 'down', 'forward', 'backward' ); } + $f_Tab{gimbalconfig}->gimbalconfig_AxisX->Clear(); + $f_Tab{gimbalconfig}->gimbalconfig_AxisX->Add( @ImuXList ); + $f_Tab{gimbalconfig}->gimbalconfig_AxisX->SelectString( $x ); + if( $f_Tab{gimbalconfig}->gimbalconfig_AxisX->GetCurSel() < 0 ){ $f_Tab{gimbalconfig}->gimbalconfig_AxisX->SetCurSel(0); } +} + +sub ConvertImuOrientation{ + my $s= shift; my $f= shift; + my $i= index( $s, '+'.$f ); + if( $i==0 ){ return 'forward'; }elsif( $i==3 ){ return 'left'; }elsif( $i==6 ){ return 'up'; } + $i= index( $s, '-'.$f ); + if( $i==0 ){ return 'backward'; }elsif( $i==3 ){ return 'right'; }elsif( $i==6 ){ return 'down'; } +} + +sub FindImuOrientation{ + my $z= shift; my $x= shift; + my $y= ''; my @s= ('??','??','??'); my $s1= ''; my $s2= ''; + #put z at right position + if( $z eq 'forward' ){ $s[0]= '+z'; } + elsif( $z eq 'backward' ) { $s[0]= '-z'; } + elsif( $z eq 'left' ){ $s[1]= '+z'; } + elsif( $z eq 'right' ) { $s[1]= '-z'; } + elsif( $z eq 'up' ) { $s[2]= '+z'; } + elsif( $z eq 'down' ) { $s[2]= '-z'; } + #put x at right position + if( $x eq 'forward' ){ $s[0]= '+x'; } + elsif( $x eq 'backward' ) { $s[0]= '-x'; } + elsif( $x eq 'left' ){ $s[1]= '+x'; } + elsif( $x eq 'right' ) { $s[1]= '-x'; } + elsif( $x eq 'up' ) { $s[2]= '+x'; } + elsif( $x eq 'down' ) { $s[2]= '-x'; } + # y is missing + if( $s[0] eq '??' ){ $s1.= '+y'; $s2.= '-y'; }else{ $s1.= $s[0]; $s2.= $s[0]; } + if( $s[1] eq '??' ){ $s1.= ' +y'; $s2.= ' -y'; }else{ $s1.= ' '.$s[1]; $s2.= ' '.$s[1]; } + if( $s[2] eq '??' ){ $s1.= ' +y'; $s2.= ' -y'; }else{ $s1.= ' '.$s[2]; $s2.= ' '.$s[2]; } + #find matching orientation + my $no= 0; my $option; + foreach my $o (@ImuOrientationList){ + if(( $o->{axes} eq $s1 )or( $o->{axes} eq $s2 )){ $y= $o->{axes}; $option= $o; last; } + $no++; + } + $y= ConvertImuOrientation( $y, 'y' ); + return ($y,$no,$option->{value},$option->{name},$option->{axes}); +} + +sub AxesRemovePlus{ my $axes= shift; $axes=~ s/\+/ /g; return $axes; } + +my $penImu = new Win32::GUI::Pen( -color => [127,127,127], -width => 1); #black +my $brushImu = new Win32::GUI::Brush( [191,191,191] ); #lightgray +my $brushImuFrame = new Win32::GUI::Brush( [0,0,0] ); #white +my $penImuGrid= new Win32::GUI::Pen( -color=> [127,127,127], -width=> 1); +my $fontImu= Win32::GUI::Font->new(-name=>'Lucida Console',-size=>8); + +my @ImuColors= ( [255,0,0], [0,255,0], [0,0,255], [128,128,128], [0,255,255], [255,0,255], [255,255,0], [0,0,0]); + +my $AxisLen= 32; +my $AxisXLen= int( $AxisLen/1.41 ); +my $ArrowGap= 6; +my $ArrowXGap= 5; +my $AxisXOffset= -8; +my $AxisYOffset= +4; + +sub AxisCoordinate{ + my $a= shift; + if( $a eq 'up' ) { return (0 , $AxisLen-$ArrowGap , 5,$AxisLen+2); } + if( $a eq 'down' ) { return (0 ,-($AxisLen-$ArrowGap) , 5,-$AxisLen+7); } + if( $a eq 'forward' ) { return ($AxisXLen-$ArrowXGap ,$AxisXLen-$ArrowXGap , $AxisXLen+2,$AxisXLen ); } + if( $a eq 'backward' ) { return (-($AxisXLen-$ArrowXGap),-($AxisXLen-$ArrowXGap) , -$AxisXLen-6,-$AxisXLen+12 ); } + if( $a eq 'right' ) { return ($AxisLen-$ArrowGap , 0 , $AxisLen-4,+12); } + if( $a eq 'left' ) { return (-($AxisLen-$ArrowGap) , 0 , -$AxisLen,+12); } +} + +sub PaintImuOrientationFrame{ + my $Plot= shift; + my $z= shift; + my $x= shift; + my $y= shift; + # setting of Ranges and Regions + my $DC= $Plot->GetDC(); + my ( $W, $H )= ($Plot->GetClientRect())[2..3]; + my $plot_region= CreateRectRgn Win32::GUI::Region(0,0,$W,$H); + # get the DC's + my $DC2= $DC->CreateCompatibleDC(); + my $bit= $DC->CreateCompatibleBitmap( $W, $H ); + $DC2->SelectObject( $bit ); + # draw the Plot region things: background, labels, xy, plotframe + $DC2->SelectClipRgn( $plot_region ); + $DC2->SelectObject( $brushImu ); + $DC2->PaintRgn( $plot_region ); + $DC2->SelectObject( $fontImu ); + $DC2->TextColor( [127,127,127] ); + $DC2->BackColor( [191,191,191] ); + # draw the Imu things: grid, labels + $DC2->SelectObject( $penImu ); + $DC2->Line( $W/2+$AxisXOffset, $H/2+$AxisYOffset-$AxisLen, $W/2+$AxisXOffset, $H/2+$AxisYOffset+$AxisLen ); #z + $DC2->Line( $W/2+$AxisXOffset+$AxisXLen, $H/2+$AxisYOffset-$AxisXLen, $W/2+$AxisXOffset-$AxisXLen, $H/2+$AxisYOffset+$AxisXLen ); #x + $DC2->Line( $W/2+$AxisXOffset-$AxisLen, $H/2+$AxisYOffset, $W/2+$AxisXOffset+$AxisLen, $H/2+$AxisYOffset ); #y + $DC2->TextOut( $W/2-15, -1, 'up' ); + $DC2->TextOut( $W-36, $H/2+11, 'right' ); + $DC2->TextOut( $W-31, 6, 'for' );$DC2->TextOut( $W-31, 15, 'ward' ); + # draw seleced axes + my $pen = new Win32::GUI::Pen( -color => $ImuColors[0], -width => 3 ); + $DC2->SelectObject( $pen ); + my @c= AxisCoordinate( $z ); + $DC2->Line( $W/2+$AxisXOffset, $H/2+$AxisYOffset, $W/2+$AxisXOffset+$c[0], $H/2+$AxisYOffset-$c[1] ); + $DC2->TextColor( $ImuColors[0] ); + $DC2->TextOut( $W/2+$AxisXOffset+$c[2], $H/2+$AxisYOffset-$c[3], 'z' ); + $pen = new Win32::GUI::Pen( -color => $ImuColors[1], -width => 3 ); + $DC2->SelectObject( $pen ); + @c= AxisCoordinate( $x ); + $DC2->Line( $W/2+$AxisXOffset, $H/2+$AxisYOffset, $W/2+$AxisXOffset+$c[0], $H/2+$AxisYOffset-$c[1] ); + $DC2->TextColor( $ImuColors[1] ); + $DC2->TextOut( $W/2+$AxisXOffset+$c[2], $H/2+$AxisYOffset-$c[3], 'x' ); + $pen = new Win32::GUI::Pen( -color => $ImuColors[2], -width => 3 ); + $DC2->SelectObject( $pen ); + @c= AxisCoordinate( $y ); + $DC2->Line( $W/2+$AxisXOffset, $H/2+$AxisYOffset, $W/2+$AxisXOffset+$c[0], $H/2+$AxisYOffset-$c[1] ); + $DC2->TextColor( $ImuColors[2] ); + $DC2->TextOut( $W/2+$AxisXOffset+$c[2], $H/2+$AxisYOffset-$c[3], 'y' ); + # update the screen in one action, and clean up + $DC->BitBlt(0,0,$W,$H,$DC2,0,0); + $DC2->DeleteDC(); + $DC->Validate(); +} + +sub PaintImuOrientation{ + my $imu= shift; + my $z= shift; + my $x= shift; + my ($y,$no,$value,$name,$axes)= FindImuOrientation( $z, $x ); + # do first orientation info + $f_Tab{gimbalconfig}->gimbalconfig_ImuX_label->Text( 'Imu'.$imu.' ' ); + $f_Tab{gimbalconfig}->gimbalconfig_No_label->Text( 'no. '.$no ); + $f_Tab{gimbalconfig}->gimbalconfig_Name_label->Text( $name ); + $f_Tab{gimbalconfig}->gimbalconfig_Axes_label->Text( AxesRemovePlus($axes) ); + $f_Tab{gimbalconfig}->gimbalconfig_Value_label->Text( '('.$value.')' ); + # setting of Ranges and Regions + PaintImuOrientationFrame( $w_ImuPlot, $z, $x, $y ); + return ($no,$value,$name,$axes); +} + + +sub gimbalconfig_Plot_Paint{ + my $imux= ''; + if( $f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->GetCurSel() == 1 ){ $imux= '2'; }else{ $imux= ''; } + PaintImuOrientation( + $imux, + $f_Tab{gimbalconfig}->gimbalconfig_AxisZ->Text(), + $f_Tab{gimbalconfig}->gimbalconfig_AxisX->Text() + ); + 1; +} + + +#-----------------------------------------------------------------------------# +############################################################################### +### do Calibrate Acc tab ### +############################################################################### +#-----------------------------------------------------------------------------# + +# this hash stores the actually worked on calibration data record +my %CalibrationDataRecord= ( + imuname => '', # + imutype => '', + imusettings => '', ##XXXXX + axzero=> '', + ayzero=> '', + azzero=> '', + axscale=> '', + ayscale=> '', + azscale=> '', + calibrationmethod=> '', + raw=> '', +); + +sub ClearCalibrationDataRecord{ + $CalibrationDataRecord{imuname}= ''; + $CalibrationDataRecord{imutype}= 'MPU6050'; + if( abs($AccGravityConst-8192)<1000 ){ + $CalibrationDataRecord{imusettings}= 'MPU6050_ACCEL_FS_4, MPU6050_GYRO_FS_1000, MPU6050_DLPF_BW_256, MPU6050_SR_0'; + }else{ + $CalibrationDataRecord{imusettings}= 'MPU6050_ACCEL_FS_2, MPU6050_GYRO_FS_1000, MPU6050_DLPF_BW_256, MPU6050_SR_0'; + } + $CalibrationDataRecord{axzero}= ''; + $CalibrationDataRecord{ayzero}= ''; + $CalibrationDataRecord{azzero}= ''; + $CalibrationDataRecord{axscale}= ''; + $CalibrationDataRecord{ayscale}= ''; + $CalibrationDataRecord{azscale}= ''; + $CalibrationDataRecord{calibrationtype}= ''; + $CalibrationDataRecord{raw}= ''; +} + +$xpos= 30; +$ypos= 20; + +$f_Tab{calibrateacc}->AddLabel( -name=> 'cacc_IntroText_label', -font=> $StdWinFont, + -text=> "1. Deactivate Motors +For saftey, power up board with USB only (no battery connected). Motors are then deactivated.", + -pos=> [$xpos,$ypos], -multiline=>1, -height=>3*13+20, +); + +$ypos+= 35 + 1*13; +$f_Tab{calibrateacc}->AddLabel( -name=> 'cacc_IntroTextdrgdg_label', -font=> $StdWinFont, + -text=> "2. Accelerometer Calibration Data +Chose imu. Then run an accelerometer calibration, or load acc calibration data from file.", + -pos=> [$xpos,$ypos], -multiline=>1, -height=>2*13+10, +); + +$ypos+= 3*13; +$f_Tab{calibrateacc}->AddButton( -name=> 'caac_Run1PointCalibration', -font=> $StdWinFont, + -text=> 'Run 1-Point Calibration', -pos=> [$xpos+20,$ypos-3+2*13], -width=> 120+20, +); +$f_Tab{calibrateacc}->AddButton( -name=> 'caac_Run6PointCalibration', -font=> $StdWinFont, + -text=> 'Run 6-Point Calibration', -pos=> [$xpos+20,$ypos-3+4*13], -width=> 120+20, +); + +$xpos= 280; +$ypos+= 10; +$f_Tab{calibrateacc}->AddLabel( -name=> 'cacc_ImuNummer_label', -font=> $StdWinFont, + -text=> ' Imu', -pos=> [$xpos-1-30,$ypos], +); +$f_Tab{calibrateacc}->AddCombobox( -name=> 'cacc_ImuNumber', -font=> $StdWinFont, + -pos=> [$xpos,$ypos-3], -size=> [120,160], + -dropdown=> 1, -vscroll=>1, + -onChange=> sub{ AccCalibrateTabClearCalibration(); 1; }, +); +$f_Tab{calibrateacc}->cacc_ImuNumber->SetDroppedWidth(100); +$f_Tab{calibrateacc}->cacc_ImuNumber->Add( 'Imu (camera IMU)' ); +$f_Tab{calibrateacc}->cacc_ImuNumber->Add( 'Imu2 (2nd IMU)' ); +$f_Tab{calibrateacc}->cacc_ImuNumber->Select( 0 ); + + +my $AccCalibDataColor = [255,255,255]; +$xpos= 280; +$ypos+= 3*13; +$f_Tab{calibrateacc}->AddLabel( -name=> 'caac_Zero_label', -font=> $StdWinFont, + -text=> 'Zero', -pos=> [$xpos-1-30,$ypos+1*13], +); +$f_Tab{calibrateacc}->AddLabel( -name=> 'caac_Scale_label', -font=> $StdWinFont, + -text=> 'Scale', -pos=> [$xpos-1-30,$ypos+3*13], +); +$f_Tab{calibrateacc}->AddLabel( -name=> 'caac_AccX_label', -font=> $StdWinFont, + -text=> ' ax', -pos=> [$xpos-1,$ypos-7], +); +$f_Tab{calibrateacc}->AddTextfield( -name=> 'caac_AccXZero', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+1*13-4], -size=> [60,23], + -align=> "right", +); +$f_Tab{calibrateacc}->AddTextfield( -name=> 'caac_AccXScale', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+3*13-4], -size=> [60,23], + -align=> "right", +); +$xpos+= 70; +$f_Tab{calibrateacc}->AddLabel( -name=> 'caac_AccY_label', -font=> $StdWinFont, + -text=> ' ay', -pos=> [$xpos-1,$ypos-7], +); +$f_Tab{calibrateacc}->AddTextfield( -name=> 'caac_AccYZero', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+1*13-4], -size=> [60,23], + -align=> "right", +); +$f_Tab{calibrateacc}->AddTextfield( -name=> 'caac_AccYScale', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+3*13-4], -size=> [60,23], + -align=> "right", +); +$xpos+= 70; +$f_Tab{calibrateacc}->AddLabel( -name=> 'caac_AccZ_label', -font=> $StdWinFont, + -text=> ' az', -pos=> [$xpos-1,$ypos-7], +); +$f_Tab{calibrateacc}->AddTextfield( -name=> 'caac_AccZZero', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+1*13-4], -size=> [60,23], + -align=> "right", +); +$f_Tab{calibrateacc}->AddTextfield( -name=> 'caac_AccZScale', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+3*13-4], -size=> [60,23], + -align=> "right", +); + +$xpos= 530; +$ypos-= 4*13; +$f_Tab{calibrateacc}->AddButton( -name=> 'caac_LoadFromFile', -font=> $StdWinFont, + -text=> 'Load from File', -pos=> [$xpos,$ypos-3+1*13], -width=> 100, + -onClick => sub{ ExecuteLoadCalibrationData(); 1; } +); +$f_Tab{calibrateacc}->AddButton( -name=> 'caac_SaveToFile', -font=> $StdWinFont, + -text=> 'Save to File', -pos=> [$xpos,$ypos-3+3*13], -width=> 100, + -onClick => sub{ ExecuteSaveCalibrationData(); 1; } +); +$f_Tab{calibrateacc}->AddButton( -name=> 'caac_Reset', -font=> $StdWinFont, + -text=> 'Reset to Default', -pos=> [$xpos,$ypos-3+5*13], -width=> 100, + -onClick => sub{ AccCalibrateTabSetCalibration(0,0,0,$AccGravityConst,$AccGravityConst,$AccGravityConst); 1; } +); +$f_Tab{calibrateacc}->AddButton( -name=> 'caac_ReadFromBoard', -font=> $StdWinFont, + -text=> 'Read from Board', -pos=> [$xpos,$ypos-3+7*13], -width=> 100, + -onClick => sub{ + if( $Execute_IsRunning ){ return 1; } + $Execute_IsRunning = 1; + my $ret=ExecuteReadCalibrationData(); if($ret==1){AccCalibrateTabEnable(1);} + $Execute_IsRunning = 0; + 1; } +); +$xpos= 30; +$ypos+= 13; + +$ypos= 20 + 17*13 + 4; +$f_Tab{calibrateacc}->AddLabel( -name=> 'caac_StoreInEEprom_label', -font=> $StdWinFont, + -text=> "3. Store Calibration Data +Store the calibration data to the EEPROM, otherwise it won't be neither active nor permanent. + +ATTENTION: Be carefull to not store nonsense data!", + -pos=> [$xpos,$ypos], -multiline=>1, -size=>[460,70], +); +$f_Tab{calibrateacc}->AddButton( -name=> 'caac_StoreInEEprom', -font=> $StdWinFont, + -text=> 'Store Calibration', -pos=> [$xpos+490-10,$ypos-3+13-5], -width=> 120+20, -height=> 30, + -onClick => sub{ + if( $Execute_IsRunning ){ return 1; } + $Execute_IsRunning = 1; + ExecuteStoreCalibrationData(); + $Execute_IsRunning = 0; + 1; } +); +$f_Tab{calibrateacc}->caac_StoreInEEprom->Disable(); + + +sub AccCalibrateTabEnable{ + if(shift){ + $f_Tab{calibrateacc}->caac_StoreInEEprom->Enable(); + }else{ + $f_Tab{calibrateacc}->caac_StoreInEEprom->Disable(); + } +} + +sub AccCalibrateTabCopyRecordToTab{ + $f_Tab{calibrateacc}->caac_AccXZero->Text( $CalibrationDataRecord{axzero} ); + $f_Tab{calibrateacc}->caac_AccYZero->Text( $CalibrationDataRecord{ayzero} ); + $f_Tab{calibrateacc}->caac_AccZZero->Text( $CalibrationDataRecord{azzero} ); + $f_Tab{calibrateacc}->caac_AccXScale->Text( $CalibrationDataRecord{axscale} ); + $f_Tab{calibrateacc}->caac_AccYScale->Text( $CalibrationDataRecord{ayscale} ); + $f_Tab{calibrateacc}->caac_AccZScale->Text( $CalibrationDataRecord{azscale} ); +} + +sub AccCalibrateTabCopyTabToRecord{ + $CalibrationDataRecord{axzero}= $f_Tab{calibrateacc}->caac_AccXZero->Text(); + $CalibrationDataRecord{ayzero}= $f_Tab{calibrateacc}->caac_AccYZero->Text(); + $CalibrationDataRecord{azzero}= $f_Tab{calibrateacc}->caac_AccZZero->Text(); + $CalibrationDataRecord{axscale}= $f_Tab{calibrateacc}->caac_AccXScale->Text(); + $CalibrationDataRecord{ayscale}= $f_Tab{calibrateacc}->caac_AccYScale->Text(); + $CalibrationDataRecord{azscale}= $f_Tab{calibrateacc}->caac_AccZScale->Text(); +} + +sub AccCalibrateTabSetCalibration{ + $CalibrationDataRecord{axzero}= shift; + $CalibrationDataRecord{ayzero}= shift; + $CalibrationDataRecord{azzero}= shift; + $CalibrationDataRecord{axscale}= shift; + $CalibrationDataRecord{ayscale}= shift; + $CalibrationDataRecord{azscale}= shift; + AccCalibrateTabCopyRecordToTab(); +} + +sub AccCalibrateTabGetCalibration{ + AccCalibrateTabCopyTabToRecord(); + return ( + $CalibrationDataRecord{axzero}, + $CalibrationDataRecord{ayzero}, + $CalibrationDataRecord{azzero}, + $CalibrationDataRecord{axscale}, + $CalibrationDataRecord{ayscale}, + $CalibrationDataRecord{azscale}, + ); +} + +sub AccCalibrateTabClearCalibration{ + ClearCalibrationDataRecord(); + AccCalibrateTabCopyRecordToTab(); +} + +sub ExecuteReadCalibrationData{ + #read all calibration data from board + if( not ConnectionIsValid() ){ ConnectToBoardwoRead(); } +#SetReadPortDebug(1); + my ($ret,$s)= ExecuteCommandFullwoGet( 'Cr', 'Read calibration data', '', 1, 18*2 ); +#SetReadPortDebug(0); + if( $ret==0 ){ return 0; } + my @CrData = unpack( "v18", $s ); + for(my $n=0;$n<18;$n++){ if( $CrData[$n]>32768 ){ $CrData[$n]-=65536; } } + #copy to record and into tab + ClearCalibrationDataRecord(); #clear record + if( $f_Tab{calibrateacc}->cacc_ImuNumber->GetCurSel()!=1 ){ #IMU1 selected + AccCalibrateTabSetCalibration( #copies into record and tab + $CrData[0], $CrData[1], $CrData[2], $CrData[3], $CrData[4], $CrData[5] + ); + }else{ #IMU2 + AccCalibrateTabSetCalibration( #copies into record and tab + $CrData[9], $CrData[10], $CrData[11], $CrData[12], $CrData[13], $CrData[14] + ); + } + return 1; +} + + +sub CheckIntegrityOfCalibrationDataInTab{ + my $error_flag= 0; + my ( $axzero, $ayzero, $azzero, $axscale, $ayscale, $azscale ) = AccCalibrateTabGetCalibration(); + if( not $axzero =~ m/^[+-]?\d*$/ ){ $error_flag= 1; } + if( not $ayzero =~ m/^[+-]?\d*$/ ){ $error_flag= 1; } + if( not $azzero =~ m/^[+-]?\d*$/ ){ $error_flag= 1; } + if( not $axscale =~ m/^[+]?\d*$/ ){ $error_flag= 1; } + if( not $ayscale =~ m/^[+]?\d*$/ ){ $error_flag= 1; } + if( not $azscale =~ m/^[+]?\d*$/ ){ $error_flag= 1; } + my $ZeroLimit = 7000; my $ScaleLimitLow = 15000; my $ScaleLimitHigh = 17500; + if( abs($AccGravityConst-8192)<1000 ){ + $ZeroLimit = 3500; $ScaleLimitLow = 7500; $ScaleLimitHigh = 8900; + } + if( abs($axzero)>$ZeroLimit ){ $error_flag= 2; } + if( abs($ayzero)>$ZeroLimit ){ $error_flag= 2; } + if( abs($azzero)>$ZeroLimit ){ $error_flag= 2; } + if(( $axscale<$ScaleLimitLow )or( $axscale>$ScaleLimitHigh )){ $error_flag= 3; } + if(( $ayscale<$ScaleLimitLow )or( $ayscale>$ScaleLimitHigh )){ $error_flag= 3; } + if(( $azscale<$ScaleLimitLow )or( $azscale>$ScaleLimitHigh )){ $error_flag= 3; } + if( $error_flag ){ + my $res = $w_Main->MessageBox( "You have entered invalid calibration data! + +The values have to be (signed) integers, the Zero values should +be in the range of -$ZeroLimit to +$ZeroLimit, and the Scale values in the +range of +$ScaleLimitLow to +$ScaleLimitHigh. + +If you want to continue anyway, press Yes, else No.", 'WARNING', 0x0010 + 4 );# MB_ICONHAND + if( $res==6 ){ $error_flag= 0; }else{ $error_flag= 4; } + } + return $error_flag; +} + + +sub ExecuteStoreCalibrationData{ +#the first entry tells 1:acc1, 2:gyro1, 3:acc2, 4:gyro2, 5:acc1&gyro1, 6:acc2&gyro2, 7: all, else: error + #make first a sanity check of the parameters + if( CheckIntegrityOfCalibrationDataInTab()>0 ){ return; } + #warn that calibration will be overwritten + if( + $w_Main->MessageBox( "You are going to rewrite calibration data permanently! + +Are you sure you want to continue?", 'WARNING', 0x0034 ) #MB_ICONEXCLAMATION|MB_YESNO + != 6 #IDYES + ){ return; } + my @CalibrationDataArray=(); #this holds all data as array + for(my $n=0; $n<18; $n++){ $CalibrationDataArray[$n]= 0; } #this is to create array with 18 fields + my $CwData=''; # this holds the data as packed string + if( $f_Tab{calibrateacc}->cacc_ImuNumber->GetCurSel()!=1 ){ #IMU1 selected + ( $CalibrationDataArray[0], $CalibrationDataArray[1], $CalibrationDataArray[2], + $CalibrationDataArray[3], $CalibrationDataArray[4], $CalibrationDataArray[5] ) = AccCalibrateTabGetCalibration(); + $CwData = pack( "v", '1' ); #1: store only IMU1 acc values + }else{ #IMU2 + ( $CalibrationDataArray[9], $CalibrationDataArray[10], $CalibrationDataArray[11], + $CalibrationDataArray[12], $CalibrationDataArray[13], $CalibrationDataArray[14] ) = AccCalibrateTabGetCalibration(); + $CwData = pack( "v", '3' ); #3: store only IMU2 acc values + } + for(my $n=0;$n<18;$n++){ $CwData .= pack( "v", $CalibrationDataArray[$n] ); } + SetExtendedTimoutFirst(1000); #storing to Eerpom can take a while! so extend timeout + ExecuteCommandWritewoGet( 'Cw', 'Write calibration data', '', $CwData, 1 ); +} + +my $SettingsFile_lastdir= $ExePath; #also used below for save and load settings + +sub ExecuteSaveCalibrationData{ + #make first a sanity check of the parameters + if( CheckIntegrityOfCalibrationDataInTab()>0 ){ return; } + my $file= Win32::GUI::GetSaveFileName( -owner=> $w_Main, + -title=> 'Save Calibration Data to File', + -nochangedir=> 1, + -directory=> $SettingsFile_lastdir, #".\\", + -defaultextension=> '.cal', + -filter=> ['*.cal'=>'*.cal','All files' => '*.*'], + -pathmustexist=> 1, + -overwriteprompt=> 1, + -noreadonlyreturn => 1, + -explorer=>0, + ); + if( $file ){ + if( !open(F,">$file") ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); return; } + print F 'IMUNAME: '.NameExtStr($file)."\n"; + print F 'IMUTYPE: '.$CalibrationDataRecord{imutype}."\n"; + print F 'IMUSETTINGS: '.$CalibrationDataRecord{imusettings}."\n"; + print F 'RECORD#1'."\n"; + print F 'AXZERO: '.$CalibrationDataRecord{axzero}."\n"; + print F 'AYZERO: '.$CalibrationDataRecord{ayzero}."\n"; + print F 'AZZERO: '.$CalibrationDataRecord{azzero}."\n"; + print F 'AXSCALE: '.$CalibrationDataRecord{axscale}."\n"; + print F 'AYSCALE: '.$CalibrationDataRecord{ayscale}."\n"; + print F 'AZSCALE: '.$CalibrationDataRecord{azscale}."\n"; + print F 'CALIBRATIONMETHOD: '.$CalibrationDataRecord{calibrationmethod}."\n"; + print F 'TEMPERATURE: '.$CalibrationDataRecord{temperature}."\n"; + print F 'RAW: '."\n"; + print F $CalibrationDataRecord{raw}."\n"; + close(F); + }elsif( Win32::GUI::CommDlgExtendedError() ){$w_Main->MessageBox("Some error occured, sorry",'ERROR');} + 1; +} + +sub ExecuteLoadCalibrationData{ + my $file= Win32::GUI::GetOpenFileName( -owner=> $w_Main, + -title=> 'Load Calibration Data from File', + -nochangedir=> 1, + -directory=> $SettingsFile_lastdir, #".\\", + -defaultextension=> '.cal', + -filter=> ['*.cal'=>'*.cal','All files' => '*.*'], + -pathmustexist=> 1, + -filemustexist=> 1, + ); + if( $file ){ + if( !open(F,"<$file") ){ $w_Main->MessageBox( "Some error occured, sorry",'ERROR'); return; } + my $s=''; while(){ $s.= $_.'\n'; } close(F); + #$s =~ /IMUNAME\s*:\s*(.+?)\\n/; + $s =~ /AXZERO\s*:\s*([+-]?\d+)\s*\\n/; my $axzero = $1; + $s =~ /AYZERO\s*:\s*([+-]?\d+)\s*\\n/; my $ayzero = $1; + $s =~ /AZZERO\s*:\s*([+-]?\d+)\s*\\n/; my $azzero = $1; + $s =~ /AXSCALE\s*:\s*([+-]?\d+)\s*\\n/; my $axscale = $1; + $s =~ /AYSCALE\s*:\s*([+-]?\d+)\s*\\n/; my $ayscale = $1; + $s =~ /AZSCALE\s*:\s*([+-]?\d+)\s*\\n/; my $azscale = $1; + AccCalibrateTabSetCalibration( $axzero, $ayzero, $azzero, $axscale, $ayscale, $azscale ); + }elsif( Win32::GUI::CommDlgExtendedError() ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); } + 1; +} + + + +#-----------------------------------------------------------------------------# +############################################################################### +### do Flash tab ### +############################################################################### +#-----------------------------------------------------------------------------# + +$xpos= 30; +$ypos= 20; + +$f_Tab{flash}->AddLabel( -name=> 'flash_text1a', -font=> $StdWinFont, + -text=> '1. Select the correct firmware file via the following filters:', -pos=> [$xpos,$ypos], +); + +$xpos= 30+20; +$ypos+= 25; +$f_Tab{flash}->AddLabel( -name=> 'flash_Board_label', -font=> $StdWinFont, + -text=> 'Board', -pos=> [$xpos,$ypos], +); +$f_Tab{flash}->AddCombobox( -name=> 'flash_Board', -font=> $StdWinFont, + -pos=> [$xpos+120,$ypos-3], -size=> [260,200], + -dropdown=> 1, -vscroll=>1, + -onChange=> sub{ SetBoard(); SetFirmwareHexFile(); 1; } +); +foreach my $board (@STorM32BoardList){ $f_Tab{flash}->flash_Board->Add( $board->{name} ); } +$f_Tab{flash}->flash_Board->SelectString( $STorM32Board ); + +$f_Tab{flash}->AddButton( -name=> 'flash_ScanNtBus_button', -font=> $StdWinFont, + -text=> 'Scan NT Bus', -pos=> [$xsize-100+20-82,$ypos-4], -width=> 100, +); + +$ypos+= 30; +$f_Tab{flash}->AddLabel( -name=> 'flash_Version_label', -font=> $StdWinFont, + -text=> 'Firmware Version', -pos=> [$xpos,$ypos], +); +$f_Tab{flash}->AddCombobox( -name=> 'flash_Version', -font=> $StdWinFont, + -pos=> [$xpos+120,$ypos-3], -size=> [260,200], + -dropdown=> 1, -vscroll=>1, + -onChange=> sub{ SetFirmwareHexFile(); 1; } +); + +$xpos= 30; +$ypos+= 50; +$f_Tab{flash}->AddLabel( -name=> 'flash_HexFile_label', -font=> $StdWinFont, + -text=> 'Selected Firmware Hex File', -pos=> [$xpos,$ypos], -size=> [$xsize-100+20,20], +); +$f_Tab{flash}->AddTextfield( -name=> 'flash_HexFile', -font=> $StdWinFont, + -pos=> [$xpos+140-1,$ypos+13-16], -size=> [$xsize-$xpos-80-140,23], +); +$f_Tab{flash}->AddButton( -name=> 'flash_HexFile_button', -font=> $StdWinFont, + -text=> '...', -pos=> [$xsize-100+20,$ypos+13-13-3], -width=> 18, +); +$ypos+= 30+20; +$f_Tab{flash}->AddLabel( -name=> 'flash_text21a', -font=> $StdWinFont, + -text=> '2. Select the programmer type, and related options:', -pos=> [$xpos,$ypos], +); + +$ypos+= 30-5; +$f_Tab{flash}->AddLabel( -name=> 'flash_Programmer_label', -font=> $StdWinFont, + -text=> 'STM32 Programmer', -pos=> [$xpos+20,$ypos], +); +$f_Tab{flash}->AddCombobox( -name=> 'flash_Programmer', -font=> $StdWinFont, + -pos=> [$xpos+140,$ypos-3], -size=> [260,200], + -dropdown=> 1, -vscroll=>1, + -onChange=> sub{ SetProgrammer(); 1;} +); + +$f_Tab{flash}->AddLabel( -name=> 'flash_ProgrammerComPort_label', -font=> $StdWinFont, + -text=> 'Com Port', -pos=> [$xpos+420,$ypos], +); +$f_Tab{flash}->AddCombobox( -name=> 'flash_ProgrammerComPort', -font=> $StdWinFont, + -pos=> [$xpos+420+$f_Tab{flash}->flash_ProgrammerComPort_label->Width()+2,$ypos-3], -size=> [70,200], + -dropdown=> 1, -vscroll=>1, + -onDropDown=> sub{ + my ($STMComPortOK,@STMPortList)= GetComPorts(); + if($STMComPortOK>0){ + my $s= $_[0]->Text(); + $_[0]->Clear(); $_[0]->Add( @STMPortList ); $_[0]->SelectString( $s ); #$Port has COM + friendly name + if($_[0]->SelectedItem()<0){ $_[0]->Select(0); } + } + 1; + } +); +$f_Tab{flash}->flash_ProgrammerComPort->SetDroppedWidth(160); + +$f_Tab{flash}->AddLabel( -name=> 'flash_ProgrammerModuleId_label', -font=> $StdWinFont, + -text=> 'Module Id', -pos=> [$xpos+420-3,$ypos], +); +$f_Tab{flash}->AddCombobox( -name=> 'flash_ProgrammerModuleId', -font=> $StdWinFont, + -pos=> [$xpos+420+$f_Tab{flash}->flash_ProgrammerComPort_label->Width()+2,$ypos-3], -size=> [90,200], + -dropdown=> 1, -vscroll=>1, +); +$f_Tab{flash}->flash_ProgrammerModuleId->SetDroppedWidth(90); + +#STorM32 SystemBootLoaderAtUart1 for V1x +$f_Tab{flash}->AddLabel( -name=> 'flash_ProgrammerUsage_Storm32v1x_SysBootLoad_label', -font=> $StdWinFont, + -pos=> [$xpos+430+35,$ypos+30], -multiline => 1, -height=>6*13+50, -width=>300, + -text=> 'Usage: +1. Connect usb adapter to UART1 at RC port +2. Select com port of the usb adapter +3. Press RESET and BOOT0 buttons on the board +4. Release RESET while holding down BOOT0 +5. Release BOOT0 +6. Hit >Flash Firmware<', +); + +#STorM32 SystemBootLoaderAtUart1 for V2x +$f_Tab{flash}->AddLabel( -name=> 'flash_ProgrammerUsage_Storm32v2x_SysBootLoad_label', -font=> $StdWinFont, + -pos=> [$xpos+430+35,$ypos+30], -multiline => 1, -height=>6*13+50, -width=>300, + -text=> 'Usage: +1. Connect usb adapter to UART1 +2. Select com port of the usb adapter +3. Close BOOT0 solder bridge and + repower or reset STorM32 board +4. Hit >Flash Firmware<', +); + +#STorM32 SystemBootLoaderAtUart1 for V3x +$f_Tab{flash}->AddLabel( -name=> 'flash_ProgrammerUsage_Storm32v3x_SysBootLoad_label', -font=> $StdWinFont, + -pos=> [$xpos+430+35,$ypos+30], -multiline => 1, -height=>6*13+50, -width=>300, + -text=> 'Usage: +1. Connect usb adapter to UART1 +2. Select com port of the usb adapter +3. Close BOOT0 solder bridge and + repower or reset STorM32 board +4. Hit >Flash Firmware<', +); +#STorM32 UpgradeViaUSB for V3x +$f_Tab{flash}->AddLabel( -name=> 'flash_ProgrammerUsage_Storm32v3x_UpgradeViaUsb_label', -font=> $StdWinFont, + -pos=> [$xpos+430+35,$ypos+30], -multiline => 1, -height=>6*13+50, -width=>300, + -text=> 'Usage: +1. Connect STorM32 board via usb +2. Select port +3. Hit >Flash Firmware<', +); + +#NT Module UpgradeViaStorm32UsbPort +$f_Tab{flash}->AddLabel( -name=> 'flash_ProgrammerUsage_NtUpgradeViaStorm32Usb_label', -font=> $StdWinFont, + -pos=> [$xpos+430+35,$ypos+30], -multiline => 1, -height=>6*13+50, -width=>300, + -text=> 'Usage: +1. Connect STorM32 board via usb +2. Select port +3. Select id of NT module +4. Hit >Flash Firmware<', +); +#NT Module UpgradeViaSystemBootLoaderAtUart1 +$f_Tab{flash}->AddLabel( -name=> 'flash_ProgrammerUsage_NtUpgradeViaSysBootLoad_label', -font=> $StdWinFont, + -pos=> [$xpos+430+35,$ypos+30], -multiline => 1, -height=>6*13+50, -width=>300, + -text=> 'Usage: +1. Connect usb adapter to NT module +2. Select com port of the usb adapter +3. Power up NT module +4. Hit >Flash Firmware<', +); +#NT Module SystemBootLoaderAtUart1 +$f_Tab{flash}->AddLabel( -name=> 'flash_ProgrammerUsage_NtSysBootLoad_label', -font=> $StdWinFont, + -pos=> [$xpos+430+35,$ypos+30], -multiline => 1, -height=>6*13+50, -width=>300, + -text=> 'Usage: +1. Connect usb adapter to NT module +2. Select com port of the usb adapter +3. Close BOOT0 solder bridge and + repower NT module +4. Hit >Flash Firmware<', +); + +$ypos+= 30; +$f_Tab{flash}->AddLabel( -name=> 'flash_FullErase_label', -font=> $StdWinFont, + -text=> 'Perform full chip erase', -pos=> [$xpos+20,$ypos], +); +$f_Tab{flash}->AddCheckbox( -name => 'flash_FullErase_check', -font=> $StdWinFont, + -pos=> [$xpos+140,$ypos+1], -size=> [12,12], + -onClick=>sub{ SetRemoveProtections(); 1; } +); + +$f_Tab{flash}->AddLabel( -name=> 'flash_RemoveProtections_label', -font=> $StdWinFont, + -text=> 'remove protections (keep BOOT0 pressed!)', -pos=> [$xpos+140+20+20+5,$ypos], +); +$f_Tab{flash}->AddCheckbox( -name => 'flash_RemoveProtections_check', -font=> $StdWinFont, + -pos=> [$xpos+170,$ypos+1], -size=> [12,12], +); + +$ypos+= 30; +$f_Tab{flash}->AddLabel( -name=> 'flash_Verify_label', -font=> $StdWinFont, + -text=> 'Verify flashed firmware', -pos=> [$xpos+20,$ypos], +); +$f_Tab{flash}->AddCheckbox( -name => 'flash_Verify_check', -font=> $StdWinFont, + -pos=> [$xpos+140,$ypos+1], -size=> [12,12], +); + +$xpos= $xsize-80; +$ypos+= 30 + 10 -15; +$f_Tab{flash}->AddButton( -name=> 'flash_Flash', -font=> $StdWinFont, + -text=> 'Flash Firmware', -pos=> [$xpos/2-60,$ypos-3], -width=> 120, -height=> 30, +); + +my $BOARDTYPE_IS_UNKNOWN = -1; +my $BOARDTYPE_IS_STORM32 = 0; +my $BOARDTYPE_IS_STORM32_V2X = 2; +my $BOARDTYPE_IS_STORM32_V3X = 3; #this allows Upgrade via USB +my $BOARDTYPE_IS_NT = 1; + +sub GetBoardTypeAndName{ + my $bi= $f_Tab{flash}->flash_Board->GetCurSel(); + #print($bi); + my $boardname = ''; + my @boardslist = (); + if( $bi>=0 ){ + $boardname= $STorM32BoardList[$bi]->{name}; + if( $boardname =~ /^NT/ ){ + @boardslist= @{$STorM32BoardList[$bi]->{boards}}; + }else{ + @boardslist=[]; + } + } + my $boardtype = $BOARDTYPE_IS_STORM32; + if( $boardname =~ /^STorM32 v2./ ){ $boardtype = $BOARDTYPE_IS_STORM32_V2X; } + if( $boardname =~ /^STorM32 v3./ ){ $boardtype = $BOARDTYPE_IS_STORM32_V3X; } + if( $boardname =~ /^NT/ ){ $boardtype = $BOARDTYPE_IS_NT; } +##TextOut( $boardtype.' '.$boardname."\r\n" ); ##XX + return ($boardtype,$boardname,@boardslist); +} + +#this is called by a board and/or firmware change +# handles changes required in firmware hex fiele field +sub SetFirmwareHexFile{ + my ($boardtype) = GetBoardTypeAndName(); + my $bi= $f_Tab{flash}->flash_Board->GetCurSel(); + my $s=''; + my $hexfile=''; + if( $bi>=0 ){ $hexfile= $STorM32BoardList[$bi]->{hexfile}; } + my $Vreplace=''; + my $fi= $f_Tab{flash}->flash_Version->GetCurSel(); + if( $boardtype == $BOARDTYPE_IS_NT ){ #this is a NT module + $s = $NtFirmwareHexFileDir; + if( $fi>=0 ){ $Vreplace = '_'.${$STorM32BoardList[$bi]->{vreplaces}}[$fi].'_'; } + }else{ + #good for both v1.x and v2.x boards + $s = $FirmwareHexFileDir; + if( $fi>=0 ){ $Vreplace = '_'.$FirmwareVReplaceList[$fi].'_'; } + } + if( $s ne '' ){ $s.= '\\'; } + $hexfile =~ s/_V_/$Vreplace/; + $f_Tab{flash}->flash_HexFile->Text( $s.$hexfile.'.hex' ); +} + +#this is called by a board change +# handles all changes required in the programmer section +my $lastboardtype = $BOARDTYPE_IS_UNKNOWN; #this ensures that the list is set up at startup + +sub SetBoard{ + my ($boardtype,$boardname) = GetBoardTypeAndName(); + #set STM32 Programmer list + if( $boardtype != $lastboardtype ){ #type has been changed + $f_Tab{flash}->flash_Programmer->Clear(); + if( $boardtype == $BOARDTYPE_IS_NT ){ #this is a NT module + $f_Tab{flash}->flash_Programmer->Add( @NtProgrammerList ); + $f_Tab{flash}->flash_Programmer->SelectString( $NtProgrammer ); + }elsif( $boardtype == $BOARDTYPE_IS_STORM32_V3X ){ #this is a v3.x board + $f_Tab{flash}->flash_Programmer->Add( @Storm32ProgrammerListV3X ); + $f_Tab{flash}->flash_Programmer->SelectString( $Storm32Programmer ); + }else{ + #good for both v1.x and v2.x boards + $f_Tab{flash}->flash_Programmer->Add( @Storm32ProgrammerList ); + $f_Tab{flash}->flash_Programmer->SelectString( $Storm32Programmer ); + # WE NEED TO CHECK IF ENTRY WAS VALID + } + if( $f_Tab{flash}->flash_Programmer->GetCurSel() < 0 ){ #no valid entry found + $Storm32Programmer = $SystemBootloader; #$f_Tab{flash}->flash_Programmer->GetString(0); + $f_Tab{flash}->flash_Programmer->SelectString( $Storm32Programmer ); + } + } + #set Firmware Version list + if( $boardtype == $BOARDTYPE_IS_NT ){ #this is a NT module + $f_Tab{flash}->flash_Version->Clear(); + my $bi= $f_Tab{flash}->flash_Board->GetCurSel(); + if( $bi>=0 ){ $f_Tab{flash}->flash_Version->Add( @{$STorM32BoardList[$bi]->{versions}} ); } + $f_Tab{flash}->flash_Version->Select(0); + }else{ + if( $boardtype != $lastboardtype ){ #type has been changed + #good for v1.x, v2.x and v3.x boards + $f_Tab{flash}->flash_Version->Clear(); + $f_Tab{flash}->flash_Version->Add( @FirmwareVersionList ); + $f_Tab{flash}->flash_Version->SelectString( $FirmwareVersion ); + } + } + $lastboardtype = $boardtype; + #set Module Id list in case of a NT module + if( $boardtype == $BOARDTYPE_IS_NT ){ #this is a NT module + $f_Tab{flash}->flash_ProgrammerModuleId->Clear(); + if( $boardname =~ /Imu/ ){ + $f_Tab{flash}->flash_ProgrammerModuleId->Add( 'Imu1' ); + $f_Tab{flash}->flash_ProgrammerModuleId->Add( 'Imu2' ); + $f_Tab{flash}->flash_ProgrammerModuleId->Add( 'Imu3' ); + }elsif( $boardname =~ /Motor/ ){ + $f_Tab{flash}->flash_ProgrammerModuleId->Add( 'Motor Pitch' ); + $f_Tab{flash}->flash_ProgrammerModuleId->Add( 'Motor Roll' ); + $f_Tab{flash}->flash_ProgrammerModuleId->Add( 'Motor Yaw' ); + }elsif( $boardname =~ /Logger/ ){ + $f_Tab{flash}->flash_ProgrammerModuleId->Add( 'Logger' ); + } + $f_Tab{flash}->flash_ProgrammerModuleId->Select(0); + } + $f_Tab{flash}->flash_FullErase_check->Checked(0); + $f_Tab{flash}->flash_Verify_check->Checked(1); + SetProgrammer(); + return 1; +} + + +#this is called by a board change +# handles all changes required in the programmer section +sub SetProgrammer{ + my $pstr= $f_Tab{flash}->flash_Programmer->GetString( $f_Tab{flash}->flash_Programmer->GetCurSel() ); + my ($boardtype) = GetBoardTypeAndName(); + if( $boardtype == $BOARDTYPE_IS_NT ){ #this is a NT module + $NtProgrammer = $pstr; + }else{ + #good for v1.x, v2.x and v3.x boards + $Storm32Programmer = $pstr; + } + if( $pstr eq $SystemBootloader ){ + $f_Tab{flash}->flash_ProgrammerComPort_label->Show(); #COM is needed for all boards and NT modules + $f_Tab{flash}->flash_ProgrammerComPort->Show(); + $f_Tab{flash}->flash_ProgrammerModuleId_label->Hide(); + $f_Tab{flash}->flash_ProgrammerModuleId->Hide(); + if( $boardtype == $BOARDTYPE_IS_NT ){ #this is a NT module + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_UpgradeViaUsb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v1x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v2x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_SysBootLoad_label->Hide(); + + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaStorm32Usb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaSysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtSysBootLoad_label->Show(); #THIS IS IT + }elsif( $boardtype == $BOARDTYPE_IS_STORM32_V2X ){ #this is a v2.x board + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_UpgradeViaUsb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v1x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v2x_SysBootLoad_label->Show(); #THIS IS IT + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_SysBootLoad_label->Hide(); + + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaStorm32Usb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaSysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtSysBootLoad_label->Hide(); + }elsif( $boardtype == $BOARDTYPE_IS_STORM32_V3X ){ #this is a v3.x board + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_UpgradeViaUsb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v1x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v2x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_SysBootLoad_label->Show(); #THIS IS IT + + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaStorm32Usb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaSysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtSysBootLoad_label->Hide(); + }else{ + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_UpgradeViaUsb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v1x_SysBootLoad_label->Show(); #THIS IS IT + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v2x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_SysBootLoad_label->Hide(); + + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaStorm32Usb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaSysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtSysBootLoad_label->Hide(); + } + + }elsif( ($boardtype == $BOARDTYPE_IS_STORM32_V3X) and ($pstr eq $Storm32UpgradeViaUSB) ){ + $f_Tab{flash}->flash_ProgrammerComPort_label->Hide(); + $f_Tab{flash}->flash_ProgrammerComPort->Hide(); + $f_Tab{flash}->flash_ProgrammerModuleId_label->Hide(); + $f_Tab{flash}->flash_ProgrammerModuleId->Hide(); + + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_UpgradeViaUsb_label->Show(); #THIS IS IT + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v1x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v2x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_SysBootLoad_label->Hide(); + + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaStorm32Usb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaSysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtSysBootLoad_label->Hide(); + + }elsif( ($boardtype == $BOARDTYPE_IS_NT) and ($pstr eq $NtUpgradeViaSystemBootloader) ){ + $f_Tab{flash}->flash_ProgrammerComPort_label->Show(); + $f_Tab{flash}->flash_ProgrammerComPort->Show(); + $f_Tab{flash}->flash_ProgrammerModuleId_label->Hide(); + $f_Tab{flash}->flash_ProgrammerModuleId->Hide(); + + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_UpgradeViaUsb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v1x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v2x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_SysBootLoad_label->Hide(); + + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaStorm32Usb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaSysBootLoad_label->Show(); #THIS IS IT + $f_Tab{flash}->flash_ProgrammerUsage_NtSysBootLoad_label->Hide(); + + }elsif( ($boardtype == $BOARDTYPE_IS_NT) and ($pstr eq $NtUpgradeViaUSB) ){ + $f_Tab{flash}->flash_ProgrammerComPort_label->Hide(); + $f_Tab{flash}->flash_ProgrammerComPort->Hide(); + $f_Tab{flash}->flash_ProgrammerModuleId_label->Show(); + $f_Tab{flash}->flash_ProgrammerModuleId->Show(); + + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_UpgradeViaUsb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v1x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v2x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_SysBootLoad_label->Hide(); + + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaStorm32Usb_label->Show(); #THIS IS IT + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaSysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtSysBootLoad_label->Hide(); + + }else{ #this is SWD + $f_Tab{flash}->flash_ProgrammerComPort_label->Hide(); + $f_Tab{flash}->flash_ProgrammerComPort->Hide(); + $f_Tab{flash}->flash_ProgrammerModuleId_label->Hide(); + $f_Tab{flash}->flash_ProgrammerModuleId->Hide(); + + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_UpgradeViaUsb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v1x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v2x_SysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_Storm32v3x_SysBootLoad_label->Hide(); + + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaStorm32Usb_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtUpgradeViaSysBootLoad_label->Hide(); + $f_Tab{flash}->flash_ProgrammerUsage_NtSysBootLoad_label->Hide(); + } + SetRemoveProtections(); + return 1; +} + +#this is called by a full erase change +# handles changes required in the remove protections section +sub RemoveProtectionsUnCheck{ + $f_Tab{flash}->flash_RemoveProtections_check->Checked(0); + $f_Tab{flash}->flash_RemoveProtections_label->Hide(); + $f_Tab{flash}->flash_RemoveProtections_check->Hide(); +} + +sub SetRemoveProtections{ + my $pstr= $f_Tab{flash}->flash_Programmer->GetString( $f_Tab{flash}->flash_Programmer->GetCurSel() ); + if(( $f_Tab{flash}->flash_FullErase_check->GetCheck() )and + ( ($pstr eq $SystemBootloader) or ($pstr eq $NtUpgradeViaSystemBootloader) )){ + $f_Tab{flash}->flash_RemoveProtections_check->Checked(0); + $f_Tab{flash}->flash_RemoveProtections_label->Show(); + $f_Tab{flash}->flash_RemoveProtections_check->Show(); + }else{ + RemoveProtectionsUnCheck(); + } +} + +SetBoard(); +SetFirmwareHexFile(); +SetProgrammer(); +SetRemoveProtections(); + + +#-----------------------------------------------------------------------------# +############################################################################### +### do Expert tab ### +############################################################################### +#-----------------------------------------------------------------------------# +$xpos= 20; +$ypos= 20; + +sub AddFramesToExpertTab{ + $f_Tab{expert}->AddGroupbox( -name=> 'expert_Frame', + -pos=> [10,-3], -size=> [520-175,333], + ); + $f_Tab{expert}->AddLabel( -name=> 'expert_FrameText', -font=> $StdWinFont, + -text=> 'Please ensure that you know what you\'re doing when tweaking these parameters :)', + -pos=> [20,260+36], -size=> [320,28+4], -wrap=>1, + ); +} + + +#-----------------------------------------------------------------------------# +############################################################################### +### do Interfaces tab ### +############################################################################### +#-----------------------------------------------------------------------------# + +# nothing to do + + +#-----------------------------------------------------------------------------# +############################################################################### +### do the Options ### +############################################################################### +#-----------------------------------------------------------------------------# + +sub PopulateOptions{ + my @i; my @j; my $ex; + for( $ex=0; $ex<$MaxSetupTabs; $ex++ ){ $i[$ex]= 0; $j[$ex]= 0; } + %NameToOptionHash= (); + foreach my $Option (@OptionList){ + $NameToOptionHash{$Option->{name}}= $Option; #store option with key name for easier reference + my $label; my $textfield; my $setfield; my $min= $Option->{min}; my $max= $Option->{max}; + $ex= GetTabIndex($Option->{page}); ##XX + if( $ex>=$MaxSetupTabs ){ $ex= $MaxSetupTabs-1; } + #set xpos, ypos + if( defined $Option->{column} ){ $i[$ex]= $Option->{column}-1; $j[$ex]= 0; } + if( defined $Option->{pos} ){ $i[$ex]= $Option->{pos}[0]-1; $j[$ex]= $Option->{pos}[1]-1; } + my $xpos= 20 + $i[$ex]*$OPTIONSWIDTH_X; + my $ypos= 10 + $j[$ex]*$OPTIONSWIDTH_Y; + my $nr= $j[$ex] + $i[$ex]*$RowNumber; + $j[$ex]++; + my $tab_ptr = $SetupTabList[$ex]; + # create label + $label= $f_Tab{$tab_ptr}->AddLabel(-name=> 'OptionField'.$nr.'_label', -font=> $StdWinFont, + -text=> $Option->{name}, -pos=> [$xpos,$ypos-1], -size=> [160,15], + #-background =>[10,10,10], + ); + if( $Option->{hidden} ){ $label->Hide(); } #required for scripts + #set textfield and setfield + switch( $Option->{type} ){ + #set readonly textfield + case ['OPTTYPE_STR+OPTTYPE_READONLY','OPTTYPE_VER','OPTTYPE_UC+OPTTYPE_READONLY','OPTTYPE_SC+OPTTYPE_READONLY','OPTTYPE_UI+OPTTYPE_READONLY','OPTTYPE_SI+OPTTYPE_READONLY'] { + $textfield= $f_Tab{$tab_ptr}->AddTextfield(-name=> 'OptionField'.$nr.'_readonly', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+13], -size=> [120,23], + -readonly => 1, -align => 'center', -background => $OptionInvalidColor, + ); + $setfield= undef; + } + #set textfield + case ['OPTTYPE_STR'] { + $textfield= $f_Tab{$tab_ptr}->AddTextfield( -name=> 'OptionField'.$nr.'_str', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+13], -size=> [120,23], + -background => $OptionInvalidColor, + ); + $setfield= undef; + } + #set textfield with up/down + case 'OPTTYPE_LISTA' { + $textfield=$f_Tab{$tab_ptr}->AddTextfield( -name=> 'OptionField'.$nr.'_updown', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+13], -size=> [120,23], + -readonly => 1, -align => 'center', -background => $OptionInvalidColor, + ); + $setfield= $f_Tab{$tab_ptr}->AddUpDown( -name=> 'OptionField'.$nr.'_updownfield', -font=> $StdWinFont, + -pos=> [$xpos+120,$ypos+13], -size=> [100,23], + -autobuddy => 0, -arrowkeys => 1, + -onScroll => sub{ + onScrollSetTextfield( $Option ); + if($OptionsLoaded){ $Option->{textfield}->Change( -background => $OptionModifiedColor ); } + 1; + }, + ); + $setfield->SetRange( $min, $max ); + } + #set textfield with slider + case ['OPTTYPE_UC','OPTTYPE_SC','OPTTYPE_UI','OPTTYPE_SI','OPTTYPE_LISTB' ] { + $textfield= $f_Tab{$tab_ptr}->AddTextfield( -name=> 'OptionField'.$nr.'_slider', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+13], -size=> [60,23], + -readonly => 1, -align => 'center', -background => $OptionInvalidColor, + ); + $setfield= $f_Tab{$tab_ptr}->AddTrackbar( -name=> 'OptionField'.$nr.'_sliderfield', -font=> $StdWinFont, + -pos=> [$xpos+60,$ypos+13], -size=> [90,23], #[100,23], + -aligntop => 1, -autoticks => 0, + -onScroll => sub{ + onScrollSetTextfield( $Option ); + if($OptionsLoaded){ $Option->{textfield}->Change( -background => $OptionModifiedColor ); } + 1; + }, + ); + $setfield->SetLineSize( 1 ); + $setfield->SetPageSize( 1 ); + $setfield->SetRange( $min, $max ); + $min= $min/$Option->{steps}; + $max= $max/$Option->{steps}; + $setfield->SetRange( $min, $max ); + for(my $i= 1; $i<4; $i++){ $setfield->SetTic( 0.25*( ($max-$min)*$i )+ $min ); } + } +###SCRIPT + case ['OPTTYPE_SCRIPT'] { #the SCRIPT textfield holds the complete script code in hexstr format + $textfield= undef; + $setfield= undef; + for(my $script_nr=1;$script_nr<=4;$script_nr++){ + $Option->{'textfield_script'.$script_nr}= Script_CreateTextFields($script_nr); + $Option->{'textfield_script'.$script_nr}->Show(); + } + } + } + $Option->{label}= $label; + $Option->{textfield}= $textfield; + $Option->{setfield}= $setfield; + SetOptionField( $Option, $Option->{default} ); + } + + AddFramesToExpertTab(); +} + + +sub onScrollSetTextfield{ + my $Option= shift; + switch( $Option->{type} ){ + case 'OPTTYPE_LISTA' { + $Option->{textfield}->Text( $Option->{choices}[$Option->{setfield}->GetPos()-65536 - $Option->{min}] ); + } + case ['OPTTYPE_LISTB'] { + $Option->{textfield}->Text( $Option->{choices}[$Option->{setfield}->GetPos()-$Option->{min}] ); + } + case ['OPTTYPE_UC','OPTTYPE_SC','OPTTYPE_UI','OPTTYPE_SI' ] { + if( defined $Option->{values} ){ + $Option->{textfield}->Text( $Option->{values}[$Option->{setfield}->GetPos()-$Option->{min}] ); + }elsif( defined $Option->{equation} ){ + my $x= $Option->{setfield}->GetPos()*$Option->{steps}; my $s; + eval $Option->{equation}; if($@){}else{ $Option->{textfield}->Text( $s ); } + }else{ + $Option->{textfield}->Text( ConvertOptionToStr($Option,$Option->{setfield}->GetPos()*$Option->{steps}) ); + } + } + } + if( $Option->{name} =~ /^Pitch [PID]$/ ){ SetIMCCalculator('Pitch'); SetPID2('Pitch'); SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} =~ /^Roll [PID]$/ ){ SetIMCCalculator('Roll'); SetPID2('Roll'); SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} =~ /^Yaw [PID]$/ ){ SetIMCCalculator('Yaw'); SetPID2('Yaw'); SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} =~ /Motor Vmax$/ ){ SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} =~ 'Gyro LPF' ){ SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} =~ 'Imu2 FeedForward LPF' ){ SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} =~ /^Foc Pitch [PID]$/ ){ SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} =~ /^Foc Roll [PID]$/ ){ SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} =~ /^Foc Yaw [PID]$/ ){ SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} =~ /^Foc \w+ K$/ ){ SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} =~ 'Foc Gyro LPF' ){ SetAutoWritePID($Option->{name}); } + elsif( $Option->{name} eq 'Pan Mode Control' ){ SetPanModeSetting($Option->{textfield}->Text()); } + elsif( $Option->{name} eq 'IR Camera Control' ){ SetIRCameraSetting($Option->{textfield}->Text()); } + elsif( $Option->{name} eq 'Pwm Out Control' ){ SetPwmOutSetting($Option->{textfield}->Text()); } + elsif( $Option->{name} eq 'Script1 Control' ){ SetScriptTextField(1,$Option->{textfield}->Text()); } + elsif( $Option->{name} eq 'Script2 Control' ){ SetScriptTextField(2,$Option->{textfield}->Text()); } + elsif( $Option->{name} eq 'Script3 Control' ){ SetScriptTextField(3,$Option->{textfield}->Text()); } + elsif( $Option->{name} eq 'Script4 Control' ){ SetScriptTextField(4,$Option->{textfield}->Text()); } + elsif( $Option->{name} =~ 'Imu Orientation' ){ SetImuOrientationIndicator('Imu'); } + elsif( $Option->{name} =~ 'Imu2 Orientation' ){ SetImuOrientationIndicator('Imu2'); } +} + + +sub ConvertOptionToStr{ + my $Option= shift; my $value= shift; + my $ppos= $Option->{ppos}; + if( $ppos<0 ){ + for(my $i=0; $i<-$ppos; $i++){ $value= $value*10.0; } + $ppos= 0; + }else{ + for(my $i=0; $i<$ppos; $i++){ $value= $value*0.1; } + } + return sprintf( "%.".$ppos."f", $value )." ".$Option->{unit}; +} + + +# if option = editable -> onScrollSetTextField +# if option = readonly -> ConvertOptionToStr +#this function takes a numerical value as an unsigned value, converting afterwards it if needed +sub SetOptionField{ + my $Option= shift; my $value= shift; + switch( $Option->{type} ){ + case ['OPTTYPE_STR'] { + $value= CleanLeftRightStr($value); + $Option->{textfield}->Text( $value ); + } + case 'OPTTYPE_VER' { + $Option->{textfield}->Text( sprintf("%04i",$value) ); + } + case ['OPTTYPE_STR+OPTTYPE_READONLY'] { + $Option->{textfield}->Text( $value ); + } + case ['OPTTYPE_UC+OPTTYPE_READONLY','OPTTYPE_UI+OPTTYPE_READONLY'] { + $Option->{textfield}->Text( ConvertOptionToStr($Option,$value) ); + } + case 'OPTTYPE_SC+OPTTYPE_READONLY' { + if( $value>127 ){ $value= $value-256; } + $Option->{textfield}->Text( ConvertOptionToStr($Option,$value) ); + } + case 'OPTTYPE_SI+OPTTYPE_READONLY' { + if( $value>32767 ){ $value= $value-65536; } + $Option->{textfield}->Text( ConvertOptionToStr($Option,$value) ); + } + case ['OPTTYPE_LISTA'] { + $Option->{setfield}->SetPos( $value ); + onScrollSetTextfield( $Option ); + } + case ['OPTTYPE_UC','OPTTYPE_UI','OPTTYPE_LISTB'] { + $Option->{setfield}->SetPos( $value/$Option->{steps} ); + onScrollSetTextfield( $Option ); + } + case 'OPTTYPE_SC' { + if( $value>127 ){ $value= $value-256; } + $Option->{setfield}->SetPos( $value/$Option->{steps} ); + onScrollSetTextfield( $Option ); + } + case 'OPTTYPE_SI' { + if( $value>32767 ){ $value= $value-65536; } + $Option->{setfield}->SetPos( $value/$Option->{steps} ); + onScrollSetTextfield( $Option ); + } +###SCRIPT + case 'OPTTYPE_SCRIPT' { + #$Option->{textfield}->Text( $value ); + Script_SetScriptHexCode( $value ); + for(my $script_nr=1;$script_nr<=4;$script_nr++){ + $Option->{'textfield_script'.$script_nr}->Text( Script_ConvertToTextForSingleScript($script_nr) ); + } + } + } +} + + +#this function returns a numerical value as an unsigned value, converting it beforehand if needed +sub GetOptionField{ + my $Option= shift; my $value; my $signcorrect= shift; + if( not defined $signcorrect ){ $signcorrect=1; } + switch( $Option->{type} ){ + case ['OPTTYPE_STR']{ + $value= $Option->{textfield}->Text(); + $value= CleanLeftRightStr($value); + } + case ['OPTTYPE_VER','OPTTYPE_STR+OPTTYPE_READONLY', + 'OPTTYPE_UC+OPTTYPE_READONLY','OPTTYPE_UI+OPTTYPE_READONLY']{ + $value= $Option->{textfield}->Text(); + } + case 'OPTTYPE_SC+OPTTYPE_READONLY' { + $value= $Option->{textfield}->Text(); + if($signcorrect){ if( $value<0 ){ $value= $value+256; }} + } + case 'OPTTYPE_SI+OPTTYPE_READONLY' { + $value= $Option->{textfield}->Text(); + if($signcorrect){ if( $value<0 ){ $value= $value+65536; } } + } + case 'OPTTYPE_LISTA' { + $value= $Option->{setfield}->GetPos()-65536; + } + case ['OPTTYPE_UC','OPTTYPE_UI','OPTTYPE_LISTB']{ + $value= $Option->{setfield}->GetPos()*$Option->{steps}; + } + case 'OPTTYPE_SC' { + $value= $Option->{setfield}->GetPos()*$Option->{steps}; + if($signcorrect){ if( $value<0 ){ $value= $value+256; }} + } + case 'OPTTYPE_SI' { + $value= $Option->{setfield}->GetPos()*$Option->{steps}; + if($signcorrect){ if( $value<0 ){ $value= $value+65536; }} + } +###SCRIPT + case 'OPTTYPE_SCRIPT' { + #$value = $Option->{textfield}->Text(); + $value = Script_GetScriptHexCode(); + } + } + return $value; +} + + +#$OptionValidColor +sub Option_SetBackground{ + my $Option = shift; + my $BackgroundColor = shift; + if( $Option->{type} ne 'OPTTYPE_SCRIPT' ){ + $Option->{textfield}->Change( -background => $BackgroundColor ); + $Option->{textfield}->InvalidateRect( 1 ); + }else{ + for(my $script_nr=1;$script_nr<=4;$script_nr++){ + $Option->{'textfield_script'.$script_nr}->Change( -background => $BackgroundColor ); + $Option->{'textfield_script'.$script_nr}->InvalidateRect( 1 ); + } + } +} + + + +#-----------------------------------------------------------------------------# +############################################################################### +### Support Routines to handle dashboard window stuff +############################################################################### +#-----------------------------------------------------------------------------# + +#is called then dashboard tab is changed +#is also called in DefaultSettings, RetrieveSettings, Clear, Read operations +## is currently not needed! +sub SynchroniseConfigTabs{ +} + +#handles the enable/disable of the Pan Mode fields +sub SetPanModeSetting{ + my $text= shift; + if( $AllFieldsAreReadyToUse!=1 ){ return; } + if( $text =~ /off/ ){ #modes enabled: default disabled: #1,#2,#3 + $NameToOptionHash{ 'Pan Mode Setting #1' }->{textfield}->Disable(); + $NameToOptionHash{ 'Pan Mode Setting #2' }->{textfield}->Disable(); + $NameToOptionHash{ 'Pan Mode Setting #3' }->{textfield}->Disable(); + }elsif( (($text =~ /But/)or($text =~ /Aux-[012] /))and not($text =~ /step/) ){ #modes enabled: #1 disabled: #2 + $NameToOptionHash{ 'Pan Mode Setting #1' }->{textfield}->Enable(); + $NameToOptionHash{ 'Pan Mode Setting #2' }->{textfield}->Disable(); + $NameToOptionHash{ 'Pan Mode Setting #3' }->{textfield}->Disable(); + }else{ #modes enabled: default,#1,#2,#3 + $NameToOptionHash{ 'Pan Mode Setting #1' }->{textfield}->Enable(); + $NameToOptionHash{ 'Pan Mode Setting #2' }->{textfield}->Enable(); + $NameToOptionHash{ 'Pan Mode Setting #3' }->{textfield}->Enable(); + } +} + +#handles the enable/disable of the Ir Camera fields +sub SetIRCameraSetting{ + my $text= shift; + if( $AllFieldsAreReadyToUse!=1 ){ return; } + if( $text =~ /off/ ){ #modes enabled: none disabled: #1,#2 + $NameToOptionHash{ 'Camera Model' }->{textfield}->Disable(); + $NameToOptionHash{ 'IR Camera Setting #1' }->{textfield}->Disable(); + $NameToOptionHash{ 'IR Camera Setting #2' }->{textfield}->Disable(); + $NameToOptionHash{ 'Time Interval (0 = off)' }->{textfield}->Disable(); + }elsif( (($text =~ /But/)or($text =~ /Aux-[012] /))and not($text =~ /step/) ){ #modes enabled: #1 disabled: #2 + $NameToOptionHash{ 'Camera Model' }->{textfield}->Enable(); + $NameToOptionHash{ 'IR Camera Setting #1' }->{textfield}->Enable(); + $NameToOptionHash{ 'IR Camera Setting #2' }->{textfield}->Disable(); + $NameToOptionHash{ 'Time Interval (0 = off)' }->{textfield}->Enable(); + }else{ #modes enabled: #1,#2 + $NameToOptionHash{ 'Camera Model' }->{textfield}->Enable(); + $NameToOptionHash{ 'IR Camera Setting #1' }->{textfield}->Enable(); + $NameToOptionHash{ 'IR Camera Setting #2' }->{textfield}->Enable(); + $NameToOptionHash{ 'Time Interval (0 = off)' }->{textfield}->Enable(); + } +} + +#handles the enable/disable of the Pwm Out fields +sub SetPwmOutSetting{ + my $text= shift; + if( $AllFieldsAreReadyToUse!=1 ){ return; } + if( $text =~ /off/ ){ #modes enabled: none disabled: #1,#2 + $NameToOptionHash{ 'Pwm Out Mid' }->{textfield}->Disable(); + $NameToOptionHash{ 'Pwm Out Min' }->{textfield}->Disable(); + $NameToOptionHash{ 'Pwm Out Max' }->{textfield}->Disable(); + $NameToOptionHash{ 'Pwm Out Speed Limit (0 = off)' }->{textfield}->Disable(); +## $NameToOptionHash{ 'Pwm Out Acc Limit (0 = off)' }->{textfield}->Disable(); + }else{ #modes enabled: #1,#2 + $NameToOptionHash{ 'Pwm Out Mid' }->{textfield}->Enable(); + $NameToOptionHash{ 'Pwm Out Min' }->{textfield}->Enable(); + $NameToOptionHash{ 'Pwm Out Max' }->{textfield}->Enable(); + $NameToOptionHash{ 'Pwm Out Speed Limit (0 = off)' }->{textfield}->Enable(); +## $NameToOptionHash{ 'Pwm Out Acc Limit (0 = off)' }->{textfield}->Enable(); + } +} + +#handles the enable/disable of the Script Text fields +sub SetScriptTextField{ + my $nr= shift; + my $text= shift; + if( not defined $NameToOptionHash{ 'Scripts' } ){ return; } + if( $text =~ /off/ ){ #modes enabled: none disabled: #1,#2 + $NameToOptionHash{ 'Scripts' }->{'textfield_script'.$nr}->Disable(); + }else{ #modes enabled: + $NameToOptionHash{ 'Scripts' }->{'textfield_script'.$nr}->Enable(); + } +} + +#handles the enable/disable of the Pan Mode fields +sub SetImuOrientationIndicator{ + my $s = shift; + if( not defined $NameToOptionHash{$s.' Orientation'} ){ return; } + my $Option; my $imux; + $Option= $NameToOptionHash{$s.' Orientation'}; + if( $f_Tab{gimbalconfig}->gimbalconfig_ImuNumber->GetCurSel() == 1 ){ #Imu2 selected + if( $s ne 'Imu2' ){ return 0; } + $Option= $NameToOptionHash{'Imu2 Orientation'}; $imux= '2'; + }else{ + if( $s ne 'Imu' ){ return 0; } + $Option= $NameToOptionHash{'Imu Orientation'}; $imux= ''; + } + my $no= GetOptionField( $Option ); + UpdateZXAxisFields( $no, $imux ); +} + + +sub PrepareTextForAppend{ + my $s = shift; + $s =~ s/\r//g; # remove all \r + $s =~ s/\n/\r\n/g; # replace all \n by \r\n + return $s; +} + + +sub TextOut{ + if( $w_Main->m_RecieveText->GetLineCount() > 1000 ){ + my $t= $w_Main->m_RecieveText->Text(); + my $l= length($t); + my $pos= $l/2; + while( substr($t,$pos,1) ne "\n" ){ $pos++; } + $t= substr( $t, $pos, $l ); + $w_Main->m_RecieveText->Clear(); + $w_Main->m_RecieveText->Text( $t ); + } + $w_Main->m_RecieveText->Append( PrepareTextForAppend(shift) ); +} + + +sub TextOut_{ + TextOut( shift ); +} + +sub WaitForJobDone{ +# my $s= $w_Main->m_RecieveText->GetLine(0); #this helps to avoid the next cmd to be executed too early +} + +#sub SyncWindowsEvents{ +# Win32::GUI::DoEvents() >= 0 or die "BLHeliTool closed during processing"; +#} + +my $DoFirstReadOut = 1; +sub SetDoFirstReadOut{ $DoFirstReadOut = shift; } + +sub SetOptionsLoaded{ + if( shift==0 ){ + $OptionsLoaded = 0; + #$w_Main->m_DataDisplay->Disable(); + $w_Main->m_Write->Disable(); + if( $DoFirstReadOut ){ TextOut( "\r\n".'Please do first a read to get controller settings!'."\r\n" ); } + foreach my $Option (@OptionList){ Option_SetBackground($Option,$OptionInvalidColor); } + for(my $i=0; $i<6; $i++){ SimplifiedPID_SetBackground($i,$OptionInvalidColor); } + AccCalibrateTabEnable(0); + }else{ + $OptionsLoaded = 1; + #$w_Main->m_DataDisplay->Enable(); + $w_Main->m_Write->Enable(); + foreach my $Option (@OptionList){ Option_SetBackground($Option,$OptionValidColor); } + for(my $i=0; $i<6; $i++){ SimplifiedPID_SetBackground($i,$OptionValidColor); } + AccCalibrateTabEnable(1); + } + $DoFirstReadOut = 1; + AutoWritePID_Clear(); +} + + +#is used in Clear and Flash events, do not confuse with ClearOptionsList(); +sub ClearOptions{ + my $flag= shift; + if( $flag==1 ){ $w_Main->m_RecieveText->Text(''); } + foreach my $Option (@OptionList){ SetOptionField( $Option, $Option->{default} ); } + SetOptionsLoaded(0); +} + + +sub BoardConfiguration_ShowParameters{ + my $OptionListRef = shift; + foreach my $OptionName (@{$OptionListRef}){ + my $Option = $NameToOptionHash{ $OptionName }; + if( defined $Option->{label} ) { $Option->{label}->Enable(); $Option->{label}->Show(); } + if( defined $Option->{textfield} ){ $Option->{textfield}->Enable(); $Option->{textfield}->Show(); } + if( defined $Option->{setfield} ) { $Option->{setfield}->Enable(); $Option->{setfield}->Show(); } + } +} + +sub BoardConfiguration_HideParameters{ + my $OptionListRef = shift; + foreach my $OptionName (@{$OptionListRef}){ + my $Option = $NameToOptionHash{ $OptionName }; + if( defined $Option->{label} ) { $Option->{label}->Disable(); $Option->{label}->Hide(); } + if( defined $Option->{textfield} ){ $Option->{textfield}->Disable(); $Option->{textfield}->Hide(); } + if( defined $Option->{setfield} ) { $Option->{setfield}->Disable(); $Option->{setfield}->Hide(); } + } +} + +sub BoardConfiguration_FullEnableParameters{ + my $OptionListRef = shift; + foreach my $OptionName (@{$OptionListRef}){ + my $Option = $NameToOptionHash{ $OptionName }; + if( defined $Option->{label} ) { $Option->{label}->Enable(); } + if( defined $Option->{textfield} ){ $Option->{textfield}->Enable(); } + if( defined $Option->{setfield} ) { $Option->{setfield}->Enable(); } + } +} + +sub BoardConfiguration_FullDisableParameters{ + my $OptionListRef = shift; + foreach my $OptionName (@{$OptionListRef}){ + my $Option = $NameToOptionHash{ $OptionName }; + if( defined $Option->{label} ) { $Option->{label}->Disable(); } + if( defined $Option->{textfield} ){ $Option->{textfield}->Disable(); } + if( defined $Option->{setfield} ) { $Option->{setfield}->Disable(); } + } +} + +my $BoardConfiguration_FOC_DisabledParameters = [ + 'Imu2 FeedForward LPF', 'Voltage Correction', + 'Imu2 Configuration', 'Startup Mode', + 'Motor Mapping' +]; +my $BoardConfiguration_FOC_HidedParameters = [ + 'Gyro LPF', + 'Pitch P', 'Pitch I', 'Pitch D', 'Pitch Motor Vmax', + 'Roll P', 'Roll I', 'Roll D', 'Roll Motor Vmax', + 'Yaw P', 'Yaw I', 'Yaw D', 'Yaw Motor Vmax', + 'Pitch Motor Poles', 'Pitch Motor Direction', 'Pitch Startup Motor Pos', + 'Roll Motor Poles', 'Roll Motor Direction', 'Roll Startup Motor Pos', + 'Yaw Motor Poles', 'Yaw Motor Direction', 'Yaw Startup Motor Pos', +]; +my $BoardConfiguration_FOC_ShownParameters = [ + 'Foc Gyro LPF', + 'Foc Pitch P', 'Foc Pitch I', 'Foc Pitch D', 'Foc Pitch K', + 'Foc Roll P', 'Foc Roll I', 'Foc Roll D', 'Foc Roll K', + 'Foc Yaw P', 'Foc Yaw I', 'Foc Yaw D', 'Foc Yaw K', + 'Foc Pitch Motor Direction', 'Foc Pitch Zero Pos', + 'Foc Roll Motor Direction', 'Foc Roll Zero Pos', + 'Foc Yaw Motor Direction', 'Foc Yaw Zero Pos', +]; + +sub BoardConfiguration_AdaptMainToBoardConfigurationFoc{ + $w_Main->Text( 'OlliW\'s '.$BGCStr.'Tool for T-STorM32 (for encoders)' ); + $m_Menubar->{t_GetCurrentEncoderPositions}->Enabled(1); + + $f_Tab{pid}->UseSimplifiedPID->SetCheck(0); + UseSimplifiedPID_Hide(); + $f_Tab{pid}->UseSimplifiedPID->Disable(); + $f_Tab{pid}->UseSimplifiedPID_label->Disable(); + + $IMCCalculatorIsDisplayed = 1; #to make it fold + ShowIMCCalculator_Click(); + $f_Tab{pid}->ShowIMCCalculator->Hide(); + + BoardConfiguration_FullDisableParameters($BoardConfiguration_FOC_DisabledParameters); + BoardConfiguration_HideParameters($BoardConfiguration_FOC_HidedParameters); + BoardConfiguration_ShowParameters($BoardConfiguration_FOC_ShownParameters); +} + +sub BoardConfiguration_AdaptMainToBoardConfigurationDefault{ + $w_Main->Text( 'OlliW\'s '.$BGCStr.'Tool for STorM32-NT' ); + $m_Menubar->{t_GetCurrentEncoderPositions}->Enabled(0); + + $f_Tab{pid}->UseSimplifiedPID->Enable(); + $f_Tab{pid}->UseSimplifiedPID_label->Enable(); + $f_Tab{pid}->ShowIMCCalculator->Show(); + + BoardConfiguration_FullEnableParameters($BoardConfiguration_FOC_DisabledParameters); + BoardConfiguration_HideParameters($BoardConfiguration_FOC_ShownParameters); + BoardConfiguration_ShowParameters($BoardConfiguration_FOC_HidedParameters); +} + + +sub BoardConfiguration_Set{ + if( $ActiveBoardConfiguration == $BOARDCONFIGURATION_IS_FOC ){ + BoardConfiguration_AdaptMainToBoardConfigurationFoc(); + DataDisplay_AdaptToBoardConfigurationFoc(); + ConfigureGimbal_AdaptToBoardConfigurationFoc(); + }else{ + BoardConfiguration_AdaptMainToBoardConfigurationDefault(); + DataDisplay_AdaptToBoardConfigurationDefault(); + ConfigureGimbal_AdaptToBoardConfigurationDefault(); + } +} + + +sub BoardConfiguration_HandleChange{ + my $NewBoardConfiguration = shift; + if( $ActiveBoardConfiguration == $NewBoardConfiguration ){ return; } #no need to change + $ActiveBoardConfiguration = $NewBoardConfiguration; + BoardConfiguration_Set(); +} + + +#============================================================================== +# do now what needs to be done for startup + +$AllFieldsAreReadyToUse = 0; #this is to avoid calling undefined fields +SetOptionList(); #options were cleared if error +PopulateOptions(); #create the GUI parameter fields +AddIMCCalculatorToPIDTab(); +$AllFieldsAreReadyToUse = 1; + +UseSimplifiedPID_Hide(); +$f_Tab{pid}->UseSpecialAlgorithm->Disable(); #we don't use it here +$IMCCalculatorIsDisplayed = 1; +ShowIMCCalculator_Click(); #hide as default +BoardConfiguration_Set(); + +ClearOptions(1); + + +#============================================================================== +# Event Handler für Main Menu and Tools + +sub m_About_Click{ + $w_Main->MessageBox( "OlliW's Brushless Gimbal Controller Tool ".$BGCStr."Tool\n\n". + "(c) OlliW @ www.olliw.eu\n\n$VersionStr\n\n". + 'Project web page: http://www.olliw.eu/'."\n\n". + "TERMS of USAGE:\n". + "The ".$BGCStr."Tool Windows GUI is open source, and the ".$BGCStr." firmware is free. ". + "You are explicitely granted the ". + "permission to use the GUI and the firmwares for commercial purposes under the condition that (1) you don't ". + "modify the softwares/firmwares, e.g. remove or change copyright ". + "statements, (2) provide it for free, i.e. don't charge any explicit or ". + "implicit fees, to your customers, and (3) correctly and clearly ". + "cite the origin of the softwares/firmwares and the above ". + "project web page in any product documentation or web page.\n\n". + "ACKNOWLEDGEMENTS:\n". + "Special thanks go to hexakopter/Dario and wdaehn, for their endless hours of testing and many contributions.\n\n" + , + 'o323BGC About' ); + 1; +} + +sub m_UpdateNotes_Click{ + $w_Main->MessageBox( "OlliW's Brushless Gimbal Controller Tool ".$BGCStr."Tool\n\n". + "(c) OlliW @ www.olliw.eu\n$VersionStr\n". + 'Project web page: http://www.olliw.eu/'."\n\n". + "UPDATE INSTRUCTIONS:\n------------------------------------------------------------\n". + $UpdateInstructionsStr."\n\n". + "RELEASE NOTES:\n------------------------------------------------------------\n". + $ReleaseNotesStr."\n\n". + "\nComment: This message will not be shown again at start up."#."\n" + , + 'o323BGC Update Notes' ); + 1; +} + +sub m_Help_Click{ ExecuteTool($HelpLink,''); 1; } + +sub m_Window_Terminate{ -1; } + +sub m_Window_Minimize{ DataDisplayMinimize(); 1; } + +sub m_Window_Activate{ DataDisplayActivate(); 1; } +#sub m_Window_Activate{ DataDisplayMakeVisible(); $w_Main->SetForegroundWindow(); 1; } + +sub m_LoadSettings_Click{ + my $file= Win32::GUI::GetOpenFileName( -owner=> $w_Main, + -title=> 'Load Settings from File', + -nochangedir=> 1, + -directory=> $SettingsFile_lastdir, #".\\", + -defaultextension=> '.cfg', + -filter=> ['*.cfg'=>'*.cfg','All files' => '*.*'], + -pathmustexist=> 1, + -filemustexist=> 1, + ); + if( $file ){ + if( !open(F,"<$file") ){ + $w_Main->MessageBox( "Some error occured, sorry",'ERROR'); return; } + my $s=''; while(){ $s.= $_; } close(F); + my %SettingsHash = (); + eval "$s"; if($@){ %SettingsHash = (); } + TextOut( "\r\n".'Load from File...'."\r\n" ); + foreach my $Option (@OptionList){ + if( OptionToSkip($Option) ){ next; } + if( defined $SettingsHash{ $Option->{name} } ){ + if( $Option->{type} ne 'OPTTYPE_SCRIPT' ){ + TextOut( $Option->{adr}.' -> '.$Option->{name}." = ok, ".$SettingsHash{ $Option->{name} }[0]."\n"); + }else{ + TextOut( $Option->{adr}.' -> '.$Option->{name}." = ok, "."\n"); + } + SetOptionField( $Option, $SettingsHash{$Option->{name}}[0] ); + }else{ + SetOptionField( $Option, $Option->{default} ); + } + Option_SetBackground( $Option, $OptionModifiedColor ); + } + TextOut( 'Load from File... DONE'."\r\n" ); + }elsif( Win32::GUI::CommDlgExtendedError() ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); } + 1; +} + +sub m_SaveSettings_Click{ + my $file= Win32::GUI::GetSaveFileName( -owner=> $w_Main, + -title=> 'Save Settings to File', + -nochangedir=> 1, + -directory=> $SettingsFile_lastdir, #".\\", + -defaultextension=> '.cfg', + -filter=> ['*.cfg'=>'*.cfg','All files' => '*.*'], + -pathmustexist=> 1, + -overwriteprompt=> 1, + -noreadonlyreturn => 1, + -explorer=>0, + ); + if( $file ){ + if( !open(F,">$file") ){ + $w_Main->MessageBox("Some error occured, sorry",'ERROR'); return; } + print F '%SettingsHash = ('."\n"; + foreach my $Option (@OptionList){ + if( OptionToSkip($Option) ){ next; } + if( $Option->{type} eq 'OPTTYPE_SCRIPT' ){ + # $s =~ s/FF+$/FF/; this should have been already done + print F " '" . $Option->{name} . "' => [ '" . GetOptionField($Option) . "' ],\n"; + }else{ + print F " '" . $Option->{name} . "' => [ " . GetOptionField($Option) . " , '" . $Option->{textfield}->Text() . "' ],\n"; + } + } + print F ');'."\n"; + close(F); + }elsif( Win32::GUI::CommDlgExtendedError() ){$w_Main->MessageBox("Some error occured, sorry",'ERROR');} + 1; +} + +#sub m_Clear_Click{ ClearOptions(1); SynchroniseConfigTabs(); 1; } +sub m_Clear_Click{ DisconnectFromBoard(1); SynchroniseConfigTabs(); 1; } + +sub m_Exit_Click{ -1; } + +sub m_Connect_Click{ + if( $Execute_IsRunning ){ return 1; } #prevents double clicks + $Execute_IsRunning = 1; + if( $Connected ){ + DisconnectFromBoard(1); + }else{ + ConnectToBoard(); + if( $Connected ){ ExecuteGetStatus(); } + } + $Execute_IsRunning = 0; + 1; +} + +sub m_DataDisplay_Click{ + if( $Execute_IsRunning ){ return 1; } #prevents double clicks + $Execute_IsRunning = 1; + if( $Connected!=1 ){ ConnectToBoard(); SynchroniseConfigTabs(); } + ShowDataDisplay(); + $Execute_IsRunning = 0; + 1; +} + +sub m_Read_Click{ + if( $Execute_IsRunning ){ return 1; } #prevents double clicks + $Execute_IsRunning = 1; + if( $Connected==1 ){ ExecuteRead(); }else{ ConnectToBoard(); } #the ConnectToBoard() does a read + SynchroniseConfigTabs(); + $Execute_IsRunning = 0; + 1; +} + +sub m_Write_Click{ + if( $Execute_IsRunning ){ return 1; } #prevents double clicks + $Execute_IsRunning = 1; + if( $w_Main->m_WriteAndStore_check->GetCheck() ){ + ExecuteWrite(1); + $w_Main->m_WriteAndStore_check->Click(); + }else{ + ExecuteWrite(0); + } + $Execute_IsRunning = 0; + 1; +} + +sub m_DefaultSettings_Click{ + if( $Execute_IsRunning ){ return 1; } #prevents double clicks + $Execute_IsRunning = 1; + ExecuteDefault(); #don't issue a restart, since it would overwrite things + $Execute_IsRunning = 0; + 1; +} + +sub m_StoreSettings_Click{ + if( $Execute_IsRunning ){ return 1; } #prevents double clicks + $Execute_IsRunning = 1; + ExecuteStoreToEeprom(); + $Execute_IsRunning = 0; + 1; +} + +sub m_RetrieveSettings_Click{ + if( $Execute_IsRunning ){ return 1; } #prevents double clicks + $Execute_IsRunning = 1; + ExecuteRetrieveFromEeprom(); #don't issue a restart + $Execute_IsRunning = 0; + 1; +} + +sub t_EraseEeprom_Click{ + if( $Execute_IsRunning ){ return 1; } + #double check and ask + my $res = $w_Main->MessageBox( + 'Do you really want to do a full erase of the EEPROM?' , + 'Erase EEPROM' , 0x0030 + 1 ); #0x0010 + 1 ); # MB_ICONHAND + MB_OKCANCEL + if( $res != 1 ){ TextOut( "\nErasing EEPROM... CANCELED!\n" ); return 1; } + $Execute_IsRunning = 1; + if( ExecuteEraseEeprom() ){ #issue a restart, to get current settings + ExecuteRestartController(); + } + $Execute_IsRunning = 0; + 1; +} + +sub t_LevelGimbal_Click{ + if( $Execute_IsRunning ){ return 1; } + $Execute_IsRunning = 1; + ExecuteLevelGimbal(); + $Execute_IsRunning = 0; + 1; +} + +sub t_GetCurrentEncoderPositions_Click{ + if( $Execute_IsRunning ){ return 1; } + $Execute_IsRunning = 1; + ExecuteGetCurrentEncoderPositions(); + $Execute_IsRunning = 0; + 1; +} + +sub t_RestartController_Click{ + if( $Execute_IsRunning ){ return 1; } + $Execute_IsRunning = 1; + ExecuteRestartController(); + $Execute_IsRunning = 0; + 1; +} + + + + + +#============================================================================== +# Event Handler für Flash tab + +my $FirmwareHexFileDir_lastdir= $ExePath; + +sub flash_HexFileDir_button_Click{ + my $file= Win32::GUI::BrowseForFolder( -owner=> $w_Main, + -title=> 'Select Firmware File Directory', + -directory=> $FirmwareHexFileDir_lastdir, + -folderonly=> 1, + ); + if( $file ){ + $FirmwareHexFileDir_lastdir= $file; + $f_Tab{flash}->flash_HexFileDir->Text( RemoveBasePath($file) ); + }elsif( Win32::GUI::CommDlgExtendedError() ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); } + 1; +} + +my $FirmwareHexFile_lastdir= $ExePath; + +sub flash_HexFile_button_Click{ + my $file= Win32::GUI::GetOpenFileName( -owner=> $w_Main, + -title=> 'Load Firmware File', + -nochangedir=> 1, + -directory=> $FirmwareHexFile_lastdir, + -defaultextension=> '.hex', + -filter=> ['firmware files'=>'*.hex','*.bin','All files' => '*.*'], + -pathmustexist=> 1, + -filemustexist=> 1, + ); + if( $file ){ + if( !open(F,"<$file") ){ $w_Main->MessageBox( "Some error occured, sorry",'ERROR'); return; } + close( F ); + $FirmwareHexFile_lastdir= $file; + $f_Tab{flash}->flash_HexFile->Text( RemoveBasePath($file) ); + }elsif( Win32::GUI::CommDlgExtendedError() ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); } + 1; +} + + +my $NTBUS_IMU_CONFIG_MPU6050 = 15; #0x0001 +my $NTBUS_IMU_CONFIG_MPU6000 = 14; #0x0002 +my $NTBUS_IMU_CONFIG_MPU9250 = 13; #0x0004 +#my $NTBUS_IMU_CONFIG_MODELUNKNOWN = 16; #0x0000 +#my $NTBUS_IMU_CONFIG_MODELMASK = 16; #0x0007 + +my $NTBUS_IMU_CONFIG_OVERSAMPLED = 11; #0x0010 +my $NTBUS_IMU_CONFIG_FASTGYRO = 10; #0x0020 +my $NTBUS_IMU_CONFIG_FASTACC = 9; #0x0040 +my $NTBUS_IMU_CONFIG_GYROFILTER = 8; #0x0080 +my $NTBUS_IMU_CONFIG_ACCFILTER = 7; #0x0100 + +my $NTBUS_MOTOR_CONFIG_TLE5012B = 15; #0x0001 +#my $NTBUS_MOTOR_CONFIG_ENCODERUNKNOWN = 16; #0x0000 +#my $NTBUS_MOTOR_CONFIG_ENCODERMASK = 16; #0x0007 +my $NTBUS_MOTOR_CONFIG_FOC = 3; #0x1000 + + +sub flash_ScanNtBus_button_Click{ + TextOut( "\nScan NT bus... Please wait!" ); + if( not ConnectionIsValid() ){ + if( not OpenPort() ){ ClosePort(); TextOut( "\n".'Scan NT bus... ABORTED!'."\n" ); goto EXIT; } + ClosePort(); #close it again + ConnectToBoardwoRead(); + } + my %ScanList = ( '01' => 'Imu1', '02' => 'Imu2', + '04' => 'Motor Pitch', '05' => 'Motor Roll', '06' => 'Motor Yaw', + '0B' => 'Logger', + '0C' => 'Imu3', + ); + for my $id (sort keys %ScanList){ + _delay_ms(20); + TextOut_( "\n".' '.TrimStrToLength($ScanList{$id},13) ); + my $s = ExecuteCmdwCrc( 'Ns', HexstrToStr($id), 35 ); + if( substr($s,length($s)-1,1) ne 'o' ){ + TextOut( "\n".'Scan NT bus... FAILED!'."\n" ); goto EXIT; + } + my $test = substr($s,1,34); $test =~ s/\0//g; + if( length($test)==0 ){ + TextOut_( '-' ); + }else{ + my $firmware = substr($s,1,16); $firmware =~ s/\0/ /g; + my $board = substr($s,17,16); $board =~ s/\0/ /g; + my @data = unpack( "v", substr($s,33,2) ); + my $config = UIntToBitstr($data[0]); + my $latestfirmware = ''; + TextOut_( 'firmware: '.$firmware.' board: '.$board.' ' ); #.' (latest firmw.: '.$latestfirmware.')' ); + if( ($id eq '01') or ($id eq '02') or ($id eq '0C') ){ + if( CheckStatus($config,$NTBUS_IMU_CONFIG_MPU6050) ){ TextOut_('MPU6050 '); } + if( CheckStatus($config,$NTBUS_IMU_CONFIG_MPU6000) ){ TextOut_('MPU6000 '); } + if( CheckStatus($config,$NTBUS_IMU_CONFIG_MPU9250) ){ TextOut_('MPU9250 '); } + if( CheckStatus($config,$NTBUS_IMU_CONFIG_OVERSAMPLED) ){ TextOut_('OVS '); } + if( CheckStatus($config,$NTBUS_IMU_CONFIG_FASTGYRO) ){ TextOut_('FG '); } + if( CheckStatus($config,$NTBUS_IMU_CONFIG_FASTACC) ){ TextOut_('FA '); } + if( CheckStatus($config,$NTBUS_IMU_CONFIG_GYROFILTER) ){ TextOut_('GF '); } + if( CheckStatus($config,$NTBUS_IMU_CONFIG_ACCFILTER) ){ TextOut_('AF '); } + } + if( ($id eq '04') or ($id eq '05') or ($id eq '06') ){ + if( CheckStatus($config,$NTBUS_MOTOR_CONFIG_TLE5012B) ){ TextOut_('TLE5012B '); } + ##if( CheckStatus($config,$NTBUS_MOTOR_CONFIG_FOC) ){ TextOut_('ENC '); } + } + } + } + TextOut( "\nScan NT bus... DONE\n" ); +EXIT: + 1; +} + +sub flash_Flash_Click{ + TextOut( "\nFlash firmware... Please wait!" ); + my $file= $f_Tab{flash}->flash_HexFile->Text(); + if( $file eq '' ){ + TextOut( "\nFlash firmware... ABORTED!\nFirmware file is not set.\n" ); return 1; + } + if( !open(F,"<$file") ){ + TextOut( "\nFlash firmware... ABORTED!\nFirmware file is not existing!\n" ); return 1; + } + close( F ); + my $pstr= $f_Tab{flash}->flash_Programmer->GetString( $f_Tab{flash}->flash_Programmer->GetCurSel() ); + my ($boardtype, $boardname, @boardslist) = GetBoardTypeAndName(); +##pre-checks + # pre-checks for flash NT module using NtUpgradeViaUSB + # check for Port is usb + # let the user confirm the settings + if( ($boardtype == $BOARDTYPE_IS_NT) and ($pstr eq $NtUpgradeViaUSB) ){ + $Port = $w_Main->m_Port->Text(); + if( not ComIsUSB($Port) ){ ##BUG: if it's a v3x board, this is a bug, right??? + TextOut( "\nFlash firmware... ABORTED!\nPort is not a USB connection.\n" ); return 1; + } + my $module = ''; + my $moduleindex = $f_Tab{flash}->flash_ProgrammerModuleId->GetCurSel(); + if( $moduleindex >= 0 ){ $module = $f_Tab{flash}->flash_ProgrammerModuleId->GetString($moduleindex); } + my $res = $w_Main->MessageBox( + "You are about to upgrade the NT module:\n\n ". + "NT ".$module."\n\n". + "with a firmware for a module:\n\n ". + $boardname."\n\n". + "Please check carefully the correctness of the settings before you proceed!" + , + 'Upgrade Firmware' , 0x0030 + 1 ); #0x0010 + 1 ); # MB_ICONHAND + MB_OKCANCEL + if( $res != 1 ){ TextOut( "\nFlash firmware... CANCELED!\n" ); return 1; } + } + # pre-checks for flash STorM32 using Storm32UpgradeViaUSB + # check for Port is usb, NO, isn't a USB!!! + #if( ($boardtype == $BOARDTYPE_IS_STORM32_V3X) and ($pstr eq $Storm32UpgradeViaUSB) ){ + # $Port = $w_Main->m_Port->Text(); + # if( not ComIsUSB($Port) ){ + # TextOut( "\nFlash firmware... ABORTED!\nPort is not a USB connection.\n" ); return 1; + # } + #} + # pre-check, these need the connection to the STorM32 board via the normal Port + if( (($boardtype == $BOARDTYPE_IS_NT) and ($pstr eq $NtUpgradeViaUSB)) or + (($boardtype == $BOARDTYPE_IS_STORM32_V3X) and ($pstr eq $Storm32UpgradeViaUSB)) ){ + if( not ConnectionIsValid() ){ + if( not OpenPort() ){ + ClosePort(); TextOut( "\nFlash firmware... ABORTED!\nConnection to STorM32 board failed!\n" ); return 1; + } + ClosePort(); #close it again + ConnectToBoardwoRead(); + } + } +##flash STorM32 board or NT module using STLink + if( $pstr eq $StLink ){ + SetDoFirstReadOut(0); + DisconnectFromBoard(0); #this would happen anyway during a flash + TextOut( "\nuse ST-Link/V2 SWD" ); + my $d = '"'.$STLinkPath.'\st-link_cli.exe"'; + my $s = ''; + if( $f_Tab{flash}->flash_FullErase_check->GetCheck() ){ + TextOut( "\ndo full chip erase" ); + $s.= $d.' -ME'."\n"; + $f_Tab{flash}->flash_FullErase_check->Checked(0); + } + $s .= $d.' -P "'.$file.'"'; + if( $f_Tab{flash}->flash_Verify_check->GetCheck() ){ + TextOut( "\ndo verify" ); + $s .= ' -V'; + } + $s .= "\n"; + $s .= $d.' -Rst'."\n"; + $s .= '@pause'."\n"; + open(F, ">$BGCToolRunFile.bat" ); + print F $s; + close( F ); + TextOut( "\nstart flashing firmware..." ); + $w_Main->ShellExecute('open',"$BGCToolRunFile.bat","",'',1); + TextOut( " ok" ); + +##flash using SystemBootloader, in one or the other way + # $SystemBootloader or $Storm32UpgradeViaUSB or $NtUpgradeViaSystemBootloader or $NtUpgradeViaUSB + }else{ + #open the correct port, i.e. the one called by StmFlashLoader.exe + # $SystemBootloader or $NtUpgradeViaSystemBootloader => ComPort + # $Storm32UpgradeViaUSB or $NtUpgradeViaUSB => normal Port + my $StmFlashLoaderPort; + if( ($pstr eq $SystemBootloader) or + (($boardtype == $BOARDTYPE_IS_NT) and ($pstr eq $NtUpgradeViaSystemBootloader)) ){ + #these use the Com Port + # so we don't need the connection via the normal Port, and can disconnect here + SetDoFirstReadOut(0); #we do not want to read back the parameteres + DisconnectFromBoard(0); #this would happen anyway during a flash + $StmFlashLoaderPort = ExtractCom( $f_Tab{flash}->flash_ProgrammerComPort->Text() ); + if( $StmFlashLoaderPort eq '' ){ + TextOut( "\nFlash firmware... ABORTED!\nCom port not specified!\n" ); return 1; + } + TextOut( "\nuse System Bootloader @ UART1" ); + }elsif( (($boardtype == $BOARDTYPE_IS_STORM32_V3X) and ($pstr eq $Storm32UpgradeViaUSB)) or + (($boardtype == $BOARDTYPE_IS_NT) and ($pstr eq $NtUpgradeViaUSB)) ){ + #these use the normal Port + # we need the connection via the normal Port later + # so we should not disconnect here, we will disconnected later + $StmFlashLoaderPort = ExtractCom($Port); + TextOut( "\nuse STorM32 usb port" ); + }else{ + #something went wrong! + TextOut( "\nFlash firmware... ABORTED!\nSorry, something strange happend (1)!\n" ); return 1; + } + + #alert user if COM > 99 is used, >99 isn't working with "my" flashloader + if( substr($StmFlashLoaderPort,3,3) > 99 ){ + $w_Main->MessageBox( + "The selected Com Port has a port number larger than 99, ". + "which is not supported by the used STMFlashLoader!\n\n". + "Please assign the port to a new port number below 100 (e.g. using Device Manager)." + , 'Com Port' ); + TextOut( "\nFlash firmware... ABORTED!\n" ); return 1; + } + + #do all preliminary stuff before calling flashloader + if( ($boardtype == $BOARDTYPE_IS_NT) and ($pstr eq $NtUpgradeViaUSB) ){ + my $module = ''; + my $moduleindex = $f_Tab{flash}->flash_ProgrammerModuleId->GetCurSel(); + if( $moduleindex>=0 ){ $module = $f_Tab{flash}->flash_ProgrammerModuleId->GetString($moduleindex); } + my $id = ''; my $id2 = ''; + if( uc($module) eq uc('Imu1') ){ $id = '01'; $id2 = '01'; + }elsif( uc($module) eq uc('Imu2') ){ $id = '02'; $id2 = '02'; + }elsif( uc($module) eq uc('Motor Pitch') ){ $id = '04'; $id2 = '04'; + }elsif( uc($module) eq uc('Motor Roll') ){ $id = '05'; $id2 = '05'; + }elsif( uc($module) eq uc('Motor Yaw') ){ $id = '06'; $id2 = '06'; + }elsif( uc($module) eq uc('Logger') ){ $id = '0B'; $id2 = '11'; + }elsif( uc($module) eq uc('Imu3') ){ $id = '0C'; $id2 = '12'; + }else{ + TextOut( "\nFlash firmware... ABORTED!\nSorry, something strange happend (2)!\n" ); return 1; + } + #check first if module is on bus, get its boardstr, and compare with selection + TextOut( "\nsearch NT $module module... " ); + my $s = ExecuteCmdwCrc( 'Ns', HexstrToStr($id), 35 ); + if( substr($s,length($s)-1,1) ne 'o' ){ TextOut( "FAILED!\nModule not found!\n" ); return 1; } + my $boardstr = substr($s,17,16); $boardstr =~ s/\0//g; + if( length($boardstr)==0 ){ TextOut( "FAILED!\nModule not found on NT bus!\n" ); return 1; } + TextOut( "found ".$boardstr ); + my $match = 0; + foreach my $b (@boardslist){ if( uc($b) eq uc($boardstr) ){ $match=1 }; } + if( $match!=1 ){ + TextOut( "\nFlash firmware... ABORTED!\nBoard types don't match!\n" ); return 1; + } + #send first xQTFLASH+id to set module into bootloader mode + TextOut( "\nopen tunnel and set NT module into bootloader mode" ); + $s = ExecuteCmd( 'xQT' ); + if( substr($s,length($s)-1,1) ne 'o' ){ + TextOut( "\nFlash firmware... ABORTED!\nConnection to STorM32 board failed!\n" ); return 1; + } + WritePort( 'cNTFLASH'.$id2 ); + _delay_ms(500); #wait a bit and let the STorM32 digest + SetDoFirstReadOut(0); + DisconnectFromBoard(0); #this would happen anyway during a flash + TextOut( "\nDISCONNECTED" ); + + }elsif( ($boardtype == $BOARDTYPE_IS_NT) and ($pstr eq $NtUpgradeViaSystemBootloader) ){ + #send first STX FLASH to set NT module into bootloader mode + TextOut( "\nset NT module into bootloader mode" ); + my $p_ntbus = Win32::SerialPort->new( $StmFlashLoaderPort ); + if( (defined $p_ntbus) and ($p_ntbus) ){ + #requires change in Win32:Api::CommPort + #https://rt.cpan.org/Public/Bug/Display.html?id=73763 #${$hr}{2000000} = 2000000 if ($fmask & BAUD_USER); + $p_ntbus->baudrate(2000000); + configport_com($p_ntbus); + my $stxflash = HexstrToStr( 'F0464C415348' ); + $p_ntbus->owwrite_overlapped_undef( $stxflash ); + _delay_ms(100); + $p_ntbus->close; + } + + }elsif( ($boardtype == $BOARDTYPE_IS_STORM32_V3X) and ($pstr eq $Storm32UpgradeViaUSB) ){ + #send first xQSFLASH to set STorM32 board into bootloader mode + TextOut( "\nset STorM32 v3.x board into bootloader mode" ); + my $s = ExecuteCmd( 'xQS' ); +#TextOut( "!".$s."!" ); + if( substr($s,length($s)-1,1) ne 'o' ){ + TextOut( "\nFlash firmware... ABORTED!\nConnection to STorM32 board failed!\n" ); return 1; + } + WritePort( 'cFLASH' ); + _delay_ms(500); #wait a bit and let the STorM32 digest + SetDoFirstReadOut(0); + DisconnectFromBoard(0); #this would happen anyway during a flash + TextOut( "\nDISCONNECTED" ); + } + + #perpare everything for flashloader and run it + my $d = '"'.$STMFlashLoaderPath.'\\'.$STMFlashLoaderExe.'"'; + my $s = $d.' -c --pn '.substr($StmFlashLoaderPort,3,3).' --br 115200'; + $s .= ' -ow'; #uses modified STMFlashLoaderOlliW + #$s.= ' -p --drp --dwp'; + if( $f_Tab{flash}->flash_FullErase_check->GetCheck() ){ + TextOut( "\ndo full chip erase" ); + if( $f_Tab{flash}->flash_RemoveProtections_check->GetCheck() ){ + $s .= ' -p --drp --dwp'; + } + $s .= ' -e --all'; + $s .= ' -d --fn "'.$file.'"'; + RemoveProtectionsUnCheck(); + $f_Tab{flash}->flash_FullErase_check->Checked(0); + }else{ + $s .= ' -d --fn "'.$file.'"'; + $s .= ' --ep'; + } + if( $f_Tab{flash}->flash_Verify_check->GetCheck() ){ + TextOut( "\ndo verify" ); + $s .= ' --v'; + } + $s .= " -r --a 8000000\n"; + $s .= "\n"; + $s .= '@echo.'."\n"; + $s .= '@pause'."\n"; + open(F,">$BGCToolRunFile.bat"); + print F $s; + close( F ); + TextOut( "\nstart flashing firmware..." ); + $w_Main->ShellExecute('open',"$BGCToolRunFile.bat","",'',1); + TextOut( " ok" ); + } + TextOut( "\nFlash firmware... DOS BOX STARTED\n" ); + 1; +} + + +#============================================================================== +# Further Event Handler +my $ShareSettingsBackgroundColor= [96,96,96]; + +my $ShareSettingsXsize= 3*380 + 10; #780 +my $ShareSettingsYsize= 1800; #870-32; # -50; + +my $ssWinFont= Win32::GUI::Font->new(-name=>$StdWinFontName, -size=>7, -bold => 0, ); + +my $w_ShareSettings= Win32::GUI::DialogBox->new( -name=> 'sharesettings_Window', -parent => $w_Main, #-font=> $ssWinFont, + -text=> 'o323BGC Share Settings', -size=> [$ShareSettingsXsize,$ShareSettingsYsize], + -helpbox => 0, + #-background=>$ShareSettingsBackgroundColor, + #-sizable => 1, + #-resizable => 1, +); +$w_ShareSettings->SetIcon($Icon); + +sub m_ShareSettings_Click{ ShareSettingsInit(); ShareSettingsShow(); 0; } +sub sharesettings_Window_Terminate{ $w_ShareSettings->Hide(); 0; } +sub sharesettings_OK_Click{ $w_ShareSettings->Hide(); 0; } +sub sharesettings_ScreenShotMini_Click{ return sharesettings_ScreenShot_Click(); } + +my $ScreenShotFile_lastdir= $ExePath; + +sub sharesettings_ScreenShot_Click{ + my $file= Win32::GUI::GetSaveFileName( -owner=> $w_Main, + -title=> 'Save Share Settings ScreenShot to File', + -nochangedir=> 1, + -directory=> $ScreenShotFile_lastdir, + -defaultextension=> '.png', + -filter=> ['*.png'=>'*.png','*.jpg'=>'*.jpg','*.bmp'=>'*.bmp','All files' => '*.*'], + -pathmustexist=> 1, + -overwriteprompt=> 1, + -noreadonlyreturn => 1, + -explorer=>0, + ); + if( $file ){ + $FirmwareHexFile_lastdir= $file; + my $DC= $w_ShareSettings->GetDC(); + my $bmap = Win32::GUI::DIBitmap->newFromDC($DC); + $bmap->SaveToFile( $file );#, JPEG ); #, JPEG_QUALITYSUPERB ); + TextOut("\r\nScreenShot of Share Settings saved to $file.\r\n"); + }elsif( Win32::GUI::CommDlgExtendedError() ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); } + 1; +} + +my $ShareSettingsIsInitialized = 0; + +sub ShareSettingsInit{ + if( $ShareSettingsIsInitialized > 0 ){ return; } + $ShareSettingsIsInitialized = 1; + my $xpos = 400; #15; + my $ypos = 15; + $w_ShareSettings->AddLabel( -name=> 'sharesettings_BGC', #-font=> $StdWinFont, + -text=> "OlliW's Brushless Gimbal Controller Tool ".$BGCStr."Tool\r\n$VersionStr\r\n", + -pos=> [$xpos,$ypos], -height=>30, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $xpos = 15; + $ypos = 15; + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Header_name', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos,$ypos], -width=> 160, -height=>50, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Header_value', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos+170,$ypos], -width=> 200, -height=>50, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $ypos = 110 -40; + $xpos = 15; + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Text1_name', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos,$ypos], -width=> 160, -height=>$ShareSettingsYsize-100-75 +40,#+25, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Text1_value', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos+170,$ypos], -width=> 50, -height=>$ShareSettingsYsize-100-75 +40,#+25, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Text1_value2', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos+170+60,$ypos], -width=> 130, -height=>$ShareSettingsYsize-100-75 +40,#+25, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $xpos = 15+380; + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Text2_name', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos,$ypos], -width=> 160, -height=>$ShareSettingsYsize-100-75 +40,#+25, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Text2_value', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos+170,$ypos], -width=> 50, -height=>$ShareSettingsYsize-100-75 +40,#+25, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Text2_value2', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos+170+60,$ypos], -width=> 130, -height=>$ShareSettingsYsize-100-75 +40,#+25, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $xpos = 15+2*380; + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Text3_name', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos,$ypos], -width=> 160, -height=>$ShareSettingsYsize-100-75 +40,#+25, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Text3_value', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos+170,$ypos], -width=> 50, -height=>$ShareSettingsYsize-100-75 +40,#+25, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $w_ShareSettings->AddLabel( -name=> 'sharesettings_Text3_value2', #-font=> $StdWinFont, + -text=> '', -pos=> [$xpos+170+60,$ypos], -width=> 130, -height=>$ShareSettingsYsize-100-75 +40,#+25, + #-background=>$ShareSettingsBackgroundColor, -foreground=> [255,255,255], + ); + $ypos= $ShareSettingsYsize -63; + $w_ShareSettings->AddButton( -name=> 'sharesettings_ScreenShot', #-font=> $StdWinFont, + -text=> 'Save ScreenShot', -pos=> [$ShareSettingsXsize-203,$ypos], -width=> 120, -height=> 26, + ); + $w_ShareSettings->AddButton( -name=> 'sharesettings_ScreenShotMini', #-font=> $StdWinFont, + -text=> 'S', -pos=> [0,0], -width=> 26, -height=> 26, + ); + $w_ShareSettings->AddButton( -name=> 'sharesettings_OK', #-font=> $StdWinFont, + -text=> 'OK', -pos=> [$ShareSettingsXsize-203,$ypos], -width=> 80, -height=> 26, + ); +} + +sub ShareSettingsShow{ + my $header_name=''; my $header_value=''; + my $text1_name=''; my $text1_value=''; my $text1_value2=''; + my $text2_name=''; my $text2_value=''; my $text2_value2=''; + my $text3_name=''; my $text3_value=''; my $text3_value2=''; + my $count = 0; + foreach my $Option (@OptionList){ + if( $Option->{type} eq 'OPTTYPE_SCRIPT' ){ next; } + if( OptionToSkip($Option) ){ + $header_name.= $Option->{name} . "\r\n"; + $header_value.= ': ' . GetOptionField($Option,0) . "\r\n"; + next; + } + $count++; + } + my $countthird = int( $count/3+0.5 ); + my $counttext1 = 0; + $count = 0; + foreach my $Option (@OptionList){ + if( $Option->{type} eq 'OPTTYPE_SCRIPT' ){ next; } + if( OptionToSkip($Option) ){ next; } + if( $count<$countthird ){ + $text1_name.= $Option->{name} . "\r\n"; + $text1_value.= ': ' . GetOptionField($Option,0) . "\r\n"; + $text1_value2.= ': ' . $Option->{textfield}->Text() . "\r\n"; + $counttext1++; + }elsif( $count<2*$countthird ){ + $text2_name.= $Option->{name} . "\r\n"; + $text2_value.= ': ' . GetOptionField($Option,0) . "\r\n"; + $text2_value2.= ': ' . $Option->{textfield}->Text() . "\r\n"; + }else{ + $text3_name.= $Option->{name} . "\r\n"; + $text3_value.= ': ' . GetOptionField($Option,0) . "\r\n"; + $text3_value2.= ': ' . $Option->{textfield}->Text() . "\r\n"; + } + $count++; + } + + $w_ShareSettings->sharesettings_Header_name->Text( $header_name ); + $w_ShareSettings->sharesettings_Header_value->Text( $header_value ); + $w_ShareSettings->sharesettings_Text1_name->Text( $text1_name ); + $w_ShareSettings->sharesettings_Text1_value->Text( $text1_value ); + $w_ShareSettings->sharesettings_Text1_value2->Text( $text1_value2 ); + $w_ShareSettings->sharesettings_Text2_name->Text( $text2_name ); + $w_ShareSettings->sharesettings_Text2_value->Text( $text2_value ); + $w_ShareSettings->sharesettings_Text2_value2->Text( $text2_value2 ); + $w_ShareSettings->sharesettings_Text3_name->Text( $text3_name ); + $w_ShareSettings->sharesettings_Text3_value->Text( $text3_value ); + $w_ShareSettings->sharesettings_Text3_value2->Text( $text3_value2 ); + + my ($tw,$th)= $w_ShareSettings->sharesettings_Text1_name->GetTextExtentPoint32( + $text1_name, + $w_ShareSettings->sharesettings_Text1_name->GetFont() + ); + $w_ShareSettings->Height( 140 + $th*$counttext1 + 5); + + my $desk = Win32::GUI::GetDesktopWindow(); + my $dw = Win32::GUI::Width($desk); + my $dh = Win32::GUI::Height($desk); + my $ssw = $w_ShareSettings->Width(); + my $ssh = $w_ShareSettings->Height(); + my $x = ($dw-$ssw)/2; if($x<10){$x=10;} + my $y = ($dh-$ssh)/2-10; if($y<10){$y=10;} + $w_ShareSettings->Move( $x, $y ); + $w_ShareSettings->sharesettings_ScreenShot->Move( $ssw-85-25 - 160, $ssh-50-10 ); + $w_ShareSettings->sharesettings_ScreenShotMini->Move( $ssw- 26 -8, 2 ); + $w_ShareSettings->sharesettings_OK->Move( $ssw-85-25, $ssh-50-10 ); + + $w_ShareSettings->Show(); +} + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# OBGC Routines +# handles COM port and so on +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# +#//capability constants +my $BOARD_CAPABILITY_FOC = 7; #0x0100 + + +#//status constants +my $STATUS_IMU_PRESENT = 0; #0x8000 +my $STATUS_IMU_HIGHADR = 1; #0x4000 +##my $STATUS_MAG_PRESENT = 2; #0x2000 #DEPRECATED +my $STATUS_IMU2_PRESENT = 3; #0x1000 +my $STATUS_IMU2_HIGHADR = 4; #0x0800 +my $STATUS_IMU2_NTBUS = 5; #0x0400 + +my $STATUS_LEVEL_FAILED = 13; #0x0004 +my $STATUS_BAT_ISCONNECTED = 12; #0x0008 +my $STATUS_BAT_VOLTAGEISLOW = 11; #0x0010 + +my $STATUS_IMU_OK = 10; #0x0020 +my $STATUS_IMU2_OK = 9; #0x0040 +##my $STATUS_MAG_OK = 8; #0x0080 #DEPRECATED + +my $STATUS_NTBUS_INUSE = 6; #0x0200 + +my $STATUS_STORM32LINK_PRESENT = 7; #0x0100 +my $STATUS_STORM32LINK_OK = 14; #0x0002 +my $STATUS_STORM32LINK_INUSE = 15; #0x0001 + + +my $STATUS2_ENCODERS_PRESENT = 0; #0x8000 +my $STATUS2_ENCODERYAW_OK = 1; #0x4000 +my $STATUS2_ENCODERROLL_OK = 2; #0x2000 +my $STATUS2_ENCODERPITCH_OK = 3; #0x1000 + +my $STATUS2_IRCAMERA = 4; #0x0800 +my $STATUS2_RECENTER_YAW = 5; #0x0400 +my $STATUS2_RECENTER_ROLL = 6; #0x0200 +my $STATUS2_RECENTER_PITCH = 7; #0x0100 + +my $STATUS2_MOTORPITCH_ACTIVE = 12; #0x0008 +my $STATUS2_MOTORROLL_ACTIVE = 11; #0x0010 +my $STATUS2_MOTORYAW_ACTIVE = 10; #0x0020 + + +my $STATUS3_GPSTARGET_PRESENT = 15; #0x0001 +my $STATUS3_GPSTARGET_OK = 14; #0x0002 +my $STATUS3_GPSHOME_PRESENT = 13; #0x0004 +my $STATUS3_GPSHOME_OK = 12; #0x0008 +my $STATUS3_ISTRACKING = 11; #0x0010 + + +#//state constants +my $STATE_STARTUP_MOTORS = 0; +my $STATE_STARTUP_SETTLE = 1; +my $STATE_STARTUP_CALIBRATE = 2; +my $STATE_STARTUP_LEVEL = 3; +my $STATE_STARTUP_MOTORDIRDETECT = 4; +my $STATE_STARTUP_RELEVEL = 5; +my $STATE_NORMAL = 6; +my $STATE_STARTUP_FASTLEVEL = 7; +my $STATE_STANDBY = 8; + +my @StateText= ( 'strtMOTOR','SETTLE', 'CALIBRATE','LEVEL', 'AUTODIR', 'RELEVEL', 'NORMAL', 'FASTLEVEL','STANDBY', 'unknown','unknown' ); +my @StateColors= ( [255,50,50],[0,0,255],[255,0,255],[80,80,255],[255,0,255],[255,0,255],[0,255,0],[80,80,255],[255,50,50],[128,128,128],[128,128,128], ); + +my @LipoVoltageText= ( 'OK', 'LOW', ' ' ); +my @LipoVoltageColors= ( [0,255,0], [255,50,50], [128,128,128]); #grün, rot, grau + +my @ImuStatusText= ( 'ERR', 'OK', 'none', ' ' ); +my @ImuStatusColors= ( [255,50,50], [0,255,0], [128,128,128], [128,128,128]); #rot, grün, grau + +my @Imu2StatusText= ( 'ERR', 'OK', 'none', ' ' ); +my @Imu2StatusColors= ( [255,50,50], [0,255,0], [128,128,128], [128,128,128]); #rot, grün, grau + +my @EncoderStatusText= ( 'ERR', 'OK', '-', ' ' ); ##'none', ' ' ); +my @EncoderStatusColors= ( [255,50,50], [0,255,0], [128,128,128], [128,128,128]); #rot, grün, grau +my @EncoderAllStatusText= ( 'ERR', 'OK', 'none', ' ' ); ##'none', ' ' ); +my @EncoderAllStatusColors= ( [255,50,50], [0,255,0], [128,128,128], [128,128,128]); #rot, grün, grau + +my @STorM32LinkStatusText= ( 'ERR', 'OK', 'none', 'PSNT', ' ' ); +my @STorM32LinkStatusColors= ( [255,50,50], [0,255,0], [128,128,128], [80,80,255], [128,128,128]); #rot, grün, grau + + +#checks if a bit in a bitstring is set +sub CheckStatus{ + if( substr(shift,shift,1) eq '1' ){ return 1; }else{ return 0; } +} + +# returns the StateText which corresponds to the state +sub toStateText{ + my $state = UIntToBitstr( shift ); #state + my $index = oct('0b'.substr($state,8,8)); + if( $index<=7 ){ + return $StateText[$index]; + }else{ + return $StateText[-1]; + } +} + +my %StatusInfoHash; + +#this extracts info from the 's' command data stream, and stores it in the StatusInfoHash hash for later use +sub ExtractStatusInfo{ + my @data = unpack( "v$CMD_s_PARAMETER_ZAHL", shift ); + my $state = UIntToBitstr( $data[0] ); #state +#V1: my $status3 = '00000000'.substr($state,0,8); #status3 = high byte of state shifted to low byte + my $status = UIntToBitstr( $data[1] ); #status + my $status2 = UIntToBitstr( $data[2] ); #status2 + my $status3 = UIntToBitstr( $data[3] ); #status3 + my $errors = $data[5]; + my $voltage = $data[6]; + my $sa = ''; + my $index = 0; + # IMU + if( CheckStatus($status,$STATUS_IMU_PRESENT) ){ + $sa = 'IMU is PRESENT'; + $sa .= ' @ NTBUS'; #$status is always $STATUS_NTBUS_INUSE! + if( CheckStatus($status,$STATUS_IMU_OK) ){ $index = 1; }else{ $index = 0; } + }else{ + $sa = 'IMU is not available'; + $index = 2; + } + $StatusInfoHash{IMUcondition} = $sa; + $StatusInfoHash{IMUindex} = $index; + $StatusInfoHash{IMU} = $ImuStatusText[$index]; + $StatusInfoHash{IMUcolor} = $ImuStatusColors[$index]; + # IMU2 + if( CheckStatus($status,$STATUS_IMU2_PRESENT) ){ + $sa = 'IMU2 is PRESENT'; + if( CheckStatus($status,$STATUS_IMU2_NTBUS) ){ + $sa .= ' @ NTBUS'; + }else{ + if( CheckStatus($status,$STATUS_IMU2_HIGHADR) ){ $sa .= ' @ HIGH ADR = on-board IMU'; }else{ $sa .= ' @ LOW ADR = external IMU'; } + } + if( CheckStatus($status,$STATUS_IMU2_OK) ){ $index = 1; }else{ $index = 0; } + }else{ + $sa = 'IMU2 is not available'; + $index = 2; + } + $StatusInfoHash{IMU2condition} = $sa; + $StatusInfoHash{IMU2index} = $index; + $StatusInfoHash{IMU2} = $ImuStatusText[$index]; + $StatusInfoHash{IMU2color} = $ImuStatusColors[$index]; + # ENCODERS + if( CheckStatus($status2,$STATUS2_ENCODERS_PRESENT) ){ + $sa = 'ENCODERS are PRESENT'; + }else{ + $sa = 'ENCODERS are not available'; + } + $StatusInfoHash{ENCODERcondition} = $sa; + if( not CheckStatus($status2,$STATUS2_ENCODERS_PRESENT) ){ $index = 2; } + elsif( CheckStatus($status2,$STATUS2_ENCODERPITCH_OK) ){ $index = 1; }else{ $index = 0; } + $StatusInfoHash{ENCODERPITCHindex} = $index; + $StatusInfoHash{ENCODERPITCH} = $EncoderStatusText[$index]; + $StatusInfoHash{ENCODERPITCHcolor} = $EncoderStatusColors[$index]; + if( not CheckStatus($status2,$STATUS2_ENCODERS_PRESENT) ){ $index = 2; } + elsif( CheckStatus($status2,$STATUS2_ENCODERROLL_OK) ){ $index = 1; }else{ $index = 0; } + $StatusInfoHash{ENCODERROLLindex} = $index; + $StatusInfoHash{ENCODERROLL} = $EncoderStatusText[$index]; + $StatusInfoHash{ENCODERROLLcolor} = $EncoderStatusColors[$index]; + if( not CheckStatus($status2,$STATUS2_ENCODERS_PRESENT) ){ $index = 2; } + elsif( CheckStatus($status2,$STATUS2_ENCODERYAW_OK) ){ $index = 1; }else{ $index = 0; } + $StatusInfoHash{ENCODERYAWindex} = $index; + $StatusInfoHash{ENCODERYAW} = $EncoderStatusText[$index]; + $StatusInfoHash{ENCODERYAWcolor} = $EncoderStatusColors[$index]; + if( not CheckStatus($status2,$STATUS2_ENCODERS_PRESENT) ){ $index = 2; } + elsif( CheckStatus($status2,$STATUS2_ENCODERPITCH_OK) and + CheckStatus($status2,$STATUS2_ENCODERROLL_OK) and + CheckStatus($status2,$STATUS2_ENCODERYAW_OK) ){ $index = 1; }else{ $index = 0; } + $StatusInfoHash{ENCODERALLindex} = $index; + $StatusInfoHash{ENCODERALL} = $EncoderAllStatusText[$index]; + $StatusInfoHash{ENCODERALLcolor} = $EncoderAllStatusColors[$index]; + # STORM-LINK + if( CheckStatus($status,$STATUS_STORM32LINK_PRESENT) ){ + if( CheckStatus($status,$STATUS_STORM32LINK_INUSE) ){ + $sa = 'STorM32-LINK is INUSE'; + if( CheckStatus($status,$STATUS_STORM32LINK_OK) ){ $index = 1; }else{ $index = 0; } + }else{ + $sa = 'STorM32-LINK is PRESENT'; + if( CheckStatus($status,$STATUS_STORM32LINK_OK) ){ $index = 1; }else{ $index = 3; } + } +## $sa .= " & ".$STorM32LinkStatusText[$index]; + }else{ + $sa = 'STorM32-LINK is not available'; + $index = 2; + } + $StatusInfoHash{LINKcondition} = $sa; + $StatusInfoHash{LINKindex} = $index; + $StatusInfoHash{LINK} = $STorM32LinkStatusText[$index]; + $StatusInfoHash{LINKcolor} = $STorM32LinkStatusColors[$index]; + # BAT + if( CheckStatus($status,$STATUS_BAT_ISCONNECTED) ){ + $sa = 'BAT is CONNECTED'; + $index = 1; + }else{ + $sa = 'BAT is not connected'; + $index = 0; + } + $StatusInfoHash{BATcondition} = $sa; + $StatusInfoHash{BATindex} = $index; + # MOTORS + $sa = 'MOTORS are'; + if( CheckStatus($status2,$STATUS2_MOTORPITCH_ACTIVE) ){ $sa .= ' ACTIVE'; }else{ $sa .= ' OFF'; } + if( CheckStatus($status2,$STATUS2_MOTORROLL_ACTIVE) ){ $sa .= ' ACTIVE'; }else{ $sa .= ' OFF'; } + if( CheckStatus($status2,$STATUS2_MOTORYAW_ACTIVE) ){ $sa .= ' ACTIVE'; }else{ $sa .= ' OFF'; } + $StatusInfoHash{MOTORcondition} = $sa; + # STATE + $index = oct('0b'.substr($state,8,8)); #this blends out the high byte + if( $index<=7 ){ + $sa = 'STATE is '.$StateText[$index]; + }else{ + $sa = 'STATE is UNKNOWN!!!!'; + $index = -1; + } + $StatusInfoHash{STATEcondition} = $sa; + $StatusInfoHash{STATEindex} = $index; + $StatusInfoHash{STATE} = $StateText[$index]; + $StatusInfoHash{STATEcolor} = $StateColors[$index]; + # VOLTAGE + if( CheckStatus($status,$STATUS_BAT_VOLTAGEISLOW) ){ + $sa = 'VOLTAGE is LOW'; + $index = 1; + }else{ + $sa = 'VOLTAGE is OK'; + $index = 0; + } + my $sv = sprintf("%.2f V", $voltage/1000.0); + $StatusInfoHash{VOLTAGEcondition} = $sa.': '.$sv; + $StatusInfoHash{VOLTAGEindex} = $index; + $StatusInfoHash{VOLTAGE} = $LipoVoltageText[$index]; + $StatusInfoHash{VOLTAGEvalue} = $sv; + $StatusInfoHash{VOLTAGEcolor} = $LipoVoltageColors[$index]; + # ERRORS + my $sb = ''; + $sa = 'BUS ERRORS: '; #$status is always $STATUS_NTBUS_INUSE! + $sb = 'Bus Errors'; + $sa .= $errors; + $StatusInfoHash{ERRORcondition} = $sa; + #$StatusInfoHash{ERRORindex} = $index; + $StatusInfoHash{ERROR} = $sb; + $StatusInfoHash{ERRORvalue} = $errors; + # TRACKER + $sa = 'TRACKER'; #'GPS'; + if( CheckStatus($status3,$STATUS3_GPSTARGET_PRESENT) or CheckStatus($status3,$STATUS3_GPSHOME_PRESENT) ){ + if( CheckStatus($status3,$STATUS3_GPSHOME_PRESENT) ){ + $sa .= ' HOME is'; + if( CheckStatus($status3,$STATUS3_GPSHOME_OK) ){ $sa .= ' OK'; }else{ $sa .= ' PRESENT'; } + } + if( CheckStatus($status3,$STATUS3_GPSTARGET_PRESENT) and CheckStatus($status3,$STATUS3_GPSHOME_PRESENT) ){ + $sa .= ','; + } + if( CheckStatus($status3,$STATUS3_GPSTARGET_PRESENT) ){ + $sa .= ' TARGET is'; + if( CheckStatus($status3,$STATUS3_GPSTARGET_OK) ){ $sa .= ' OK'; }else{ $sa .= ' PRESENT'; } + } + if( CheckStatus($status3,$STATUS3_ISTRACKING) ){ + $sa .= ', is TRACKING'; + } + }else{ + $sa .= ' is not available'; + $index = 2; + } + $StatusInfoHash{GPScondition} = $sa; + $StatusInfoHash{GPSindex} = 0; #$index; + $StatusInfoHash{GPS} = ''; ##$MagStatusText[$index]; + $StatusInfoHash{GPScolor} = 0; ##$MagStatusColors[$index]; +} + +sub StatusBarStatusText{ + my $s = ''; + $s .= 'IMU: '.$StatusInfoHash{IMU}; + $s .= ' '; + $s .= 'IMU2: '.$StatusInfoHash{IMU2}; + $s .= ' '; + $s .= 'VOLTAGE: '.$StatusInfoHash{VOLTAGE}.' '.$StatusInfoHash{VOLTAGEvalue}; + $s .= ' '; + $s .= 'STATE: '.$StatusInfoHash{STATE}; + $s .= ' '; + $s .= $StatusInfoHash{ERRORcondition}; + $w_Main->m_StatusField->Text( $s ); +} + +sub DashboardStatusTextClearTo{ + $f_Tab{dashboard}->dashboard_Status_a->Text( shift ); + $f_Tab{dashboard}->dashboard_Status_b->Text( '' ); +} + +sub DashboardStatusText{ + my $s = ''; + $s = $StatusInfoHash{IMUcondition}; + $s .= "\r\n\r\n"; + $s .= $StatusInfoHash{IMU2condition}; + $s .= "\r\n\r\n"; + if( $ActiveBoardConfiguration == $BOARDCONFIGURATION_IS_FOC ){ + $s .= $StatusInfoHash{ENCODERcondition}; + $s .= "\r\n\r\n"; + } + $s .= $StatusInfoHash{LINKcondition}; + if( $StatusInfoHash{LINKindex}<2 ){ $s .= ' and '.$StatusInfoHash{LINK}; } + $s .= "\r\n\r\n"; + $s .= $StatusInfoHash{GPScondition}; + $s .= "\r\n\r\n"; + $s .= $StatusInfoHash{BATcondition}; + $s .= "\r\n\r\n"; + $s .= $StatusInfoHash{MOTORcondition}; + $f_Tab{dashboard}->dashboard_Status_a->Text( $s ); + + $s = $StatusInfoHash{STATEcondition}; + $s .= "\r\n\r\n"; + $s .= $StatusInfoHash{VOLTAGEcondition}; + $s .= "\r\n\r\n"; + $s .= 'IMU: '.$StatusInfoHash{IMU}; + $s .= "\r\n\r\n"; + $s .= 'IMU2: '.$StatusInfoHash{IMU2}; + $s .= "\r\n\r\n"; + if( $ActiveBoardConfiguration == $BOARDCONFIGURATION_IS_FOC ){ +## if( ($StatusInfoHash{ENCODERPITCHindex} <= 1) or ($StatusInfoHash{ENCODERROLLindex} <= 1) or ($StatusInfoHash{ENCODERYAWindex} <= 1) ){ + $s .= 'ENCODERS: '.$StatusInfoHash{ENCODERPITCH}.' '.$StatusInfoHash{ENCODERROLL}.' '.$StatusInfoHash{ENCODERYAW}; + $s .= "\r\n\r\n"; + } + $s .= $StatusInfoHash{ERRORcondition}; + #$s .= "\r\n\r\n"; + #$s .= 'LINK: '.$StatusInfoHash{LINK}; + $f_Tab{dashboard}->dashboard_Status_b->Text( $s ); +} + +sub ExecuteGetStatusStatusText{ + my $s = ''; + $s .= ' '.$StatusInfoHash{IMUcondition}; + $s .= "\r\n"; + $s .= ' '.$StatusInfoHash{IMU2condition}; + $s .= "\r\n"; + $s .= ' '.$StatusInfoHash{LINKcondition}; + $s .= "\r\n"; + $s .= ' '.$StatusInfoHash{STATEcondition}; + $s .= "\r\n"; + $s .= ' '.$StatusInfoHash{BATcondition}; + $s .= ', '.$StatusInfoHash{VOLTAGEcondition}; +# $s .= "\r\n"; + TextOut( $s ); +} + + + + +#uses MAVLINK's x25 checksum +#https://github.com/mavlink/pymavlink/blob/master/mavutil.py +sub do_crc{ + my $bufstr= shift; my $len= shift; + my @buf= unpack( "C".$len, $bufstr ); + my $crc= 0xFFFF; + foreach my $b (@buf){ + my $tmp= $b ^ ($crc & 0xFF ); + $tmp= ($tmp ^ ($tmp<<4)) & 0xFF; + $crc= ($crc>>8) ^ ($tmp<<8) ^ ($tmp<<3) ^ ($tmp>>4); + $crc= $crc & 0xFFFF; + } +##TextOut( " CRC:0x".UIntToHexstr($crc)."!" ); + return $crc; +} + +sub add_crc_to_data{ + my $datafield= shift; + my $crc= do_crc( $datafield, length($datafield) ); + #TextOut( " CRC:".UIntToHexstr($crc) ); + $datafield.= pack( "v", $crc ); + #substr($data,1,1) = 'a'; #test to check if error is detected + return $datafield; +} + + + + +############################################################################ +# FLAGS: + +#sets an increased $timeoutfirst in ReadPort(); +my $ExtendedTimoutFirst = 0; +sub SetExtendedTimoutFirst{ $ExtendedTimoutFirst = shift; } + +# skips a Read in ConnectToBoard() -> calls GetControllerVersion() +my $SkipExecuteRead = 0; +sub SetSkipExecuteRead{ $SkipExecuteRead = shift; } + +#sets if details should be displayed in ExecuteGetCommand() +my $ReadDetailsOut = 1; +sub SetReadDetailsOut{ $ReadDetailsOut = shift; } + +#sets if a Delay should be waited before a Read in ExecuteCommandFullwoGet() -> calls ExecuteGetCommand() +my $DelayBeforeGet = 0; +sub SetDelayBeforeGet{ $DelayBeforeGet = shift; } + +#sets if a Read should be done in ExecuteCommandFullwoGet() -> calls ExecuteGetCommand() +my $WithGet = 0; +sub SetWithGet{ $WithGet = shift; } + +#when a communication process aborts, it's important to reset all flags +sub ResetFlags{ + $ExtendedTimoutFirst = 0; $SkipExecuteRead = 0; $ReadDetailsOut = 1; $DelayBeforeGet = 0; $WithGet = 0; +} + +my $ReadPortDebug = 0; +sub SetReadPortDebug{ + $ReadPortDebug = shift; +} + +############################################################################ +# timing stuff + +sub _delay_ms{ + my $tmo = shift; + $tmo += Win32::GetTickCount(); #$p_Serial->get_tick_count(); #timeout in ms + do{ }while( Win32::GetTickCount() < $tmo ); # $p_Serial->get_tick_count() < $tmo ); +} + +sub GetTickCount{ return Win32::GetTickCount(); } #return $p_Serial->get_tick_count(); } + +############################################################################ +# PORT stuff + +sub configport_com{ + my $com = shift; + if( $com ){ + $com->databits(8); + $com->parity("none"); + $com->stopbits(1); + $com->handshake("none"); + $com->buffers(4096, 4096); + $com->write_char_time(100); + $com->write_const_time(2000); + #http://msdn.microsoft.com/en-us/library/aa450505.aspx + #non-blocking asynchronous read + $com->read_interval(0xffffffff); + $com->read_char_time(0); + $com->read_const_time(0); + $com->write_settings; + _delay_ms(100); + $com->purge_all(); + _delay_ms(100); + } +} + +sub ConfigComPort{ + if( $p_Serial ){ + $p_Serial->baudrate($Baudrate); + configport_com($p_Serial); + } +} + + +my $select = new IO::Select(); +#$| = 1; + +sub OpenPort{ + $Port = $w_Main->m_Port->Text(); #$Port has COM + friendly name + $PortType = $PortTypeUndefined; + if( ExtractCom($Port) eq '' ){ + TextOut( "\r\n".'Port not specified!'."\r\n" ); return 0; #this error should never happen + } + if( not ComIsESP($Port) ){ + # open normal COM port + $p_Serial = Win32::SerialPort->new( ExtractCom($Port) ); +## TextOut("!".ExtractCom($Port)."!"); + if( (not defined $p_Serial) or (not $p_Serial) ){ + TextOut( "\r\n".'Opening port '.ExtractCom($Port).' FAILED!'."\r\n" ); return 0; + } + ConfigComPort(); + $PortType = $PortTypeCOM; + return 1; + }else{ + if( not ESPIsAvailable() ){ + TextOut( "\r\n".'Opening ESP port FAILED! ESP is not connected.'."\r\n" ); return 0; + } + # open ESP port + $p_Socket = new IO::Socket::INET ( + PeerHost => $EspWifiSSID, #'192.168.4.1', + PeerPort => $EspWifiPort, #'23', + Proto => 'tcp', + #Blocking => 0, #this somehow doesn't work + Timeout => 5, + ); + if( not $p_Socket ){ + TextOut( "\r\n".'Opening ESP port FAILED!'."\r\n" ); return 0; + } + $p_Socket->autoflush(1); + $PortType = $PortTypeESP; + $select->add($p_Socket); + return 1; + } + return 0; +} + +sub ClosePort{ + if( $PortType == $PortTypeCOM ){ + if( $p_Serial ){ $p_Serial->close; } + } + if( $PortType == $PortTypeESP ){ + if( $p_Socket ){ $p_Socket->close(); } + } +} + +sub FlushPort{ + if( $PortType == $PortTypeCOM ){ + if( $p_Serial ){ $p_Serial->purge_all(); } + } + if( $PortType == $PortTypeESP ){ + } +} + +sub WritePort{ + if( $PortType == $PortTypeCOM ){ + $p_Serial->owwrite_overlapped_undef( shift ); + } + if( $PortType == $PortTypeESP ){ + $p_Socket->send( shift ); + } +} + + +sub ReadPortOneByte{ + if( $PortType == $PortTypeCOM ){ + return $p_Serial->owread_overlapped(1); + } + if( $PortType == $PortTypeESP ){ + while( my @CANREAD = $select->can_read(1) ){ + foreach my $soc (@CANREAD) { + if( !$soc->connected() ){ $select->remove($soc); next; } + my $byte; + my $res = $p_Socket->sysread($byte, 4096); + if( defined $res ){ return ($res,$byte); } + } + } + return (0,''); + } + return (0,''); +} + +sub GetTimeoutsForReading{ + my $timeoutfirst = 20*$ExecuteCmdTimeOutFirst + $ExtendedTimoutFirst; + $ExtendedTimoutFirst = 0; + my $timeout = 20*$ExecuteCmdTimeOut; #timeout in 100 ms + if( $timeout < 200 ){ $timeout = 200; } + if( $Baudrate <= 38400 ){ $timeout += 20*$ExecuteCmdTimeOut; } #add time for slow connetions + if( ComIsBlueTooth($Port) ){ + $timeoutfirst += 200; + $timeout += 200 + 20*$ExecuteCmdBTAddedTimeOut; #10; + } + return( $timeout, $timeoutfirst ); +} + +#this is the main communication function +# no parameters: terminates when end char is recieved, can't be used for data transfers! +# one parameter: reads for the expected number of characters, len is exclusive the crc +# port needs to be open, $Port needs to be set +#global parameters +# $ExecuteCmdTimeOutFirst +# $ExecuteCmdTimeOut +# $ExecuteCmdBTAddedTimeOut +#flags: +# $ExtendedTimoutFirst +# allows to momentarily increase the timeout for first char, this is needed for e.g. StoreToEERPOM +# $ReadPortDebug +#COMMENT: this is not really good: when len=0 where can be a problem when 't''e''c''o' occur inteh data stream!! +sub ReadPort{ + my $len = 0; #length of response + if( scalar @_ ){ #there is one parameter + $len= shift; if( not defined $len ){ $len=0; }elsif( $len<0 ){ $len=0; } + } + if( $len > 0 ){ $len += 2; } #take CRC into account #$len>0 indicates that the command returns more than the end char + + my $cmd = ''; my $count = 0; my $result = ''; + my ($timeout, $timeoutfirst) = GetTimeoutsForReading(); + my $tmo = GetTickCount() + $timeout; + my $tmofirst = GetTickCount() + $timeoutfirst; + do{ + my $t = $tmo; + if( $count == 0 ){ $t = $tmofirst; } + if( GetTickCount() > $t ){ return ''; } #timeout! + my ($i, $s) = ReadPortOneByte(); #read one character +#if($ReadPortDebug){ TextOut( "?".StrToHexstr($s)."?" ); } TextOut( ",".StrToHexstr($s) ); + $count += $i; + $result .= $s; + if( $len > 0 ){ + if( length($result) >= $len ){ $cmd = substr($result,$len,500); }else{ $cmd = ''; } #get the full rest of the string + }else{ + $cmd = substr($result,length($result)-1,500); #get last char from string + } + if( $cmd eq 't' ){ return 't'; } + if( $cmd eq 'e' ){ return 'e'; } + if( $cmd eq 'c' ){ return 'c'; } +#Win32::GUI::DoEvents(); + }while( $cmd ne "o" ); +#if($ReadPortDebug){ TextOut( StrToHexstr($result)."!" ); } + my $crc = 0; + if( $len > 0 ){ + #check CRC (uses MAVLINK's x25 checksum) + $crc = unpack( "v", substr($result,$len-2,2) ); + #TextOut( " CRC:".UIntToHexstr($crc) ); + my $crc2 = do_crc( $result, $len ); + #TextOut( " CRC2:0x".UIntToHexstr($crc2)."!" ); + #if( $crc ne $crc2 ){ return 'c'; } + if( $crc2 != 0 ){ return 'c'; } + } + return $result; +} + +#is called from outside the DataDisplay +sub ExecuteCmd{ +## this doesn't help a lot against the heartbeat +## my $cmd = shift; +## WritePort( substr($cmd,0,1) ); # write first char +## $p_Serial->purge_all(); +## WritePort( substr($cmd,1) ); # write remaining chars +##XXX $p_Serial->purge_all(); #this helps a bit against the heartbeat! + WritePort( shift ); #consumes first parameter, is the command! + return ReadPort( shift ); #consumes second parameter, is the length of expected values! +} + +sub ExecuteCmdwCrc{ + my $cmd= shift; my $params= shift; my $reslen= shift; + return ExecuteCmd( $cmd.add_crc_to_data($params), $reslen ); +} + +#is called in Timer +sub ExecuteCmdTimer{ +# WritePort( shift ); #consumes first parameter, is the command! +# return ReadPort( shift ); #consumes second parameter, is the length of expected values! + return ExecuteCmd( shift, shift ); +} + + +############################################################################ +# TIME SCHEDULER + +my $SYSTICKTIME = 40; + +sub SetIntTime{ + my $time_ms = shift; + return int( $time_ms/$SYSTICKTIME + 0.49 ); +} + +$w_Main->AddTimer( 'm_Timer', 0 ); +$w_Main->m_Timer->Interval( $SYSTICKTIME ); +my $MainTimerCounter = 1; +my $MainTimerBlinkerCounter = 1; +my $ConnectionLostCounter = 0; +#my $MaxConnectionLost = 3; +my $LastDataDisplayState = 0; +my $AutoWritePIDTimerCounter = 1; + +sub m_Timer_Timer{ + if( $Execute_IsRunning ){ return 1; } + my $s = ''; + $MainTimerCounter--; + if( $MainTimerCounter<0 ){ $MainTimerCounter = SetIntTime(250); } #5 } #250ms + $MainTimerBlinkerCounter--; + if( $MainTimerBlinkerCounter<0 ){ $MainTimerBlinkerCounter = SetIntTime(300); } #6 } #300ms + $AutoWritePIDTimerCounter--; + if( $AutoWritePIDTimerCounter<0 ){ $AutoWritePIDTimerCounter = SetIntTime(250); } #5 } #X00ms + + if( ( not $Connected )and( not $ConfigureGimbalTool_IsRunning )and( not $Acc16PCalibration_IsRunning ) ){ + $w_Main->m_StatusField->Text( 'no connection' ); + $w_Main->m_StatusBlinker->Change( -background => [255,0,0] ); + $w_Main->m_StatusBlinker->InvalidateRect( 1 ); + DashboardStatusTextClearTo( 'no connection' ); + return 1; + } + #blinker + if( $MainTimerBlinkerCounter<=3 ){ + $w_Main->m_StatusBlinker->Change( -background => [0,255,0] ); + }else{ + $w_Main->m_StatusBlinker->Change( -background => [212,212,212] ); + } + $w_Main->m_StatusBlinker->InvalidateRect( 1 ); + #read required data + $s = ''; + if( $DataDisplay_IsRunning ){ + FlushPort(); #this is to get back in track in case of issue + $s = ExecuteCmdTimer( 'd', $CMD_d_PARAMETER_ZAHL*2 ); + }elsif( $Acc16PCalibration_IsRunning ){ + $w_Main->m_StatusField->Text( 'acc calibration' ); + DashboardStatusTextClearTo( 'acc calibration running' ); + return 1; + }elsif( $ConfigureGimbalTool_IsRunning ){ + $w_Main->m_StatusField->Text( 'configure gimbal tool' ); + DashboardStatusTextClearTo( 'configure gimbal tool running' ); + return 1; + }else{ + if( $MainTimerCounter!=0 ){ goto EXIT; }#return 1; } + FlushPort(); #this is to get back in track in case of issue + $s = ExecuteCmdTimer( 's', $CMD_s_PARAMETER_ZAHL*2 ); + } +#Win32::GUI::DoEvents(); + #check if connection still ok + if( substr($s,length($s)-1,1) ne 'o' ){ + $ConnectionLostCounter++; + if( $ConnectionLostCounter>$MaxConnectionLost ){ + TextOut( "\r\n".'CONNECTION is LOST!'."\r\n" ); + DisconnectFromBoard(0); + } + return 1; + } + $ConnectionLostCounter = 0; + #do the required things, + ExtractStatusInfo( $s ); + if( $DataDisplay_IsRunning ){ + DataDisplayDoTimer( $s ); + if( $LastDataDisplayState==0 ){ + $w_Main->m_StatusField->Text( 'data display' ); + DashboardStatusTextClearTo( 'data display running' ); + } + }else{ + StatusBarStatusText(); + DashboardStatusText(); + } + $LastDataDisplayState = $DataDisplay_IsRunning; + +EXIT: +# if( $MainTimerCounter==0 ){ + if( 1 ){ + AutoWritePID_CheckIfItShouldBeDone(); + #TextOut("!"); + } + + 1; +} + +sub ConnectionIsValid{ + if( $Connected!=1 ){ return 0; } + if( $ConnectionLostCounter>0 ){ return 0; } + return 1; +} + +#parameter: 1 = clear text field +sub DisconnectFromBoard{ + DataDisplayHalt(); + DataDisplayClearStatusFields(); + if( $Acc16PCalibration_IsRunning ){ Acc16PCalibrationHalt(); } #in order to not call it when acc calib was not yet created + ClosePort(); + #if( not $Connected ){ return 1; } + $Connected = 0; + $w_Main->m_StatusField->Text( 'not connected' ); + ClearOptions(shift); + $w_Main->m_Port->Enable(); + $w_Main->m_Connect->Text( 'Connect' ); + return 1; +} + +#flag: $SkipExecuteRead +sub ConnectToBoard{ + my $SkipRead = $SkipExecuteRead; + $SkipExecuteRead = 0; + if( $Connected ){ return 1; } + TextOut_( "\r\n".'Connecting... Please wait!' ); + #open port + if( not OpenPort() ){ + DisconnectFromBoard(0); return 0; + } + #check connection + my ($Version,$Name,$Board,$Layout,$Capabilities) = GetControllerVersion(); + if( $Version eq '' ){ DisconnectFromBoard(0); return 0; } + #check layout version + my $layoutfound = 0; + foreach my $supportedlayout ( @SupportedBGCLayoutVersions ){ + if( uc($Layout) eq uc($supportedlayout) ){ $layoutfound= 1; last; } + } + if( $layoutfound == 0 ){ + TextOut( "\r\n".'Read... ABORTED!' ); + TextOut( "\r\n".'The connected controller board or its firmware version is not supported!' ); + TextOut( "\r\n".'Retry with GUI version '.$Version."\r\n" ); + DisconnectFromBoard(0); + return 0; + } + #handle the capabilities + my $FocEnabled = CheckStatus($Capabilities,$BOARD_CAPABILITY_FOC); + if( $FocEnabled ){ + BoardConfiguration_HandleChange($BOARDCONFIGURATION_IS_FOC); #switch if needed + }else{ + BoardConfiguration_HandleChange($BOARDCONFIGURATION_IS_DEFAULT); #switch if needed + } + #everything is OK + SetOptionField( $NameToOptionHash{'Firmware Version'}, $Version ); + SetOptionField( $NameToOptionHash{'Board'}, $Board ); + SetOptionField( $NameToOptionHash{'Name'}, $Name ); + Option_SetBackground( $NameToOptionHash{'Firmware Version'}, $OptionValidColor ); + Option_SetBackground( $NameToOptionHash{'Board'}, $OptionValidColor ); + Option_SetBackground( $NameToOptionHash{'Name'}, $OptionValidColor ); + TextOut_( "\r\n".'CONNECTED' ); + $w_Main->m_Connect->Text( 'Disconnect' ); + $w_Main->m_Port->Disable(); + $f_Tab{calibrateacc}->caac_StoreInEEprom->Enable(); + $ConnectionLostCounter = 0; + $Connected = 1; +# if( not $SkipRead ){ ExecuteRead(); } + if( not $SkipRead ){ + if( !ExecuteRead() ){ DisconnectFromBoard(0); return 0; } + } + return 1; +} + +sub ConnectToBoardwoRead{ + SetSkipExecuteRead(1); + ConnectToBoard(); +} + + +#is called ONYL from connect board, or maybe other places where connection to the board is made +#flag: none +sub GetControllerVersion{ + my $version= ''; my $name= ''; my $board= ''; my $layout= ''; my $ver =''; my $capabilities= ''; + TextOut_( "\r\n".'v... ' ); + my $s = ExecuteCmd( 'v', (16)*3 +2+2+2 ); + if( substr($s,length($s)-1,1) eq 'o' ){ + $version = substr($s,0,16); + $version =~ s/[ \s\0]*$//; #remove blanks&cntrls at end + $name = substr($s,16,16); + $name =~ s/[ \s\0]*$//; #remove blanks&cntrls at end + $board = substr($s,32,16); + $board =~ s/[ \s\0]*$//; #remove blanks&cntrls at end + ($ver,$layout,$capabilities) = unpack( "v3", substr($s,48,6) ); + $capabilities = UIntToBitstr($capabilities); + #$capabilities= '0x'.UIntToHexstr($capabilities); + TextOut_( $version ); + #TextOut( " Ver:".$ver."!" ); + #TextOut( " Layout:".$layout."!" ); + #TextOut( " Capabilities:".$capabilities."!" ); + }else{ + TextOut( "\r\n".'Read... ABORTED!'."\r\n" ); + return ('','','',''); + } + return ($version,$name,$board,$layout,$capabilities); +EXIT: + return ('','','','',''); +} + +############################################################################ +# MAIN COMMUNICATION ROUTINES + + + +#flag: $ReadDetailsOut +sub ExecuteGetCommand{ + my $s=''; my $params=''; + #read options + TextOut_( "\r\n".'g... ' ); + $s = ExecuteCmd( 'g', $CMD_g_PARAMETER_ZAHL*2+$SCRIPTSIZE ); + if( substr($s,length($s)-1,1) eq 'o' ){ + $params = StrToHexstr( substr($s,0,length($s)-3) ); #strip off crc and 'o' + my $crc = StrToHexstr( substr($s,length($s)-3,2) ); #get crc +## TextOut("\r\n".$params."\r\n" ); + }else{ + TextOut( "\r\n".'Read... FAILED!'."\r\n" ); goto EXIT; + } + TextOut( "ok" ); + $OptionsLoaded=0; ##is dirty: this prevents that background colors are changed too early + foreach my $Option (@OptionList){ + if( OptionToSkip($Option) ){ next; } + if($Option->{adr}<0){ next; } + if( $Option->{adr}<10 ){ $s = '0'.$Option->{adr}; }else{ $s = $Option->{adr}; } + if( $ReadDetailsOut ){ TextOut_( "\r\n".$s.' -> '.$Option->{name}.': ' ); } + $s = substr($params,$Option->{adr}*4,4); + $s = substr($s,2,2).substr($s,0,2); #!!!SWAP BYTES!!! + if( $Option->{type} eq 'OPTTYPE_SCRIPT' ){ + $s = substr($params,$CMD_g_PARAMETER_ZAHL*4,2*$SCRIPTSIZE); + if($ReadDetailsOut){ TextOut_( "script hex code" ); } + }elsif( $Option->{size}<=2 ){ #this is how a STRing is detected, somewhat dirty + my $sx = $s; + $s = HexstrToDez($s); if($ReadDetailsOut){ TextOut_( "$s "."(0x".$sx.")" ); } + }else{ + $s = HexstrToStr($s); if($ReadDetailsOut){ TextOut_( ">$s< " ); } + } + SetOptionField( $Option, $s ); #$s is an unsigend value, is converted to signed if need by the function + WaitForJobDone(); + } + $ReadDetailsOut = 1; + return 1; +EXIT: + ResetFlags(); + return ('','','',''); +} + + +#flags: $DelayBeforeGet, $WithGet +sub ExecuteCommandFull{ + my $CMD= shift; my $MSG= shift; my $MSG2= shift; my $TEST= shift; my $LEN= shift; + if( $TEST ){ + TextOut( "\r\n".$MSG.'... Please wait!' ); + if( not ConnectionIsValid() ){ TextOut( "\r\n".$MSG.'... ABORTED!'."\r\n" ); goto EXIT; } + } + TextOut_( "\r\n".$CMD.'... ' ); + my $s = ExecuteCmd( $CMD, $LEN ); + if( substr($s,length($s)-1,1) ne 'o' ){ TextOut( "\r\n".$MSG.'... FAILED!'."\r\n" ); goto EXIT; } + TextOut_( 'ok' ); + if( $DelayBeforeGet>0 ){ + TextOut( "\r\n".'Please wait a moment... ' ); _delay_ms($DelayBeforeGet); TextOut( 'ok' ); + } + $DelayBeforeGet = 0; + if( $WithGet ){ + SetReadDetailsOut(0); + if( not ExecuteGetCommand() ){ goto EXIT; } + SetOptionsLoaded(1); + } + $WithGet = 0; + TextOut( "\r\n".$MSG.'... DONE!' ); + if( $MSG2 ne '' ){ TextOut( "\r\n".$MSG2 ); } + TextOut( "\r\n" ); + return (1,$s); +EXIT: + ResetFlags(); + return (0,''); +} + +sub ExecuteCommandFullwoGet{ + SetWithGet(0); + return ExecuteCommandFull( shift, shift, shift, shift, shift ); +} + +sub ExecuteCommandFullwGet{ + SetWithGet(1); + return ExecuteCommandFull( shift, shift, shift, shift, shift ); +} + +# if( $v<0 ){ $v = $v+65536; } ?????????? +# writing of paramters always includes a CRC over the data field +#flags: none +sub ExecuteCommandWritewoGet{ + my $CMD= shift; my $MSG= shift; my $MSG2= shift; my $PARAMS= shift; my $TEST= shift; + if( $TEST ){ + TextOut( "\r\n".$MSG.'... Please wait!' ); + if( not ConnectionIsValid() ){ TextOut( "\r\n".$MSG.'... ABORTED!'."\r\n" ); goto EXIT; } + } + my $s = add_crc_to_data( $PARAMS ); + TextOut( "\r\n".$CMD.'... ' ); + $s = ExecuteCmd( $CMD.$s ); + my $response= substr($s,length($s)-1,1); + if( $response ne 'o' ){ + TextOut( "\r\n".$MSG.'... ABORTED! ('.$s.')' ); + if( $response eq 't' ){ + TextOut( "\r\n".'Timeout error while writing to controller board!'."\r\n" ); + }elsif( $response eq 'c' ){ + TextOut( "\r\n".'CRC error while writing to controller board!'."\r\n" ); + }elsif( $response eq 'e' ){ + TextOut( "\r\n".'Command error while writing to controller board!'."\r\n" ); + }else{ + TextOut( "\r\n".'Timeout while writing to controller board!'."\r\n" ); + } + goto EXIT; + } + TextOut( 'ok' ); + TextOut( "\r\n".$MSG.'... DONE!'."\r\n" ); + return 1; +EXIT: + ResetFlags(); + return 0; +} + + +sub ExecuteReadwoFirstReturn{ + TextOut( 'Read... Please wait!' ); + if( not ConnectionIsValid() ){ TextOut( "\r\n".'Read... ABORTED!'."\r\n" ); goto EXIT; } + if( not ExecuteGetCommand() ){ goto EXIT; } + SetOptionsLoaded(1); + TextOut( "\r\n".'Read... DONE!'."\r\n" ); + return 1; +EXIT: + ResetFlags(); + return 0; +} + + +sub ExecuteRead{ + TextOut( "\r\n" ); + return ExecuteReadwoFirstReturn(); +} + + +sub ExecuteWrite{ + my $store_to_eeprom_flag = shift; + TextOut( "\r\n".'Write... Please wait!' ); + if( not ConnectionIsValid() ){ TextOut( "\r\n".'Write... ABORTED!'."\r\n" ); goto EXIT; } + my $s= ''; my $params= ''; my @paramslist= (); + #read options, this is a MUST to ensure that options not handled by GUI are not modified + TextOut_( "\r\n".'g... ' ); + $s = ExecuteCmd( 'g', $CMD_g_PARAMETER_ZAHL*2+$SCRIPTSIZE ); + if( substr($s,length($s)-1,1) ne 'o' ){ + TextOut( "\r\n".'Write... FAILED!'."\r\n" ); goto EXIT; + } + $params = StrToHexstr( substr($s,0,length($s)-1) ); + #TextOut_( $params ); + TextOut_( 'ok' ); + for(my $i=0;$i<$CMD_g_PARAMETER_ZAHL;$i++){ $paramslist[$i]= substr($params,4*$i,4); } + #write + foreach my $Option( @OptionList ){ + if( OptionToSkip($Option) ){ next; } + if($Option->{adr}<0){ next; } + if($Option->{adr}<10){ $s='0'.$Option->{adr}; }else{ $s= $Option->{adr}; } + TextOut_( "\r\n".$s.' -> '.$Option->{name}.': ' ); + $s= GetOptionField( $Option ); #$s is an unsigend value, was converted to unsigned by function + #DIRTY: should be done via OPTTYPE + if( $Option->{type} eq 'OPTTYPE_SCRIPT' ){ + TextOut_( 'script hex code' ); + #ensure correct length of script + $s = substr($s,0,2*$SCRIPTSIZE); + while( length($s)<2*$SCRIPTSIZE ){ $s.='FF'; } + #$s is converted by GetOptionField; but add a datavalue beforehand to compensate for dummy + $s= '0000'.$s; + }elsif( $Option->{size}<=2 ){ + TextOut_( $s ); + $s= UIntToHexstrSwapped($s); #$s= UIntToHexstr($s); $s= substr($s,2,2).substr($s,0,2); + TextOut_( " (0x".$s.")" ); + } #I DO HAVE ONLY 16-bit VALUES HERE!!! + else{ + TextOut_( $s ); + $s= StrToHexstr( TrimStrToLength($s,$Option->{len}) ); + } + $paramslist[$Option->{adr}]= $s; + } + my $paramsoutstr= ''; $params= ''; #my $crc= 0; + foreach (@paramslist){ $params.= $_; $paramsoutstr.= 'x'.$_;} + $s = HexstrToStr($params); #pack(H*) + $s = add_crc_to_data( $s ); + TextOut( "\r\n".'p... ' ); + $s = ExecuteCmd( 'p'.$s ); + my $response = substr($s,length($s)-1,1); + if( $response ne 'o' ){ + TextOut( "\r\n".'Write... FAILED! ('.$s.')'."\r\n" ); + if( $response eq 't' ){ + TextOut( "\r\n".'Timeout error while writing to controller board!'."\r\n" ); + }elsif( $response eq 'c' ){ + TextOut( "\r\n".'CRC error while writing to controller board!'."\r\n" ); + }elsif( $response eq 'e' ){ + TextOut( "\r\n".'Command error while writing to controller board!'."\r\n" ); + }else{ + TextOut( "\r\n".'Timeout while writing to controller board!'."\r\n" ); + } + goto EXIT; + } + SetOptionsLoaded(1); + TextOut( 'ok' ); + TextOut( "\r\n".'Write... DONE!'."\r\n" ); + if( $store_to_eeprom_flag>0 ){ ExecuteStoreToEeprom(); } + return 1; +EXIT: + ResetFlags(); + return 0; +} + + +sub ExecuteGetStatus{ + TextOut( "\r\n".'Get Status... Please wait!' ); + if( not ConnectionIsValid() ){ TextOut( "\r\n".'Get Status... ABORTED!'."\r\n" ); goto EXIT; } + TextOut_( "\r\n".'s... ' ); + my $s = ExecuteCmd( 's', $CMD_s_PARAMETER_ZAHL*2 ); + if( substr($s,length($s)-1,1) ne 'o' ){ + TextOut( "\r\n".'Get Status... FAILED!'."\r\n" ); goto EXIT; + } + TextOut_( 'ok' ); + TextOut( "\r\n" ); + ExtractStatusInfo( $s ); + ExecuteGetStatusStatusText(); + TextOut( "\r\n".'Get Status... DONE!'."\r\n" ); + return 1; +EXIT: + ResetFlags(); + return 0; +} + + + +sub ExecuteStoreToEeprom{ + SetExtendedTimoutFirst(1000); #StoreToEerpom can take a while! so extend timeout + return ExecuteCommandFullwoGet( 'xs', 'Store to EEPROM', '', 1 ); #no receive length needed +} + +sub ExecuteRetrieveFromEeprom{ + SetDelayBeforeGet(1500); #wait before read + return ExecuteCommandFullwGet( 'xr', 'Retrieve from EEPROM', '', 1 ); #no receive length needed +} + +sub ExecuteEraseEeprom{ + #a restart will also be issued, so no need to do a read here + return ExecuteCommandFullwoGet( 'xc', 'Erase EEPROM', 'NOTE: Please reset or power up the BGC board for proper operation!', 1 ); #no receive length needed +} + +sub ExecuteDefault{ + SetDelayBeforeGet(1500); #wait before read + return ExecuteCommandFullwGet( 'xd', 'Set to Default', '', 1 ); #no receive length needed +} + +sub ExecuteLevelGimbal{ + return ExecuteCommandFullwoGet( 'xl', 'Level gimbal', '', 1 ); #no receive length needed +} + +sub ExecuteGetCurrentEncoderPositions{ + return ExecuteCommandFullwGet( 'xp', 'Get current encoder positions', '', 1 ); #no receive length needed +} + +sub ExecuteCalibrateRcTrim{ + if( $Execute_IsRunning ){ return 0; } + $Execute_IsRunning = 1; + SetDelayBeforeGet(1500); #wait before read + my $ret = ExecuteCommandFullwGet( 'CR', 'Calibrate rc trims', '', 1 ); #no receive length needed + $Execute_IsRunning = 0; + return $ret; +} + +sub ExecuteRestartController{ + #handle case if Data Display is running + my $DataDisplay_WasRunning= $DataDisplay_IsRunning; + if( $DataDisplay_IsRunning>0 ){ + DataDisplayHalt(); + _delay_ms(1000); + } + #now execute the "normal" execution route + SetDelayBeforeGet(1500); #we will also issue a restart, so wait + my $ret= ExecuteCommandFullwGet( 'xx', 'Restart controller', '', 1 ); #no receive length needed + if( not $ret ){ return 0; } + #handle case if Data Display is running + if( $DataDisplay_WasRunning>0 ){ + _delay_ms(1000); + DataDisplayRun(); + } + return 1; +} + + +#not used +sub CheckConnection{ + TextOut_( 'döfksöfksdkfösk' ); return 0; + TextOut_( "\r\n".'t... ' ); + my $s = ExecuteCmd( 't', 0 ); + if( $s ne 'o' ){ + TextOut( "\r\n".'Connection to gimbal controller FAILED!'."\r\n" ); return 0; + } + TextOut_( 'ok' ); + return 1; +} + + +# Ende Main Window +############################################################################### + + + + + + + + + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# Data Display Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# +my $DataDisplay_LiveRecording = 0; +my $DataDisplay_LiveRecordingFile = ''; +my $DataDisplay_LiveRecordingDelimiter = "\t"; + +$xsize= 725; +$ysize= 525; + +my $ddBackgroundColor= [96,96,96]; + +# @DataMatrix is organized as a ring buffer +my $DataPos= 0; #that's there the next data is stored, one ahead of the last data +my $DataMatrixLength= 0; #that's how much data is currently in the ring buffer +my $DataBlockPos= 0; + +my $PlotHeight= 131; #this used only in the initialization +my $PlotWidth= 600; +my $PlotMaxWidth= 3200; #1600; #2000; #that's the size of the ring buffer +my $PlotAngleRange= 1500; +my $PlotAngleOffset= 0.0; + +# NEWVERSION V2 +#V1: my $DataFormatStr= 'uuuuu'.'uu'. 'sss'.'sss' . 'sss'.'sss'.'sss'.'sss'.'sss'.'ss'.'s'.'u'; +my $DataFormatStr= 'uuuuuuu'.'uu'.'sss'.'sss'.'sss'.'sss'.'sss'.'sss'.'ss'.'s'.'s'.'u'; + +if( length($DataFormatStr)!=$CMD_d_PARAMETER_ZAHL ){ die;} +#_i is the index in the @DataMatrix, _p is the index in the recieved data format +# data array: index in DataMatrix index in 'd' cmd response str +my @DataMillis= (); my $DataMillis_i= 0; my $DataMillis_p= 7; +my @DataCycleTime= (); my $DataCycleTime_i= 1; my $DataCycleTime_p= 8; + +my @DataState= (); my $DataState_i= 2; my $DataState_p= 0; +my @DataStatus= (); my $DataStatus_i= 3; my $DataStatus_p= 1; +my @DataStatus2= (); my $DataStatus2_i= 4; my $DataStatus2_p= 2; +my @DataStatus3= (); my $DataStatus3_i= 5; my $DataStatus3_p= 3; +#my @DataPerformance= (); my $DataPerformance_i= 6; my $DataPerformance_p= 4; #comes later +my @DataError= (); my $DataError_i= 6; my $DataError_p= 5; +my @DataVoltage= (); my $DataVoltage_i= 7; my $DataVoltage_p= 6; + +my @DataRx= (); my $DataRx_i= 8; my $DataRx_p= 9; +my @DataRy= (); my $DataRy_i= 9; my $DataRy_p= 10; +my @DataRz= (); my $DataRz_i= 10; my $DataRz_p= 11; + +my @DataPitch= (); my $DataPitch_i= 11; my $DataPitch_p= 12; +my @DataRoll= (); my $DataRoll_i= 12; my $DataRoll_p= 13; +my @DataYaw= (); my $DataYaw_i= 13; my $DataYaw_p= 14; + +my @DataPitch2= (); my $DataPitch2_i= 14; my $DataPitch2_p= 21; +my @DataRoll2= (); my $DataRoll2_i= 15; my $DataRoll2_p= 22; +my @DataYaw2= (); my $DataYaw2_i= 16; my $DataYaw2_p= 23; + +my @DataPitchEncoder= (); my $DataPitchEncoder_i= 17; my $DataPitchEncoder_p= 24; +my @DataRollEncoder= (); my $DataRollEncoder_i= 18; my $DataRollEncoder_p= 25; +my @DataYawEncoder= (); my $DataYawEncoder_i= 19; my $DataYawEncoder_p= 26; + +my @DataPerformance= (); my $DataPerformance_i= 20; my $DataPerformance_p= 4; + +my @DataLink1= (); my $DataLink1_i= 21; my $DataLink1_p= 27; #this is the old mag data +my @DataLink2= (); my $DataLink2_i= 22; my $DataLink2_p= 28; + +my @DataPitchCntrl= (); my $DataPitchCntrl_i= 23; my $DataPitchCntrl_p= 15; +my @DataRollCntrl= (); my $DataRollCntrl_i= 24; my $DataRollCntrl_p= 16; +my @DataYawCntrl= (); my $DataYawCntrl_i= 25; my $DataYawCntrl_p= 17; + +my @DataPitchRcIn= (); my $DataPitchRcIn_i= 26; my $DataPitchRcIn_p= 18; +my @DataRollRcIn= (); my $DataRollRcIn_i= 27; my $DataRollRcIn_p= 19; +my @DataYawRcIn= (); my $DataYawRcIn_i= 28; my $DataYawRcIn_p= 20; +my @DataFunctionsIn= (); my $DataFunctionsIn_i= 29; my $DataFunctionsIn_p= 31; + +my @DataAccAbs= (); my $DataAccAbs_i= 30; my $DataAccAbs_p= 29; +my @DataAccConfidence= (); my $DataAccConfidence_i= 31; my $DataAccConfidence_p= 30; + +my @DataIndex= (); my $DataIndex_i= 32; +my @DataTime= (); my $DataTime_i= 33; + +my $DataCounter= 0; #this counts the number of data points since last clear +my $DataTimeCounter= 0; #this counts the overflows, it is not reset anywhere + +my @DataMatrix = ( + \@DataMillis, \@DataCycleTime, + @DataState, @DataStatus, @DataStatus2, @DataStatus3, \@DataError, \@DataVoltage, + \@DataRx, \@DataRy, \@DataRz, + + \@DataPitch, \@DataRoll, \@DataYaw, +#these need to come right after IMU1 angle data for Paint loop to work + \@DataPitch2, \@DataRoll2, \@DataYaw2, + \@DataPitchEncoder, \@DataRollEncoder, \@DataYawEncoder, + \@DataPerformance, + + \@DataLink1, \@DataLink2, + + \@DataPitchCntrl, \@DataRollCntrl, \@DataYawCntrl, + + @DataPitchRcIn, @DataRollRcIn, @DataYawRcIn, @DataFunctionsIn, + \@DataAccAbs, \@DataAccConfidence, + \@DataIndex, \@DataTime, + ); + +my $penPlot = new Win32::GUI::Pen( -color => [0,0,0], -width => 1); #black +my $brushPlot = new Win32::GUI::Brush( [191,191,191] ); #lightgray +my $brushPlotFrame = new Win32::GUI::Brush( [0,0,0] ); #white +my $penGrid= new Win32::GUI::Pen( -color=> [127,127,127], -width=> 1); +my $penZero= new Win32::GUI::Pen( -color=> [0,0,0], -width=> 1); +my $fontLabel= Win32::GUI::Font->new(-name=>'Lucida Console',-size=>9); + +#rot, grün, blau, grey, greygrey, +my @GraphColors= ( [255,50,50], [0,255,0], [0,0,255], [128,128,128], [64,196,196], #[64,64,64] + [192,0,0], [0,128,0], [0,255,255], #imu2 angles + [128,0,0], [0,192,0], [0,0,128], #encoder angles + [204,255,255], #performance + [0,0,0]); + +my %FunctionsInValue= ( '00'=>'0', '01'=>'500', '10'=>'-500', '11'=>'250', ); + + +my $w_DataDisplay= Win32::GUI::DialogBox->new( -name=> 'm_datadisplay_Window', #-font=> $StdWinFont, + -text=> $BGCStr." Data Display", + -pos=> [$DataDisplayXPos,$DataDisplayYPos], + -size=> [$xsize+10,$ysize+10], + -helpbox => 0, + -background=>$ddBackgroundColor, + -resizable => 1, #using this makes the window 10px smaller in each direction + -minsize => [$xsize+10,$ysize+10], + -maxsize => [$PlotMaxWidth+125,2000+394], + -hasmaximize => 1, +# -maximizebox => 1, -hasminimize => 0, -minimizebox => 0, +); +$w_DataDisplay->SetIcon($Icon); + +sub DataDisplayMinimize{ if( $w_DataDisplay->IsVisible() ){ $w_DataDisplay->Minimize(); } } + +sub DataDisplayActivate{ if( $w_DataDisplay->IsIconic() ){ $w_DataDisplay->Show(); } } + +sub m_datadisplay_Window_Activate{ $w_Main->Show(); 1; } + +$ypos= 15; +$w_DataDisplay->AddLabel( -name=> 'dd_State', -font=> $StdWinFont, + -text=> $StateText[-1], -pos=> [10,$ypos], -width=> 60, -align=>'center', -background=>$StateColors[-1], +); + +$ypos= 15; +$xpos= 80; +$w_DataDisplay->AddButton( -name=> 'dd_Start', -font=> $StdWinFont, + -text=> 'Start', -pos=> [$xpos+375+10,$ypos-3], -width=> 80, +); +$w_DataDisplay->AddButton( -name=> 'dd_Clear', -font=> $StdWinFont, + -text=> 'Clear', -pos=> [$xpos+530,$ypos-3], -width=> 35, +); +$w_DataDisplay->AddButton( -name=> 'dd_Save', -font=> $StdWinFont, + -text=> 'Save', -pos=> [$xpos+565,$ypos-3], -width=> 35, +); +$w_DataDisplay->AddButton( -name=> 'dd_LiveRecording', -font=> $StdWinFont, + -text=> 'Rec', -pos=> [$xpos+600,$ypos-3], -width=> 35, +); + +$xpos= 80-120 + 40; +$w_DataDisplay->AddLabel( -name=> 'dd_Pitch_label', -font=> $StdWinFont, + -text=> 'Pitch', -pos=> [$xpos+120,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddTextfield( -name=> 'dd_Pitch', -font=> $StdWinFont, + -pos=> [$xpos+120+$w_DataDisplay->dd_Pitch_label->Width()+3,$ypos-3], -size=> [55,23], + -align=> 'center', +); +$w_DataDisplay->AddLabel( -name=> 'dd_Roll_label', -font=> $StdWinFont, + -text=> 'Roll', -pos=> [$xpos+215,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddTextfield( -name=> 'dd_Roll', -font=> $StdWinFont, + -pos=> [$xpos+215+$w_DataDisplay->dd_Roll_label->Width()+3,$ypos-3], -size=> [55,23], + -align=> 'center', +); +$w_DataDisplay->AddLabel( -name=> 'dd_Yaw_label', -font=> $StdWinFont, + -text=> 'Yaw', -pos=> [$xpos+305,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddTextfield( -name=> 'dd_Yaw', -font=> $StdWinFont, + -pos=> [$xpos+305+$w_DataDisplay->dd_Yaw_label->Width()+3,$ypos-3], -size=> [55,23], + -align=> 'center', +); + +$ypos= $ysize-55; #15; +$xpos= 80; +#$w_DataDisplay->AddLabel( -name=> 'dd_CycleTime_label', -font=> $StdWinFont, +# -text=> 'Cycle Time', -pos=> [$xpos,$ypos], +# -background=>$ddBackgroundColor, +# -foreground=> [255,255,255], +#); +#$w_DataDisplay->AddLabel( -name=> 'dd_CycleTime', -font=> $StdWinFont, +# -pos=> [$xpos+$w_DataDisplay->dd_CycleTime_label->Width()+3,$ypos], -width=> 50, +# -background=>$ddBackgroundColor, +# -align=> 'center', +# -text=>'0 us', +#); +$w_DataDisplay->AddLabel( -name=> 'dd_LipoVoltage_label', -font=> $StdWinFont, + -text=> 'Bat. Voltage', -pos=> [$xpos,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddLabel( -name=> 'dd_LipoVoltage', -font=> $StdWinFont, + -pos=> [$xpos+$w_DataDisplay->dd_LipoVoltage_label->Width()+3,$ypos], -width=> 50, + -background=>$ddBackgroundColor, + -align=> 'center', + -text=>'0 V', +); +$w_DataDisplay->AddLabel( -name=> 'dd_LipoVoltageStatus', -font=> $StdWinFont, + -text=> $LipoVoltageText[-1], + -pos=> [$xpos+$w_DataDisplay->dd_LipoVoltage_label->Width()+3+50,$ypos], -width=> 28, + -align=>'center', -background=>, $LipoVoltageColors[-1] +); +$w_DataDisplay->AddLabel( -name=> 'dd_NTBusError_label', -font=> $StdWinFont, + -text=> 'Bus Errors', -pos=> [$xpos+240-30,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddLabel( -name=> 'dd_NTBusError', -font=> $StdWinFont, + -pos=> [$xpos+240-30+$w_DataDisplay->dd_NTBusError_label->Width()+3,$ypos], -width=> 50, + -background=>$ddBackgroundColor, + -align=> 'center', + -text=>'0', +); +$xpos+= 7 - 60; +$w_DataDisplay->AddLabel( -name=> 'dd_ImuStatus_label', -font=> $StdWinFont, + -text=> 'IMU', -pos=> [$xpos+420,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddLabel( -name=> 'dd_ImuStatus', -font=> $StdWinFont, + -text=> $ImuStatusText[-1], + -pos=> [$xpos+420+$w_DataDisplay->dd_ImuStatus_label->Width()+3,$ypos], -width=> 28, + -align=>'center', -background=>, $Imu2StatusColors[-1] +); +$w_DataDisplay->AddLabel( -name=> 'dd_Imu2Status_label', -font=> $StdWinFont, + -text=> 'IMU2', -pos=> [$xpos+420+57,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddLabel( -name=> 'dd_Imu2Status', -font=> $StdWinFont, + -text=> $Imu2StatusText[-1], + -pos=> [$xpos+420+57+$w_DataDisplay->dd_Imu2Status_label->Width()+3,$ypos], -width=> 28, + -align=>'center', -background=>, $Imu2StatusColors[-1] +); +$w_DataDisplay->AddLabel( -name=> 'dd_EncAllStatus_label', -font=> $StdWinFont, + -text=> 'ENC', -pos=> [$xpos+420+57,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddLabel( -name=> 'dd_EncAllStatus', -font=> $StdWinFont, + -text=> $EncoderAllStatusText[-1], + -pos=> [$xpos+420+57+$w_DataDisplay->dd_EncAllStatus_label->Width()+3,$ypos], -width=> 28, + -align=>'center', -background=>, $EncoderAllStatusColors[-1] +); +$w_DataDisplay->AddLabel( -name=> 'dd_STorM32LinkStatus_label', -font=> $StdWinFont, + -text=> 'LINK', -pos=> [$xpos+420+120+60,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddLabel( -name=> 'dd_STorM32LinkStatus', -font=> $StdWinFont, + -text=> $STorM32LinkStatusText[-1], + -pos=> [$xpos+420+120+60+$w_DataDisplay->dd_STorM32LinkStatus_label->Width()+3,$ypos], -width=> 28, + -align=>'center', -background=>, $STorM32LinkStatusColors[-1] +); + +$ypos= 45; +$w_DataDisplay->AddLabel( -name=> 'dd_PlotR_label', -font=> $StdWinFont, + -text=> 'estimated R', -pos=> [10,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotRx_label', -font=> $StdWinFont, + -text=> 'Rx', -pos=> [10,$ypos+20], -width=> 60, -align=>'center', -background=>$GraphColors[0], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotRy_label', -font=> $StdWinFont, + -text=> 'Ry', -pos=> [10,$ypos+37], -width=> 60, -align=>'center', -background=>$GraphColors[1], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotRz_label', -font=> $StdWinFont, + -text=> 'Rz', -pos=> [10,$ypos+54], -width=> 60, -align=>'center', -background=>[80,80,255],#$GraphColors[2], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotAamp_label', -font=> $StdWinFont, + -text=> 'Acc Amp', -pos=> [10,$ypos+71], -width=> 60, -align=>'center', -background=>[128,128,128],#$GraphColors[2], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotAConf_label', -font=> $StdWinFont, + -text=> 'Acc Conf', -pos=> [10,$ypos+88], -width=> 60, -align=>'center', -background=>[64,196,196], +); +my $w_Plot_R= $w_DataDisplay->AddGraphic( -parent=> $w_DataDisplay, -name=> 'dd_PlotR', -font=> $StdWinFont, + -pos=> [80,$ypos], -size=> [$PlotWidth,$PlotHeight], + -interactive=> 1, + -addexstyle => WS_EX_CLIENTEDGE, +); + +$w_DataDisplay->AddLabel( -name=> 'dd_RcInPitch', #-font=> $StdWinFont, + -text=>'0', -pos=> [$PlotWidth+85,$ypos], -width=> 40, + -background=>$ddBackgroundColor, + -align=> 'center', +); +$w_DataDisplay->AddLabel( -name=> 'dd_RcInRoll', #-font=> $StdWinFont, + -text=>'0', -pos=> [$PlotWidth+85,$ypos+16], -width=> 40, + -background=>$ddBackgroundColor, + -align=> 'center', +); +$w_DataDisplay->AddLabel( -name=> 'dd_RcInYaw', #-font=> $StdWinFont, + -text=>'0', -pos=> [$PlotWidth+85,$ypos+32], -width=> 40, + -background=>$ddBackgroundColor, + -align=> 'center', +); +$w_DataDisplay->AddLabel( -name=> 'dd_FunctionInPanMode', #-font=> $StdWinFont, + -text=>'0', -pos=> [$PlotWidth+85,$ypos+58], -width=> 40, + -background=>$ddBackgroundColor, + -align=> 'center', +); +$w_DataDisplay->AddLabel( -name=> 'dd_FunctionInStandBy', #-font=> $StdWinFont, + -text=>'0', -pos=> [$PlotWidth+85,$ypos+58+12], -width=> 40, + -background=>$ddBackgroundColor, + -align=> 'center', +); +$w_DataDisplay->AddLabel( -name=> 'dd_FunctionInIRCamera', #-font=> $StdWinFont, + -text=>'0', -pos=> [$PlotWidth+85,$ypos+58+24], -width=> 40, + -background=>$ddBackgroundColor, + -align=> 'center', +); +$w_DataDisplay->AddLabel( -name=> 'dd_FunctionInReCenter', #-font=> $StdWinFont, + -text=>'0', -pos=> [$PlotWidth+85,$ypos+58+36], -width=> 40, + -background=>$ddBackgroundColor, + -align=> 'center', +); +$w_DataDisplay->AddLabel( -name=> 'dd_FunctionInScript', #-font=> $StdWinFont, + -text=>'0', -pos=> [$PlotWidth+85,$ypos+58+48], -width=> 40, + -background=>$ddBackgroundColor, + -align=> 'center', +); + +$ypos+= 140; +$w_DataDisplay->AddLabel( -name=> 'dd_PlotA_label', -font=> $StdWinFont, + -text=> 'Angles', -pos=> [10,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotPitch_label', -font=> $StdWinFont, + -text=> 'Pitch', -pos=> [10,$ypos+20], -width=> 60, -align=>'center', -background=>$GraphColors[0], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotRoll_label', -font=> $StdWinFont, + -text=> 'Roll', -pos=> [10,$ypos+37], -width=> 60, -align=>'center', -background=>$GraphColors[1], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotYaw_label', -font=> $StdWinFont, + -text=> 'Yaw', -pos=> [10,$ypos+54], -width=> 60, -align=>'center', -background=>[80,80,255], +); +my $w_Plot_Angle= $w_DataDisplay->AddGraphic( -parent=> $w_DataDisplay, -name=> 'dd_PlotA', -font=> $StdWinFont, + -pos=> [80,$ypos], -size=> [$PlotWidth,$PlotHeight], + -interactive=> 1, + -addexstyle => WS_EX_CLIENTEDGE, +## -onMouseMove => sub{ TextOut("move"); 1; } +); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotPitch_check', -font=> $StdWinFont, + -pos=> [14,$ypos+80-6], -size=> [12,12], + -onClick=> sub{ DrawAngle(); 1;}, +); +$w_DataDisplay->dd_PlotPitch_check->Checked(1); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotRoll_check', -font=> $StdWinFont, + -pos=> [14,$ypos+96-6], -size=> [12,12], + -onClick=> sub{ DrawAngle(); 1;}, +); +$w_DataDisplay->dd_PlotRoll_check->Checked(1); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotYaw_check', -font=> $StdWinFont, + -pos=> [14,$ypos+112-6], -size=> [12,12], + -onClick=> sub{ DrawAngle(); 1;}, +); +$w_DataDisplay->dd_PlotYaw_check->Checked(1); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotPitch2_check', -font=> $StdWinFont, + -pos=> [14+20,$ypos+80-6], -size=> [12,12], + -onClick=> sub{ DrawAngle(); 1;}, +); +$w_DataDisplay->dd_PlotPitch2_check->Checked(0); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotRoll2_check', -font=> $StdWinFont, + -pos=> [14+20,$ypos+96-6], -size=> [12,12], + -onClick=> sub{ DrawAngle(); 1;}, +); +$w_DataDisplay->dd_PlotRoll2_check->Checked(0); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotYaw2_check', -font=> $StdWinFont, + -pos=> [14+20,$ypos+112-6], -size=> [12,12], + -onClick=> sub{ DrawAngle(); 1;}, +); +$w_DataDisplay->dd_PlotYaw2_check->Checked(0); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotPitchEnc_check', -font=> $StdWinFont, + -pos=> [14+40,$ypos+80-6], -size=> [12,12], + -onClick=> sub{ DrawAngle(); 1;}, +); +$w_DataDisplay->dd_PlotPitchEnc_check->Checked(0); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotRollEnc_check', -font=> $StdWinFont, + -pos=> [14+40,$ypos+96-6], -size=> [12,12], + -onClick=> sub{ DrawAngle(); 1;}, +); +$w_DataDisplay->dd_PlotRollEnc_check->Checked(0); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotYawEnc_check', -font=> $StdWinFont, + -pos=> [14+40,$ypos+112-6], -size=> [12,12], + -onClick=> sub{ DrawAngle(); 1;}, +); +$w_DataDisplay->dd_PlotYawEnc_check->Checked(0); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotPerformance_check', -font=> $StdWinFont, + -pos=> [14+40,$ypos+128-6], -size=> [12,12], + -onClick=> sub{ DrawAngle(); 1;}, +); +$w_DataDisplay->dd_PlotPerformance_check->Checked(0); + + +$w_DataDisplay->AddButton( -name=> 'dd_PlotA_200', -font=> $StdWinFont, + -text=> '200°', -pos=> [$PlotWidth+85,$ypos], -width=> 30, -height=>19, + -onClick=> sub{ $PlotAngleRange=20000; DrawAngle(); 1;}, +); +$w_DataDisplay->AddButton( -name=> 'dd_PlotA_100', -font=> $StdWinFont, + -text=> '100°', -pos=> [$PlotWidth+85,$ypos+19], -width=> 30, -height=>19, + -onClick=> sub{ $PlotAngleRange=10000; DrawAngle(); 1;}, +); +$w_DataDisplay->AddButton( -name=> 'dd_PlotA_30', -font=> $StdWinFont, + -text=> '30°', -pos=> [$PlotWidth+85,$ypos+38], -width=> 30, -height=>19, + -onClick=> sub{ $PlotAngleRange=3000; DrawAngle(); 1;}, + -foreground=>[0,128,128], +); +$w_DataDisplay->AddButton( -name=> 'dd_PlotA_15', -font=> $StdWinFont, + -text=> '15°', -pos=> [$PlotWidth+85,$ypos+57], -width=> 30, -height=>19, + -onClick=> sub{ $PlotAngleRange=1500; DrawAngle(); 1; }, +); +$w_DataDisplay->AddButton( -name=> 'dd_PlotA_5', -font=> $StdWinFont, + -text=> '5°', -pos=> [$PlotWidth+85,$ypos+76], -width=> 30, -height=>19, + -onClick=> sub{ $PlotAngleRange=500; DrawAngle(); 1;}, +); +$w_DataDisplay->AddButton( -name=> 'dd_PlotA_1p5', -font=> $StdWinFont, + -text=> '1.5°', -pos=> [$PlotWidth+85,$ypos+95], -width=> 30, -height=>19, + -onClick=> sub{ $PlotAngleRange=150; DrawAngle(); 1;}, +); +$w_DataDisplay->AddButton( -name=> 'dd_PlotA_0p5', -font=> $StdWinFont, + -text=> '0.5°', -pos=> [$PlotWidth+85,$ypos+114], -width=> 30, -height=>19, + -onClick=> sub{ $PlotAngleRange=50; DrawAngle(); 1;}, +); + +$ypos+= 140; +$w_DataDisplay->AddLabel( -name=> 'dd_PlotC_label', -font=> $StdWinFont, + -text=> 'Control', -pos=> [10,$ypos], + -background=>$ddBackgroundColor, + -foreground=> [255,255,255], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotCntrlPitch_label', -font=> $StdWinFont, + -text=> 'Cntrl Pitch', -pos=> [10,$ypos+20], -width=> 60, -align=>'center', -background=>$GraphColors[0], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotCntrlRoll_label', -font=> $StdWinFont, + -text=> 'Cntrl Roll', -pos=> [10,$ypos+37], -width=> 60, -align=>'center', -background=>$GraphColors[1], +); +$w_DataDisplay->AddLabel( -name=> 'dd_PlotCntrlYaw_label', -font=> $StdWinFont, + -text=> 'Cntrl Yaw', -pos=> [10,$ypos+54], -width=> 60, -align=>'center', -background=>[80,80,255], +); + +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotCntrlPitch_check', -font=> $StdWinFont, + -pos=> [14,$ypos+80-6], -size=> [12,12], + -onClick=> sub{ DrawCntrl(); 1;}, +); +$w_DataDisplay->dd_PlotCntrlPitch_check->Checked(1); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotCntrlRoll_check', -font=> $StdWinFont, + -pos=> [14,$ypos+96-6], -size=> [12,12], + -onClick=> sub{ DrawCntrl(); 1;}, +); +$w_DataDisplay->dd_PlotCntrlRoll_check->Checked(1); +$w_DataDisplay->AddCheckbox( -name => 'dd_PlotCntrlYaw_check', -font=> $StdWinFont, + -pos=> [14,$ypos+112-6], -size=> [12,12], + -onClick=> sub{ DrawCntrl(); 1;}, +); +$w_DataDisplay->dd_PlotCntrlYaw_check->Checked(1); + +my $w_Plot_Cntrl= $w_DataDisplay->AddGraphic( -parent=> $w_DataDisplay, -name=> 'dd_PlotC', -font=> $StdWinFont, + -pos=> [80,$ypos], -size=> [$PlotWidth,$PlotHeight], + -interactive=> 1, + -addexstyle => WS_EX_CLIENTEDGE, +); + +sub Imu2_CheckBoxes_Enable{ + my $flag= shift; + #$w_DataDisplay->dd_PlotPitch2_check->Show($flag); + #$w_DataDisplay->dd_PlotRoll2_check->Show($flag); + #$w_DataDisplay->dd_PlotYaw2_check->Show($flag); +} + +sub Link_CheckBoxes_Enable{ + my $flag= shift; + #$w_DataDisplay->dd_PlotLinkYaw_check->Show($flag); +} + +Imu2_CheckBoxes_Enable(0); +Link_CheckBoxes_Enable(0); + +sub DataDisplay_AdaptToBoardConfigurationDefault{ + if( not defined $w_DataDisplay ){ return 1; } + DataDisplayClear(); + + $w_DataDisplay->dd_PlotPitch2_check->Checked(0); + $w_DataDisplay->dd_PlotRoll2_check->Checked(0); + $w_DataDisplay->dd_PlotYaw2_check->Checked(0); + $w_DataDisplay->dd_PlotPitch2_check->Show(); + $w_DataDisplay->dd_PlotRoll2_check->Show(); + $w_DataDisplay->dd_PlotYaw2_check->Show(); + $w_DataDisplay->dd_PlotPitchEnc_check->Checked(0); + $w_DataDisplay->dd_PlotRollEnc_check->Checked(0); + $w_DataDisplay->dd_PlotYawEnc_check->Checked(0); + $w_DataDisplay->dd_PlotPitchEnc_check->Hide(); + $w_DataDisplay->dd_PlotRollEnc_check->Hide(); + $w_DataDisplay->dd_PlotYawEnc_check->Hide(); + + $w_DataDisplay->dd_Imu2Status_label->Show(1); + $w_DataDisplay->dd_Imu2Status->Show(1); + $w_DataDisplay->dd_EncAllStatus_label->Show(0); + $w_DataDisplay->dd_EncAllStatus->Show(0); + + 0; +} + +sub DataDisplay_AdaptToBoardConfigurationFoc{ + if( not defined $w_DataDisplay ){ return 1; } + DataDisplayClear(); + + $w_DataDisplay->dd_PlotPitch2_check->Checked(0); + $w_DataDisplay->dd_PlotRoll2_check->Checked(0); + $w_DataDisplay->dd_PlotYaw2_check->Checked(0); + $w_DataDisplay->dd_PlotPitch2_check->Show(0); + $w_DataDisplay->dd_PlotRoll2_check->Hide(); + $w_DataDisplay->dd_PlotYaw2_check->Hide(); + $w_DataDisplay->dd_PlotPitchEnc_check->Checked(0); + $w_DataDisplay->dd_PlotRollEnc_check->Checked(0); + $w_DataDisplay->dd_PlotYawEnc_check->Checked(0); + $w_DataDisplay->dd_PlotPitchEnc_check->Show(); + $w_DataDisplay->dd_PlotRollEnc_check->Show(); + $w_DataDisplay->dd_PlotYawEnc_check->Show(); + + $w_DataDisplay->dd_Imu2Status_label->Show(0); + $w_DataDisplay->dd_Imu2Status->Show(0); + $w_DataDisplay->dd_EncAllStatus_label->Show(1); + $w_DataDisplay->dd_EncAllStatus->Show(1); + + 0; +} + + +sub m_datadisplay_Window_Resize{ + if( not defined $w_DataDisplay ){ return 1; } + my $mw = $w_DataDisplay->Width(); + my $mh = $w_DataDisplay->Height(); +# TextOut( $mw." ".$mh."\r\n"); +# TextOut( $w_DataDisplay->dd_RcInPitch->Left()."\r\n"); #685 @735 + $w_DataDisplay->dd_RcInPitch->Left( $mw - 50 ); + $w_DataDisplay->dd_RcInRoll->Left( $mw - 50 ); + $w_DataDisplay->dd_RcInYaw->Left( $mw - 50 ); + $w_DataDisplay->dd_FunctionInPanMode->Left( $mw - 50 ); + $w_DataDisplay->dd_FunctionInStandBy->Left( $mw - 50 ); + $w_DataDisplay->dd_FunctionInIRCamera->Left( $mw - 50 ); + $w_DataDisplay->dd_FunctionInReCenter->Left( $mw - 50 ); + $w_DataDisplay->dd_FunctionInScript->Left( $mw - 50 ); +# TextOut( $w_DataDisplay->dd_PlotA_200->Left()."\r\n"); #685 @735 + $w_DataDisplay->dd_PlotA_200->Left( $mw - 50 ); + $w_DataDisplay->dd_PlotA_100->Left( $mw - 50 ); + $w_DataDisplay->dd_PlotA_30->Left( $mw - 50 ); + $w_DataDisplay->dd_PlotA_15->Left( $mw - 50 ); + $w_DataDisplay->dd_PlotA_5->Left( $mw - 50 ); + $w_DataDisplay->dd_PlotA_1p5->Left( $mw - 50 ); + $w_DataDisplay->dd_PlotA_0p5->Left( $mw - 50 ); +# TextOut( $w_DataDisplay->dd_PlotC->Top()."\r\n"); #325 @535 + $w_DataDisplay->dd_PlotC_label->Top( $mh - (535-325) ); #325 @535 + $w_DataDisplay->dd_PlotCntrlPitch_label->Top( $mh - (535-345) ); #345 @535 + $w_DataDisplay->dd_PlotCntrlRoll_label->Top( $mh - (535-345-(20-3)) ); #365 @535 + $w_DataDisplay->dd_PlotCntrlYaw_label->Top( $mh - (535-345-(40-6)) ); #385 @535 + $w_DataDisplay->dd_PlotCntrlPitch_check->Top( $mh - (535-405) ); #405 @535 + $w_DataDisplay->dd_PlotCntrlRoll_check->Top( $mh - (535-425) ); #425 @535 + $w_DataDisplay->dd_PlotCntrlYaw_check->Top( $mh - (535-445) ); #445 @535 + $w_DataDisplay->dd_PlotC->Top( $mh - (535-325) ); #325 @535 +# TextOut( $w_DataDisplay->dd_PlotC->Width()."\r\n"); #600 @735 +# TextOut( $w_DataDisplay->dd_PlotA->Height()."\r\n"); #131 @535 + $PlotWidth = $mw - (735-600); + $w_DataDisplay->dd_PlotR->Width( $mw - (735-600) ); + $w_DataDisplay->dd_PlotC->Width( $mw - (735-600) ); + $w_DataDisplay->dd_PlotA->Width( $mw - (735-600) ); + #my $h = $mh - (535-131); if( $h % 2 == 0 ){ $h = $h-1; } + my $h = 2*int(( $mh - (535-131) +1)/2) - 1; #ensure it's odd + $w_DataDisplay->dd_PlotA->Height( $h ); +# TextOut( $w_DataDisplay->dd_LipoVoltage_label->Top()."\r\n"); #470 @535 + $w_DataDisplay->dd_LipoVoltage_label->Top( $mh - 65 ); + $w_DataDisplay->dd_LipoVoltage->Top( $mh - 65 ); + $w_DataDisplay->dd_LipoVoltageStatus->Top( $mh - 65 ); + $w_DataDisplay->dd_NTBusError_label->Top( $mh - 65 ); + $w_DataDisplay->dd_NTBusError->Top( $mh - 65 ); + $w_DataDisplay->dd_ImuStatus_label->Top( $mh - 65 ); + $w_DataDisplay->dd_ImuStatus->Top( $mh - 65 ); + $w_DataDisplay->dd_Imu2Status_label->Top( $mh - 65 ); + $w_DataDisplay->dd_Imu2Status->Top( $mh - 65 ); + $w_DataDisplay->dd_EncAllStatus_label->Top( $mh - 65 ); + $w_DataDisplay->dd_EncAllStatus->Top( $mh - 65 ); + $w_DataDisplay->dd_STorM32LinkStatus_label->Top( $mh - 65 ); + $w_DataDisplay->dd_STorM32LinkStatus->Top( $mh - 65 ); + #TextOut( "h\r\n"); + #$w_DataDisplay->Resize(); + 0; +} + +m_datadisplay_Window_Resize(); + +my $PlotAMouseIsDown = 0; +my $PlotAMouseDownWasAtY = 0; +my $GraphYOffset = 0.0; + +sub dd_PlotA_MouseDblClick{ + $GraphYOffset = 0.0; + $PlotAMouseIsDown = 0; + TextOut("dbl"); + 1; +} + +sub dd_PlotA_MouseRightDown{ + $GraphYOffset = 0.0; + $PlotAMouseIsDown = 0; + Paint($w_Plot_Angle,$PlotAngleRange); + 1; +} + +sub dd_PlotA_MouseDown{ + my ($x, $y) = @_; + Win32::GUI::ClipCursor( $w_Plot_Angle->GetAbsClientRect() ); + $PlotAMouseIsDown = 1; + $PlotAMouseDownWasAtY = $y; + 1; +} + +sub dd_PlotA_MouseUp{ + Win32::GUI::ClipCursor( ); + $PlotAMouseIsDown = 0; + 1; +} + +sub dd_PlotA_MouseMove{ + my ($x, $y) = @_; + if( $PlotAMouseIsDown==0 ){ return 1; } + my $H = ($w_Plot_Angle->GetClientRect())[3]; + $GraphYOffset += 2.0 * $PlotAngleRange * ($y - $PlotAMouseDownWasAtY) / $H ; + Paint($w_Plot_Angle,$PlotAngleRange); + $PlotAMouseDownWasAtY = $y; + 1; +} + +sub Paint{ + my $Plot= shift; + my $DC= $Plot->GetDC(); + my $GraphYRange = shift; + my $GraphYMax = $GraphYRange; + my $GraphYMin = -$GraphYRange; + if($Plot==$w_Plot_Angle){ + $GraphYMax += $GraphYOffset; + $GraphYMin += $GraphYOffset; + } + # setting of Ranges and Regions + my ( $W, $H )= ($Plot->GetClientRect())[2..3]; + my $plot_region= CreateRectRgn Win32::GUI::Region(0,0,$W,$H); + # get the DC's + my $DC2= $DC->CreateCompatibleDC(); + my $bit= $DC->CreateCompatibleBitmap( $W, $H ); + $DC2->SelectObject( $bit ); + # draw the Plot region things: background, labels, xy, plotframe + $DC2->SelectClipRgn( $plot_region ); + $DC2->SelectObject( $penPlot ); + $DC2->SelectObject( $brushPlot ); + $DC2->PaintRgn( $plot_region ); + $DC2->SelectObject( $fontLabel ); + $DC2->TextColor( [127,127,127] ); + $DC2->BackColor( [191,191,191] ); + # draw the Graph region things: frame, grids, zeros, datapoints + my $DataNr= 0; + my $DataIndex= 0; + $DC2->SelectObject( $penZero ); + my $ly = $H*( 0-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->SelectObject( $penGrid ); + if($Plot==$w_Plot_R){ + $DataNr= 5; $DataIndex= $DataRx_i; + $ly= $H*( 10000-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-26, $ly-5, '+1' ); + $ly= $H*( -10000-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-26, $ly-5, '-1' ); + }elsif($Plot==$w_Plot_Angle){ + $DataNr= 3+3+3+1; $DataIndex= $DataPitch_i; + if($GraphYRange>18000){ # 100°, 200° + $ly= $H*( 9000-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-40, $ly-5, '+90°' ); + $ly= $H*( -9000-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-40, $ly-5, '-90°' ); + }elsif($GraphYRange>1000){ # 15°, 30°, + $ly= $H*( 1000-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-40, $ly-5, '+10°' ); + $ly= $H*( -1000-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-40, $ly-5, '-10°' ); + }elsif($GraphYRange>100){ #1.5°, 5° + $ly= $H*( 100-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-33, $ly-5, '+1°' ); + $ly= $H*( -100-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-33, $ly-5, '-1°' ); + }else{ #0.5° + $ly= $H*( 10-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-33, $ly-5, '+0.1°' ); + $ly= $H*( -10-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-33, $ly-5, '-0.1°' ); + } + }elsif($Plot==$w_Plot_Cntrl){ + $DataNr= 3; $DataIndex= $DataPitchCntrl_i; + $ly= $H*( 3000-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-40, $ly-5, '+30°' ); + $ly= $H*( -3000-$GraphYMax)/($GraphYMin-$GraphYMax); + $DC2->Line( 0, $ly, $W, $ly ); + $DC2->TextOut( $PlotWidth-40, $ly-5, '-30°' ); + } + # draw the Data points + # my $DataMatrixLength= scalar @{$DataMatrix[0]}; + # $DataMatrixLength is set in DataDisplayDoTimer() + for(my $DataOfs=$DataNr-1; $DataOfs>=0; $DataOfs-- ){ + my $i= $DataIndex + $DataOfs; + if($Plot==$w_Plot_R){ + if( $DataOfs==3 ){ $i= $DataAccAbs_i; } + if( $DataOfs>=4 ){ $i= $DataAccConfidence_i; } + } + if($Plot==$w_Plot_Angle){ + if(( $DataOfs==0 )and( not $w_DataDisplay->dd_PlotPitch_check->Checked() )){ next; } + if(( $DataOfs==1 )and( not $w_DataDisplay->dd_PlotRoll_check->Checked() )){ next; } + if(( $DataOfs==2 )and( not $w_DataDisplay->dd_PlotYaw_check->Checked() )){ next; } + + if(( $DataOfs==3 )and( not $w_DataDisplay->dd_PlotPitch2_check->Checked() )){ next; } + if(( $DataOfs==4 )and( not $w_DataDisplay->dd_PlotRoll2_check->Checked() )){ next; } + if(( $DataOfs==5 )and( not $w_DataDisplay->dd_PlotYaw2_check->Checked() )){ next; } + + if(( $DataOfs==6 )and( not $w_DataDisplay->dd_PlotPitchEnc_check->Checked() )){ next; } + if(( $DataOfs==7 )and( not $w_DataDisplay->dd_PlotRollEnc_check->Checked() )){ next; } + if(( $DataOfs==8 )and( not $w_DataDisplay->dd_PlotYawEnc_check->Checked() )){ next; } + + if(( $DataOfs==9 )and( not $w_DataDisplay->dd_PlotPerformance_check->Checked() )){ next; } + } + if($Plot==$w_Plot_Cntrl){ + if(( $DataOfs==0 )and( not $w_DataDisplay->dd_PlotCntrlPitch_check->Checked() )){ next; } + if(( $DataOfs==1 )and( not $w_DataDisplay->dd_PlotCntrlRoll_check->Checked() )){ next; } + if(( $DataOfs==2 )and( not $w_DataDisplay->dd_PlotCntrlYaw_check->Checked() )){ next; } + } + my $ColorOfs= $DataOfs; + if( ($Plot == $w_Plot_Angle) and ($DataOfs >= 3) ){ $ColorOfs += 2; } #skip grey+greygrey + my $pen = new Win32::GUI::Pen( -color => $GraphColors[$ColorOfs], -width => 1); + $DC2->SelectObject( $pen ); + #determine start pos and length to plot + my $xstart = 0; + my $pxlen = 0; + if( $DataMatrixLength < $PlotWidth ){ #first run, @DataMatrix not full, $DataPos started from zero + $xstart = 0; + $pxlen = $DataPos; + }else{ #second run, @DataMatrix filled beyond $PlotWidth + $pxlen = $PlotWidth - $DataBlockPos; + $xstart = $DataPos - $pxlen; + if( $xstart<0 ){ $xstart += $DataMatrixLength; } + } + for(my $px=0; $px<$pxlen; $px++){ + my $x = $px + $xstart; + if( $x>=$DataMatrixLength ){ $x-= $DataMatrixLength; } + my $y = $DataMatrix[$i][$x]; + if( $y>$GraphYMax ){ $y=$GraphYMax; } + if( $y<$GraphYMin ){ $y=$GraphYMin; } + my $py = $H*( $y-$GraphYMax)/($GraphYMin-$GraphYMax); + if( $px==0 ){ $DC2->MoveTo( $px, $py ); }else{ $DC2->LineTo( $px, $py ); } + $DC2->Rectangle($px-1,$py-1,$px+1,$py+1); + } + } + # update the screen in one action, and clean up + $DC->BitBlt(0,0,$W,$H,$DC2,0,0); + $DC2->DeleteDC(); + $DC->Validate(); +} + +my $DATA_BLOCK_SIZE = 150; #this is the look ahead lenght in the display + +sub DataDisplayDoTimer{ + if( not $DataDisplay_IsRunning ){ return 1; } + #read data + my $s = shift; + my @ddData = unpack( "v$CMD_d_PARAMETER_ZAHL", $s ); + for(my $n=0;$n<$CMD_d_PARAMETER_ZAHL;$n++){ + if( substr($DataFormatStr,$n,1) eq 's' ){ if( $ddData[$n]>32768 ){ $ddData[$n]-=65536; } } + } + #do widget stuff + $w_DataDisplay->dd_Pitch->Text( sprintf("%.2f°", $ddData[$DataPitch_p]/100.0) ); + $w_DataDisplay->dd_Roll->Text( sprintf("%.2f°", $ddData[$DataRoll_p]/100.0) ); + $w_DataDisplay->dd_Yaw->Text( sprintf("%.2f°", $ddData[$DataYaw_p]/100.0) ); + #$w_DataDisplay->dd_CycleTime->Text( $ddData[$DataCycleTime_p].' us' ); + + $w_DataDisplay->dd_State->Text( $StatusInfoHash{STATE} ); + $w_DataDisplay->dd_State->Change( -background => $StatusInfoHash{STATEcolor} ); + + $w_DataDisplay->dd_NTBusError_label->Text( $StatusInfoHash{ERROR} ); + $w_DataDisplay->dd_NTBusError->Text( $StatusInfoHash{ERRORvalue} ); + + $w_DataDisplay->dd_LipoVoltage->Text( $StatusInfoHash{VOLTAGEvalue} ); + + $w_DataDisplay->dd_LipoVoltageStatus->Text( $StatusInfoHash{VOLTAGE} ); + $w_DataDisplay->dd_LipoVoltageStatus->Change( -background => $StatusInfoHash{VOLTAGEcolor} ); + + $w_DataDisplay->dd_ImuStatus->Text( $StatusInfoHash{IMU} ); + $w_DataDisplay->dd_ImuStatus->Change( -background => $StatusInfoHash{IMUcolor} ); + + $w_DataDisplay->dd_Imu2Status->Text( $StatusInfoHash{IMU2} ); + $w_DataDisplay->dd_Imu2Status->Change( -background => $StatusInfoHash{IMU2color} ); + + $w_DataDisplay->dd_EncAllStatus->Text( $StatusInfoHash{ENCODERALL} ); + $w_DataDisplay->dd_EncAllStatus->Change( -background => $StatusInfoHash{ENCODERALLcolor} ); + + $w_DataDisplay->dd_STorM32LinkStatus->Text( $StatusInfoHash{LINK} ); + $w_DataDisplay->dd_STorM32LinkStatus->Change( -background => $StatusInfoHash{LINKcolor} ); + + my $status= UIntToBitstr( $ddData[$DataStatus_p] ); #status + my $Imu2Present= CheckStatus($status,$STATUS_IMU2_PRESENT); + my $LinkPresent= CheckStatus($status,$STATUS_STORM32LINK_PRESENT); + Imu2_CheckBoxes_Enable($Imu2Present); + Link_CheckBoxes_Enable($LinkPresent); + + $w_DataDisplay->dd_RcInPitch->Text( $ddData[$DataPitchRcIn_p] ); + $w_DataDisplay->dd_RcInRoll->Text( $ddData[$DataRollRcIn_p] ); + $w_DataDisplay->dd_RcInYaw->Text( $ddData[$DataYawRcIn_p] ); + + my $packedfunctionvalues = UIntToBitstr( $ddData[$DataFunctionsIn_p] ); +# TextOut( "?".$packedfunctionvalues); + $w_DataDisplay->dd_FunctionInPanMode->Text( $FunctionsInValue{substr($packedfunctionvalues,0,2)} ); + $w_DataDisplay->dd_FunctionInStandBy->Text( $FunctionsInValue{substr($packedfunctionvalues,2,2)} ); + $w_DataDisplay->dd_FunctionInIRCamera->Text( $FunctionsInValue{substr($packedfunctionvalues,4,2)} ); + $w_DataDisplay->dd_FunctionInReCenter->Text( $FunctionsInValue{substr($packedfunctionvalues,6,2)} ); + $w_DataDisplay->dd_FunctionInScript->Text( $FunctionsInValue{substr($packedfunctionvalues,8,2)} ); + #$w_DataDisplay->dd_FunctionInScript2->Text( $FunctionsInValue{substr($packedfunctionvalues,10,2)} ); + #$w_DataDisplay->dd_FunctionInScript3->Text( $FunctionsInValue{substr($packedfunctionvalues,12,2)} ); + #$w_DataDisplay->dd_FunctionInScript4->Text( $FunctionsInValue{substr($packedfunctionvalues,14,2)} ); + + #store data in DataMatrix + #time + $DataMatrix[$DataMillis_i][$DataPos]= $ddData[$DataMillis_p]; + $DataMatrix[$DataCycleTime_i][$DataPos]= $ddData[$DataCycleTime_p]; + $DataMatrix[$DataState_i][$DataPos]= $ddData[$DataState_p]; + $DataMatrix[$DataStatus_i][$DataPos]= $ddData[$DataStatus_p]; + $DataMatrix[$DataStatus2_i][$DataPos]= $ddData[$DataStatus2_p]; + $DataMatrix[$DataStatus3_i][$DataPos]= $ddData[$DataStatus3_p]; + $DataMatrix[$DataPerformance_i][$DataPos]= $ddData[$DataPerformance_p]; + $DataMatrix[$DataError_i][$DataPos]= $ddData[$DataError_p]; + $DataMatrix[$DataVoltage_i][$DataPos]= $ddData[$DataVoltage_p]; + #Rx, Ry, Rz + $DataMatrix[$DataRx_i][$DataPos]= $ddData[$DataRx_p]; + $DataMatrix[$DataRy_i][$DataPos]= $ddData[$DataRy_p]; + $DataMatrix[$DataRz_i][$DataPos]= $ddData[$DataRz_p]; + #Acc + $DataMatrix[$DataAccAbs_i][$DataPos]= $ddData[$DataAccAbs_p]; + $DataMatrix[$DataAccConfidence_i][$DataPos]= $ddData[$DataAccConfidence_p]; + #Pitch, Roll, Yaw + $DataMatrix[$DataPitch_i][$DataPos]= $ddData[$DataPitch_p]; #100=1° + $DataMatrix[$DataRoll_i][$DataPos]= $ddData[$DataRoll_p]; + $DataMatrix[$DataYaw_i][$DataPos]= $ddData[$DataYaw_p]; + #CntrlPitch, CntrlRoll, CnrlYaw + $DataMatrix[$DataPitchCntrl_i][$DataPos]= $ddData[$DataPitchCntrl_p]; #100=1° + $DataMatrix[$DataRollCntrl_i][$DataPos]= $ddData[$DataRollCntrl_p]; + $DataMatrix[$DataYawCntrl_i][$DataPos]= $ddData[$DataYawCntrl_p]; + #IMU2 Pitch, Roll, Yaw + $DataMatrix[$DataPitch2_i][$DataPos]= $ddData[$DataPitch2_p]; #100=1° + $DataMatrix[$DataRoll2_i][$DataPos]= $ddData[$DataRoll2_p]; + $DataMatrix[$DataYaw2_i][$DataPos]= $ddData[$DataYaw2_p]; + #ENCODER Pitch, Roll, Yaw + $DataMatrix[$DataPitchEncoder_i][$DataPos]= $ddData[$DataPitchEncoder_p]; #100=1° + $DataMatrix[$DataRollEncoder_i][$DataPos]= $ddData[$DataRollEncoder_p]; + $DataMatrix[$DataYawEncoder_i][$DataPos]= $ddData[$DataYawEncoder_p]; + #Link Yaw + $DataMatrix[$DataLink1_i][$DataPos]= $ddData[$DataLink1_p]; + $DataMatrix[$DataLink2_i][$DataPos]= $ddData[$DataLink2_p]; + #RcIn + $DataMatrix[$DataPitchRcIn_i][$DataPos]= $ddData[$DataPitchRcIn_p]; + $DataMatrix[$DataRollRcIn_i][$DataPos]= $ddData[$DataRollRcIn_p]; + $DataMatrix[$DataYawRcIn_i][$DataPos]= $ddData[$DataYawRcIn_p]; + $DataMatrix[$DataFunctionsIn_i][$DataPos]= $ddData[$DataFunctionsIn_p]; + #data counter + $DataMatrix[$DataIndex_i][$DataPos]= $DataCounter; + $DataCounter++; + #"real" time + if(( $DataPos>0 )and( $DataMatrix[$DataMillis_i][$DataPos] < $DataMatrix[$DataMillis_i][$DataPos-1] )){ + $DataTimeCounter+= 65536; + } + $DataMatrix[$DataTime_i][$DataPos]= + ($DataMatrix[$DataMillis_i][$DataPos] + $DataTimeCounter - $DataMatrix[$DataMillis_i][0])*16.0/1000.0; + + if( $DataDisplay_LiveRecording ){ + if( open(LRF,">>$DataDisplay_LiveRecordingFile") ){ + if( $DataDisplay_LiveRecordingDelimiter eq 'px4' ){ binmode(LRF); } + print LRF DataDisplayFormatDataLine( $DataPos, $DataDisplay_LiveRecordingDelimiter ); + } + close(LRF); + } + + $DataPos++; + if( $DataPos>=$PlotMaxWidth ){ $DataPos= 0; } #this is a ring buffer of size $PlotMaxWidth + $DataMatrixLength = scalar @{$DataMatrix[0]}; #set the new length of the available data + + if( $DataMatrixLength>=$PlotWidth ){ #second run, @DataMatrix filled beyond $PlotWidth + if( $DataBlockPos ){ $DataBlockPos--; }else{ $DataBlockPos= $DATA_BLOCK_SIZE; } + } + + Draw(); + return 1; +} + +sub DataDisplayClearStatusFields{ + $w_DataDisplay->dd_State->Change( -background => $StateColors[-1] ); #for some reason this has to come before Text() + $w_DataDisplay->dd_State->Text( $StateText[-1] ); + $w_DataDisplay->dd_LipoVoltageStatus->Change( -background => $LipoVoltageColors[-1] ); + $w_DataDisplay->dd_LipoVoltageStatus->Text( $LipoVoltageText[-1] ); + $w_DataDisplay->dd_ImuStatus->Change( -background => $ImuStatusColors[-1] ); + $w_DataDisplay->dd_ImuStatus->Text( $ImuStatusText[-1] ); + $w_DataDisplay->dd_Imu2Status->Change( -background => $Imu2StatusColors[-1] ); + $w_DataDisplay->dd_Imu2Status->Text( $Imu2StatusText[-1] ); + $w_DataDisplay->dd_EncAllStatus->Change( -background => $EncoderAllStatusColors[-1] ); + $w_DataDisplay->dd_EncAllStatus->Text( $EncoderAllStatusText[-1] ); + $w_DataDisplay->dd_STorM32LinkStatus->Change( -background => $STorM32LinkStatusColors[-1] ); + $w_DataDisplay->dd_STorM32LinkStatus->Text( $STorM32LinkStatusText[-1] ); + #$w_DataDisplay->dd_RcInPitch->Text( '0' ); + #$w_DataDisplay->dd_RcInRoll->Text( '0' ); + #$w_DataDisplay->dd_RcInYaw->Text( '0' ); +} + +sub DataDisplayClear{ + #clear data stuff + @DataMillis= (); @DataCycleTime= (); @DataState= (); + @DataStatus= (); @DataStatus2= (); @DataStatus3= (); @DataPerformance= (); @DataError= (); @DataVoltage= (); + @DataRx= (); @DataRy= (); @DataRz= (); + @DataPitch= (); @DataRoll= (); @DataYaw= (); + @DataPitch2= (); @DataRoll2= (); @DataYaw2= (); + @DataPitchEncoder= (); @DataRollEncoder= (); @DataYawEncoder= (); + @DataLink1= (); @DataLink2= (); + @DataPitchCntrl= (); @DataRollCntrl= (); @DataYawCntrl= (); + @DataPitchRcIn= (); @DataRollRcIn= (); @DataYawRcIn= (); @DataFunctionsIn = (); + @DataAccAbs= (); @DataAccConfidence= (); + @DataIndex= (); @DataTime= (); + $DataCounter= 0; + #clear plot handling stuff + $DataPos= 0; #that's there the next data is stored, one ahead of the last data + $DataMatrixLength= 0; #that's how much data is currently in the ring buffer + $DataBlockPos= 0; + #widget stuff + if(not $DataDisplay_IsRunning){ Draw(); } + DataDisplayClearStatusFields(); +} + +sub DataDisplayStart{ + if( $DataDisplay_IsRunning ){ DataDisplayHalt(); }else{ + ConnectToBoard(); + DataDisplayRun(); + } + return 1; +} + +sub DataDisplayHalt{ + $w_DataDisplay->dd_Start->Text( 'Start' ); + $w_DataDisplay->dd_Save->Enable(); + $w_DataDisplay->dd_LiveRecording->Enable(); + $DataDisplay_IsRunning = 0; +} + +sub DataDisplayRun{ + if( not ConnectionIsValid() ){ return 1; } + $w_DataDisplay->dd_Start->Text( 'Stop' ); + $w_DataDisplay->dd_Save->Disable(); + $w_DataDisplay->dd_LiveRecording->Disable(); + $DataDisplay_IsRunning = 1; +} + +my $Data_RecordingInitialize = 1; +my $Data_RecordingTotalTime = 0; +my $Data_RecordingLastMillis = 0; + +sub DataDisplayFormatFirstLine{ + my $delim = shift; + $Data_RecordingInitialize = 1; #this indicates first time + return 'i'.$delim.'Time'.$delim.'Millis'.$delim. + 'Rx'.$delim.'Ry'.$delim.'Rz'.$delim. + 'AccAmp'.$delim.'AccConf'.$delim. + 'Pitch'.$delim.'Roll'.$delim.'Yaw'.$delim. + 'PCntrl'.$delim.'RCntrl'.$delim.'YCntrl'.$delim. + 'Pitch2'.$delim.'Roll2'.$delim.'Yaw2'.$delim. + 'PEnc'.$delim.'REnc'.$delim.'YEnc'.$delim. + 'State'."\n"; +} + +sub DataDisplayFormatDataLine{ + my $x = shift; + my $delim = shift; + my $dt = 0.0; + if( $Data_RecordingInitialize>0 ){ + $Data_RecordingTotalTime = 0; + }else{ + my $dtMillis = $DataMatrix[$DataMillis_i][$x] - $Data_RecordingLastMillis; + if( $dtMillis < 0 ){ $dtMillis += 65536; } + $Data_RecordingTotalTime += $dtMillis; + $dt = 0.001*$dtMillis; #time in sec + } + $Data_RecordingLastMillis = $DataMatrix[$DataMillis_i][$x]; + + my $s = ''; + $s .= int($DataMatrix[$DataIndex_i][$x]).$delim; + $s .= $Data_RecordingTotalTime.$delim; + $s .= int($DataMatrix[$DataMillis_i][$x]).$delim; + for(my $n=0; $n<3; $n++ ){ $s .= int($DataMatrix[$DataRx_i+$n][$x]).$delim; } + $s .= int($DataMatrix[$DataAccAbs_i][$x]).$delim; + $s .= int($DataMatrix[$DataAccConfidence_i][$x]).$delim; + for(my $n=0; $n<3; $n++ ){ $s .= int($DataMatrix[$DataPitch_i+$n][$x]).$delim; } + for(my $n=0; $n<3; $n++ ){ $s .= int($DataMatrix[$DataPitchCntrl_i+$n][$x]).$delim; } + for(my $n=0; $n<3; $n++ ){ $s .= int($DataMatrix[$DataPitch2_i+$n][$x]).$delim; } + for(my $n=0; $n<3; $n++ ){ $s .= int($DataMatrix[$DataPitchEncoder_i+$n][$x]).$delim; } + $s .= UIntToHexstr( $DataMatrix[$DataState_i+0][$x] ).$delim; + $s .= "\n"; + + $Data_RecordingInitialize = -1; + return $s; +} + +sub DrawR{ Paint($w_Plot_R,20000); } +sub DrawAngle{ Paint($w_Plot_Angle,$PlotAngleRange); } +sub DrawCntrl{ Paint($w_Plot_Cntrl,6000); } +sub Draw{ DrawR(); DrawAngle(); DrawCntrl(); } + +sub ShowDataDisplay{ + $w_DataDisplay->Show(); + Draw(); + $w_DataDisplay->SetForegroundWindow(); +} + + +#adapt DataDisplay at startup +if( $ActiveBoardConfiguration == $BOARDCONFIGURATION_IS_FOC ){ + DataDisplay_AdaptToBoardConfigurationFoc(); +}else{ + DataDisplay_AdaptToBoardConfigurationDefault(); +} + + + +#============================================================================== +# Event Handler für Data Display + +sub m_datadisplay_Window_Terminate{ + DataDisplayHalt(); + $DataDisplay_LiveRecording = 0; + $w_DataDisplay->dd_LiveRecording->Text( 'Rec' ); + $w_DataDisplay->Text( $BGCStr.' Data Display' ); + $w_DataDisplay->Hide(); + 0; +} + +sub dd_PlotR_Paint{ + my $DC = shift; + DrawR(); + $DC->Validate(); +} + +sub dd_PlotA_Paint{ + my $DC = shift; + DrawAngle(); + $DC->Validate(); +} + +sub dd_PlotC_Paint{ + my $DC = shift; + DrawCntrl(); + $DC->Validate(); +} + +sub dd_Start_Click{ DataDisplayStart(); 1; } + +sub dd_Clear_Click{ DataDisplayClear(); 1; } + +my $DataDisplayFile_lastdir= $ExePath; + +sub dd_Save_Click{ + my $file= Win32::GUI::GetSaveFileName( -owner=> $w_DataDisplay, #$w_Main, + -title=> 'Save DataDisplay Data to File', + -nochangedir=> 1, + -directory=> $DataDisplayFile_lastdir, + -defaultextension=> '.dat', + -filter=> ['*.dat'=>'*.dat','*.txt'=>'*.txt','*.csv'=>'*.csv','All files'=>'*.*'], + -pathmustexist=> 1, + -extensiondifferent=> 1, + -overwriteprompt=> 1, + -noreadonlyreturn => 1, + -explorer=>0, + ); + if( $file ){ + if( !open(F,">$file") ){ $w_Main->MessageBox( "Some error occured, sorry",'ERROR'); return 1; } + my $delim = "\t"; + if( $file =~ /\.csv$/i ){ $delim = ','; } + print F DataDisplayFormatFirstLine($delim); + #XX change this such that it saves ALL available data!!! + my $xstart = 0; + my $pxlen = 0; + if( $DataMatrixLength<$PlotMaxWidth ){ #the ring buffer is not yet full + $xstart = 0; + $pxlen = $DataPos; + }else{ + $xstart = $DataPos; + $pxlen = $DataMatrixLength; + } + for(my $px=0; $px<$pxlen; $px++){ + my $x = $px + $xstart; + if( $x>=$DataMatrixLength ){ $x-= $DataMatrixLength; } + print F DataDisplayFormatDataLine( $x, $delim ); + } + close(F); + $DataDisplayFile_lastdir= $file; + }elsif( Win32::GUI::CommDlgExtendedError() ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); return 1;} + 1; +} + +sub dd_LiveRecording_Click{ + if( not $DataDisplay_LiveRecording ){ + my $file= Win32::GUI::GetSaveFileName( -owner=> $w_DataDisplay, #$w_Main, + -title=> 'Select DataDisplay Live Recording File', + -nochangedir=> 1, + -directory=> $DataDisplayFile_lastdir, + -defaultextension=> '.dat', + -filter=> ['*.dat'=>'*.dat','*.txt'=>'*.txt','*.csv'=>'*.csv','All files'=>'*.*'], + -pathmustexist=> 1, + -extensiondifferent=> 1, + -overwriteprompt=> 1, + -noreadonlyreturn => 1, + -explorer=>0, + ); + if( $file ){ + if( !open(F,">$file") ){ $w_Main->MessageBox( "Some error occured, sorry",'ERROR'); return 1; } + $DataDisplay_LiveRecordingDelimiter = "\t"; + if( $file =~ /\.csv$/i ){ $DataDisplay_LiveRecordingDelimiter = ','; } + print F DataDisplayFormatFirstLine($DataDisplay_LiveRecordingDelimiter); + close(F); + $DataDisplayFile_lastdir= $file; + $DataDisplay_LiveRecordingFile = $file; + $DataDisplay_LiveRecording = 1; + $w_DataDisplay->dd_LiveRecording->Text( 'Rec !' ); + $w_DataDisplay->Text( $BGCStr.' Data Display'.' : Recording to '.$DataDisplay_LiveRecordingFile ); + }elsif( Win32::GUI::CommDlgExtendedError() ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); return 1;} + }else{ + $DataDisplay_LiveRecording = 0; + $w_DataDisplay->dd_LiveRecording->Text( 'Rec' ); + $w_DataDisplay->Text( $BGCStr.' Data Display' ); + } + 1; +} + + +# Ende Data Display Window +############################################################################### + + + + + + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# SCRIPT Routines and Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# +# SCRIPT Routines +#-----------------------------------------------------------------------------# +###SCRIPT + +# the infos for handling the script is stored in three "field" +# - option field 'Scripts' +# this field is a sort of a dummy, it doesn't hold real data, +# it is used as handle to indicate that the script is accessed +# and it holds the Win32::GUI handle to the script textfield in {textfield_script} +# - {textfield_script} +# this field holds the script in Text format +# - $SCRIPT_hexcode_buf +# this field holds the script in hex format + +# the script hex code is generally shortened to FF, it will be cut and expanded in Read and Write + +#typedef enum { SC_STOP = 0, SC_RESTART, +# SC_REPEAT, SC_CASEDEFAULT, SC_CASE1, SC_CASE2, SC_CASE3, SC_JUMP, +# SC_RESTOREALL, SC_WAIT, SC_SET, SC_SETMINMAX, SC_RESTORE, +# SC_STOPFF = 0xFF, +# SCRIPTCMDUNDEFINED } SCRIPTCMDTYPE; + +#this MUST match SCRIPTCMDTYPE !!! +my @SCRIPT_CMDS= ( 'STOP', 'RESTART', + 'REPEAT', 'CASE#DEFAULT', 'CASE#1', 'CASE#2', 'CASE#3', 'JUMP', + 'RESTOREALL', 'WAIT', 'SET', 'SETMINMAX', 'RESTORE', + 'SETANGLEPITCH', 'SETANGLEROLL', 'SETANGLEYAW', 'SETANGLE', + 'SETPITCH', 'SETROLL', 'SETYAW', 'SETPITCHROLLYAW', + 'SETSTANDBY', 'DOCAMERA', 'DORECENTER', 'SETPWM', + 'SETPANOWAITS', 'SETPANORANGE', 'DOPANO', + 'SETANGLEPITCH_W', 'SETANGLEROLL_W', 'SETANGLEYAW_W', + 'REMOTEENABLE', 'REMOTEDISABLE', + '' ); + +my $SCRIPT_hexcode_buf; #this is to store the original "raw" script code, in hexstr formatr #don't initialize + +sub Script_ClearScriptHexCode{ + $SCRIPT_hexcode_buf = 'FF'.'FF'.'FF'.'FF'; +} + +#called in SetOptionField() +sub Script_SetScriptHexCode{ + my $script_hex = shift; + if( length($script_hex)<2* 4 ){ + $script_hex = 'FF'.'FF'.'FF'.'FF'; + }else{ + #don't cut down, since things like 04FFFFFF FF can happen + #$script_hex =~ s/FF+$/FF/; #cut it down to one FF + } + $SCRIPT_hexcode_buf = $script_hex; +} + +#called in GetOptionField() +sub Script_GetScriptHexCode{ + my $script_hex = $SCRIPT_hexcode_buf; + return $script_hex; +} + +#---- +# SCRIPT TEXT CONVERTER +#---- +#this converts script code stored in $SCRIPT_hexcode_buf to text, for one script +# parameters: nr of script, format flag e.g. 'nopc' +# first four bytes hold base pc's +# returns +sub Script_ConvertToTextForSingleScript{ + my $script_hex = $SCRIPT_hexcode_buf; + my $script_nr = shift; + my $script_showpc_flag = shift; + if( not defined $script_showpc_flag ){ $script_showpc_flag = ''; } + +##TextOut( "!".$script_hex."!" ); + if( length($script_hex)<2* 4 ){ return 'ERR'; } + + my $pc0 = HexstrToDez(substr($script_hex,2*($script_nr-1),2)); #get base pc of script +#TextOut( "!".$pc0."!" ); +#TextOut( "!".$script_hex."!" ); + my $script_text= ''; my $pc=0; my $indent= ''; + + if( $pc0 >= $SCRIPTSIZE ){ #0xFF, script is not active + if($script_showpc_flag ne 'nopc'){ $script_text .= sprintf( "%2d", 0 ).': '.'STOPFF'; } + return $script_text; + } + + for( $pc=2*$pc0; $pc32768-1 ){ $v = $v-65536; } + } + #$script_text.= ' '. HexstrToDez( substr($script_hex,$pc+6,2).substr($script_hex,$pc+4,2)); + $script_text.= ' '. $v; + $pc+= 2+4; + }elsif( $s eq 'SETMINMAX' ){ # uint8 int16 int16 + $script_text.= $indent.$s; + my $name= FindOptionNameByAdr( HexstrToDez(substr($script_hex,$pc+2,2)) ); + $name =~ s/\s*\(.*\)$//; + $script_text.= ' "'.$name.'"'; + $script_text.= ' '. HexstrToDez( substr($script_hex,$pc+6,2).substr($script_hex,$pc+4,2)); + $script_text.= ' '. HexstrToDez( substr($script_hex,$pc+10,2).substr($script_hex,$pc+8,2)); + $pc+= 2+4+4; + }elsif( $s eq 'RESTORE' ){ # uint8 + $script_text.= $indent.$s; + my $name= FindOptionNameByAdr( HexstrToDez(substr($script_hex,$pc+2,2)) ); + $name =~ s/\s*\(.*\)$//; + $script_text.= ' "'.$name.'"'; + $pc+= 2; + + }elsif(( $s eq 'SETANGLEPITCH' )or( $s eq 'SETANGLEROLL' )or( $s eq 'SETANGLEYAW' )){ # int16 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+4,2).substr($script_hex,$pc+2,2)); + if( $v>32768-1 ){ $v = $v-65536; } + $script_text.= ' '. ($v*0.01); + $pc+= 4; + }elsif( $s eq 'SETANGLE' ){# int16 int16 int16 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+4,2).substr($script_hex,$pc+2,2)); + if( $v>32768-1 ){ $v = $v-65536; } + $script_text.= ' '. ($v*0.01); + $v = HexstrToDez( substr($script_hex,$pc+8,2).substr($script_hex,$pc+6,2)); + if( $v>32768-1 ){ $v = $v-65536; } + $script_text.= ' '. ($v*0.01); + $v = HexstrToDez( substr($script_hex,$pc+12,2).substr($script_hex,$pc+10,2)); + if( $v>32768-1 ){ $v = $v-65536; } + $script_text.= ' '. ($v*0.01); + $pc+= 4+4+4; + + }elsif(( $s eq 'SETPITCH' )or( $s eq 'SETROLL' )or( $s eq 'SETYAW' )){ # uint16 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+4,2).substr($script_hex,$pc+2,2)); + $script_text.= ' '. $v; + $pc+= 4; + }elsif( $s eq 'SETPITCHROLLYAW' ){ # uint16 uint16 uint16 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+4,2).substr($script_hex,$pc+2,2)); + $script_text.= ' '. $v; + $v = HexstrToDez( substr($script_hex,$pc+8,2).substr($script_hex,$pc+6,2)); + $script_text.= ' '. $v; + $v = HexstrToDez( substr($script_hex,$pc+12,2).substr($script_hex,$pc+10,2)); + $script_text.= ' '. $v; + $pc+= 4+4+4; + + }elsif( $s eq 'SETSTANDBY' ){ # uint8 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+2,2)); + $script_text.= ' '. $v; + $pc+= 2; + }elsif( $s eq 'DOCAMERA' ){ # uint8 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+2,2)); + $script_text.= ' '. $v; + $pc+= 2; + }elsif( $s eq 'DORECENTER' ){ # no param + $script_text.= $indent.$s; + }elsif( $s eq 'SETPWM' ){ # uint16 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+4,2).substr($script_hex,$pc+2,2)); + $script_text.= ' '. $v; + $pc+= 4; + + }elsif( $s eq 'SETPANOWAITS' ){ #//uint8 uint8 uint8 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+2,2)); + $script_text.= ' '. $v; + $v = HexstrToDez( substr($script_hex,$pc+4,2)); + $script_text.= ' '. $v; + $v = HexstrToDez( substr($script_hex,$pc+6,2)); + $script_text.= ' '. $v; + $pc+= 2+2+2; + }elsif( $s eq 'SETPANORANGE' ){ #int16 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+4,2).substr($script_hex,$pc+2,2)); + if( $v>32768-1 ){ $v = $v-65536; } + $script_text.= ' '. $v; + $pc+= 4; + }elsif( $s eq 'DOPANO' ){ # int8 int8 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+2,2)); + if( $v>128-1 ){ $v = $v-256; } + $script_text.= ' '. $v; + $v = HexstrToDez( substr($script_hex,$pc+4,2)); + if( $v>128-1 ){ $v = $v-256; } + $script_text.= ' '. $v; + $pc+= 2+2; + + }elsif(( $s eq 'SETANGLEPITCH_W' )or( $s eq 'SETANGLEROLL_W' )or( $s eq 'SETANGLEYAW_W' )){ # int16 uint8 + $script_text.= $indent.$s; + my $v = HexstrToDez( substr($script_hex,$pc+4,2).substr($script_hex,$pc+2,2)); + if( $v>32768-1 ){ $v = $v-65536; } + $script_text.= ' '. ($v*0.01); + $v = HexstrToDez( substr($script_hex,$pc+6,2)); + $script_text.= ' '. $v; + $pc+= 4+2; + + }elsif( $s eq 'REMOTEENABLE' ){ # no param + $script_text.= $indent.$s; + }elsif( $s eq 'REMOTEDISABLE' ){ # no param + $script_text.= $indent.$s; + + } + + $script_text.= "\r\n"; + } + + } + return $script_text; +} + +#---- +# SCRIPT COMPILER +#---- +sub Script_GetNextCommand{ + my $code= shift; + $code =~ s/^\s*([A-Z0-9#_]+?)\s(.*)/$2/; + if( not defined $1 ){ return('',''); } + return( $code, $1 ); +} + +sub Script_GetParameterName{ + my $code= shift; + $code =~ s/^\s*"([A-Z0-9# ]+?)"\s(.*)/$2/; + if( not defined $1 ){ return('',''); } + return( $code, CleanLeftRightStr($1) ); +} + +sub Script_GetParameterAdr{ + my $code= shift; + $code =~ s/^\s*"([A-Z0-9# ]+?)"\s(.*)/$2/; #finds parameter name string, and removes it + if( not defined $1 ){ return('',''); } + my $adr = FindOptionAdrByName( $1 ); + if( $adr<0 ){ $adr=''; } + return( $code, $adr ); +} + +sub Script_GetParameterAdrType{ + my $code= shift; + $code =~ s/^\s*"([A-Z0-9# ]+?)"\s(.*)/$2/; #finds parameter name string, and removes it + if( not defined $1 ){ return('','',''); } + my ($adr,$type) = FindOptionAdrTypeByName( $1 ); + if( $adr<0 ){ $adr=''; } + return( $code, $adr, $type ); +} + +sub Script_GetParameterValue{ + my $code= shift; + $code =~ s/^\s*([-|+]?[0-9]+)\s(.*)/$2/; #also allow negativ values!!! + if( not defined $1 ){ return('',''); } + return( $code, $1 ); +} + +sub Script_GetFloatValue{ + my $code= shift; + $code =~ s/^\s*([-|+]?[0-9\.]+)\s(.*)/$2/; #also allow negativ values!!! + if( not defined $1 ){ return('',''); } + return( $code, $1 ); +} + +sub Script_GetUIntValue{ + my $code= shift; + $code =~ s/^\s*([0-9]+)\s(.*)/$2/; + if( not defined $1 ){ return('',''); } + return( $code, $1 ); +} + +#this compiles a script code into hex code +# parameters: nr of script, script code in text format +# returns: +sub Script_CompileText{ + my $script_nr = shift; + my $code = uc( shift ).' '; #add a white char to simplify regex #my $code= $w_Script->script_Text->Text(); + +#TextOut( "!".$code."!\r\n" ); + my $token; my $type; + my $hexcode=''; + my $state = 'cmd'; my $pc= 0; my $error= ''; my $lastcasepc= 0; my $lastcmd=''; + my @casepclist= (-1,-1,-1,-1); + + while(1){ + if( $code =~ /^\s*$/ ){ last; } # done + ($code,$token) = Script_GetNextCommand($code); +#TextOut( '?'.$token."?\r\n" ); +#TextOut( "!".$code."!\r\n" ); + if( $token eq '' ){ $error='Valid command expected!'; goto ERROR;} + + switch ( $token ){ + case 'STOPFF' { + last; + } + + case 'STOP' { + $lastcmd= $token; + $hexcode.= '00'; $pc+=2; + } + + case 'RESTART' { + $lastcmd= $token; + $hexcode.= '01'; $pc+=2; + } + + case 'REPEAT'{ + $lastcmd= $token; + $hexcode.= '02'; $pc+=2; + if( $state eq 'case' ){ #we are in a case statement + $hexcode.= UCharToHexstr($lastcasepc/2); $pc+=2; + }else{ + $hexcode.= '00'; $pc+=2; #go to start pc + } + } + + case 'CASE#DEFAULT' { + if( $casepclist[0]!=-1 ){ $error='CASE#DEFAULT used twice!'; goto ERROR;} #was used already before + $casepclist[0] = 1; + if(( $lastcmd ne '' )&&( $lastcmd ne 'STOP' )&&( $lastcmd ne 'RESTART' )&&( $lastcmd ne 'REPEAT' )){ + $hexcode.= '00'; $pc+=2; + } + if( $state eq 'case' ){ #we had been in a case statement before + substr( $hexcode, $lastcasepc+2, 2, UCharToHexstr($pc/2) ); + } + $lastcmd= $token; + $lastcasepc = $pc; + $state = 'case'; + + $hexcode.= '03'; $pc+=2; + $hexcode.= '!!'; $pc+=2; + } + + case 'CASE#1' { + if( $casepclist[1]!=-1 ){ $error='CASE#1 used twice!'; goto ERROR;} #was used already before + $casepclist[1] = 1; + if(( $lastcmd ne '' )&&( $lastcmd ne 'STOP' )&&( $lastcmd ne 'RESTART' )&&( $lastcmd ne 'REPEAT' )){ + $hexcode.= '00'; $pc+=2; + } + if( $state eq 'case' ){ #we had been in a case statement before + substr( $hexcode, $lastcasepc+2, 2, UCharToHexstr($pc/2) ); + } + $lastcmd= $token; + $lastcasepc = $pc; + $state = 'case'; + + $hexcode.= '04'; $pc+=2; + $hexcode.= '!!'; $pc+=2; + } + + case 'CASE#2' { + if( $casepclist[2]!=-1 ){ $error='CASE#2 used twice!'; goto ERROR;} #was used already before + $casepclist[2] = 1; + if(( $lastcmd ne '' )&&( $lastcmd ne 'STOP' )&&( $lastcmd ne 'RESTART' )&&( $lastcmd ne 'REPEAT' )){ + $hexcode.= '00'; $pc+=2; + } + if( $state eq 'case' ){ #we had been in a case statement before + substr( $hexcode, $lastcasepc+2, 2, UCharToHexstr($pc/2) ); + } + $lastcmd= $token; + $lastcasepc = $pc; + $state = 'case'; + + $hexcode.= '05'; $pc+=2; + $hexcode.= '!!'; $pc+=2; + } + + case 'CASE#3' { + if( $casepclist[3]!=-1 ){ $error='CASE#3 used twice!'; goto ERROR;} #was used already before + $casepclist[3] = 1; + if(( $lastcmd ne '' )&&( $lastcmd ne 'STOP' )&&( $lastcmd ne 'RESTART' )&&( $lastcmd ne 'REPEAT' )){ + $hexcode.= '00'; $pc+=2; + } + if( $state eq 'case' ){ #we had been in a case statement before + substr( $hexcode, $lastcasepc+2, 2, UCharToHexstr($pc/2) ); + } + $lastcmd= $token; + $lastcasepc = $pc; + $state = 'case'; + + $hexcode.= '06'; $pc+=2; + $hexcode.= '!!'; $pc+=2; + } + + case 'RESTOREALL'{ + $lastcmd= $token; + $hexcode.= '08'; $pc+=2; + } + + case 'WAIT'{ + $lastcmd= $token; + $hexcode.= '09'; $pc+=2; + + ($code,$token) = Script_GetParameterValue($code); #value + if( $token eq '' ){ $error='Valid parameter value expected!'; goto ERROR;} + if(( $token<0 )or( $token>255 )){ $error='Wait time out of range!'; goto ERROR;} + my $v = UCharToHexstr($token); + $hexcode.= $v; $pc+=2; #low byte + } + + case 'SET' { + $lastcmd= $token; + $hexcode.= '0A'; $pc+=2; + + ($code,$token,$type) = Script_GetParameterAdrType($code); #parameter nr + if( $token eq '' ){ $error='Valid parameter name expected!'; goto ERROR;} + $hexcode.= UCharToHexstr($token); $pc+=2; + + ($code,$token) = Script_GetParameterValue($code); #value + if( $token eq '' ){ $error='Valid parameter value expected!'; goto ERROR;} + my $v = UIntToHexstr($token); + if( $token<0 ){ + if( $type ne 'OPTTYPE_SI' ){ $error='Non-negative parameter value expected!'; goto ERROR;} + $v = substr($v,4,4); #for some reason UIntToHexstr yields then a 8char result, instead of 4char + }; +#TextOut( "!".$token.','.UIntToHexstr($token).$v."!" ); + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + } + + case 'SETMINMAX' { + $lastcmd= $token; + $hexcode.= '0B'; $pc+=2; + + ($code,$token) = Script_GetParameterAdr($code); #parameter nr + if( $token eq '' ){ $error='Valid parameter name expected!'; goto ERROR;} + $hexcode.= UCharToHexstr($token); $pc+=2; + + ($code,$token) = Script_GetParameterValue($code); #min value + if( $token eq '' ){ $error='Valid parameter value expected!'; goto ERROR;} + my $v = UIntToHexstr($token); + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + + ($code,$token) = Script_GetParameterValue($code); #max value + if( $token eq '' ){ $error='Valid parameter value expected!'; goto ERROR;} + $v = UIntToHexstr($token); + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + } + + case 'RESTORE' { + $lastcmd= $token; + $hexcode.= '0C'; $pc+=2; + + ($code,$token) = Script_GetParameterAdr($code); #parameter nr + if( $token eq '' ){ $error='Valid parameter name expected!'; goto ERROR;} + $hexcode.= UCharToHexstr($token); $pc+=2; + } + + + case 'SETANGLEPITCH' { + $lastcmd= $token; + $hexcode.= '0D'; $pc+=2; + + ($code,$token) = Script_GetFloatValue($code); #max value + if( $token eq '' ){ $error='Valid angle value expected!'; goto ERROR;} + if(( $token<-325.0 )or( $token>+325.0 )){ $error='Angle value out of range!'; goto ERROR;} + my $v = UIntToHexstr(100.0*$token); + if( $token<0 ){ $v = substr($v,4,4); } #for some reason UIntToHexstr yields then a 8char result, instead of 4char +#TextOut( "!".$token.','.$v."!" ); + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + } + + case 'SETANGLEROLL' { + $lastcmd= $token; + $hexcode.= '0E'; $pc+=2; + + ($code,$token) = Script_GetFloatValue($code); #max value + if( $token eq '' ){ $error='Valid angle value expected!'; goto ERROR;} + if(( $token<-325.0 )or( $token>+325.0 )){ $error='Angle value out of range!'; goto ERROR;} + my $v = UIntToHexstr(100.0*$token); + if( $token<0 ){ $v = substr($v,4,4); } #for some reason UIntToHexstr yields then a 8char result, instead of 4char + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + } + + case 'SETANGLEYAW' { + $lastcmd= $token; + $hexcode.= '0F'; $pc+=2; + + ($code,$token) = Script_GetFloatValue($code); #max value + if( $token eq '' ){ $error='Valid angle value expected!'; goto ERROR;} + if(( $token<-325.0 )or( $token>+325.0 )){ $error='Angle value out of range!'; goto ERROR;} + my $v = UIntToHexstr(100.0*$token); + if( $token<0 ){ $v = substr($v,4,4); } #for some reason UIntToHexstr yields then a 8char result, instead of 4char + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + } + + case 'SETANGLE' { + $lastcmd= $token; + $hexcode.= '10'; $pc+=2; + + ($code,$token) = Script_GetFloatValue($code); + if( $token eq '' ){ $error='Valid pitch angle value expected!'; goto ERROR;} + if(( $token<-325.0 )or( $token>+325.0 )){ $error='Pitch angle value out of range!'; goto ERROR;} + my $v = UIntToHexstr(100.0*$token); + if( $token<0 ){ $v = substr($v,4,4); } #for some reason UIntToHexstr yields then a 8char result, instead of 4char + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + + ($code,$token) = Script_GetFloatValue($code); + if( $token eq '' ){ $error='Valid roll angle value expected!'; goto ERROR;} + if(( $token<-325.0 )or( $token>+325.0 )){ $error='Roll angle value out of range!'; goto ERROR;} + $v = UIntToHexstr(100.0*$token); + if( $token<0 ){ $v = substr($v,4,4); } #for some reason UIntToHexstr yields then a 8char result, instead of 4char + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + + ($code,$token) = Script_GetFloatValue($code); + if( $token eq '' ){ $error='Valid yaw angle value expected!'; goto ERROR;} + if(( $token<-325.0 )or( $token>+325.0 )){ $error='Yaw angle value out of range!'; goto ERROR;} + $v = UIntToHexstr(100.0*$token); + if( $token<0 ){ $v = substr($v,4,4); } #for some reason UIntToHexstr yields then a 8char result, instead of 4char + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + } + + case 'SETSTANDBY' { + $lastcmd= $token; + $hexcode.= '15'; $pc+=2; + + ($code,$token) = Script_GetUIntValue($code); + if( $token eq '' ){ $error='Valid parameter value expected!'; goto ERROR;} + my $v = '00'; + if( $token>0 ){ $v = '01';} + $hexcode.= $v; $pc+=2; #one byte + } + + case 'DOCAMERA' { + $lastcmd= $token; + $hexcode.= '16'; $pc+=2; + + ($code,$token) = Script_GetUIntValue($code); + if( $token eq '' ){ $error='Valid parameter value expected!'; goto ERROR;} + if(( $token<0.0 )or( $token>4.4 )){ $error='Camera cmd value out of range!'; goto ERROR;} + my $v = UCharToHexstr($token); + $hexcode.= $v; $pc+=2; #one byte + } + + case 'DORECENTER' { + $lastcmd= $token; + $hexcode.= '17'; $pc+=2; + } + + case 'SETPWM' { + $lastcmd= $token; + $hexcode.= '18'; $pc+=2; + + ($code,$token) = Script_GetUIntValue($code); + if( $token eq '' ){ $error='Valid pwm value expected!'; goto ERROR;} + if(( $token<700 )or( $token>2300 )){ $error='PWM value out of range!'; goto ERROR;} + my $v = UIntToHexstr($token); + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + } + + case 'SETPANOWAITS' { #//uint8 pitchtime (in 100ms) uint8 yawtime (in 100ms) uint8 shottime (in 100ms) + $lastcmd= $token; + $hexcode.= '19'; $pc+=2; + + ($code,$token) = Script_GetUIntValue($code); + if( $token eq '' ){ $error='Valid pitch wait time expected!'; goto ERROR;} + if(( $token<0 )or( $token>255 )){ $error='Pitch wait time out of range!'; goto ERROR;} + $hexcode.= UCharToHexstr($token); $pc+=2; + + ($code,$token) = Script_GetUIntValue($code); #yaw time + if( $token eq '' ){ $error='Valid yaw wait time expected!'; goto ERROR;} + if(( $token<0 )or( $token>255 )){ $error='Yaw wait time out of range!'; goto ERROR;} + $hexcode.= UCharToHexstr($token); $pc+=2; + + ($code,$token) = Script_GetUIntValue($code); #shot time + if( $token eq '' ){ $error='Valid shot wait time expected!'; goto ERROR;} + if(( $token<0 )or( $token>255 )){ $error='Shot wait time out of range!'; goto ERROR;} + $hexcode.= UCharToHexstr($token); $pc+=2; + } + + case 'SETPANORANGE' { #//uint16 yawrange (in degrees) + $lastcmd= $token; + $hexcode.= '1A'; $pc+=2; + + ($code,$token) = Script_GetUIntValue($code); #yaw range + if( $token eq '' ){ $error='Valid yaw range value expected!'; goto ERROR;} + if(( $token<0 )or( $token>+720 )){ $error='Yaw range value out of range!'; goto ERROR;} + my $v = UIntToHexstr($token); + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + } + + case 'DOPANO' { #//int8 pitch (in degrees) int8 yawsteps + $lastcmd= $token; + $hexcode.= '1B'; $pc+=2; + + ($code,$token) = Script_GetParameterValue($code); #pitch + if( $token eq '' ){ $error='Valid pitch angle value expected!'; goto ERROR;} + if(( $token<-128 )or( $token>+127 )){ $error='Pitch angle value out of range!'; goto ERROR;} + my $v = UCharToHexstr($token); + if( $token<0 ){ $v = substr($v,6,2); } #for some reason UCharToHexstr yields then a 8char result, instead of 4char + $hexcode.= $v; $pc+=2; + + ($code,$token) = Script_GetParameterValue($code); #yaw steps + if( $token eq '' ){ $error='Valid yaw steps value expected!'; goto ERROR;} + if(( $token<-128 )or( $token>+127 )){ $error='Yaw steps value out of range!'; goto ERROR;} + $v = UCharToHexstr($token); + if( $token<0 ){ $v = substr($v,6,2); } #for some reason UCharToHexstr yields then a 8char result, instead of 4char + $hexcode.= $v; $pc+=2; + } + + case 'SETANGLEPITCH_W' { + $lastcmd= $token; + $hexcode.= '1C'; $pc+=2; + + ($code,$token) = Script_GetFloatValue($code); #max value + if( $token eq '' ){ $error='Valid angle value expected!'; goto ERROR;} + if(( $token<-325.0 )or( $token>+325.0 )){ $error='Angle value out of range!'; goto ERROR;} + my $v = UIntToHexstr(100.0*$token); + if( $token<0 ){ $v = substr($v,4,4); } #for some reason UIntToHexstr yields then a 8char result, instead of 4char + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + + ($code,$token) = Script_GetUIntValue($code); + if( $token eq '' ){ $error='Valid wait time expected!'; goto ERROR;} + if(( $token<0 )or( $token>255 )){ $error='Wait time out of range!'; goto ERROR;} + $hexcode.= UCharToHexstr($token); $pc+=2; + } + case 'SETANGLEROLL_W' { + $lastcmd= $token; + $hexcode.= '1D'; $pc+=2; + + ($code,$token) = Script_GetFloatValue($code); #max value + if( $token eq '' ){ $error='Valid angle value expected!'; goto ERROR;} + if(( $token<-325.0 )or( $token>+325.0 )){ $error='Angle value out of range!'; goto ERROR;} + my $v = UIntToHexstr(100.0*$token); + if( $token<0 ){ $v = substr($v,4,4); } #for some reason UIntToHexstr yields then a 8char result, instead of 4char + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + + ($code,$token) = Script_GetUIntValue($code); + if( $token eq '' ){ $error='Valid wait time expected!'; goto ERROR;} + if(( $token<0 )or( $token>255 )){ $error='Wait time out of range!'; goto ERROR;} + $hexcode.= UCharToHexstr($token); $pc+=2; + } + case 'SETANGLEYAW_W' { + $lastcmd= $token; + $hexcode.= '1E'; $pc+=2; + + ($code,$token) = Script_GetFloatValue($code); #max value + if( $token eq '' ){ $error='Valid angle value expected!'; goto ERROR;} + if(( $token<-325.0 )or( $token>+325.0 )){ $error='Angle value out of range!'; goto ERROR;} + my $v = UIntToHexstr(100.0*$token); + if( $token<0 ){ $v = substr($v,4,4); } #for some reason UIntToHexstr yields then a 8char result, instead of 4char + $hexcode.= substr($v,2,2).substr($v,0,2); $pc+=4; #low byte, high byte + + ($code,$token) = Script_GetUIntValue($code); + if( $token eq '' ){ $error='Valid wait time expected!'; goto ERROR;} + if(( $token<0 )or( $token>255 )){ $error='Wait time out of range!'; goto ERROR;} + $hexcode.= UCharToHexstr($token); $pc+=2; + } + + case 'REMOTEENABLE' { + $lastcmd= $token; + $hexcode.= '1F'; $pc+=2; + } + case 'REMOTEDISABLE' { + $lastcmd= $token; + $hexcode.= '20'; $pc+=2; + } + + else{ $error='Valid command expected!'; goto ERROR;} + } +#TextOut( $hexcode."\r\n\r\n" ); + if( length($hexcode)>2*$SCRIPTSIZE-4){ $error='Code is too long!'; goto ERROR;} + } + if( $state eq 'case' ){ #we had been in a case statement before + if(( $lastcmd ne '' )&&( $lastcmd ne 'STOP' )&&( $lastcmd ne 'RESTART' )&&( $lastcmd ne 'REPEAT' )){ + $hexcode.= '00'; $pc+=2; + } + substr( $hexcode, $lastcasepc+2, 2, UCharToHexstr($pc/2) ); + } + $hexcode.= 'FF'; + #check consistency of states + # every case must occur only once, if any occurs it must start with CASE#1, and no holes must occur + if( $casepclist[3]>0 ){ + if(( $casepclist[0]<0 )or( $casepclist[1]<0 )or( $casepclist[2]<0 )){ $error='CASE#3 used without other cases!'; goto ERROR;} + }elsif( $casepclist[2]>0 ){ + if(( $casepclist[0]<0 )or( $casepclist[1]<0 )){ $error='CASE#2 used without CASE#DEFAULT and CASE#1!'; goto ERROR;} + }elsif( $casepclist[1]>0 ){ + if( $casepclist[0]<0 ){ $error='CASE#1 used without CASE#DEFAULT!'; goto ERROR; } + }elsif( $casepclist[0]>0 ){ + $error='CASE#DEFUALT used but no other cases'; goto ERROR; + } + + TextOut( "\r\n".'Compile... DONE!'."\r\n".$hexcode."\r\n" ); +ERROR: + if( $error ne '' ){ TextOut( "\r\n".'Compile... ERROR!'."\r\n".$error."\r\n" ); } + return ($hexcode,$error); +} + +#---- +# SCRIPT GUI TAB +#---- +sub Script_CreateTextFields{ + my $script_nr = shift; + my $i = 0+($script_nr-1); + my $j = 1; + my $xpos= 20+($i)*$OPTIONSWIDTH_X; + my $ypos= 10 + ($j)*$OPTIONSWIDTH_Y; + my %textfieldparams=( -name=> 'OptionField_script'.$script_nr, -font=> $StdScriptFont, #$StdWinFont, + -pos=> [$xpos+1,$ypos+1+13], -size=> [155+5,165+3], #[315,155+3], #-size=> [300,200], #-size=> [300,245], + -vscroll=> 1, -multiline=> 1, -readonly => 1, + -background => $OptionInvalidColor, + ); + return $f_Tab{scripts}->AddTextfield(%textfieldparams); +} + +$xpos= 20 ;#+(2)*$OPTIONSWIDTH_X; +$ypos= 10 ;#+ (5)*$OPTIONSWIDTH_Y; +$f_Tab{scripts}->AddLabel( -name=> 'm_Script1_Label', -font=> $StdWinFont, + -text=> 'Script1', -pos=> [$xpos+0*$OPTIONSWIDTH_X,$ypos-1+1*$OPTIONSWIDTH_Y],-size=> [145,15] +); +$f_Tab{scripts}->AddLabel( -name=> 'm_Script2_Label', -font=> $StdWinFont, + -text=> 'Script2', -pos=> [$xpos+1*$OPTIONSWIDTH_X,$ypos-1+1*$OPTIONSWIDTH_Y],-size=> [145,15] +); +$f_Tab{scripts}->AddLabel( -name=> 'm_Script3_Label', -font=> $StdWinFont, + -text=> 'Script3', -pos=> [$xpos+2*$OPTIONSWIDTH_X,$ypos-1+1*$OPTIONSWIDTH_Y],-size=> [145,15] +); +$f_Tab{scripts}->AddLabel( -name=> 'm_Script4_Label', -font=> $StdWinFont, + -text=> 'Script4', -pos=> [$xpos+3*$OPTIONSWIDTH_X,$ypos-1+1*$OPTIONSWIDTH_Y],-size=> [145,15] +); +$ypos= 20 ;#+ (5)*$OPTIONSWIDTH_Y; +$f_Tab{scripts}->AddButton( -name=> 'm_EditScript1', -font=> $StdWinFont, + -text=> 'Edit Script1', -pos=> [$xpos+0*$OPTIONSWIDTH_X,$ypos+4+5*$OPTIONSWIDTH_Y], -width=> 120, + -onClick=> sub{ ScriptEditorShow(1); 1;}, +); +$f_Tab{scripts}->AddButton( -name=> 'm_EditScript2', -font=> $StdWinFont, + -text=> 'Edit Script2', -pos=> [$xpos+1*$OPTIONSWIDTH_X,$ypos+4+5*$OPTIONSWIDTH_Y], -width=> 120, + -onClick=> sub{ ScriptEditorShow(2); 1;}, +); +$f_Tab{scripts}->AddButton( -name=> 'm_EditScript3', -font=> $StdWinFont, + -text=> 'Edit Script3', -pos=> [$xpos+2*$OPTIONSWIDTH_X,$ypos+4+5*$OPTIONSWIDTH_Y], -width=> 120, + -onClick=> sub{ ScriptEditorShow(3); 1;}, +); +$f_Tab{scripts}->AddButton( -name=> 'm_EditScript4', -font=> $StdWinFont, + -text=> 'Edit Script4', -pos=> [$xpos+3*$OPTIONSWIDTH_X,$ypos+4+5*$OPTIONSWIDTH_Y], -width=> 120, + -onClick=> sub{ ScriptEditorShow(4); 1;}, +); + +#---- +# SCRIPT EDITOR WINDOW(S) +#---- +my $ScriptXPos= 80; +my $ScriptYPos= 80; +my $ScriptXSize= 380; +my $ScriptYSize= 360; + +$xsize= $ScriptXSize; +$ysize= $ScriptYSize; + +my $ScriptBackgroundColor= [96,96,96]; +my $ScriptEditorTextFont= Win32::GUI::Font->new(-name=>'Lucida Console', -size=>10 ); + +my $ScriptEditorScriptNr; + +my $w_Script_Menubar= Win32::GUI::Menu-> new( + 'Scripts' => '', + '>New', 'script_New', + '>Load from File...', 'script_Load', + '>Save to File...', 'script_Save', + '>-', 0, + '>Compile', 'script_Compile', + '>-', 0, + '>Accept and Exit', 'script_Accept', + '>Cancel', 'script_Cancel', +); + +#my $w_Script= Win32::GUI::DialogBox->new( -name=> 'script_Window', -parent => $w_Main, -font=> $StdWinFont, +my $w_Script= Win32::GUI::Window->new( -name=> 'script_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> $BGCStr." Script Editor", -pos=> [$ScriptXPos,$ScriptYPos], -size=> [$xsize,$ysize], + -helpbox => 0, + -background=>$ScriptBackgroundColor, + -menu=> $w_Script_Menubar, + -dialogui => 0, + -hasminimize => 0, -minimizebox => 0, -hasmaximize => 0, -maximizebox => 0, +); +$w_Script->SetIcon($Icon); + +sub script_Window_Resize { + my $mw = $w_Script->ScaleWidth(); + my $mh = $w_Script->ScaleHeight(); + my $lh = $w_Script->script_Title->Height(); + $w_Script->script_Title->Width( $mw - 140 ); + $w_Script->script_Text->Width( $mw+2 ); + $w_Script->script_Text->Height( $mh-$lh+1); +} + +sub script_Window_Terminate{ $w_Script->Hide(); 0; } +sub script_Cancel_Click{ $w_Script->Hide(); 0; } +sub script_New_Click{ $w_Script->script_Text->Text(''); 0; } +sub script_Compile_Click{ Script_CompileText($ScriptEditorScriptNr,$w_Script->script_Text->Text); 0; } + +sub script_Accept_Click{ + my($hexcode,$error) = Script_CompileText($ScriptEditorScriptNr,$w_Script->script_Text->Text); + if(( $error eq '' )&&( defined $NameToOptionHash{'Scripts'} )){ +#TextOut("\r\n!".$hexcode."!"); + my $script_hex = $SCRIPT_hexcode_buf; + my @script_hexcodes; + my $pc0; my $s; + #split $SCRIPT_hexcode_buf and insert hexcode + for(my $script_nr=4; $script_nr>=1; $script_nr--){ + #TextOut( "?".$script_nr ); + $pc0 = HexstrToDez(substr($script_hex,2*( $script_nr-1 ),2)); #get base pc of script + $s = ''; + if( $pc0 >= $SCRIPTSIZE ){ #0xFF, there is no script + }else{ + $s = substr( $script_hex, 2*$pc0, 500 ); + #TextOut( "?".$s ); + $script_hex = substr( $script_hex, 0, 2*$pc0 ); + #TextOut( "?".$script_hex ); + } + $s .= 'FF'; #ensure 'FF' at end + $s =~ s/FF+$/FF/; #cut down to one FF at the end + $script_hexcodes[$script_nr] = $s; + #TextOut( "?".$s."!" ); + } +#TextOut( "!?".$script_hexcodes[1]."-".$script_hexcodes[2]."-".$script_hexcodes[3]."-".$script_hexcodes[4]."!" ); + #insert new hexcode + $hexcode .= 'FF'; + $hexcode =~ s/FF+$/FF/; #cut it short + $script_hexcodes[$ScriptEditorScriptNr] = $hexcode; +#TextOut( "!?".$script_hexcodes[1]."-".$script_hexcodes[2]."-".$script_hexcodes[3]."-".$script_hexcodes[4]."!" ); + #combine hexcodes to $SCRIPT_hexcode_buf + $script_hex = ''; $pc0 = 4; + for(my $script_nr=1; $script_nr<=4; $script_nr++){ + if( substr($script_hexcodes[$script_nr],0,2) eq 'FF' ){ + $script_hex .= 'FF'; + $script_hexcodes[$script_nr] = ''; + }else{ + $script_hex .= UCharToHexstr( $pc0 ); #pc0 script1 + $pc0 += length( $script_hexcodes[$script_nr] )/2; + } + } + for(my $script_nr=1; $script_nr<=4; $script_nr++){ + $script_hex .= $script_hexcodes[$script_nr]; + } +#TextOut( "!?".$script_hex."!" ); + #TextOut( 'Scripts'."\r\n".substr($script_hex,0,2 * 4 ).' '.substr($script_hex,2*4,400)."\r\n" ); + TextOut( substr($script_hex,0,2 * 4 )."\r\n" ); + for(my $script_nr=1; $script_nr<=4; $script_nr++){ + my $s = $script_hexcodes[$script_nr]; + if( length($s)<1 ){ $s.='-'; } + TextOut( $s."\r\n" ); + } + my $codelength= length($script_hex)/2; + TextOut( "$codelength of $SCRIPTSIZE bytes used"."\r\n" ); + #set options + my $Option = $NameToOptionHash{'Scripts'}; + $Option->{'textfield_script'.$ScriptEditorScriptNr}->Text( '' ); #not sure why it works, but makes the whole area to acceptthe new color + SetOptionField( $Option , $script_hex ); #this copies it also to $SCRIPT_hexcode_buf + $Option->{'textfield_script'.$ScriptEditorScriptNr}->Change( -background => $OptionModifiedColor ); + } + $w_Script->Hide(); + 0; +} + +my $ScriptEditorFile_lastdir= $ExePath; + +sub script_Load_Click{ + my $file= Win32::GUI::GetOpenFileName( -owner=> $w_Main, + -title=> 'Load Script from File', + -nochangedir=> 1, + -directory=> $SettingsFile_lastdir, #$ScriptEditorFile_lastdir, #".\\", + -defaultextension=> '.scr', + -filter=> ['*.scr'=>'*.scr','All files' => '*.*'], + -pathmustexist=> 1, + -filemustexist=> 1, + ); + if( $file ){ + if( !open(F,"<$file") ){ + $w_Main->MessageBox( "Some error occured, sorry",'ERROR'); return; } + my $s=''; while(){ $s.= $_; } close(F); + $w_Script->script_Text->Text( $s ); + }elsif( Win32::GUI::CommDlgExtendedError() ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); } + 1; +} + +sub script_Save_Click{ + my $file= Win32::GUI::GetSaveFileName( -owner=> $w_Main, + -title=> 'Save Script to File', + -nochangedir=> 1, + -directory=> $SettingsFile_lastdir, #$ScriptEditorFile_lastdir, #".\\", + -defaultextension=> '.scr', + -filter=> ['*.scr'=>'*.scr','All files' => '*.*'], + -pathmustexist=> 1, + -overwriteprompt=> 1, + -noreadonlyreturn => 1, + -explorer=>0, + ); + if( $file ){ + if( !open(F,">$file") ){ + $w_Main->MessageBox("Some error occured, sorry",'ERROR'); return; } + print F $w_Script->script_Text->Text(); + close(F); + }elsif( Win32::GUI::CommDlgExtendedError() ){$w_Main->MessageBox("Some error occured, sorry",'ERROR');} + 1; +} + +#$w_Script->AddButton( -name=> 'script_New', -font=> $StdWinFont, +# -text=> 'New', +# -pos=> [0,0], -width=>35, -height=>16, # -width=> $xsize-6, -height=>15, +#); +$w_Script->AddButton( -name=> 'script_Load', -font=> $StdWinFont, + -text=> 'Load', + -pos=> [0,0], -width=>35, -height=>16, # -width=> $xsize-6, -height=>15, +); +$w_Script->AddButton( -name=> 'script_Save', -font=> $StdWinFont, + -text=> 'Save', + -pos=> [35,0], -width=>35, -height=>16, # -width=> $xsize-6, -height=>15, +); +$w_Script->AddButton( -name=> 'script_Compile', -font=> $StdWinFont, + -text=> 'Comp', + -pos=> [70,0], -width=>35, -height=>16, # -width=> $xsize-6, -height=>15, +); +$w_Script->AddButton( -name=> 'script_Accept', -font=> $StdWinFont, + -text=> 'Accpt', + -pos=> [105,0], -width=>35, -height=>16, # -width=> $xsize-6, -height=>15, +); + +$w_Script->AddLabel( -name=> 'script_Title', -font=> $StdWinFont, + -text=> 'Script 1', + -pos=> [140,0], -width=> $xsize-150-6, -height=>15, + -align=>'center', #-background=>$CBlue, +); + +$w_Script-> AddTextfield( -name=> 'script_Text', -font=> $ScriptEditorTextFont, #-font=> $StdWinFont, + -pos=> [-1,15], -size=> [$xsize-4,$ysize-41-15], #-size=> [$xsize-14,$ysize-52], + -hscroll=> 1, -vscroll=> 1, + -autovscroll=> 1, -autohscroll=> 1, + -keepselection => 1, + -multiline=> 1, +); + +sub ScriptEditorShow{ + $ScriptEditorScriptNr = shift; + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_Script->Move($x+190,$y+100); + $w_Script->script_Title->Text( 'Script '.$ScriptEditorScriptNr ); + $w_Script->script_Text->Text( Script_ConvertToTextForSingleScript($ScriptEditorScriptNr,'nopc') ); + $w_Script->Show(); +} + +#-----------------------------------------------------------------------------# +# some helper routines +#-----------------------------------------------------------------------------# +sub FindOptionAdrByName{ + my $name= uc(shift); + $name = CleanLeftRightStr( $name ); + foreach my $option (@OptionList){ + if( not defined $option->{name} ){ next; } + my $optname = uc($option->{name}); + $optname =~ s/\s*\(.*\)$//; #remove brackets and right space + if( $name eq $optname ){ return $option->{adr}; } + } + return ''; +} + +sub FindOptionAdrTypeByName{ + my $name= uc(shift); + $name = CleanLeftRightStr( $name ); + foreach my $option (@OptionList){ + if( not defined $option->{name} ){ next; } + my $optname = uc($option->{name}); + $optname =~ s/\s*\(.*\)$//; #remove brackets and right space + if( $name eq $optname ){ return( $option->{adr}, $option->{type} ); } + } + return ('',''); +} + +sub FindOptionNameByAdr{ + my $adr= shift; + foreach my $option (@OptionList){ + if(( defined $option->{adr} )&&( $option->{adr}==$adr )){ return $option->{name}; } + } + return '?' +} + +sub FindOptionNameTypeByAdr{ + my $adr= shift; + foreach my $option (@OptionList){ + if(( defined $option->{adr} )&&( $option->{adr}==$adr )){ return( $option->{name}, $option->{type} ); } + } + return ('?',''); +} + + + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# CONFIGURE GIMBAL Tool Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# +$xsize= 0; +$ysize= 0; + +my $CWhite = [255,255,255]; +my $CBlue = [128,128,255]; +my $CRed = [255,50,50]; +my $CGrey128 = [128,128,128]; + +my $ConfigureGimbalBackgroundColor= [96,96,96]; + +my $CMD_Cd_PARAMETER_ZAHL = 14; +my $CdDataFormatStr= 'sss'.'sss'.'s'.'sss'.'sss'.'s'; +if( length($CdDataFormatStr) != $CMD_Cd_PARAMETER_ZAHL ){ die;} + +my $ConfigureGimbalXsize= 550; +my $ConfigureGimbalYsize= 415; + +my $w_ConfigureGimbal= Win32::GUI::DialogBox->new( -name=> 'configuregimbal_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> "o323BGC Configure Gimbal Tool", + -size=> [$ConfigureGimbalXsize,$ConfigureGimbalYsize], + -helpbox => 0, + -background=>$ConfigureGimbalBackgroundColor, +); +$w_ConfigureGimbal->SetIcon($Icon); + +sub gimbalconfig_ConfigureGimbal_Click{ + ConfigureGimbalInit(); ConfigureGimbalShow(); 0; +} +sub configuregimbal_Window_Terminate{ + configuregimbal_Cancel_Click(); 0; +} + +my $ConfigureGimbalIsInitialized = 0; +my $ConfigureGimbalLinkFont; +my $ConfigureGimbalLinkColor= 0x880000; #blue + +sub ConfigureGimbalInit{ + if( $ConfigureGimbalIsInitialized > 0 ){ return; } + $ConfigureGimbalIsInitialized = 1; + my $xpos= 20; + my $ypos= 20; + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_Title', -font=> $StdWinFont, + -text=> 'Welcome', + -pos=> [$xpos,$ypos], -width=> $ConfigureGimbalXsize -170, -height=>13, + # -background=>$ConfigureGimbalBackgroundColor, -foreground=> [255,255,255], + -align=>'center', -background=>$CBlue, + ); + $xpos= 20 + $ConfigureGimbalXsize-150; + $ypos= 55; + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_StepI', -font=> $StdWinFont, + -text=> 'Steps I', + -pos=> [$xpos,$ypos], + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 16; + $w_ConfigureGimbal->AddCheckbox( -name => 'configuregimbal_Imu1_check', -font=> $StdWinFont, + -pos=> [$xpos,$ypos], -size=> [12,12], + ); + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_Imu1_check_label', -font=> $StdWinFont, + -text=> 'Imu1 Orientation', + -pos=> [$xpos+20,$ypos], + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 16; + $w_ConfigureGimbal->AddCheckbox( -name => 'configuregimbal_Imu2_check', -font=> $StdWinFont, + -pos=> [$xpos,$ypos], -size=> [12,12], + ); + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_Imu2_check_label', -font=> $StdWinFont, + -text=> 'Imu2 Orientation', + -pos=> [$xpos+20,$ypos], + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 16; + $w_ConfigureGimbal->AddCheckbox( -name => 'configuregimbal_MotorPoles_check', -font=> $StdWinFont, + -pos=> [$xpos,$ypos], -size=> [12,12], + ); + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_MotorPoles_check_label', -font=> $StdWinFont, + -text=> 'Motor Poles', + -pos=> [$xpos+20,$ypos], + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 16; + $w_ConfigureGimbal->AddCheckbox( -name => 'configuregimbal_MotorDirectionsI_check', -font=> $StdWinFont, + -pos=> [$xpos,$ypos], -size=> [12,12], + ); + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_MotorDirectionsI_check_label', -font=> $StdWinFont, + -text=> 'Motor Directions I', + -pos=> [$xpos+20,$ypos], + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 2*16; + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_StepII', -font=> $StdWinFont, + -text=> 'Steps II', + -pos=> [$xpos,$ypos], + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 16; + $w_ConfigureGimbal->AddCheckbox( -name => 'configuregimbal_MotorDirections_check', -font=> $StdWinFont, + -pos=> [$xpos,$ypos], -size=> [12,12], + ); + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_MotorDirections_check_label', -font=> $StdWinFont, + -text=> 'Motor Directions', + -pos=> [$xpos+20,$ypos], + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 16; + $w_ConfigureGimbal->AddCheckbox( -name => 'configuregimbal_PitchRollMotorPositions_check', -font=> $StdWinFont, + -pos=> [$xpos,$ypos], -size=> [12,12], + ); + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_PitchRollMotorPositions_check_label', -font=> $StdWinFont, + -text=> 'Pitch and Roll Motor +Positions', + -pos=> [$xpos+20,$ypos], -height=> 26, + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 16 + 13; + $w_ConfigureGimbal->AddCheckbox( -name => 'configuregimbal_YawMotorPosition_check', -font=> $StdWinFont, + -pos=> [$xpos,$ypos], -size=> [12,12], + ); + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_YawMotorPosition_check_label', -font=> $StdWinFont, + -text=> 'Yaw Motor Position', + -pos=> [$xpos+20,$ypos], + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 2*16; + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_Finish', -font=> $StdWinFont, + -text=> 'Finish', + -pos=> [$xpos,$ypos], + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 16; + $w_ConfigureGimbal->AddCheckbox( -name => 'configuregimbal_FinishRestart_check', -font=> $StdWinFont, + -pos=> [$xpos,$ypos], -size=> [12,12], + ); + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_FinishRestart_check_label', -font=> $StdWinFont, + -text=> 'Enable Motors and +Restart Gimbal', + -pos=> [$xpos+20,$ypos], -height=> 26, + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 16 + 13; + $w_ConfigureGimbal->AddCheckbox( -name => 'configuregimbal_FinishStore_check', -font=> $StdWinFont, + -pos=> [$xpos,$ypos], -size=> [12,12], + ); + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_FinishStore_check_label', -font=> $StdWinFont, + -text=> 'Store in EEPROM', + -pos=> [$xpos+20,$ypos], + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $xpos= 20; + $ypos= 55; + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_WelcomeText1', -font=> $StdWinFont, + -text=> '-', + -pos=> [$xpos,$ypos], -width=> $ConfigureGimbalXsize -170, -height=>30, + -background=>$ConfigureGimbalBackgroundColor, -foreground=> $CWhite, + ); + $ypos+= 35 + 1*13; + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_WelcomeText2', -font=> $StdWinFont, + -text=> '-', + -pos=> [$xpos,$ypos], -width=> $ConfigureGimbalXsize -170, -height=>200, + -background=>$CGrey128, -foreground=> $CWhite, + ); +#stuff for the motor poles screen + $xpos= 60; + $ypos+= 21; + $w_ConfigureGimbal->AddLabel( -name=> 'cg_MotorPolesPitch_label', -font=> $StdWinFont, + -text=> "Pitch", -pos=> [$xpos,$ypos+20], + -background=>$CGrey128, -foreground=> $CWhite, + ); + $w_ConfigureGimbal->AddCombobox( -name=> 'cg_MotorPolesPitch', -font=> $StdWinFont, + -pos=> [$xpos+$w_ConfigureGimbal->cg_MotorPolesPitch_label->Width()+3,$ypos+20-3], -size=> [60,160], + -dropdown=> 1, -vscroll=>1, + ); + $w_ConfigureGimbal->cg_MotorPolesPitch->SetDroppedWidth(60); + $w_ConfigureGimbal->cg_MotorPolesPitch->Add( ('8','10','12','14','16','18','20','22','24','26','28') ); + $w_ConfigureGimbal->AddLabel( -name=> 'cg_MotorPolesRoll_label', -font=> $StdWinFont, + -text=> "Roll", -pos=> [$xpos+100,$ypos+20], + -background=>$CGrey128, -foreground=> $CWhite, + ); + $w_ConfigureGimbal->AddCombobox( -name=> 'cg_MotorPolesRoll', -font=> $StdWinFont, + -pos=> [$xpos+100+$w_ConfigureGimbal->cg_MotorPolesRoll_label->Width()+3,$ypos+20-3], -size=> [60,160], + -dropdown=> 1, -vscroll=>1, + ); + $w_ConfigureGimbal->cg_MotorPolesRoll->SetDroppedWidth(60); + $w_ConfigureGimbal->cg_MotorPolesRoll->Add( ('8','10','12','14','16','18','20','22','24','26','28') ); + $w_ConfigureGimbal->AddLabel( -name=> 'cg_MotorPolesYaw_label', -font=> $StdWinFont, + -text=> "Yaw", -pos=> [$xpos+200,$ypos+20], + -background=>$CGrey128, -foreground=> $CWhite, + ); + $w_ConfigureGimbal->AddCombobox( -name=> 'cg_MotorPolesYaw', -font=> $StdWinFont, + -pos=> [$xpos+200+$w_ConfigureGimbal->cg_MotorPolesYaw_label->Width()+3,$ypos+20-3], -size=> [60,160], + -dropdown=> 1, -vscroll=>1, + ); + $w_ConfigureGimbal->cg_MotorPolesYaw->SetDroppedWidth(60); + $w_ConfigureGimbal->cg_MotorPolesYaw->Add( ('8','10','12','14','16','18','20','22','24','26','28') ); + ConfigureGimbalInit2($xpos,$ypos); + + my $Text2LabelFont= $w_ConfigureGimbal->configuregimbal_WelcomeText2->GetFont(); + my %ConfigureGimbalLinkFontDetails= Win32::GUI::Font::Info( $Text2LabelFont ); + $ConfigureGimbalLinkFontDetails{ '-underline' } = '1'; + $ConfigureGimbalLinkFont= Win32::GUI::Font->new( %ConfigureGimbalLinkFontDetails ); + $ConfigureGimbalLinkColor= 0x880000; #blue + + $w_ConfigureGimbal->AddLabel( -name=> 'configuregimbal_WikiHelp_link', + -pos=> [0,-1000], + -text=> "Basic Controller Configuration - Quick Trouble Shooting", + -font=> $ConfigureGimbalLinkFont, -foreground => $ConfigureGimbalLinkColor, -background=>$CGrey128, + -notify=>1, + -onClick=> sub{ ExecuteTool($ConfigureGimbalStepIIHelpLink,''); 1; }, + ); + +} #end of ConfigureGimbalInit() + + + #adapt to encoder version, for the moment simply disable unusable options + # must come after connect, so that $ActiveBoardConfiguration is correctly set +sub ConfigureGimbal_AdaptToBoardConfigurationFoc{ + if( not $ConfigureGimbalIsInitialized ){ return; } + + $w_ConfigureGimbal->configuregimbal_MotorPoles_check->Checked(0); + $w_ConfigureGimbal->configuregimbal_MotorPoles_check->Hide(); + $w_ConfigureGimbal->configuregimbal_MotorPoles_check_label->Hide(); + $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check->Checked(0); + $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check->Hide(); + $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check_label->Hide(); + + $w_ConfigureGimbal->configuregimbal_MotorDirections_check->Checked(0); + $w_ConfigureGimbal->configuregimbal_MotorDirections_check->Hide(); + $w_ConfigureGimbal->configuregimbal_MotorDirections_check_label->Hide(); + $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check->Checked(0); + $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check->Hide(); + $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check_label->Hide(); + $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check->Checked(0); + $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check->Hide(); + $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check_label->Hide(); +} + +sub ConfigureGimbal_AdaptToBoardConfigurationDefault{ + if( not $ConfigureGimbalIsInitialized ){ return; } + + $w_ConfigureGimbal->configuregimbal_MotorPoles_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_MotorPoles_check->Enable(); + $w_ConfigureGimbal->configuregimbal_MotorPoles_check_label->Enable(); + $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check->Enable(); + $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check_label->Enable(); + + $w_ConfigureGimbal->configuregimbal_MotorDirections_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_MotorDirections_check->Enable(); + $w_ConfigureGimbal->configuregimbal_MotorDirections_check_label->Enable(); + $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check->Enable(); + $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check_label->Enable(); + $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check->Enable(); + $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check_label->Enable(); +} + +sub ConfigureGimbalHideMotorPoles{ + $w_ConfigureGimbal->cg_MotorPolesPitch_label->Hide(); + $w_ConfigureGimbal->cg_MotorPolesPitch->Hide(); + $w_ConfigureGimbal->cg_MotorPolesRoll_label->Hide(); + $w_ConfigureGimbal->cg_MotorPolesRoll->Hide(); + $w_ConfigureGimbal->cg_MotorPolesYaw_label->Hide(); + $w_ConfigureGimbal->cg_MotorPolesYaw->Hide(); +} + +sub ConfigureGimbalShowMotorPoles{ + $w_ConfigureGimbal->cg_MotorPolesPitch_label->Show(); + $w_ConfigureGimbal->cg_MotorPolesPitch->Show(); + $w_ConfigureGimbal->cg_MotorPolesRoll_label->Show(); + $w_ConfigureGimbal->cg_MotorPolesRoll->Show(); + $w_ConfigureGimbal->cg_MotorPolesYaw_label->Show(); + $w_ConfigureGimbal->cg_MotorPolesYaw->Show(); +} + +sub ConfigureGimbalSynchroniseMotorPoles{ + my $Option= $NameToOptionHash{'Pitch Motor Poles'}; + if( defined $Option ){ $w_ConfigureGimbal->cg_MotorPolesPitch->SelectString( GetOptionField($Option) ); } + $Option= $NameToOptionHash{'Roll Motor Poles'}; + if( defined $Option ){ $w_ConfigureGimbal->cg_MotorPolesRoll->SelectString( GetOptionField($Option) ); } + $Option= $NameToOptionHash{'Yaw Motor Poles'}; + if( defined $Option ){ $w_ConfigureGimbal->cg_MotorPolesYaw->SelectString( GetOptionField($Option) ); } +} + +sub ConfigureGimbalSetMotorPoles{ + $w_ConfigureGimbal->cg_MotorPolesPitch->SelectString( shift ); + $w_ConfigureGimbal->cg_MotorPolesRoll->SelectString( shift ); + $w_ConfigureGimbal->cg_MotorPolesYaw->SelectString( shift ); +} + +#stuff for the yaw motor direction screen +my $ConfigureGimbal_AlignUndoandClosePort= 0; +my $ConfigureGimbal_AlignYawOffset= 0; + +#the xxxRes fields hold ONLY the payload!!! = 2bytes adr + 2bytes value +my $ConfigureGimbal_RcYawAdr= 0; #Rc Yaw +my $ConfigureGimbal_RcYawRes= 'c'; +my $ConfigureGimbal_RcYawModeAdr= 0; #Rc Yaw Mode +my $ConfigureGimbal_RcYawModeRes= 'c'; +my $ConfigureGimbal_RcYawOffsetAdr= 0; #Rc Yaw Offset +my $ConfigureGimbal_RcYawOffsetRes= 'c'; +my $ConfigureGimbal_RcYawMinAdr= 0; #Rc Yaw Min +my $ConfigureGimbal_RcYawMinRes= 'c'; +my $ConfigureGimbal_RcYawMaxAdr= 0; #Rc Yaw Max +my $ConfigureGimbal_RcYawMaxRes= 'c'; + +sub ConfigureGimbalInit2{ + my $xpos=shift; my $ypos=shift; + $xpos = ($ConfigureGimbalXsize-170)/2+20; + $ypos+= 10; + $w_ConfigureGimbal->AddButton( -name=> 'cg_AlignYaw_Left3', -font=> $StdWinFont, + -text=> '<<<', -pos=> [$xpos-15 -3*30-20,$ypos], -width=> 30, + -onClick => sub{ $ConfigureGimbal_AlignYawOffset += 50; ConfigureGimbalAlignYawMove(); 1; }, #-5° + ); + $w_ConfigureGimbal->AddButton( -name=> 'cg_AlignYaw_Left2', -font=> $StdWinFont, + -text=> '<<', -pos=> [$xpos-15 -2*30-15,$ypos], -width=> 30, + -onClick => sub{ $ConfigureGimbal_AlignYawOffset += 10; ConfigureGimbalAlignYawMove(); 1; }, #-1° + ); + $w_ConfigureGimbal->AddButton( -name=> 'cg_AlignYaw_Left1', -font=> $StdWinFont, + -text=> '<', -pos=> [$xpos-15 -1*30-10,$ypos], -width=>30, + -onClick => sub{ $ConfigureGimbal_AlignYawOffset += 1; ConfigureGimbalAlignYawMove(); 1; }, #-0.1° + ); + $w_ConfigureGimbal->AddButton( -name=> 'cg_AlignYaw_Right1', -font=> $StdWinFont, + -text=> '>', -pos=> [$xpos-15 +1*30+10,$ypos], -width=> 30, + -onClick => sub{ $ConfigureGimbal_AlignYawOffset -= 1; ConfigureGimbalAlignYawMove(); 1; }, #+0.1° + ); + $w_ConfigureGimbal->AddButton( -name=> 'cg_AlignYaw_Right2', -font=> $StdWinFont, + -text=> '>>', -pos=> [$xpos-15 +2*30+15,$ypos], -width=> 30, + -onClick => sub{ $ConfigureGimbal_AlignYawOffset -= 10; ConfigureGimbalAlignYawMove(); 1; }, #+1° + ); + $w_ConfigureGimbal->AddButton( -name=> 'cg_AlignYaw_Right3', -font=> $StdWinFont, + -text=> '>>>', -pos=> [$xpos-15 +3*30+20,$ypos], -width=> 30, + -onClick => sub{ $ConfigureGimbal_AlignYawOffset -= 50; ConfigureGimbalAlignYawMove(); 1; }, #+5° + ); + $w_ConfigureGimbal->AddLabel( -name=> 'cg_AlignYaw_Offset_label', -font=> $StdWinFont, + -text=> '0.0°', -pos=> [$xpos-20,$ypos+3], -width=> 40, -align=> 'center', + -background=>$CGrey128, -foreground=> [255,255,255], + ); + ConfigureGimbalInit3($xpos,$ypos); +} + +sub ConfigureGimbalHideAlignYawButtons{ + $w_ConfigureGimbal->cg_AlignYaw_Left3->Hide(); + $w_ConfigureGimbal->cg_AlignYaw_Left2->Hide(); + $w_ConfigureGimbal->cg_AlignYaw_Left1->Hide(); + $w_ConfigureGimbal->cg_AlignYaw_Right1->Hide(); + $w_ConfigureGimbal->cg_AlignYaw_Right2->Hide(); + $w_ConfigureGimbal->cg_AlignYaw_Right3->Hide(); + $w_ConfigureGimbal->cg_AlignYaw_Offset_label->Hide(); +} + +sub ConfigureGimbalShowAlignYawButtons{ + $w_ConfigureGimbal->cg_AlignYaw_Left3->Show(); + $w_ConfigureGimbal->cg_AlignYaw_Left2->Show(); + $w_ConfigureGimbal->cg_AlignYaw_Left1->Show(); + $w_ConfigureGimbal->cg_AlignYaw_Right1->Show(); + $w_ConfigureGimbal->cg_AlignYaw_Right2->Show(); + $w_ConfigureGimbal->cg_AlignYaw_Right3->Show(); + $w_ConfigureGimbal->cg_AlignYaw_Offset_label->Show(); +} + +sub ConfigureGimbalAlignYawUndo{ + TextOut( "\r\n".'Undo...' ); #do the commands in reverse order + #undo: set Rc Yaw Offset, Rc Yaw Mode, Rc Yaw + SendRcCmdwoOut( '04'. $ConfigureGimbal_RcYawMaxRes ); + TextOut( $ConfigureGimbal_RcYawMaxAdr.',' ); + SendRcCmdwoOut( '04'. $ConfigureGimbal_RcYawMinRes ); + TextOut( $ConfigureGimbal_RcYawMinAdr.',' ); + SendRcCmdwoOut( '04'. $ConfigureGimbal_RcYawOffsetRes ); + TextOut( $ConfigureGimbal_RcYawOffsetAdr.',' ); + _delay_ms( 1000 ); #wait to give the Offset command a chance before it is switched off + SendRcCmdwoOut( '04'. $ConfigureGimbal_RcYawModeRes ); + TextOut( $ConfigureGimbal_RcYawModeAdr.',' ); + SendRcCmdwoOut( '04'. $ConfigureGimbal_RcYawRes ); + TextOut( $ConfigureGimbal_RcYawAdr ); + TextOut( ' ok' ); +} + +sub ConfigureGimbalAlignYawMove{ + if( $ConfigureGimbal_AlignYawOffset > 450 ){ $ConfigureGimbal_AlignYawOffset = 450; } + if( $ConfigureGimbal_AlignYawOffset < -450 ){ $ConfigureGimbal_AlignYawOffset = -450; } + my $v= $ConfigureGimbal_AlignYawOffset; + $w_ConfigureGimbal->cg_AlignYaw_Offset_label->Text( sprintf("% .1f°", $v/10.0) ); + if( $v<0 ){ $v = $v+65536; } + $v= UIntToHexstrSwapped($v); #$v= UIntToHexstr($v); $v= substr($v,2,2).substr($v,0,2); + TextOut( "\r\n".'Move...' ); + SendRcCmdwoOut( '04'. UCharToHexstr($ConfigureGimbal_RcYawOffsetAdr).'00'.$v ); + TextOut( ' ok' ); +} + + +sub ConfigureGimbalDisableStepICheckboxes{ + $w_ConfigureGimbal->configuregimbal_Imu1_check->Disable(); + $w_ConfigureGimbal->configuregimbal_Imu2_check->Disable(); + $w_ConfigureGimbal->configuregimbal_MotorPoles_check->Disable(); + $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check->Disable(); +} + +sub ConfigureGimbalDisableStepIICheckboxes{ + $w_ConfigureGimbal->configuregimbal_MotorDirections_check->Disable(); + $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check->Disable(); + $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check->Disable(); +} + +my $ConfigureGimbal_StepNr = 0; +my $ConfigureGimbal_DoStepIIStart= -1; +my $ConfigureGimbal_Imu1No= -1; +my $ConfigureGimbal_Imu2No= -1; + +sub ConfigureGimbalInit3{ + my $xpos=shift; my $ypos=shift; + $xpos= 20; + $ypos= $ConfigureGimbalYsize -90; + $w_ConfigureGimbal->AddButton( -name=> 'configuregimbal_Continue', -font=> $StdWinFont, + -text=> 'Continue', -pos=> [$ConfigureGimbalXsize/2-40,$ypos], -width=> 80, + ); + $w_ConfigureGimbal->AddButton( -name=> 'configuregimbal_OK', -font=> $StdWinFont, + -text=> 'OK', -pos=> [$ConfigureGimbalXsize/2-40,$ypos], -width=> 80, + ); + $w_ConfigureGimbal->AddButton( -name=> 'configuregimbal_Cancel', -font=> $StdWinFont, + -text=> 'Cancel', -pos=> [$ConfigureGimbalXsize/2-40,$ypos+30], -width=> 80, + ); +} + + +sub configuregimbal_Cancel_Click{ + if( $ConfigureGimbal_AlignUndoandClosePort ){ ConfigureGimbalAlignYawUndo(); } +# ClosePort(); + TextOut( "\r\n".'Configure Gimbal Tool... ABORTED!'."\r\n"); + $ConfigureGimbalTool_IsRunning= 0; + $w_ConfigureGimbal->Hide(); + 1; +} + +sub configuregimbal_OK_Click{ + $ConfigureGimbal_StepNr = 1; + ConfigureGimbalDone(); #that's the second run +# ClosePort(); + TextOut( "\r\n".'Configure Gimbal Tool... DONE'."\r\n"); + $ConfigureGimbalTool_IsRunning= 0; + m_Read_Click(); + $w_ConfigureGimbal->Hide(); + 1; +} + +#the Continue Click function is the scheduler +# the scheduling uses the check boxes and the StepNr as state indicator +sub configuregimbal_Continue_Click{ + $w_ConfigureGimbal->configuregimbal_Continue->Disable(); + + if(( $w_ConfigureGimbal->configuregimbal_Imu1_check->Checked()>0 )or + ( $w_ConfigureGimbal->configuregimbal_Imu2_check->Checked()>0 )){ + ConfigureGimbalDisableStepICheckboxes(); + ConfigureGimbalImuOrientations(); return 1; + } + if( $w_ConfigureGimbal->configuregimbal_MotorPoles_check->Checked()>0 ){ + ConfigureGimbalDisableStepICheckboxes(); + ConfigureGimbalMotorPoles(); return 1; + } + if( $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check->Checked()>0 ){ + ConfigureGimbalDisableStepICheckboxes(); + ConfigureGimbalMotorDirectionsISetToAuto(); return 1; + } + + if(( $ConfigureGimbal_DoStepIIStart>0 )and + ( ($w_ConfigureGimbal->configuregimbal_MotorDirections_check->Checked()>0)or + ($w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check->Checked()>0)or + ($w_ConfigureGimbal->configuregimbal_YawMotorPosition_check->Checked()>0) ) ){ + ConfigureGimbalDisableStepICheckboxes(); + if($ConfigureGimbal_StepNr>0){ ConfigureGimbalDisableStepIICheckboxes(); } #keep them available initially! + ConfigureGimbalStepIIStart(); return 1; + } + if( $w_ConfigureGimbal->configuregimbal_MotorDirections_check->Checked()>0 ){ + ConfigureGimbalDisableStepIICheckboxes(); + ConfigureGimbalMotorDirections(); return 1; + } + if( $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check->Checked()>0 ){ + ConfigureGimbalDisableStepIICheckboxes(); + ConfigureGimbalPitchRollMotorPositions(); return 1; + } + if( $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check->Checked()>0 ){ + ConfigureGimbalDisableStepIICheckboxes(); + ConfigureGimbalYawMotorPosition(); return 1; + } + + ConfigureGimbalDisableStepICheckboxes(); + ConfigureGimbalDisableStepIICheckboxes(); + $ConfigureGimbal_StepNr = 0; + ConfigureGimbalDone(); + return 1; +} + + +# ConfigureGimbal: Welcome Page +sub ConfigureGimbalShow{ + my $Option; my $res1; my $res2; my $res3; + DataDisplayHalt(); + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_ConfigureGimbal->Move($x+110,$y+100); + + ConfigureGimbalHideMotorPoles(); + ConfigureGimbalHideAlignYawButtons(); + + $w_ConfigureGimbal->configuregimbal_Imu1_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_Imu1_check->Enable(); + $w_ConfigureGimbal->configuregimbal_Imu2_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_Imu2_check->Enable(); + $w_ConfigureGimbal->configuregimbal_MotorPoles_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_MotorPoles_check->Enable(); + $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check->Enable(); + + $w_ConfigureGimbal->configuregimbal_MotorDirections_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_MotorDirections_check->Enable(); + $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check->Enable(); + $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check->Enable(); + + $w_ConfigureGimbal->configuregimbal_FinishRestart_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_FinishRestart_check->Enable(); + $w_ConfigureGimbal->configuregimbal_FinishStore_check->Checked(1); + $w_ConfigureGimbal->configuregimbal_FinishStore_check->Enable(); + + $w_ConfigureGimbal->configuregimbal_Title->Text( 'Welcome' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText1->Text( + 'This tool allows you to set up those parameters, which are crucial for a correct gimbal operation.' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Connecting to board... Please wait!' ); + + $w_ConfigureGimbal->configuregimbal_Continue->Disable(); + $w_ConfigureGimbal->configuregimbal_Continue->Show(); + $w_ConfigureGimbal->configuregimbal_OK->Disable(); + $w_ConfigureGimbal->configuregimbal_OK->Hide(); + $w_ConfigureGimbal->configuregimbal_Cancel->Enable(); + $w_ConfigureGimbal->configuregimbal_Cancel->Show(); + + $w_ConfigureGimbal->configuregimbal_WikiHelp_link->Hide(); + + if( $ActiveBoardConfiguration == $BOARDCONFIGURATION_IS_FOC ){ + ConfigureGimbal_AdaptToBoardConfigurationFoc(); + } + + $w_ConfigureGimbal->Show(); + Win32::GUI::DoEvents(); + + TextOut( "\r\n".'Configure Gimbal Tool...' ); + SetDoFirstReadOut(0); + $ConfigureGimbalTool_IsRunning= 1; + if( not ConnectionIsValid() ){ + if( not OpenPort() ){ ClosePort(); $ConfigureGimbalTool_IsRunning= 0; goto WERROR; } + ClosePort(); #close it again + ConnectToBoardwoRead(); + } + #if a change in BoardConfiguration happens, this had been handled by ConnectToBoard + + TextOut( "\r\n".'Check connection...' ); + $res1= ExecuteCmd( 's', $CMD_s_PARAMETER_ZAHL*2 ); #####5*2 ); + if( substr($res1,length($res1)-1,1) ne 'o' ){ goto WERROR; } + TextOut( ' ok' ); + + TextOut( "\r\n".'Disable all motors...' ); + $Option= $NameToOptionHash{'Pitch Motor Usage'}; + $res1= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'.'0300' ); + if( $res1 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, 3 ); + $Option= $NameToOptionHash{'Roll Motor Usage'}; + $res2= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'.'0300' ); + if( $res2 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, 3 ); + $Option= $NameToOptionHash{'Yaw Motor Usage'}; + $res3= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'.'0300' ); + if( $res3 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, 3 ); + TextOut( ' ok' ); + + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( +'Please choose on the right the tasks, which you want to get done. + +For a first setup have all options checked. + +Please note: +- The motors were just disabled, as well as a heartbeat. +- Any changes to the parameters in the GUI, which you haven\'t written + to the board, will be lost. +- Several parameters will be modified in the course of the process, and + correctness cannot be ensured in the case of a premature abort. Do a + >Read< and double-check. + +Press >Continue< to go on.' + ); + $ConfigureGimbal_Imu1No= -1; + $ConfigureGimbal_Imu2No= -1; + $ConfigureGimbal_DoStepIIStart= 1; + $ConfigureGimbal_AlignUndoandClosePort= 0; + $ConfigureGimbal_AlignYawOffset= 0; + $ConfigureGimbal_StepNr = 0; + $w_ConfigureGimbal->configuregimbal_Continue->Enable(); + $w_ConfigureGimbal->configuregimbal_Continue->Show(); + return; +WERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". + 'Connection to board failed!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); +} + + +# ConfigureGimbal: StepI Imu Orientations Page +sub ConfigureGimbalImuOrientations{ +$w_ConfigureGimbal->configuregimbal_Continue->Disable(); +$w_ConfigureGimbal->configuregimbal_Continue->Show(); +my $doimu1 = $w_ConfigureGimbal->configuregimbal_Imu1_check->Checked(); +my $doimu2 = $w_ConfigureGimbal->configuregimbal_Imu2_check->Checked(); +my $s; +### do the FIRST PART +if($ConfigureGimbal_StepNr==0){ + $w_ConfigureGimbal->configuregimbal_Title->Text( 'Imu Orientations' ); + if( $doimu1 and $doimu2 ){ + $s = 'In this step, the orienation parameters for both Imu1 and Imu2 will be determined.'; + }elsif( $doimu1 ){ + $s = 'In this step, the orienation parameter for Imu1 will be determined.'; + }elsif( $doimu2 ){ + $s = 'In this step, the orienation parameter for Imu2 will be determined.'; + }else{ while(1){;} }#should not happen! + $w_ConfigureGimbal->configuregimbal_WelcomeText1->Text( $s ); + #check if imus are present and healthy + $s= ExecuteCmd( 's', $CMD_s_PARAMETER_ZAHL*2 ); ###5*2 ); + if( substr($s,length($s)-1,1) ne 'o' ){ goto WERROR; } + my @data = unpack( "v$CMD_s_PARAMETER_ZAHL", $s ); + #my $s2= UIntToBitstr( $data[1] ); #status + my $status= UIntToBitstr( $data[$DataStatus_p] ); #status + $s = ''; + if(( $doimu1 )and( not CheckStatus($status,$STATUS_IMU_PRESENT) )){ + $s .= 'Imu1 is not present or not healthy!' . "\r\n"; + } + if(( $doimu2 )and( not CheckStatus($status,$STATUS_IMU2_PRESENT) )){ + $s .= 'Imu2 is not present or not healthy!' . "\r\n"; + } + if( $s ne '' ){ + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $s. "\r\n" . 'Press >Cancel<.' ); + return; + } + my $NTBusErrors = $data[$DataError_p]; #NT bus error + if( $NTBusErrors > 10 ){ goto NTBUSERROR; } + #prepare next part + if( $doimu1 ){ + $s= 'Please level the CAMERA roughly by hand (should be within +-15°).' ."\r\n". "\r\n". + 'Press >Continue< to go on.'; + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $s ); + $ConfigureGimbal_StepNr = 1; + $w_ConfigureGimbal->configuregimbal_Continue->Enable(); + $w_ConfigureGimbal->configuregimbal_Continue->Show(); + return; + }else{ + $ConfigureGimbal_StepNr = 1; + } +} +### do the SECOND PART +if($ConfigureGimbal_StepNr==1){ + $ConfigureGimbal_Imu1No= -1; + $ConfigureGimbal_Imu2No= -1; + +### STEP: find imu z orientations + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Reading imu z orientation(s) ... Please wait!' ); + my $a1xF=0; my $a1yF=0; my $a1zF=0; my $a2xF=0; my $a2yF=0; my $a2zF=0; + my $a1x=0; my $a1y=0; my $a1z=0; my $a2x=0; my $a2y=0; my $a2z=0; + my $imu1z = ''; my $imu2z = ''; + my $i; my $n; + my $imu1loop = $doimu1; my $imu2loop = $doimu2; + ## LOOP: find imu z orientations + $i = 20*30; #30sec + while( $imu1loop or $imu2loop ){ + if( $i==0 ){ goto TIMEOUT; last; } $i--; #maximal 30sec + Win32::GUI::DoEvents(); + if( not $w_ConfigureGimbal->IsVisible() ){ return; } + _delay_ms(50); + my $s= ExecuteCmd( 'Cd', $CMD_Cd_PARAMETER_ZAHL*2 ); + my @CdData = unpack( "v$CMD_Cd_PARAMETER_ZAHL", $s ); + for(my $n=0;$n<$CMD_Cd_PARAMETER_ZAHL;$n++){ + if( substr($CdDataFormatStr,$n,1) eq 's' ){ if( $CdData[$n]>32768 ){ $CdData[$n]-=65536; } } + } + $a1xF+= 0.1*($CdData[0]-$a1xF); $a1yF+= 0.1*($CdData[1]-$a1yF); $a1zF+= 0.1*($CdData[2]-$a1zF); + $a2xF+= 0.1*($CdData[7]-$a2xF); $a2yF+= 0.1*($CdData[8]-$a2yF); $a2zF+= 0.1*($CdData[9]-$a2zF); + $a1x = $a1xF; $a1y = $a1yF; $a1z = $a1zF; + my $a1norm = sqrt( $a1x*$a1x + $a1y*$a1y + $a1z*$a1z ); + if( not $doimu1 or( $a1norm<100 )){ $imu1loop=0; } + if( $imu1loop ){ #0.85 = 31.8°, 0.9 = 25.8° + $a1x /= $a1norm; $a1y /= $a1norm; $a1z /= $a1norm; + if( $a1x > +0.85 ){ $imu1z = '+x'; } if( $a1x < -0.85 ){ $imu1z = '-x'; } + if( $a1y > +0.85 ){ $imu1z = '+y'; } if( $a1y < -0.85 ){ $imu1z = '-y'; } + if( $a1z > +0.85 ){ $imu1z = '+z'; } if( $a1z < -0.85 ){ $imu1z = '-z'; } + if( $imu1z ne '' ){ $imu1loop=0; }#stop + } + $a2x = $a2xF; $a2y = $a2yF; $a2z = $a2zF; + my $a2norm = sqrt( $a2x*$a2x + $a2y*$a2y + $a2z*$a2z ); + if( not $doimu2 or( $a2norm<100 )){ $imu2loop=0; } + if( $imu2loop ){ + $a2x /= $a2norm; $a2y /= $a2norm; $a2z /= $a2norm; + if( $a2x > +0.85 ){ $imu2z = '+x'; } if( $a2x < -0.85 ){ $imu2z = '-x'; } + if( $a2y > +0.85 ){ $imu2z = '+y'; } if( $a2y < -0.85 ){ $imu2z = '-y'; } + if( $a2z > +0.85 ){ $imu2z = '+z'; } if( $a2z < -0.85 ){ $imu2z = '-z'; } + if( $imu2z ne '' ){ $imu2loop=0; }#stop + } + } +#TextOut( "imu1z: ".$imu1z." , imu2z: ".$imu2z."\r\n" ); + _delay_ms(500); + +### STEP: find imu z orientations + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Please pitch (tilt) both the camera and gimbal down by ca. 45°, without rolling!'. "\r\n". + 'Hold them in this positon until the imu orientation(s) got detected.' . "\r\n"."\r\n". + 'You have ca. 2 min time before a timeout occurs.' . "\r\n". "\r\n". + 'Reading imu x orientation(s) ... Please wait!' ); + $a1xF=0; $a1yF=0; $a1zF=0; $a2xF=0; $a2yF=0; $a2zF=0; + my $a1xT=0; my $a1yT=0; my $a1zT=0; my $a2xT=0; my $a2yT=0; my $a2zT=0; + my $imu1x = ''; my $imu2x = ''; + $imu1loop = $doimu1; $imu2loop = $doimu2; + ## LOOP: find imu x orientations + $i = 2*20*40; #40sec + while( $imu1loop or $imu2loop ){ + $i--; #maximal 30sec + if( $i==0 ){ goto TIMEOUT; last; } ######TIMEOUT!!!! + Win32::GUI::DoEvents(); + if( not $w_ConfigureGimbal->IsVisible() ){ return; } + _delay_ms(50); + my $s= ExecuteCmd( 'Cd', $CMD_Cd_PARAMETER_ZAHL*2 ); + my @CdData = unpack( "v$CMD_Cd_PARAMETER_ZAHL", $s ); + for(my $n=0;$n<$CMD_Cd_PARAMETER_ZAHL;$n++){ + if( substr($CdDataFormatStr,$n,1) eq 's' ){ if( $CdData[$n]>32768 ){ $CdData[$n]-=65536; } } + } + $a1xF+= 0.1*($CdData[0]-$a1xF); $a1yF+= 0.1*($CdData[1]-$a1yF); $a1zF+= 0.1*($CdData[2]-$a1zF); + $a2xF+= 0.1*($CdData[7]-$a2xF); $a2yF+= 0.1*($CdData[8]-$a2yF); $a2zF+= 0.1*($CdData[9]-$a2zF); + $a1xT = $a1xF; $a1yT = $a1yF; $a1zT = $a1zF; + my $a1norm = sqrt( $a1xT*$a1xT + $a1yT*$a1yT + $a1zT*$a1zT ); + if( not $doimu1 or( $a1norm<100 )){ $imu1loop=0; } + if( $imu1loop ){ + $a1xT /= $a1norm; $a1yT /= $a1norm; $a1zT /= $a1norm; + if( $imu1z =~ m/x/ ){ #look for +-y or +-z + if(( abs($a1yT)>0.35 )and( abs($a1zT)<0.3 )){ if( $a1yT<0 ){$imu1x = '+y';}else{$imu1x = '-y';} } + if(( abs($a1zT)>0.35 )and( abs($a1yT)<0.3 )){ if( $a1zT<0 ){$imu1x = '+z';}else{$imu1x = '-z';} } + } + if( $imu1z =~ m/y/ ){ #look for +-x or +-z#if( $imu1z =~ m/y/ ){ #look for +-x or +-z + if(( abs($a1xT)>0.35 )and( abs($a1zT)<0.3 )){ if( $a1xT<0 ){$imu1x = '+x';}else{$imu1x = '-x';} } + if(( abs($a1zT)>0.35 )and( abs($a1xT)<0.3 )){ if( $a1zT<0 ){$imu1x = '+z';}else{$imu1x = '-z';} } + } + if( $imu1z =~ m/z/ ){ #look for +-x or +-y + if(( abs($a1xT)>0.35 )and( abs($a1yT)<0.3 )){ if( $a1xT<0 ){$imu1x = '+x';}else{$imu1x = '-x';} } + if(( abs($a1yT)>0.35 )and( abs($a1xT)<0.3 )){ if( $a1yT<0 ){$imu1x = '+y';}else{$imu1x = '-y';} } + } + if( $imu1x ne '' ){ $imu1loop=0; }#stop + } + $a2xT = $a2xF; $a2yT = $a2yF; $a2zT = $a2zF; + my $a2norm = sqrt( $a2xT*$a2xT + $a2yT*$a2yT + $a2zT*$a2zT ); + if( not $doimu2 or( $a2norm<100 )){ $imu2loop=0; } + if( $imu2loop ){ + $a2xT /= $a2norm; $a2yT /= $a2norm; $a2zT /= $a2norm; + if( $imu2z =~ m/x/ ){ #look for +-y or +-z + if(( abs($a2yT)>0.35 )and( abs($a2zT)<0.3 )){ if( $a2yT<0 ){$imu2x = '+y';}else{$imu2x = '-y';} } + if(( abs($a2zT)>0.35 )and( abs($a2yT)<0.3 )){ if( $a2zT<0 ){$imu2x = '+z';}else{$imu2x = '-z';} } + } + if( $imu2z =~ m/y/ ){ #look for +-x or +-z#if( $imu1z =~ m/y/ ){ #look for +-x or +-z + if(( abs($a2xT)>0.35 )and( abs($a2zT)<0.3 )){ if( $a2xT<0 ){$imu2x = '+x';}else{$imu2x = '-x';} } + if(( abs($a2zT)>0.35 )and( abs($a2xT)<0.3 )){ if( $a2zT<0 ){$imu2x = '+z';}else{$imu2x = '-z';} } + } + if( $imu2z =~ m/z/ ){ #look for +-x or +-y + if(( abs($a2xT)>0.35 )and( abs($a2yT)<0.3 )){ if( $a2xT<0 ){$imu2x = '+x';}else{$imu2x = '-x';} } + if(( abs($a2yT)>0.35 )and( abs($a2xT)<0.3 )){ if( $a2yT<0 ){$imu2x = '+y';}else{$imu2x = '-y';} } + } + if( $imu2x ne '' ){ $imu2loop=0; }#stop + } + } +#TextOut( "imu1x: ".$imu1x." , imu2x: ".$imu2x."\r\n" ); + #FIND matching orientation + my $option1; my $option2; + $n = 0; + foreach my $o (@ImuOrientationList){ + if(( substr($o->{axes},0,2) eq $imu1x )and( substr($o->{axes},6,2) eq $imu1z )){ + $option1= $o; $ConfigureGimbal_Imu1No= $n; + } + if(( substr($o->{axes},0,2) eq $imu2x )and( substr($o->{axes},6,2) eq $imu2z )){ + $option2= $o; $ConfigureGimbal_Imu2No= $n; + } + $n++; + } +#TextOut( "imu1: ".$option1->{axes}." , imu2: ".$option2->{axes}."\r\n" ); + $s = 'Imu orientations found.'."\r\n"; + if( $doimu1 ){ + $s .= ' Imu1 Orientation = no.'.$ConfigureGimbal_Imu1No.': '.$option1->{name}.' '.AxesRemovePlus($option1->{axes})."\r\n"; + } + if( $doimu2 ){ + $s .= ' Imu2 Orientation = no.'.$ConfigureGimbal_Imu2No.': '.$option2->{name}.' '.AxesRemovePlus($option2->{axes})."\r\n"; + } + $s .= "\r\n".'Press >Continue< to write the value(s) to the board, and to continue.'; + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $s ); + $ConfigureGimbal_StepNr = 2; + $w_ConfigureGimbal->configuregimbal_Continue->Enable(); + $w_ConfigureGimbal->configuregimbal_Continue->Show(); + return; +} +### do the LAST PART +if($ConfigureGimbal_StepNr==2){ + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( 'Writing imu orientation(s) ... Please wait!'); + _delay_ms(500); + #set Motor Usages + TextOut( "\r\n".'Writing imu orientation(s)...' ); + my $Option; my $res1 =''; my $res2 = ''; + if( $doimu1 and( $ConfigureGimbal_Imu1No>=0 )){ + $Option= $NameToOptionHash{'Imu Orientation'}; + $res1= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. UCharToHexstr($ConfigureGimbal_Imu1No).'00' ); + if( $res1 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, $ConfigureGimbal_Imu1No ); + } + if( $doimu2 and( $ConfigureGimbal_Imu2No>=0 )){ + $Option= $NameToOptionHash{'Imu2 Orientation'}; + $res2= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. UCharToHexstr($ConfigureGimbal_Imu2No).'00' ); + if( $res2 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, $ConfigureGimbal_Imu2No ); + } + TextOut( ' ok' ); + #finish things, and go to next page + $w_ConfigureGimbal->configuregimbal_Imu1_check->Checked(0); + $w_ConfigureGimbal->configuregimbal_Imu2_check->Checked(0); + $ConfigureGimbal_StepNr = 0; + configuregimbal_Continue_Click(); + return; +} +# http://www.olliw.eu/storm32bgc-wiki/Getting_Started#Basic_Controller_Configuration_Quick_Trouble_Shooting +# IMU1ERROR: this is done explicitely in the above for nicer display +# IMU2ERROR: this is done explicitely in the above for nicer display +NTBUSERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( +# $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". "\r\n". + 'NTBUS errors occured!' . "\r\n" . + 'For further help see the STorM32 wiki at' . "\r\n" . + ''. "\r\n". "\r\n". + 'Press >Cancel<.' ); + goto WIKILINK; +WIKILINK: + my $tx = 20; my $ty = 55 + 35 + 1*13; + $w_ConfigureGimbal->configuregimbal_WikiHelp_link->Move( $tx, $ty + 2*13 ); + $w_ConfigureGimbal->configuregimbal_WikiHelp_link->Show(); + return; +TIMEOUT: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". + 'Reading imu orientation(s) aborted ... TIMEOUT!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); + return; +WERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". + 'Writing to board failed!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); +} + + +# ConfigureGimbal: StepI Motor Poles Page +sub ConfigureGimbalMotorPoles{ +$w_ConfigureGimbal->configuregimbal_Continue->Disable(); +$w_ConfigureGimbal->configuregimbal_Continue->Show(); + my $Option; my $res1; my $res2; my $res3; my $poles; +### do the FISRT PART +if($ConfigureGimbal_StepNr==0){ + $w_ConfigureGimbal->configuregimbal_Title->Text( 'Motor Poles' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText1->Text( + 'In this step, the motor pole parameters will be configured.' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Set the number of motor poles for each motor:' . "\r\n". "\r\n". "\r\n". "\r\n". "\r\n". "\r\n". + 'Please note: +- The number of poles is the number of magnets in the motor bell. +- In a notation like 12N14P the motor pole number is 14.' . "\r\n". "\r\n". + 'Press >Continue< to write the values to the board, and to continue.' ); + ConfigureGimbalShowMotorPoles(); + ConfigureGimbalSetMotorPoles( 14, 14, 14 ); + $ConfigureGimbal_StepNr= 1; + $w_ConfigureGimbal->configuregimbal_Continue->Enable(); + $w_ConfigureGimbal->configuregimbal_Continue->Show(); + return; +} +### do the LAST PART +if($ConfigureGimbal_StepNr==1){ + ConfigureGimbalHideMotorPoles(); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Writing motor pole parameters ... Please wait!' ); + _delay_ms(500); + #set Motor Poles + TextOut( "\r\n".'Writing motor pole parameters...' ); + $res1 =''; $res2 = ''; $res3 = ''; + $Option= $w_ConfigureGimbal->cg_MotorPolesPitch; + $poles= $Option->GetString($Option->SelectedItem()); + if( $poles>=8 ){ + $Option= $NameToOptionHash{'Pitch Motor Poles'}; + $res1= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. UCharToHexstr($poles).'00' ); + if( $res1 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, $poles ); + } + $Option= $w_ConfigureGimbal->cg_MotorPolesRoll; + $poles= $Option->GetString($Option->SelectedItem()); + if( $poles>=8 ){ + $Option= $NameToOptionHash{'Roll Motor Poles'}; + $res1= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. UCharToHexstr($poles).'00' ); + if( $res1 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, $poles ); + } + $Option= $w_ConfigureGimbal->cg_MotorPolesYaw; + $poles= $Option->GetString($Option->SelectedItem()); + if( $poles>=8 ){ + $Option= $NameToOptionHash{'Yaw Motor Poles'}; + $res1= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. UCharToHexstr($poles).'00' ); + if( $res1 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, $poles ); + } + TextOut( ' ok' ); + #finish things, and go to next page + $w_ConfigureGimbal->configuregimbal_MotorPoles_check->Checked(0); + $ConfigureGimbal_StepNr = 0; + configuregimbal_Continue_Click(); + return; +} +WERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". + 'Writing to board failed!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); +} + + +# ConfigureGimbal: StepI Motor Directions I Page +sub ConfigureGimbalMotorDirectionsISetToAuto{ +$w_ConfigureGimbal->configuregimbal_Continue->Disable(); +$w_ConfigureGimbal->configuregimbal_Continue->Show(); + my $Option; my $res1; my $res2; my $res3; +### do the FIRST PART +if($ConfigureGimbal_StepNr==0){ + $w_ConfigureGimbal->configuregimbal_Title->Text( 'Motor Directions I' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText1->Text( + 'In this step, the motor direction parameters will be prepared.' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'The motor direction parameters will be configured to \'auto\'.' . "\r\n". "\r\n". + 'Press >Continue< to write the values to the board, and to continue.' ); + $ConfigureGimbal_StepNr= 1; + $w_ConfigureGimbal->configuregimbal_Continue->Enable(); + $w_ConfigureGimbal->configuregimbal_Continue->Show(); + return; +} +### do the LAST PART +if($ConfigureGimbal_StepNr==1){ + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Writing motor direction parameters ... Please wait!' ); + _delay_ms(500); + #set Motor Directions to auto + TextOut( "\r\n".'Writing motor direction parameters...' ); + $res1 =''; $res2 = ''; $res3 = ''; + $Option= $NameToOptionHash{'Pitch Motor Direction'}; + $res1= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. '0200' ); + if( $res1 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, 2 ); + $Option= $NameToOptionHash{'Roll Motor Direction'}; + $res2= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. '0200' ); + if( $res2 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, 2 ); + $Option= $NameToOptionHash{'Yaw Motor Direction'}; + $res3= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. '0200' ); + if( $res3 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, 2 ); + TextOut( ' ok' ); + #finish things, and go to next page + $w_ConfigureGimbal->configuregimbal_MotorDirectionsI_check->Checked(0); + $ConfigureGimbal_StepNr = 0; + configuregimbal_Continue_Click(); + return; +} +WERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". + 'Writing to board failed!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); +} + + +# ConfigureGimbal: StepII Restart Gimbal Page +sub ConfigureGimbalStepIIStart{ +$w_ConfigureGimbal->configuregimbal_Continue->Disable(); +$w_ConfigureGimbal->configuregimbal_Continue->Show(); + my $Option; my $res1; my $res2; my $res3; my $s; +### do the FIRST PART +if($ConfigureGimbal_StepNr==0){ + $w_ConfigureGimbal->configuregimbal_Title->Text( 'Restart Gimbal' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText1->Text( + 'In this step, the gimbal will be prepared and restarted.' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'The gimbal needs to be restarted and be in NORMAL state for the next steps to work.'. "\r\n"."\r\n". + 'This may fail in rare cases, when the PID parameters are grossly wrong. '. + 'If in doubt skip Step II by unchecking all of them, and store the '. + 'current settings and restart the gimbal by checking the Finish options. '. + 'Do a coarse PID tuning, and repeat this tool (you may skip Steps I). + +Please note: +- The motors will be enabled and the gimbal restarted. +- A battery needs to be connected to the board.' . "\r\n". "\r\n". + 'Press >Continue< to initiate the restart.' ); + $ConfigureGimbal_StepNr= 1; + $w_ConfigureGimbal->configuregimbal_Continue->Enable(); + $w_ConfigureGimbal->configuregimbal_Continue->Show(); + return; +} +### do the SECOND PART +if($ConfigureGimbal_StepNr==1){ + my $InfoText = ''; + #wait until battery is connected, otherwise the restart will progress to Normal without leveling and auto motor dir detection + # check also if IMU is present and healthy + $InfoText .= 'Check for battery ... '; + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $InfoText.'Please wait!' ); + _delay_ms(500); + my $checkvoltageloop = 1; + TextOut_( "\r\n".'Check for battery... ' ); + while( $checkvoltageloop ){ + Win32::GUI::DoEvents(); + if( not $w_ConfigureGimbal->IsVisible() ){ return; } + $s= ExecuteCmd( 's', $CMD_s_PARAMETER_ZAHL*2 ); ###5*2 ); + if( substr($s,length($s)-1,1) ne 'o' ){ goto WERROR }; + my @data = unpack( "v$CMD_s_PARAMETER_ZAHL", $s ); + my $status= UIntToBitstr( $data[$DataStatus_p] ); #status + if( not CheckStatus($status,$STATUS_IMU_PRESENT) ){ goto IMUERROR; } + if( CheckStatus($status,$STATUS_BAT_ISCONNECTED) and not CheckStatus($status,$STATUS_BAT_VOLTAGEISLOW) ){ + $checkvoltageloop= 0; last; + } + if( $checkvoltageloop==1 ){ + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $InfoText. "\r\n". "\r\n". 'PLEASE CONNECT A BATTERY!' ); + $checkvoltageloop= 2; + } + _delay_ms(100); + } + TextOut_( 'ok' ); + $InfoText .= 'ok'. "\r\n"; + $InfoText .= 'Enable all motors and restart the gimbal ... '; + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $InfoText.'Please wait!' ); + _delay_ms(500); + #set startup mode to normal, just in case + TextOut( "\r\n".'Set startup mode to normal...' ); + $res1 =''; + $Option= $NameToOptionHash{'Startup Mode'}; + $res1= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. '0000' ); + if( $res1 =~ /[tc]/ ){ goto WERROR; } + TextOut( ' ok' ); + SetOptionField( $Option, 0 ); + #set motor directions to auto, just in case + if( $w_ConfigureGimbal->configuregimbal_MotorDirections_check->Checked()>0 ){ + #$InfoText .= 'Setting motor directions to \'auto\' ... '; + #$w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $InfoText.'Please wait!' ); + #_delay_ms(500); + #set Motor Directions to auto + TextOut( "\r\n".'Writing motor direction parameters...' ); + $res1 =''; $res2 = ''; $res3 = ''; + $Option= $NameToOptionHash{'Pitch Motor Direction'}; + $res1= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. '0200' ); + if( $res1 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, 2 ); + $Option= $NameToOptionHash{'Roll Motor Direction'}; + $res2= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. '0200' ); + if( $res2 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, 2 ); + $Option= $NameToOptionHash{'Yaw Motor Direction'}; + $res3= SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00'. '0200' ); + if( $res3 =~ /[tc]/ ){ goto WERROR; } + SetOptionField( $Option, 2 ); + TextOut( ' ok' ); + #$InfoText .= 'ok'. "\r\n"; + } + #enable motors and restart + TextOut( "\r\n".'Enable all motors and restart controller...' ); + $s= ExecuteCmd( 'xW' ); + if( $s eq 'o' ){ TextOut_( 'ok' ); }else{ goto WERROR; } + #set Motor Usages + SetOptionField( $NameToOptionHash{'Pitch Motor Usage'}, 0 ); + SetOptionField( $NameToOptionHash{'Roll Motor Usage'}, 0 ); + SetOptionField( $NameToOptionHash{'Yaw Motor Usage'}, 0 ); + #read the status until its normal + $InfoText .= 'ok'. "\r\n". 'Waiting for NORMAL state ... '; + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $InfoText.'Please wait!' ); + _delay_ms(1000); #wait a bit longer for board to startup + my $checkstatusloop = 1; + my $comporterrorcount = 10; ##this is needed since UART sends some startup info stuff, good mechanism + my $normalreachedwaitcount = 10; ##lets the loop wait 1sec after NORNMAL was reached + TextOut_( "\r\n".'Waiting for NORMAL state... ' ); + while( $checkstatusloop ){ + Win32::GUI::DoEvents(); + if( not $w_ConfigureGimbal->IsVisible() ){ return; } + ##FlushPort(); ##this is needed since UART sends some startup info stuff + $s= ExecuteCmd( 's', $CMD_s_PARAMETER_ZAHL*2 ); + if( substr($s,length($s)-1,1) ne 'o' ){ + $comporterrorcount--; if( $comporterrorcount<=0 ){ goto WERROR; } next; + }; + my @data = unpack( "v$CMD_s_PARAMETER_ZAHL", $s ); + my $statetxt = toStateText( $data[$DataState_p] ); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $InfoText.'Please wait!' . "\r\n". "\r\n". 'STATE is '.$statetxt ); + #check integrity + my $status= UIntToBitstr( $data[$DataStatus_p] ); #status + if( CheckStatus($status,$STATUS_LEVEL_FAILED) ){ goto LEVELERROR; } + my $NTBusErrors = $data[$DataError_p]; #NT bus error + if( $NTBusErrors>10 ){ goto NTBUSERROR; } + if( not CheckStatus($status,$STATUS_IMU_PRESENT) ){ goto IMUERROR; } + _delay_ms(100); + if( $statetxt eq 'NORMAL' ){ #last; } + $normalreachedwaitcount--; if( $normalreachedwaitcount<=0 ){ last; } #wait 1sec + } + } + TextOut_( 'ok' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $InfoText.'ok' ); + #finish things, and go to next page + $ConfigureGimbal_DoStepIIStart = 0; + $ConfigureGimbal_StepNr = 0; + configuregimbal_Continue_Click(); + return; +} +### do the LAST PART +# http://www.olliw.eu/storm32bgc-wiki/Getting_Started#Basic_Controller_Configuration_Quick_Trouble_Shooting +IMUERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". "\r\n". + 'Imu1 is not present or not healthy!' . "\r\n" . + 'For further help see the STorM32 wiki at' . "\r\n" . + ''. "\r\n". "\r\n". + 'Press >Cancel<.' ); + goto WIKILINK; +NTBUSERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". "\r\n". + 'NT bus errors occured!' . "\r\n" . + 'For further help see the STorM32 wiki at' . "\r\n" . + ''. "\r\n". "\r\n". + 'Press >Cancel<.' ); + goto WIKILINK; +LEVELERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". "\r\n". + 'The gimbal could not level within reasonable time, and abborted!' . "\r\n" . + 'For further help see the STorM32 wiki at' . "\r\n" . + ''. "\r\n". "\r\n". + 'Press >Cancel<.' ); + goto WIKILINK; +WIKILINK: + my $tx = 20; my $ty = 55 + 35 + 1*13; + $w_ConfigureGimbal->configuregimbal_WikiHelp_link->Move( $tx, $ty + 8*13 ); + $w_ConfigureGimbal->configuregimbal_WikiHelp_link->Show(); + return; +WERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". "\r\n". + 'Writing to board failed!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); +} + + +# ConfigureGimbal: StepII Motor Directions Page +sub ConfigureGimbalMotorDirections{ +$w_ConfigureGimbal->configuregimbal_Continue->Disable(); +$w_ConfigureGimbal->configuregimbal_Continue->Show(); + my $Option; my $res1; my $res2; my $res3; my $poles; +### do the FISRT PART +if($ConfigureGimbal_StepNr==0){ + $w_ConfigureGimbal->configuregimbal_Title->Text( 'Motor Directions' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText1->Text( + 'In this step, the motor direction parameters will be determined.' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'The current motor directions will be read from the board and copied to the motor direction parameters.' + . "\r\n". "\r\n". + 'Press >Continue< to write the values to the board, and to continue.' ); + $ConfigureGimbal_StepNr= 1; + $w_ConfigureGimbal->configuregimbal_Continue->Enable(); + $w_ConfigureGimbal->configuregimbal_Continue->Show(); + return; +} +### do the LAST PART +if($ConfigureGimbal_StepNr==1){ + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Get current motor directions ... Please wait!' ); + _delay_ms(500); + #get Motor Directions + TextOut_( "\r\n".'Get current motor directions... ' ); +##$ExtendedTimoutFirst = 200; #extend timeout + my $s= ExecuteCmd( 'xm' ); + if( $s eq 'o' ){ TextOut_( 'ok' ); }else{ goto WERROR; } + #read Motor Directions + $Option= $NameToOptionHash{'Pitch Motor Direction'}; +## $res1= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' , 12 ); + $res1= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' ); + if( $res1 =~ /[tc]/ ){ goto WERROR; } + $res1= ExtractPayloadFromRcCmd($res1); + SetOptionField( $Option, substr($res1,4,2) ); + $Option= $NameToOptionHash{'Roll Motor Direction'}; +## $res2= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' , 12 ); + $res2= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' ); + if( $res2 =~ /[tc]/ ){ goto WERROR; } + $res2= ExtractPayloadFromRcCmd($res2); + SetOptionField( $Option, substr($res2,4,2) ); + $Option= $NameToOptionHash{'Yaw Motor Direction'}; +## $res3= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' , 12 ); + $res3= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' ); + if( $res3 =~ /[tc]/ ){ goto WERROR; } + $res3= ExtractPayloadFromRcCmd($res3); + SetOptionField( $Option, substr($res3,4,2) ); + #finish things, and go to next page + $w_ConfigureGimbal->configuregimbal_MotorDirections_check->Checked(0); + $ConfigureGimbal_StepNr = 0; + configuregimbal_Continue_Click(); + return; +} +WERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". + 'Writing to board failed!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); +} + + +# ConfigureGimbal: StepII Pitch and Roll Motor Positions Page +sub ConfigureGimbalPitchRollMotorPositions{ +$w_ConfigureGimbal->configuregimbal_Continue->Disable(); +$w_ConfigureGimbal->configuregimbal_Continue->Show(); + my $Option; my $res1; my $res2; my $res3; my $poles; +### do the FISRT PART +if($ConfigureGimbal_StepNr==0){ + $w_ConfigureGimbal->configuregimbal_Title->Text( 'Pitch and Roll Motor Positions' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText1->Text( + 'In this step, the pitch and roll motor startup position parameters will be determined.' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'The current pitch and roll motor positions will be read from the board and copied to the respective startup position parameters.' + . "\r\n". "\r\n". + 'Press >Continue< to write the values to the board, and to continue.' ); + $ConfigureGimbal_StepNr= 1; + $w_ConfigureGimbal->configuregimbal_Continue->Enable(); + $w_ConfigureGimbal->configuregimbal_Continue->Show(); + return; +} +### do the LAST PART +if($ConfigureGimbal_StepNr==1){ + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Get current pitch and roll motor positions ... Please wait!' ); + _delay_ms(500); + #get Motor Positions + TextOut_( "\r\n".'Get current pitch and roll motor positions... ' ); +$ExtendedTimoutFirst = 200; #extend timeout + my $s= ExecuteCmd( 'xz' ); + if( $s eq 'o' ){ TextOut_( 'ok' ); }else{ goto WERROR; } + #read Startup Motor Positions + $Option= $NameToOptionHash{'Pitch Startup Motor Pos'}; +## $res1= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' , 12 ); + $res1= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' ); + if( $res1 =~ /[tc]/ ){ goto WERROR; } + $res1= ExtractPayloadFromRcCmd($res1); + SetOptionField( $Option, HexstrToDez(substr($res1,6,2).substr($res1,4,2)) ); + $Option= $NameToOptionHash{'Roll Startup Motor Pos'}; +## $res2= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' , 12 ); + $res2= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' ); + if( $res2 =~ /[tc]/ ){ goto WERROR; } + $res2= ExtractPayloadFromRcCmd($res2); + SetOptionField( $Option, HexstrToDez(substr($res2,6,2).substr($res2,4,2)) ); + #finish things, and go to next page + $w_ConfigureGimbal->configuregimbal_PitchRollMotorPositions_check->Checked(0); + $ConfigureGimbal_StepNr = 0; + configuregimbal_Continue_Click(); + return; +} +WERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". + 'Writing to board failed!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); +} + + +# ConfigureGimbal: StepII Yaw Motor Position Page +sub ConfigureGimbalYawMotorPosition{ +$w_ConfigureGimbal->configuregimbal_Continue->Disable(); +$w_ConfigureGimbal->configuregimbal_Continue->Show(); + my $Option; my $res1; my $res2; my $res3; my $res; +### do the FISRT PART +if($ConfigureGimbal_StepNr==0){ + $w_ConfigureGimbal->configuregimbal_Title->Text( 'Align Yaw Axis' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText1->Text( + 'In this step, the yaw motor position parameter will be adjusted such that the yaw axis points forward at power up.' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Some parameters are prepared ... Please wait!' ); + $ConfigureGimbal_AlignUndoandClosePort= 0; + $ConfigureGimbal_AlignYawOffset= 0; + Win32::GUI::DoEvents(); + TextOut( "\r\n".'Reading...' ); + #get Rc Yaw, Rc Yaw Mode, Rc Yaw Offset, Rc Yaw Min, Rc Yaw Max + $ConfigureGimbal_RcYawAdr= $NameToOptionHash{'Rc Yaw'}->{adr}; + TextOut( $ConfigureGimbal_RcYawAdr.',' ); + $ConfigureGimbal_RcYawRes= SendRcCmdwoOut( '03'. UCharToHexstr($ConfigureGimbal_RcYawAdr).'00' ); + $ConfigureGimbal_RcYawModeAdr= $NameToOptionHash{'Rc Yaw Mode'}->{adr}; + TextOut( $ConfigureGimbal_RcYawModeAdr.',' ); + $ConfigureGimbal_RcYawModeRes= SendRcCmdwoOut( '03'. UCharToHexstr($ConfigureGimbal_RcYawModeAdr).'00' ); + $ConfigureGimbal_RcYawOffsetAdr= $NameToOptionHash{'Rc Yaw Offset'}->{adr}; + TextOut( $ConfigureGimbal_RcYawOffsetAdr.',' ); + $ConfigureGimbal_RcYawOffsetRes= SendRcCmdwoOut( '03'. UCharToHexstr($ConfigureGimbal_RcYawOffsetAdr).'00' ); + $ConfigureGimbal_RcYawMinAdr= $NameToOptionHash{'Rc Yaw Min'}->{adr}; + TextOut( $ConfigureGimbal_RcYawMinAdr.',' ); + $ConfigureGimbal_RcYawMinRes= SendRcCmdwoOut( '03'. UCharToHexstr($ConfigureGimbal_RcYawMinAdr).'00' ); + $ConfigureGimbal_RcYawMaxAdr= $NameToOptionHash{'Rc Yaw Max'}->{adr}; + TextOut( $ConfigureGimbal_RcYawMaxAdr ); + $ConfigureGimbal_RcYawMaxRes= SendRcCmdwoOut( '03'. UCharToHexstr($ConfigureGimbal_RcYawMaxAdr).'00' ); + #check + if(( $ConfigureGimbal_RcYawRes =~ /[tc]/ )or( $ConfigureGimbal_RcYawModeRes =~ /[tc]/ )or + ( $ConfigureGimbal_RcYawOffsetRes =~ /[tc]/ )or( $ConfigureGimbal_RcYawMinRes =~ /[tc]/ )or + ( $ConfigureGimbal_RcYawMaxRes =~ /[tc]/ )){ goto WERROR; } + #extract payloads + $ConfigureGimbal_RcYawRes= ExtractPayloadFromRcCmd( $ConfigureGimbal_RcYawRes ); + $ConfigureGimbal_RcYawModeRes= ExtractPayloadFromRcCmd( $ConfigureGimbal_RcYawModeRes ); + $ConfigureGimbal_RcYawOffsetRes= ExtractPayloadFromRcCmd( $ConfigureGimbal_RcYawOffsetRes ); + $ConfigureGimbal_RcYawMinRes= ExtractPayloadFromRcCmd( $ConfigureGimbal_RcYawMinRes ); + $ConfigureGimbal_RcYawMaxRes= ExtractPayloadFromRcCmd( $ConfigureGimbal_RcYawMaxRes ); + #set Rc Yaw, Rc Yaw Mode, Rc Yaw Offset + TextOut( '...setting to default... ' ); + SendRcCmdwoOut( '04'. UCharToHexstr($ConfigureGimbal_RcYawAdr).'00'.'0000' ); + SendRcCmdwoOut( '04'. UCharToHexstr($ConfigureGimbal_RcYawModeAdr).'00'.'0000' ); + SendRcCmdwoOut( '04'. UCharToHexstr($ConfigureGimbal_RcYawOffsetAdr).'00'.'0000' ); + SendRcCmdwoOut( '04'. UCharToHexstr($ConfigureGimbal_RcYawMinAdr).'00'.'3EFE' ); #-450 = FE3E + SendRcCmdwoOut( '04'. UCharToHexstr($ConfigureGimbal_RcYawMaxAdr).'00'.'C201' ); #+450 = 01C2 + TextOut( 'ok' ); + $ConfigureGimbal_AlignUndoandClosePort= 1; + Win32::GUI::DoEvents(); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Align the yaw axis using these buttons:' . "\r\n". + "\r\n". "\r\n". "\r\n". "\r\n". + 'When the yaw axis is aligned, press >Continue< to write the values to the board, and to continue.' . "\r\n" . + "\r\n". +'Please note: +- The alignment will be undone with the next step. Don\'t worry, that\'s + normal, it will become effective at the next power up.' + ); + ConfigureGimbalShowAlignYawButtons(); + $ConfigureGimbal_StepNr= 1; + $w_ConfigureGimbal->configuregimbal_Continue->Enable(); + $w_ConfigureGimbal->configuregimbal_Continue->Show(); + return; +} +### do the LAST PART +if($ConfigureGimbal_StepNr==1){ + if( $ConfigureGimbal_AlignUndoandClosePort<1 ){ return 0; } ###this should never happen! + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'Get current yaw motor position ... Please wait!' ); + _delay_ms(500); + #get Motor Position + TextOut_( "\r\n".'Get current yaw motor position... ' ); + my $s= ExecuteCmd( 'xy' ); + if( $s eq 'o' ){ TextOut_( 'ok' ); }else{ goto WERROR; } + #read Startup Motor Position + $Option= $NameToOptionHash{'Yaw Startup Motor Pos'}; +## $res1= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' , 12 ); + $res1= SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' ); + $res1= ExtractPayloadFromRcCmd($res1); + SetOptionField( $Option, HexstrToDez(substr($res1,6,2).substr($res1,4,2)) ); + $ConfigureGimbal_AlignUndoandClosePort= 0; + ConfigureGimbalAlignYawUndo(); + #finish things, and go to next page + $w_ConfigureGimbal->configuregimbal_YawMotorPosition_check->Checked(0); + $ConfigureGimbal_StepNr = 0; + configuregimbal_Continue_Click(); + return; +} +WERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". + 'Writing to board failed!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); +} + + +# ConfigureGimbal: Finish Page +sub ConfigureGimbalDone{ + my $Option; my $res1; my $res2; my $res3; +### do the FISRT PART +if($ConfigureGimbal_StepNr==0){ + $w_ConfigureGimbal->configuregimbal_Title->Text( 'Finish' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText1->Text( + 'The basic setup of your gimbal has been completed now.' ); + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + 'The next step would be to tune the PID parameters.' . "\r\n"."\r\n". + 'It is also strongly recommended to calibrate the imu(s).' . "\r\n"."\r\n". + 'The determined parameters were written to the board, but not yet stored '. + 'into the EEprom. Also, the motors might be still disabled.' . "\r\n"."\r\n". + 'In order to enable the motors and restart the gimbal, and/or store the '. + 'settings permanently, check the respective Finish options on the right.' . "\r\n"."\r\n". + 'Have fun :)' + ); + $w_ConfigureGimbal->configuregimbal_Continue->Hide(); + $w_ConfigureGimbal->configuregimbal_Cancel->Hide(); + $w_ConfigureGimbal->configuregimbal_OK->Enable(); + $w_ConfigureGimbal->configuregimbal_OK->Show(); + $ConfigureGimbal_StepNr= 1; + return; +} +### do the LAST PART +if($ConfigureGimbal_StepNr==1){ + $w_ConfigureGimbal->configuregimbal_OK->Disable(); + $w_ConfigureGimbal->configuregimbal_OK->Show(); + my $dorestart = $w_ConfigureGimbal->configuregimbal_FinishRestart_check->Checked(); + my $dostore = $w_ConfigureGimbal->configuregimbal_FinishStore_check->Checked(); + if(( $dorestart<1 )and( $dostore<1 )){ return; } #nothing to do + my $InfoText = ''; my $s; + if( $dorestart>0 ){ + $InfoText .= 'Enable all motors and restart the gimbal ... '; + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $InfoText.'Please wait!' ); + _delay_ms(500); + #enable motors and restart + TextOut( "\r\n".'Enable all motors and restart controller... ' ); + $s= ExecuteCmd( 'xW' ); + if( $s eq 'o' ){ TextOut_( 'ok' ); }else{ goto WERROR; } + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $InfoText.'ok' ); + #set Motor Usages + SetOptionField( $NameToOptionHash{'Pitch Motor Usage'}, 0 ); + SetOptionField( $NameToOptionHash{'Roll Motor Usage'}, 0 ); + SetOptionField( $NameToOptionHash{'Yaw Motor Usage'}, 0 ); + $InfoText .= 'ok' . "\r\n"; + } + _delay_ms(500); + if( $dostore>0 ){ + if( $dorestart>0 ){_delay_ms(1500); } #give the controller sufficient time to boot up, and drive up the motors + $InfoText .= 'Store to EEPROM ... '; + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $InfoText.'Please wait!' ); + _delay_ms(500); + #enable motors and restart + TextOut( "\r\n".'Store to EEPROM... ' ); + SetExtendedTimoutFirst(1000); #StoreToEerpom can take a while! so extend timeout + $s= ExecuteCmd( 'xs' ); + if( $s eq 'o' ){ TextOut_( 'ok' ); }else{ goto WERROR; } + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $InfoText.'ok' ); + $InfoText .= 'ok' . "\r\n"; + } + $InfoText .= "\r\n" . 'Goodbye and have fun :)'; + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( $InfoText ); + _delay_ms(1000); + return; +} +WERROR: + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text( + $w_ConfigureGimbal->configuregimbal_WelcomeText2->Text(). "\r\n". + 'Writing to board failed!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); +} + + + + +# Ende # CONFIGURE GIMBAL Tool Window +############################################################################### + + + + + + + + + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# ACC 1-POINT CALIBRATION Tool Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# +$xsize= 0; +$ysize= 0; + +#my $Acc16PCalibration_IsRunning= 0; #defined above + +my $Acc16PCalibration_ImuNr= 0; #0: Imu, 1: Imu2 +my $Acc16PCalibration_Is1Point= 1; + +my $Acc16PCalXPos= 80; +my $Acc16PCalYPos= 80; + +my $Acc16PCalXSize= 600; +my $Acc16PCalYSize= 480; + +my $Acc16PCalibrationOKCancelButtonPosX; ##is set in init +my $Acc16PCalibrationOKCancelButtonPosY; ##is set in init + +my $Acc16PCalBackgroundColor= [96,96,96]; + +# is used already by configuregimbal tool +#my $CMD_Cd_PARAMETER_ZAHL = 14; +#my $CdDataFormatStr= 'sss'.'sss'.'s'.'sss'.'sss'.'s'; +#if( length($CdDataFormatStr)!=$CMD_Cd_PARAMETER_ZAHL ){ die;} + +#_i is the index in the @DataMatrix, _p is the index in the recieved data format +# data array: index in DataMatrix index in 'd' cmd response str +my @CdDataAx= (); my $CdDataAx_i= 0; my $CdDataAx_p= 0; +my @CdDataAy= (); my $CdDataAy_i= 1; my $CdDataAy_p= 1; +my @CdDataAz= (); my $CdDataAz_i= 2; my $CdDataAz_p= 2; +my @CdDataGx= (); my $CdDataGx_i= 3; my $CdDataGx_p= 3; +my @CdDataGy= (); my $CdDataGy_i= 4; my $CdDataGy_p= 4; +my @CdDataGz= (); my $CdDataGz_i= 5; my $CdDataGz_p= 5; +my @CdDataTemp= (); my $CdDataTemp_i= 6; my $CdDataTemp_p= 6; + +my @CdDataAx2= (); my $CdDataAx2_i= 7; my $CdDataAx2_p= 7; +my @CdDataAy2= (); my $CdDataAy2_i= 8; my $CdDataAy2_p= 8; +my @CdDataAz2= (); my $CdDataAz2_i= 9; my $CdDataAz2_p= 9; +my @CdDataGx2= (); my $CdDataGx2_i= 10; my $CdDataGx2_p= 10; +my @CdDataGy2= (); my $CdDataGy2_i= 11; my $CdDataGy2_p= 11; +my @CdDataGz2= (); my $CdDataGz2_i= 12; my $CdDataGz2_p= 12; +my @CdDataTemp2= (); my $CdDataTemp2_i= 13; my $CdDataTemp2_p= 13; + +my @CdDataMatrix = ( + \@CdDataAx, \@CdDataAy, \@CdDataAz, \@CdDataGx, \@CdDataGy, \@CdDataGz, \@CdDataTemp, + \@CdDataAx2, \@CdDataAy2, \@CdDataAz2, \@CdDataGx2, \@CdDataGy2, \@CdDataGz2, \@CdDataTemp2, + ); + + +my $CdDataPos= 0; #position in data array +my $CdDataTimeCounter= 0; #slows down update +my $CdDataCounter= 0; +my $ExecuteCmdMutex= 0; + +#my @xLipoVoltageText= ( 'OK', 'LOW', ' ' ); +my @AccAcceptPointColors= ( $Acc16PCalBackgroundColor, [128,128,255], [255,50,50], [128,128,128]); #std, grün, rot, grau + +my $w_Acc16PCalibration= Win32::GUI::DialogBox->new( -name=> 'acc16pcal_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> $BGCStr." 1-Point Acc Calibration", + -pos=> [$Acc16PCalXPos,$Acc16PCalYPos], + -size=> [$Acc16PCalXSize,$Acc16PCalYSize], + -helpbox => 0, + -background=>$Acc16PCalBackgroundColor, +); +$w_Acc16PCalibration->SetIcon($Icon); + +my $Acc16PCalIsInitialized = 0; + +sub Acc16PCalInit{ + if( $Acc16PCalIsInitialized>0 ){ return; } + $Acc16PCalIsInitialized = 1; + my $xpos= 5; + my $ypos= 5; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_IntroAAA_label', -font=> $StdWinFont, + -text=> '1-Point accelerometer calibration for', -pos=> [$xpos,$ypos], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_ImuNr_label', -font=> $StdWinFont, + -text=> ' Imu (camera IMU) ', -pos=> [$xpos+$w_Acc16PCalibration->acc16pcal_IntroAAA_label->Width()+3,$ypos], + -background=>[0,255,0], #-foreground=> [0,255,255], + ); + $w_Acc16PCalibration->AddCheckbox( -name=> 'acc16pcal_overwritewarnings', -font=> $StdWinFont, + -size=>[14,14],-pos=> [$Acc16PCalXSize-20,$ypos], + -background=>$Acc16PCalBackgroundColor, -foreground=> [0,0,0], + -onClick => sub{ if($_[0]->GetCheck()){ Acc16PCalibrationEnableAllAcceptPointButtons(); } 1; } + ); + $xpos= 40; + $ypos= 10 + 3*13; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_ax_label', -font=> $StdWinFont, + -text=> 'ax', -pos=> [$xpos,$ypos], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddTextfield( -name=> 'acc16pcal_ax', -font=> $StdWinFont, + -pos=> [$xpos+$w_Acc16PCalibration->acc16pcal_ax_label->Width()+3,$ypos-3], -size=> [55,23], + -align=> 'center', + -readonly=> 1, -background=>$AccCalibDataColor, + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_ay_label', -font=> $StdWinFont, + -text=> 'ay', -pos=> [$xpos+90,$ypos], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddTextfield( -name=> 'acc16pcal_ay', -font=> $StdWinFont, + -pos=> [$xpos+90+$w_Acc16PCalibration->acc16pcal_ay_label->Width()+3,$ypos-3], -size=> [55,23], + -align=> 'center', + -readonly=> 1, -background=>$AccCalibDataColor, + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_az_label', -font=> $StdWinFont, + -text=> 'az', -pos=> [$xpos+180,$ypos], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddTextfield( -name=> 'acc16pcal_az', -font=> $StdWinFont, + -pos=> [$xpos+180+$w_Acc16PCalibration->acc16pcal_az_label->Width()+3,$ypos-3], -size=> [55,23], + -align=> 'center', + -readonly=> 1, -background=>$AccCalibDataColor, + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_temp_label', -font=> $StdWinFont, + -text=> 'T', -pos=> [$xpos+270,$ypos], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddTextfield( -name=> 'acc16pcal_temp', -font=> $StdWinFont, + -pos=> [$xpos+270+$w_Acc16PCalibration->acc16pcal_temp_label->Width()+3,$ypos-3], -size=> [55,23], + -align=> 'center', + -readonly=> 1, -background=>$AccCalibDataColor, + ); + $xpos= 40; + $ypos+= 30; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_ax_av', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+$w_Acc16PCalibration->acc16pcal_ax_label->Width()+3,$ypos-3], -size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_ax_sig', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+$w_Acc16PCalibration->acc16pcal_ax_label->Width()+3,$ypos-3 +20], -size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_ay_av', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+90+$w_Acc16PCalibration->acc16pcal_ay_label->Width()+3,$ypos-3], -size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_ay_sig', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+90+$w_Acc16PCalibration->acc16pcal_ay_label->Width()+3,$ypos-3 +20], -size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_az_av', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+180+$w_Acc16PCalibration->acc16pcal_az_label->Width()+3,$ypos-3], -size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_az_sig', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+180+$w_Acc16PCalibration->acc16pcal_az_label->Width()+3,$ypos-3 +20], -size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_temp_av', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+270+$w_Acc16PCalibration->acc16pcal_temp_label->Width()+3,$ypos-3], -size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddButton( -name=> 'acc16pcal_Start', -font=> $StdWinFont, + -text=> 'Start', -pos=> [$xpos+375+10,$ypos-3 -30], -width=> 80, + -onClick => sub{ Acc16PCalibrationStart(); 1; } + ); + $xpos= 360; + $ypos= 120 +2*13-10; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Zero_label', -font=> $StdWinFont, + -text=> 'Zero', -pos=> [$xpos-1-30,$ypos+1*13], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Scale_label', -font=> $StdWinFont, + -text=> 'Scale', -pos=> [$xpos-1-30,$ypos+3*13], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_AccX_label', -font=> $StdWinFont, + -text=> ' ax', -pos=> [$xpos-1,$ypos-7], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddTextfield( -name=> 'acc16pcal_AccXZero', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+1*13-4], -size=> [60,23], + -align=> "right", + -readonly=> 1, -background=>$AccCalibDataColor, + ); + $w_Acc16PCalibration->AddTextfield( -name=> 'acc16pcal_AccXScale', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+3*13-4], -size=> [60,23], + -align=> "right", + -readonly=> 1, -background=>$AccCalibDataColor, + ); + $xpos+= 70; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_AccY_label', -font=> $StdWinFont, + -text=> ' ay', -pos=> [$xpos-1,$ypos-7], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddTextfield( -name=> 'acc16pcal_AccYZero', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+1*13-4], -size=> [60,23], + -align=> "right", + -readonly=> 1, -background=>$AccCalibDataColor, + ); + $w_Acc16PCalibration->AddTextfield( -name=> 'acc16pcal_AccYScale', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+3*13-4], -size=> [60,23], + -align=> "right", + -readonly=> 1, -background=>$AccCalibDataColor, + ); + $xpos+= 70; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_AccZ_label', -font=> $StdWinFont, + -text=> ' az', -pos=> [$xpos-1,$ypos-7], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddTextfield( -name=> 'acc16pcal_AccZZero', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+1*13-4], -size=> [60,23], + -align=> "right", + -readonly=> 1, -background=>$AccCalibDataColor, + ); + $w_Acc16PCalibration->AddTextfield( -name=> 'acc16pcal_AccZScale', -font=> $StdWinFont, + -pos=> [$xpos,$ypos+3*13-4], -size=> [60,23], + -align=> "right", + -readonly=> 1, -background=>$AccCalibDataColor, + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Quality_label', -font=> $StdWinFont, + -text=> 'quality:', -pos=> [$xpos-140,$ypos+5*13],-width=> 160, + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $xpos= 425; + $ypos= 220; + $Acc16PCalibrationOKCancelButtonPosX= $xpos; + $Acc16PCalibrationOKCancelButtonPosY= $ypos-3; + $w_Acc16PCalibration->AddButton( -name=> 'acc16pcal_OK', -font=> $StdWinFont, + -text=> 'OK', -pos=> [$xpos,$ypos-3], -width=> 80, + -onClick => sub{ + AccCalibrateTabSetCalibration( $w_Acc16PCalibration->acc16pcal_AccXZero->Text(), + $w_Acc16PCalibration->acc16pcal_AccYZero->Text(), + $w_Acc16PCalibration->acc16pcal_AccZZero->Text(), + $w_Acc16PCalibration->acc16pcal_AccXScale->Text(), + $w_Acc16PCalibration->acc16pcal_AccYScale->Text(), + $w_Acc16PCalibration->acc16pcal_AccZScale->Text() + ); + Acc16PCalibrationHalt(); $w_Acc16PCalibration->Hide(); + TextOut( "\r\n".'Acc Calibration Tool... DONE'."\r\n" ); + 0; } + ); + $w_Acc16PCalibration->AddButton( -name=> 'acc16pcal_Cancel', -font=> $StdWinFont, + -text=> 'Cancel', -pos=> [$xpos,$ypos-3 +30], -width=> 80, + -onClick => sub{ acc16pcal_Window_Terminate(); 0 } + ); + $w_Acc16PCalibration->AddButton( -name=> 'acc16pcal_SaveToFile', -font=> $StdWinFont, + -text=> 'Save to File', -pos=> [$xpos,$ypos-3 +30 + 45+10], -width=> 80, -height=> 15, + -onClick => sub{ Acc16PCalibrationSave6PointCalibrationData(); 1; } + ); + $xpos= 45; + $ypos= 120 + 3*13-10; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point1_label', -font=> $StdWinFont, + -text=> '1. Point (+Z)', -pos=> [$xpos-15,$ypos], #-size=> [55,23], + -background=> $Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddButton( -name=> 'acc16pcal_Point1_button', -font=> $StdWinFont, + -text=> 'Accept current readings', -pos=> [$xpos+50,$ypos-3], -width=> 160, + -onClick => sub{ + Acc16PCalibrationSetPoint1( + $w_Acc16PCalibration->acc16pcal_ax_av->Text(), + $w_Acc16PCalibration->acc16pcal_ay_av->Text(), + $w_Acc16PCalibration->acc16pcal_az_av->Text() ); + if($Acc16PCalibration_Is1Point){ + Acc16PCalibrationCalc1PointCalibration(); + }else{ + Acc16PCalibrationCalc6PointCalibration(); + } + 1;} + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point1_ax_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point1_ay_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 + 60,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point1_az_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 +120,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point1_inRangle', -font=> $StdWinFont, + -text=> ' -> ', -pos=> [$xpos-40,$ypos], #-size=> [55,23], + -background=>$AccAcceptPointColors[1], #-foreground=> [255,255,255], + ); + $ypos+= 4*13; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point2_label', -font=> $StdWinFont, + -text=> '2. Point (-Z)', -pos=> [$xpos-15,$ypos], #-size=> [55,23], + -background=> $Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddButton( -name=> 'acc16pcal_Point2_button', -font=> $StdWinFont, + -text=> 'Accept current readings', -pos=> [$xpos+50,$ypos-3], -width=> 160, + -onClick => sub{ + Acc16PCalibrationSetPoint2( + $w_Acc16PCalibration->acc16pcal_ax_av->Text(), + $w_Acc16PCalibration->acc16pcal_ay_av->Text(), + $w_Acc16PCalibration->acc16pcal_az_av->Text() ); + Acc16PCalibrationCalc6PointCalibration(); + 1;} + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point2_ax_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point2_ay_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 + 60,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point2_az_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 +120,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point2_inRangle', -font=> $StdWinFont, + -text=> ' -> ', -pos=> [$xpos-40,$ypos], #-size=> [55,23], + -background=>$AccAcceptPointColors[1], #-foreground=> [255,255,255], + ); + $ypos+= 4*13; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point3_label', -font=> $StdWinFont, + -text=> '3. Point (+X)', -pos=> [$xpos-15,$ypos], #-size=> [55,23], + -background=> $Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddButton( -name=> 'acc16pcal_Point3_button', -font=> $StdWinFont, + -text=> 'Accept current readings', -pos=> [$xpos+50,$ypos-3], -width=> 160, + -onClick => sub{ + Acc16PCalibrationSetPoint3( + $w_Acc16PCalibration->acc16pcal_ax_av->Text(), + $w_Acc16PCalibration->acc16pcal_ay_av->Text(), + $w_Acc16PCalibration->acc16pcal_az_av->Text() ); + Acc16PCalibrationCalc6PointCalibration(); + 1;} + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point3_ax_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point3_ay_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 + 60,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point3_az_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 +120,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point3_inRangle', -font=> $StdWinFont, + -text=> ' -> ', -pos=> [$xpos-40,$ypos], #-size=> [55,23], + -background=>$AccAcceptPointColors[1], #-foreground=> [255,255,255], + ); + $ypos+= 4*13; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point4_label', -font=> $StdWinFont, + -text=> '4. Point (-X)', -pos=> [$xpos-15,$ypos], #-size=> [55,23], + -background=> $Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddButton( -name=> 'acc16pcal_Point4_button', -font=> $StdWinFont, + -text=> 'Accept current readings', -pos=> [$xpos+50,$ypos-3], -width=> 160, + -onClick => sub{ + Acc16PCalibrationSetPoint4( + $w_Acc16PCalibration->acc16pcal_ax_av->Text(), + $w_Acc16PCalibration->acc16pcal_ay_av->Text(), + $w_Acc16PCalibration->acc16pcal_az_av->Text() ); + Acc16PCalibrationCalc6PointCalibration(); + 1;} + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point4_ax_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point4_ay_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 + 60,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point4_az_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 +120,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point4_inRangle', -font=> $StdWinFont, + -text=> ' -> ', -pos=> [$xpos-40,$ypos], #-size=> [55,23], + -background=>$AccAcceptPointColors[1], #-foreground=> [255,255,255], + ); + $ypos+= 4*13; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point5_label', -font=> $StdWinFont, + -text=> '5. Point (+Y)', -pos=> [$xpos-15,$ypos], #-size=> [55,23], + -background=> $Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddButton( -name=> 'acc16pcal_Point5_button', -font=> $StdWinFont, + -text=> 'Accept current readings', -pos=> [$xpos+50,$ypos-3], -width=> 160, + -onClick => sub{ + Acc16PCalibrationSetPoint5( + $w_Acc16PCalibration->acc16pcal_ax_av->Text(), + $w_Acc16PCalibration->acc16pcal_ay_av->Text(), + $w_Acc16PCalibration->acc16pcal_az_av->Text() ); + Acc16PCalibrationCalc6PointCalibration(); + 1;} + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point5_ax_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point5_ay_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 + 60,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point5_az_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 +120,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point5_inRangle', -font=> $StdWinFont, + -text=> ' -> ', -pos=> [$xpos-40,$ypos], #-size=> [55,23], + -background=>$AccAcceptPointColors[1], #-foreground=> [255,255,255], + ); + $ypos+= 4*13; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point6_label', -font=> $StdWinFont, + -text=> '6. Point (-Y)', -pos=> [$xpos-15,$ypos], #-size=> [55,23], + -background=> $Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddButton( -name=> 'acc16pcal_Point6_button', -font=> $StdWinFont, + -text=> 'Accept current readings', -pos=> [$xpos+50,$ypos-3], -width=> 160, + -onClick => sub{ + Acc16PCalibrationSetPoint6( + $w_Acc16PCalibration->acc16pcal_ax_av->Text(), + $w_Acc16PCalibration->acc16pcal_ay_av->Text(), + $w_Acc16PCalibration->acc16pcal_az_av->Text() ); + Acc16PCalibrationCalc6PointCalibration(); + 1;} + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point6_ax_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point6_ay_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 + 60,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point6_az_accepted', -font=> $StdWinFont, + -text=> '---', -pos=> [$xpos+50 +120,$ypos-3 +26], -width=> 55, #-size=> [55,23], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_Point6_inRangle', -font=> $StdWinFont, + -text=> ' -> ', -pos=> [$xpos-40,$ypos], #-size=> [55,23], + -background=>$AccAcceptPointColors[1], #-foreground=> [255,255,255], + ); + $xpos= 30; + $ypos= 220; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_1PointHelp', -font=> $StdWinFont, + -text=> 'Carefully level the imu, with the orientation in which it will be mounted. Keep it at rest,'. +' and watch the acc data. A blue arrow will indicate when they come into range. Wait until the noise'. +' stabilizes at low values, then accept the readings and press OK, or repeat.', + -pos=> [$xpos,$ypos], -size=> [275,100], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $xpos= 310; + $ypos= 360; + $w_Acc16PCalibration->AddLabel( -name=> 'acc16pcal_6PointHelp', -font=> $StdWinFont, + -text=> 'Carefully position the imu in the six orientations, one by one (the order is irrelevant). Keep it at rest,'. +' and watch the acc data. A blue arrow will indicate when they come into range. Wait until the noise'. +' stabilizes at low values, then accept the readings. When data for all points are recorded press OK, or repeat.', + -pos=> [$xpos,$ypos], -size=> [270,100], + -background=>$Acc16PCalBackgroundColor, -foreground=> [255,255,255], + ); + $w_Acc16PCalibration->AddTimer( 'acc16pcal_Timer', 0 ); + $w_Acc16PCalibration->acc16pcal_Timer->Interval( 10 ); +} #end of Acc16PCalInit() + +sub acc16pcal_Timer_Timer{ Acc16PCalibrationDoTimer(); 1; } + +sub acc16pcal_Window_Terminate{ + Acc16PCalibrationHalt(); $w_Acc16PCalibration->Hide(); + TextOut( "\r\n".'Acc Calibration Tool... ABORTED'."\r\n" ); + 0; +} + +sub caac_Run1PointCalibration_Click{ $Acc16PCalibration_Is1Point = 1; Acc16PCalInit(); Acc16PCalibrationShow(); 1; } + +sub caac_Run6PointCalibration_Click{ $Acc16PCalibration_Is1Point = 0; Acc16PCalInit(); Acc16PCalibrationShow(); 1; } + +sub Acc16PCalibrationHandleWhichPointsToShow{ + if( $Acc16PCalibration_Is1Point==1 ){ + $w_Acc16PCalibration->acc16pcal_Point2_label->Hide(); + $w_Acc16PCalibration->acc16pcal_Point2_button->Hide(); + $w_Acc16PCalibration->acc16pcal_Point2_ax_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point2_ay_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point2_az_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point3_label->Hide(); + $w_Acc16PCalibration->acc16pcal_Point3_button->Hide(); + $w_Acc16PCalibration->acc16pcal_Point3_ax_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point3_ay_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point3_az_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point4_label->Hide(); + $w_Acc16PCalibration->acc16pcal_Point4_button->Hide(); + $w_Acc16PCalibration->acc16pcal_Point4_ax_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point4_ay_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point4_az_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point5_label->Hide(); + $w_Acc16PCalibration->acc16pcal_Point5_button->Hide(); + $w_Acc16PCalibration->acc16pcal_Point5_ax_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point5_ay_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point5_az_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point6_label->Hide(); + $w_Acc16PCalibration->acc16pcal_Point6_button->Hide(); + $w_Acc16PCalibration->acc16pcal_Point6_ax_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point6_ay_accepted->Hide(); + $w_Acc16PCalibration->acc16pcal_Point6_az_accepted->Hide(); + $w_Acc16PCalibration->Resize( $Acc16PCalXSize, $Acc16PCalYSize-160 ); + $w_Acc16PCalibration->acc16pcal_Point1_label->Text( '1. Point' ); + $w_Acc16PCalibration->Text( 'o323BGC 1-Point Acc Calibration' ); + $w_Acc16PCalibration->acc16pcal_IntroAAA_label->Text( '1-Point accelerometer calibration for' ); + $w_Acc16PCalibration->acc16pcal_1PointHelp->Show(); + $w_Acc16PCalibration->acc16pcal_6PointHelp->Hide(); + + $w_Acc16PCalibration->acc16pcal_Quality_label->Hide(); + $w_Acc16PCalibration->acc16pcal_OK->Move($Acc16PCalibrationOKCancelButtonPosX,$Acc16PCalibrationOKCancelButtonPosY); + $w_Acc16PCalibration->acc16pcal_Cancel->Move($Acc16PCalibrationOKCancelButtonPosX,$Acc16PCalibrationOKCancelButtonPosY+30); + $w_Acc16PCalibration->acc16pcal_overwritewarnings->Move($Acc16PCalXSize-19,$Acc16PCalYSize-160 -40); + }else{ + $w_Acc16PCalibration->acc16pcal_Point2_label->Show(); + $w_Acc16PCalibration->acc16pcal_Point2_button->Show(); + $w_Acc16PCalibration->acc16pcal_Point2_ax_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point2_ay_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point2_az_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point3_label->Show(); + $w_Acc16PCalibration->acc16pcal_Point3_button->Show(); + $w_Acc16PCalibration->acc16pcal_Point3_ax_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point3_ay_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point3_az_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point4_label->Show(); + $w_Acc16PCalibration->acc16pcal_Point4_button->Show(); + $w_Acc16PCalibration->acc16pcal_Point4_ax_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point4_ay_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point4_az_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point5_label->Show(); + $w_Acc16PCalibration->acc16pcal_Point5_button->Show(); + $w_Acc16PCalibration->acc16pcal_Point5_ax_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point5_ay_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point5_az_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point6_label->Show(); + $w_Acc16PCalibration->acc16pcal_Point6_button->Show(); + $w_Acc16PCalibration->acc16pcal_Point6_ax_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point6_ay_accepted->Show(); + $w_Acc16PCalibration->acc16pcal_Point6_az_accepted->Show(); + $w_Acc16PCalibration->Resize( $Acc16PCalXSize, $Acc16PCalYSize ); + $w_Acc16PCalibration->acc16pcal_Point1_label->Text( '1. Point (+Z)' ); + $w_Acc16PCalibration->Text( 'o323BGC 6-Point Acc Calibration' ); + $w_Acc16PCalibration->acc16pcal_IntroAAA_label->Text( '6-Point accelerometer calibration for' ); + $w_Acc16PCalibration->acc16pcal_1PointHelp->Hide(); + $w_Acc16PCalibration->acc16pcal_6PointHelp->Show(); + + $w_Acc16PCalibration->acc16pcal_Quality_label->Show(); + $w_Acc16PCalibration->acc16pcal_OK->Move($Acc16PCalibrationOKCancelButtonPosX,$Acc16PCalibrationOKCancelButtonPosY+20); + $w_Acc16PCalibration->acc16pcal_Cancel->Move($Acc16PCalibrationOKCancelButtonPosX,$Acc16PCalibrationOKCancelButtonPosY+30+20); + $w_Acc16PCalibration->acc16pcal_SaveToFile->Show(); + $w_Acc16PCalibration->acc16pcal_overwritewarnings->Move($Acc16PCalXSize-19,$Acc16PCalYSize -40); + } +} + +sub Acc16PCalibrationEnableAllAcceptPointButtons{ + $w_Acc16PCalibration->acc16pcal_Point1_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point2_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point3_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point4_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point5_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point6_button->Enable(); +} + +sub Acc16PCalibrationShow{ + DataDisplayHalt(); + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_Acc16PCalibration->Move($x+80,$y+100); + if( $f_Tab{calibrateacc}->cacc_ImuNumber->GetCurSel()==1 ){ #IMU2 selected + $Acc16PCalibration_ImuNr= 1; + $w_Acc16PCalibration->acc16pcal_ImuNr_label->Text( ' Imu2 (2nd IMU)' ); + }else{ + $Acc16PCalibration_ImuNr= 0; + $w_Acc16PCalibration->acc16pcal_ImuNr_label->Text( ' Imu (camera IMU)' ); + } + Acc16PCalibrationHalt(); + Acc16PCalibrationCdDataMatrixClear(); + $w_Acc16PCalibration->acc16pcal_OK->Disable(); + Acc16PCalibrationSetCalibration( '', '', '', '', '', '' ); + $w_Acc16PCalibration->acc16pcal_Point1_button->Disable(); + $w_Acc16PCalibration->acc16pcal_Point2_button->Disable(); + $w_Acc16PCalibration->acc16pcal_Point3_button->Disable(); + $w_Acc16PCalibration->acc16pcal_Point4_button->Disable(); + $w_Acc16PCalibration->acc16pcal_Point5_button->Disable(); + $w_Acc16PCalibration->acc16pcal_Point6_button->Disable(); + Acc16PCalibrationSetPoint1( '---', '---', '---' ); + Acc16PCalibrationSetPoint2( '---', '---', '---' ); + Acc16PCalibrationSetPoint3( '---', '---', '---' ); + Acc16PCalibrationSetPoint4( '---', '---', '---' ); + Acc16PCalibrationSetPoint5( '---', '---', '---' ); + Acc16PCalibrationSetPoint6( '---', '---', '---' ); + $w_Acc16PCalibration->acc16pcal_SaveToFile->Disable(); + $w_Acc16PCalibration->acc16pcal_Point1_inRangle->Hide(); + $w_Acc16PCalibration->acc16pcal_Point2_inRangle->Hide(); + $w_Acc16PCalibration->acc16pcal_Point3_inRangle->Hide(); + $w_Acc16PCalibration->acc16pcal_Point4_inRangle->Hide(); + $w_Acc16PCalibration->acc16pcal_Point5_inRangle->Hide(); + $w_Acc16PCalibration->acc16pcal_Point6_inRangle->Hide(); + $w_Acc16PCalibration->acc16pcal_SaveToFile->Hide(); + $w_Acc16PCalibration->acc16pcal_overwritewarnings->Checked(0); + Acc16PCalibrationHandleWhichPointsToShow(); + $w_Acc16PCalibration->Show(); + TextOut( "\r\n".'Acc Calibration Tool... ' ); +# if( $f_Tab{calibrateacc}->caac_StoreInEEprom->IsEnabled() ){ Acc16PCalibrationRun(); } #let it auto start when the connection was probably confirmed before + Acc16PCalibrationRun(); #let it auto start +} + +sub Acc16PCalibrationStart{ + if( $Acc16PCalibration_IsRunning ){ Acc16PCalibrationHalt(); }else{ Acc16PCalibrationRun(); } + return 1; +} + + +sub Acc16PCalibrationRun{ +## if( not OpenPort() ){ ClosePort(); $Acc16PCalibration_IsRunning= 0; return 1; } +## if( not ConnectionIsValid() ){ ConnectToBoardwoRead(); } +## if( not ConnectionIsValid() ){ $Acc16PCalibration_IsRunning= 0; return; } +# SetDoFirstReadOut(0); +# DisconnectFromBoard(0); + $ExecuteCmdMutex= 0; + $Acc16PCalibration_IsRunning= 1; + if( not ConnectionIsValid() ){ + if( not OpenPort() ){ ClosePort(); $Acc16PCalibration_IsRunning= 0; return; } + ClosePort(); #close it again + ConnectToBoardwoRead(); + } + $w_Acc16PCalibration->acc16pcal_Start->Text( 'Stop' ); + if( not $w_Acc16PCalibration->acc16pcal_overwritewarnings->GetCheck() ){ + $w_Acc16PCalibration->acc16pcal_Point1_button->Disable(); + } +} + +sub Acc16PCalibrationHalt{ +# ClosePort(); + $Acc16PCalibration_IsRunning= 0; + $w_Acc16PCalibration->acc16pcal_Start->Text( 'Start' ); + if( not $w_Acc16PCalibration->acc16pcal_overwritewarnings->GetCheck() ){ + $w_Acc16PCalibration->acc16pcal_Point1_button->Disable(); + } +} + +sub Acc16PCalibrationSetPoint1{ + $w_Acc16PCalibration->acc16pcal_Point1_ax_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point1_ay_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point1_az_accepted->Text( shift ); +} +sub Acc16PCalibrationSetPoint2{ + $w_Acc16PCalibration->acc16pcal_Point2_ax_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point2_ay_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point2_az_accepted->Text( shift ); +} +sub Acc16PCalibrationSetPoint3{ + $w_Acc16PCalibration->acc16pcal_Point3_ax_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point3_ay_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point3_az_accepted->Text( shift ); +} +sub Acc16PCalibrationSetPoint4{ + $w_Acc16PCalibration->acc16pcal_Point4_ax_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point4_ay_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point4_az_accepted->Text( shift ); +} +sub Acc16PCalibrationSetPoint5{ + $w_Acc16PCalibration->acc16pcal_Point5_ax_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point5_ay_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point5_az_accepted->Text( shift ); +} +sub Acc16PCalibrationSetPoint6{ + $w_Acc16PCalibration->acc16pcal_Point6_ax_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point6_ay_accepted->Text( shift ); + $w_Acc16PCalibration->acc16pcal_Point6_az_accepted->Text( shift ); +} + +sub Acc16PCalibrationSetCalibration{ + $w_Acc16PCalibration->acc16pcal_AccXZero->Text( shift ); + $w_Acc16PCalibration->acc16pcal_AccYZero->Text( shift ); + $w_Acc16PCalibration->acc16pcal_AccZZero->Text( shift ); + $w_Acc16PCalibration->acc16pcal_AccXScale->Text( shift ); + $w_Acc16PCalibration->acc16pcal_AccYScale->Text( shift ); + $w_Acc16PCalibration->acc16pcal_AccZScale->Text( shift ); +} + +sub Acc16PCalibrationCalc1PointCalibration{ + my $ax_scale = $AccGravityConst; + my $ay_scale = $AccGravityConst; + my $az_scale = $AccGravityConst; + my $ax_zero = $w_Acc16PCalibration->acc16pcal_Point1_ax_accepted->Text(); + my $ay_zero = $w_Acc16PCalibration->acc16pcal_Point1_ay_accepted->Text(); + my $az_zero = $w_Acc16PCalibration->acc16pcal_Point1_az_accepted->Text(); + if( $ax_zero > 0.85*$AccGravityConst ){ $ax_zero -= $AccGravityConst; } + if( $ax_zero < -0.85*$AccGravityConst ){ $ax_zero += $AccGravityConst; } + if( $ay_zero > 0.85*$AccGravityConst ){ $ay_zero -= $AccGravityConst; } + if( $ay_zero < -0.85*$AccGravityConst ){ $ay_zero += $AccGravityConst; } + if( $az_zero > 0.75*$AccGravityConst ){ $az_zero -= $AccGravityConst; } + if( $az_zero < -0.75*$AccGravityConst ){ $az_zero += $AccGravityConst; } + + Acc16PCalibrationSetCalibration( $ax_zero, $ay_zero, $az_zero, $ax_scale, $ay_scale, $az_scale ); + $w_Acc16PCalibration->acc16pcal_OK->Enable(); +} + +sub Acc16PCalibrationCheckIf6PointsOk{ + if( $w_Acc16PCalibration->acc16pcal_Point1_az_accepted->Text() eq '---' ){ return 0; } + if( $w_Acc16PCalibration->acc16pcal_Point2_az_accepted->Text() eq '---' ){ return 0; } + if( $w_Acc16PCalibration->acc16pcal_Point3_ax_accepted->Text() eq '---' ){ return 0; } + if( $w_Acc16PCalibration->acc16pcal_Point4_ax_accepted->Text() eq '---' ){ return 0; } + if( $w_Acc16PCalibration->acc16pcal_Point5_ay_accepted->Text() eq '---' ){ return 0; } + if( $w_Acc16PCalibration->acc16pcal_Point6_ay_accepted->Text() eq '---' ){ return 0; } + return 1; +} + +sub Acc16PCalibrationCalc6PointCalibration{ ####CHECK IF ALL POINTS ARE OK! + if( not Acc16PCalibrationCheckIf6PointsOk() ){ return; } + + my $az_p = $w_Acc16PCalibration->acc16pcal_Point1_az_accepted->Text(); + my $az_m = $w_Acc16PCalibration->acc16pcal_Point2_az_accepted->Text(); + my $ax_p = $w_Acc16PCalibration->acc16pcal_Point3_ax_accepted->Text(); + my $ax_m = $w_Acc16PCalibration->acc16pcal_Point4_ax_accepted->Text(); + my $ay_p = $w_Acc16PCalibration->acc16pcal_Point5_ay_accepted->Text(); + my $ay_m = $w_Acc16PCalibration->acc16pcal_Point6_ay_accepted->Text(); + + my $ax_scale = sprintf( "%.0f", ($ax_p - $ax_m)/2.0 ); + my $ay_scale = sprintf( "%.0f", ($ay_p - $ay_m)/2.0 ); + my $az_scale = sprintf( "%.0f", ($az_p - $az_m)/2.0 ); + my $ax_zero = sprintf( "%.0f", ($ax_p + $ax_m)/2.0 ); + my $ay_zero = sprintf( "%.0f", ($ay_p + $ay_m)/2.0 ); + my $az_zero = sprintf( "%.0f", ($az_p + $az_m)/2.0 ); + + Acc16PCalibrationSetCalibration( $ax_zero, $ay_zero, $az_zero, $ax_scale, $ay_scale, $az_scale ); + $w_Acc16PCalibration->acc16pcal_OK->Enable(); + $w_Acc16PCalibration->acc16pcal_SaveToFile->Enable(); + + my $quality = 0; + #Z + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point3_az_accepted->Text() - $az_zero ); + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point4_az_accepted->Text() - $az_zero ); + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point5_az_accepted->Text() - $az_zero ); + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point6_az_accepted->Text() - $az_zero ); + #X + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point1_ax_accepted->Text() - $ax_zero ); + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point2_ax_accepted->Text() - $ax_zero ); + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point5_ax_accepted->Text() - $ax_zero ); + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point6_ax_accepted->Text() - $ax_zero ); + #Y + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point1_ay_accepted->Text() - $ay_zero ); + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point2_ay_accepted->Text() - $ay_zero ); + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point3_ay_accepted->Text() - $ay_zero ); + $quality+= sqr( $w_Acc16PCalibration->acc16pcal_Point4_ay_accepted->Text() - $ay_zero ); + + $quality= sqrt( $quality/12 ); + $w_Acc16PCalibration->acc16pcal_Quality_label->Text("quality: ".sprintf("%.0f",$quality)." "); +} + +sub Acc16PCalibrationCdDataMatrixClear{ + for(my $j=0; $j<512; $j++ ){ + for(my $i=0; $i<512; $i++ ){ $CdDataMatrix[$j][$i]= 0; } + } +} + +sub Acc16PCalibrationDoTimer{ +## if( not ConnectionIsValid() ){ Acc16PCalibrationHalt(); return 1; } + if( not $Acc16PCalibration_IsRunning){ return 1; } + #read data frame + my $s= ExecuteCmd( 'Cd', $CMD_Cd_PARAMETER_ZAHL*2 ); + if( substr($s,length($s)-1,1) ne 'o' ){ TextOut( "\r\nSHIT '".substr($s,length($s)-1,1)."'" ); return 1; } + my @CdData = unpack( "v$CMD_Cd_PARAMETER_ZAHL", $s ); + for(my $n=0;$n<$CMD_Cd_PARAMETER_ZAHL;$n++){ + if( substr($CdDataFormatStr,$n,1) eq 's' ){ if( $CdData[$n]>32768 ){ $CdData[$n]-=65536; } } + } + + #Imu1: Gx, Gy, Gz + $CdDataMatrix[$CdDataGx_i][$CdDataPos]= $CdData[$CdDataGx_p]; + $CdDataMatrix[$CdDataGy_i][$CdDataPos]= $CdData[$CdDataGy_p]; + $CdDataMatrix[$CdDataGz_i][$CdDataPos]= $CdData[$CdDataGz_p]; + #Imu1: Ax, Ay, Az + $CdDataMatrix[$CdDataAx_i][$CdDataPos]= $CdData[$CdDataAx_p]; + $CdDataMatrix[$CdDataAy_i][$CdDataPos]= $CdData[$CdDataAy_p]; + $CdDataMatrix[$CdDataAz_i][$CdDataPos]= $CdData[$CdDataAz_p]; + #Imu1: Temp + $CdDataMatrix[$CdDataTemp_i][$CdDataPos]= $CdData[$CdDataTemp_p]; + #Imu2: Gx, Gy, Gz + $CdDataMatrix[$CdDataGx2_i][$CdDataPos]= $CdData[$CdDataGx2_p]; + $CdDataMatrix[$CdDataGy2_i][$CdDataPos]= $CdData[$CdDataGy2_p]; + $CdDataMatrix[$CdDataGz2_i][$CdDataPos]= $CdData[$CdDataGz2_p]; + #Imu2: Ax, Ay, Az + $CdDataMatrix[$CdDataAx2_i][$CdDataPos]= $CdData[$CdDataAx2_p]; + $CdDataMatrix[$CdDataAy2_i][$CdDataPos]= $CdData[$CdDataAy2_p]; + $CdDataMatrix[$CdDataAz2_i][$CdDataPos]= $CdData[$CdDataAz2_p]; + #Imu2: Temp + $CdDataMatrix[$CdDataTemp2_i][$CdDataPos]= $CdData[$CdDataTemp2_p]; + + #display + $CdDataTimeCounter++; + if( $CdDataTimeCounter>=12 ){ $CdDataTimeCounter= 0; } + + if( $CdDataTimeCounter==0 ){ #slows down update + if( $Acc16PCalibration_ImuNr!=1 ){ #IMU1 + $w_Acc16PCalibration->acc16pcal_ax->Text( $CdData[$CdDataAx_p] ); + $w_Acc16PCalibration->acc16pcal_ay->Text( $CdData[$CdDataAy_p] ); + $w_Acc16PCalibration->acc16pcal_az->Text( $CdData[$CdDataAz_p] ); + $w_Acc16PCalibration->acc16pcal_temp->Text( sprintf("%.2f°", $CdData[$CdDataTemp_p]/340.0+36.53) );#$CdData[$CdDataTemp_p] ); + }else{ #IMU2 + $w_Acc16PCalibration->acc16pcal_ax->Text( $CdData[$CdDataAx2_p] ); + $w_Acc16PCalibration->acc16pcal_ay->Text( $CdData[$CdDataAy2_p] ); + $w_Acc16PCalibration->acc16pcal_az->Text( $CdData[$CdDataAz2_p] ); + $w_Acc16PCalibration->acc16pcal_temp->Text( sprintf("%.2f°", $CdData[$CdDataTemp2_p]/340.0+36.53) );#$CdData[$CdDataTemp_p] ); + } + } + + $CdDataPos++; + if( $CdDataPos>=256 ){ $CdDataPos= 0; } + + my $ax_av= 0.0; my $ax_sig= 0.0; + my $ay_av= 0.0; my $ay_sig= 0.0; + my $az_av= 0.0; my $az_sig= 0.0; + my $temp_av= 0.0; + if( $Acc16PCalibration_ImuNr!=1 ){ #IMU1 + for(my $i=0; $i<256; $i++ ){ + $ax_av += $CdDataMatrix[$CdDataAx_i][$i]; + $ay_av += $CdDataMatrix[$CdDataAy_i][$i]; + $az_av += $CdDataMatrix[$CdDataAz_i][$i]; + $temp_av += $CdDataMatrix[$CdDataTemp_i][$i]; + } + }else{ #IMU2 + for(my $i=0; $i<256; $i++ ){ + $ax_av += $CdDataMatrix[$CdDataAx2_i][$i]; + $ay_av += $CdDataMatrix[$CdDataAy2_i][$i]; + $az_av += $CdDataMatrix[$CdDataAz2_i][$i]; + $temp_av += $CdDataMatrix[$CdDataTemp2_i][$i]; + } + } + $ax_av = $ax_av / 256.0; + $ay_av = $ay_av / 256.0; + $az_av = $az_av / 256.0; + $temp_av = $temp_av / 256.0; + if( $Acc16PCalibration_ImuNr!=1 ){ #IMU1 + for(my $i=0; $i<256; $i++ ){ + $ax_sig += abs( $CdDataMatrix[$CdDataAx_i][$i]-$ax_av ); + $ay_sig += abs( $CdDataMatrix[$CdDataAy_i][$i]-$ay_av ); + $az_sig += abs( $CdDataMatrix[$CdDataAz_i][$i]-$az_av ); + } + }else{ #IMU2 + for(my $i=0; $i<256; $i++ ){ + $ax_sig += abs( $CdDataMatrix[$CdDataAx2_i][$i]-$ax_av ); + $ay_sig += abs( $CdDataMatrix[$CdDataAy2_i][$i]-$ay_av ); + $az_sig += abs( $CdDataMatrix[$CdDataAz2_i][$i]-$az_av ); + } + } + +if( $CdDataTimeCounter==0 or $CdDataTimeCounter==4 or $CdDataTimeCounter==8 ){ #slows down update + $w_Acc16PCalibration->acc16pcal_ax_av->Text( sprintf( "%.0f", $ax_av ) ); + $w_Acc16PCalibration->acc16pcal_ax_sig->Text( sprintf( "%.0f", $ax_sig/256.0) ); + $w_Acc16PCalibration->acc16pcal_ay_av->Text( sprintf( "%.0f", $ay_av ) ); + $w_Acc16PCalibration->acc16pcal_ay_sig->Text( sprintf( "%.0f", $ay_sig/256.0) ); + $w_Acc16PCalibration->acc16pcal_az_av->Text( sprintf( "%.0f", $az_av ) ); + $w_Acc16PCalibration->acc16pcal_az_sig->Text( sprintf( "%.0f", $az_sig/256.0) ); + $w_Acc16PCalibration->acc16pcal_temp_av->Text( sprintf("%.2f°", $temp_av/340.0+36.53) ); + + if( $Acc16PCalibration_Is1Point==1 ){ + if(( abs($ax_av) > 0.85*$AccGravityConst )or + ( abs($ay_av) > 0.85*$AccGravityConst )or + ( abs($az_av) > 0.75*$AccGravityConst ) ){ + $w_Acc16PCalibration->acc16pcal_Point1_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point1_inRangle->Show(); + }else{ + if( not $w_Acc16PCalibration->acc16pcal_overwritewarnings->GetCheck() ){ + $w_Acc16PCalibration->acc16pcal_Point1_button->Disable(); + } + $w_Acc16PCalibration->acc16pcal_Point1_inRangle->Hide(); + } + }else{ + if( $az_av > 0.75*$AccGravityConst ){ + $w_Acc16PCalibration->acc16pcal_Point1_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point1_inRangle->Show(); + }else{ + if( not $w_Acc16PCalibration->acc16pcal_overwritewarnings->GetCheck() ){ + $w_Acc16PCalibration->acc16pcal_Point1_button->Disable(); + } + $w_Acc16PCalibration->acc16pcal_Point1_inRangle->Hide(); + } + if( $az_av <-0.75*$AccGravityConst ){ + $w_Acc16PCalibration->acc16pcal_Point2_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point2_inRangle->Show(); + }else{ + if( not $w_Acc16PCalibration->acc16pcal_overwritewarnings->GetCheck() ){ + $w_Acc16PCalibration->acc16pcal_Point2_button->Disable(); + } + $w_Acc16PCalibration->acc16pcal_Point2_inRangle->Hide(); + } + if( $ax_av > 0.85*$AccGravityConst ){ + $w_Acc16PCalibration->acc16pcal_Point3_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point3_inRangle->Show(); + }else{ + if( not $w_Acc16PCalibration->acc16pcal_overwritewarnings->GetCheck() ){ + $w_Acc16PCalibration->acc16pcal_Point3_button->Disable(); + } + $w_Acc16PCalibration->acc16pcal_Point3_inRangle->Hide(); + } + if( $ax_av < -0.85*$AccGravityConst ){ + $w_Acc16PCalibration->acc16pcal_Point4_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point4_inRangle->Show(); + }else{ + if( not $w_Acc16PCalibration->acc16pcal_overwritewarnings->GetCheck() ){ + $w_Acc16PCalibration->acc16pcal_Point4_button->Disable(); + } + $w_Acc16PCalibration->acc16pcal_Point4_inRangle->Hide(); + } + if( $ay_av > 0.85*$AccGravityConst ){ + $w_Acc16PCalibration->acc16pcal_Point5_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point5_inRangle->Show(); + }else{ + if( not $w_Acc16PCalibration->acc16pcal_overwritewarnings->GetCheck() ){ + $w_Acc16PCalibration->acc16pcal_Point5_button->Disable(); + } + $w_Acc16PCalibration->acc16pcal_Point5_inRangle->Hide(); + } + if( $ay_av < -0.85*$AccGravityConst ){ + $w_Acc16PCalibration->acc16pcal_Point6_button->Enable(); + $w_Acc16PCalibration->acc16pcal_Point6_inRangle->Show(); + }else{ + if( not $w_Acc16PCalibration->acc16pcal_overwritewarnings->GetCheck() ){ + $w_Acc16PCalibration->acc16pcal_Point6_button->Disable(); + } + $w_Acc16PCalibration->acc16pcal_Point6_inRangle->Hide(); + } + } +} + 1; +} + +#similar to sub ExecuteSaveCalibrationData() +sub Acc16PCalibrationSave6PointCalibrationData{ + my $file= Win32::GUI::GetSaveFileName( -owner=> $w_Main, + -title=> 'Save Calibration Data to File', + -nochangedir=> 1, + -directory=> $SettingsFile_lastdir, #".\\", + -defaultextension=> '.cal', + -filter=> ['*.cal'=>'*.cal','All files' => '*.*'], + -pathmustexist=> 1, + -overwriteprompt=> 1, + -noreadonlyreturn => 1, + -explorer=>0, + ); + if( $file ){ + if( !open(F,">$file") ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); return; } + print F 'IMUNAME: '.NameExtStr($file)."\n"; + print F 'IMUTYPE: '.$CalibrationDataRecord{imutype}."\n"; #MPU6050 + print F 'IMUSETTINGS: '.$CalibrationDataRecord{imusettings}."\n"; #get from above + print F 'RECORD#1'."\n"; + print F 'AXZERO: '.$w_Acc16PCalibration->acc16pcal_AccXZero->Text()."\n"; + print F 'AYZERO: '.$w_Acc16PCalibration->acc16pcal_AccYZero->Text()."\n"; + print F 'AZZERO: '.$w_Acc16PCalibration->acc16pcal_AccZZero->Text()."\n"; + print F 'AXSCALE: '.$w_Acc16PCalibration->acc16pcal_AccXScale->Text()."\n"; + print F 'AYSCALE: '.$w_Acc16PCalibration->acc16pcal_AccYScale->Text()."\n"; + print F 'AZSCALE: '.$w_Acc16PCalibration->acc16pcal_AccZScale->Text()."\n"; + print F 'CALIBRATIONMETHOD: 6 point'."\n"; + print F 'TEMPERATURE: '.$w_Acc16PCalibration->acc16pcal_temp_av->Text()."\n"; + print F 'RAW: '."\n"; + print F '1. (+Z): '; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point1_ax_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point1_ay_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point1_az_accepted->Text())."\n"; + print F '2. (-Z): '; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point2_ax_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point2_ay_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point2_az_accepted->Text())."\n"; + print F '3. (+X): '; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point3_ax_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point3_ay_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point3_az_accepted->Text())."\n"; + print F '4. (-X): '; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point4_ax_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point4_ay_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point4_az_accepted->Text())."\n"; + print F '5. (+Y): '; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point5_ax_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point5_ay_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point5_az_accepted->Text())."\n"; + print F '6. (-Y): '; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point6_ax_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point6_ay_accepted->Text()).", "; + print F sprintf( "% 6.0f", $w_Acc16PCalibration->acc16pcal_Point6_az_accepted->Text())."\n"; +# print F 'quality: '.$w_Acc16PCalibration->acc16pcal_Quality_label->Text(); + print F $w_Acc16PCalibration->acc16pcal_Quality_label->Text(); #the 'quality' is already in the Text() + close(F); + }elsif( Win32::GUI::CommDlgExtendedError() ){$w_Main->MessageBox("Some error occured, sorry",'ERROR');} + 1; +} + + + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# EDIT BOARD NAME Tool Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# + +my $EditBoardNameBackgroundColor= [96,96,96]; + +my $EditBoardNameXsize= 410; +my $EditBoardNameYsize= 270; #470; + +my $w_EditBoardName= Win32::GUI::DialogBox->new( -name=> 'editboardname_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> "o323BGC Edit Board Name Tool", + -size=> [$EditBoardNameXsize,$EditBoardNameYsize], + -helpbox => 0, + -background=>$EditBoardNameBackgroundColor, +); +$w_EditBoardName->SetIcon($Icon); + +sub t_EditBoardName_Click{ EditBoardNameInit(); EditBoardNameShow(); 0; } +sub editboardname_Window_Terminate{ editboardname_Cancel_Click(); 0; } + +my $EditBoardNameIsInitialized = 0; + +sub EditBoardNameInit{ + if( $EditBoardNameIsInitialized>0 ){ return; } + $EditBoardNameIsInitialized = 1; + my $xpos= 20; + my $ypos= 20; + $w_EditBoardName->AddLabel( -name=> 'editboardname_Text1', -font=> $StdWinFont, + -text=> "This tool allows you to change the name of the STorM32-BGC board.", + -pos=> [$xpos,$ypos], -width=> $EditBoardNameXsize-20, -height=>30, + -background=>$EditBoardNameBackgroundColor, -foreground=> [255,255,255], + ); + $ypos+= 35 ; + $w_EditBoardName->AddLabel( -name=> 'editboardname_Text2', -font=> $StdWinFont, + -text=> '-', + -pos=> [$xpos,$ypos], -width=> $EditBoardNameXsize-50, -height=>8*13, + -background=>$CGrey128, -foreground=> [255,255,255], + ); + $ypos+= 30; + $w_EditBoardName-> AddTextfield( -name=> 'editboardname_Name', -font=> $StdWinFont, + -pos=> [$EditBoardNameXsize/2-70-2,$ypos-3], -size=> [140,23], + ); + $w_EditBoardName->editboardname_Name->SetLimitText(16); + $xpos= 20; + $ypos= $EditBoardNameYsize -90; + $w_EditBoardName->AddButton( -name=> 'editboardname_OK', -font=> $StdWinFont, + -text=> 'OK', -pos=> [$EditBoardNameXsize/2-40-2,$ypos], -width=> 80, + ); + $w_EditBoardName->AddButton( -name=> 'editboardname_Cancel', -font=> $StdWinFont, + -text=> 'Cancel', -pos=> [$EditBoardNameXsize/2-40-2,$ypos+30], -width=> 80, + ); +} + +sub EditBoardNameShow{ + DataDisplayHalt(); + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_EditBoardName->Move($x+150,$y+100); + + $w_EditBoardName->editboardname_Name->Hide(); + $w_EditBoardName->editboardname_OK->Disable(); + $w_EditBoardName->Show(); + TextOut( "\r\n".'Edit Board Name Tool... ' ); + if( not ConnectionIsValid() ){ goto WERROR; } + my $res = ExecuteCmd( 'v', 54 ); + if( substr($res,length($res)-1,1) ne 'o' ){ DisconnectFromBoard(0); goto WERROR; } + TextOut( "\r\n".'Reading... ' ); + #check + TextOut( 'ok' ); + $w_EditBoardName->editboardname_Name->Text( CleanLeftRightStr(substr($res,16,16)) ); + $w_EditBoardName->editboardname_Text2->Text( + 'Please enter the new name:' ."\r\n". "\r\n". "\r\n". "\r\n". "\r\n". + 'When done press >OK<; or press >Cancel< to abort.' . "\r\n". "\r\n". + 'NOTE: On >OK< the new name will be stored immediately to the EEPROM!' ); + $w_EditBoardName->editboardname_Name->Show(); + $w_EditBoardName->editboardname_OK->Enable(); + return 1; +WERROR: + $w_EditBoardName->editboardname_Text2->Text( + 'No connection to board!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); + return 0; +} + +sub editboardname_Cancel_Click{ +# ClosePort(); + TextOut( "\r\n".'Edit Board Name Tool... ABORTED!'."\r\n" ); + $w_EditBoardName->Hide(); + 0; +} + +sub editboardname_OK_Click{ + my $name= substr( $w_EditBoardName->editboardname_Name->Text() ,0,16); + $name = TrimStrToLength( $name, 16 ); + TextOut( "\r\n".'xn... ' ); + SetExtendedTimoutFirst(1000); #storing to Eeprom can take a while! so extend timeout + my $res = ExecuteCmdwCrc( 'xn', $name, 0 ); + if( substr($res,length($res)-1,1) ne 'o' ){ TextOut( 'iahfkashfkshjkf' ); } #this should never happen + TextOut( 'ok' ); + $NameToOptionHash{'Name'}->{textfield}->Text( $name ); + TextOut( "\r\n".'Edit Board Name Tool... DONE!'."\r\n" ); + $w_EditBoardName->Hide(); + 0; +} + + +# Ende # EDIT BOARD NAME Tool Window +############################################################################### + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# CHANGE UART BAUDRATE Tool Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# + +my $ChangeBaudrateBackgroundColor= [96,96,96]; + +my $ChangeBaudrateXsize= 400; +my $ChangeBaudrateYsize= 270+13; #470; + +my $w_ChangeBaudrate= Win32::GUI::DialogBox->new( -name=> 'changebaudrate_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> "o323BGC Change Baudrate Tool", + -size=> [$ChangeBaudrateXsize,$ChangeBaudrateYsize], + -helpbox => 0, + -background=>$ChangeBaudrateBackgroundColor, +); +$w_ChangeBaudrate->SetIcon($Icon); + +sub t_ChangeBaudrate_Click{ ChangeBaudrateInit(); ChangeBaudrateShow(); 0; } +sub changebaudrate_Window_Terminate{ changebaudrate_Cancel_Click(); 0; } + +my $ChangeBaudrateIsInitialized = 0; + +sub ChangeBaudrateInit{ + if( $ChangeBaudrateIsInitialized>0 ){ return; } + $ChangeBaudrateIsInitialized = 1; + my $xpos= 20; + my $ypos= 20; + $w_ChangeBaudrate->AddLabel( -name=> 'changebaudrate_Text1', -font=> $StdWinFont, + -text=> "This tool allows you to change the baudrate for communicating with the STorM32-BGC board.", + -pos=> [$xpos,$ypos], -width=> $ChangeBaudrateXsize-20, -height=>30, + -background=>$ChangeBaudrateBackgroundColor, -foreground=> [255,255,255], + ); + $ypos+= 35 ; + $w_ChangeBaudrate->AddLabel( -name=> 'changebaudrate_Text2', -font=> $StdWinFont, + -text=> '-', + -pos=> [$xpos,$ypos], -width=> $ChangeBaudrateXsize-50, -height=>8*13+13, + -background=>$CGrey128, -foreground=> [255,255,255], + ); + $ypos+= 30; + $w_ChangeBaudrate->AddCombobox( -name=> 'changebaudrate_Baudrate', -font=> $StdWinFont, + -pos=> [$ChangeBaudrateXsize/2-40-2,$ypos-2], -size=> [80,160], + -dropdown=> 1, -vscroll=>1, + ); + $w_ChangeBaudrate->changebaudrate_Baudrate->SetDroppedWidth(60); + $w_ChangeBaudrate->changebaudrate_Baudrate->Add( ('9600','19200','38400','57600','115200') ); + $xpos= 20; + $ypos= $ChangeBaudrateYsize -90; + $w_ChangeBaudrate->AddButton( -name=> 'changebaudrate_OK', -font=> $StdWinFont, + -text=> 'OK', -pos=> [$ChangeBaudrateXsize/2-40-2,$ypos], -width=> 80, + ); + $w_ChangeBaudrate->AddButton( -name=> 'changebaudrate_Cancel', -font=> $StdWinFont, + -text=> 'Cancel', -pos=> [$ChangeBaudrateXsize/2-40-2,$ypos+30], -width=> 80, + ); +} + +sub ChangeBaudrateShow{ + DataDisplayHalt(); + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_ChangeBaudrate->Move($x+150,$y+100); + + $w_ChangeBaudrate->changebaudrate_Baudrate->Hide(); + $w_ChangeBaudrate->changebaudrate_OK->Disable(); + $w_ChangeBaudrate->Show(); + TextOut( "\r\n".'Change Baudrate Tool... ' ); + if( not ConnectionIsValid() ){ goto WERROR; } + + $w_ChangeBaudrate->changebaudrate_Text2->Text( + 'Please enter the new baudrate:' ."\r\n". "\r\n". "\r\n". "\r\n". "\r\n". + 'When done press >OK<; or press >Cancel< to abort.' . "\r\n". "\r\n". + 'NOTE: On >OK< the new baudrate will be stored immediately to the EEPROM; it will become effective at the next power up!' ); + if( $Baudrate<=9600 ){ + $w_ChangeBaudrate->changebaudrate_Baudrate->Select(0); + }elsif( $Baudrate<=19200 ){ + $w_ChangeBaudrate->changebaudrate_Baudrate->Select(1); + }elsif( $Baudrate<=38400 ){ + $w_ChangeBaudrate->changebaudrate_Baudrate->Select(2); + }elsif( $Baudrate<=57600 ){ + $w_ChangeBaudrate->changebaudrate_Baudrate->Select(3); + }else{ + $w_ChangeBaudrate->changebaudrate_Baudrate->Select(4); + } + $w_ChangeBaudrate->changebaudrate_Baudrate->Show(); + $w_ChangeBaudrate->changebaudrate_OK->Enable(); + return 1; +WERROR: + $w_ChangeBaudrate->changebaudrate_Text2->Text( + 'No connection to board!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); + return 0; +} + +sub changebaudrate_Cancel_Click{ + ##ClosePort(); + TextOut( "\r\n".'Change Baudrate Tool... ABORTED!'."\r\n" ); + $w_ChangeBaudrate->Hide(); + 0; +} + +sub changebaudrate_OK_Click{ + my $bps = $w_ChangeBaudrate->changebaudrate_Baudrate->SelectedItem(); + TextOut( "\r\n".'xu... ' ); + SetExtendedTimoutFirst(1000); #storing to Eeprom can take a while! so extend timeout + my $res= ExecuteCmdwCrc( 'xu', HexstrToStr('0'.$bps.'00') ); #pack( "v", $bps ); + if( substr($res,length($res)-1,1) ne 'o' ){ TextOut( 'bajhdkashdhn' ); } #this should never happen + TextOut( ' ok' ); + TextOut( "\r\n".'Change Baudrate Tool... DONE!'."\r\n" ); + if( $bps==0 ){ + $Baudrate = 9600; + }elsif( $bps==1 ){ + $Baudrate = 19200; + }elsif( $bps==2 ){ + $Baudrate = 38400; + }elsif( $bps==3 ){ + $Baudrate = 57600; + }else{ + $Baudrate = 115200; + } + $w_ChangeBaudrate->Hide(); + 0; +} + + +# Ende # CHANGE UART BAUDRATE Tool Window +############################################################################### + + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# CHANGE BOARD CONFIGURATION Tool Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# + +my $ChangeBoardConfigurationBackgroundColor= [96,96,96]; + +my $ChangeBoardConfigurationXsize= 400; +my $ChangeBoardConfigurationYsize= 270+13; #470; + +my $w_ChangeBoardConfiguration= Win32::GUI::DialogBox->new( -name=> 'changeboardconfig_Window', -parent => $w_Main, -font=> $StdWinFont, +## -text=> "o323BGC Change Board Configuration Tool", + -text=> "o323BGC Change Encoder Support Tool", + -size=> [$ChangeBoardConfigurationXsize,$ChangeBoardConfigurationYsize], + -helpbox => 0, + -background=>$ChangeBoardConfigurationBackgroundColor, +); +$w_ChangeBoardConfiguration->SetIcon($Icon); + +sub t_ChangeBoardConfiguration_Click{ ChangeBoardConfigurationInit(); ChangeBoardConfigurationShow(); 0; } +sub changeboardconfig_Window_Terminate{ changeboardconfig_Cancel_Click(); 0; } + +my $ChangeBoardConfigurationIsInitialized = 0; + +sub ChangeBoardConfigurationInit{ + if( $ChangeBoardConfigurationIsInitialized>0 ){ return; } + $ChangeBoardConfigurationIsInitialized = 1; + my $xpos= 20; + my $ypos= 20; + $w_ChangeBoardConfiguration->AddLabel( -name=> 'changeboardconfig_Text1', -font=> $StdWinFont, + -text=> "This tool allows you to enable/disable the encoder support.", + -pos=> [$xpos,$ypos], -width=> $ChangeBoardConfigurationXsize-20, -height=>30, + -background=>$ChangeBoardConfigurationBackgroundColor, -foreground=> [255,255,255], + ); + $ypos+= 35 ; + $w_ChangeBoardConfiguration->AddLabel( -name=> 'changeboardconfig_Text2', -font=> $StdWinFont, + -text=> '-', + -pos=> [$xpos,$ypos], -width=> $ChangeBoardConfigurationXsize-50, -height=>8*13+13, + -background=>$CGrey128, -foreground=> [255,255,255], + ); + $ypos+= 30; + $w_ChangeBoardConfiguration->AddCombobox( -name=> 'changeboardconfig_BoardConfiguration', -font=> $StdWinFont, + -pos=> [$ChangeBoardConfigurationXsize/2-40-2,$ypos-2], -size=> [80,160], + -dropdown=> 1, -vscroll=>1, + ); + $w_ChangeBoardConfiguration->changeboardconfig_BoardConfiguration->SetDroppedWidth(60); + $w_ChangeBoardConfiguration->changeboardconfig_BoardConfiguration->Add( ('off','on') ); + $xpos= 20; + $ypos= $ChangeBoardConfigurationYsize -90; + $w_ChangeBoardConfiguration->AddButton( -name=> 'changeboardconfig_OK', -font=> $StdWinFont, + -text=> 'OK', -pos=> [$ChangeBoardConfigurationXsize/2-40-2,$ypos], -width=> 80, + ); + $w_ChangeBoardConfiguration->AddButton( -name=> 'changeboardconfig_Cancel', -font=> $StdWinFont, + -text=> 'Cancel', -pos=> [$ChangeBoardConfigurationXsize/2-40-2,$ypos+30], -width=> 80, + ); +} + +sub ChangeBoardConfigurationShow{ + DataDisplayHalt(); + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_ChangeBoardConfiguration->Move($x+150,$y+100); + + $w_ChangeBoardConfiguration->changeboardconfig_BoardConfiguration->Hide(); + $w_ChangeBoardConfiguration->changeboardconfig_OK->Disable(); + $w_ChangeBoardConfiguration->Show(); +## TextOut( "\r\n".'Change Board Configuration Tool... ' ); + TextOut( "\r\n".'Change Encoder Support Tool... ' ); + if( not ConnectionIsValid() ){ goto WERROR; } + + $w_ChangeBoardConfiguration->changeboardconfig_Text2->Text( + 'Please select the new encoder support:' ."\r\n". "\r\n". "\r\n". "\r\n". "\r\n". + 'When done press >OK<; or press >Cancel< to abort.' . "\r\n". "\r\n". + 'NOTE: On >OK< the new setting will be stored immediately to the EEPROM; it will however become effective only at the next power up!' ); + if( $ActiveBoardConfiguration == $BOARDCONFIGURATION_IS_FOC ){ + $w_ChangeBoardConfiguration->changeboardconfig_BoardConfiguration->Select(1); + }else{ + $w_ChangeBoardConfiguration->changeboardconfig_BoardConfiguration->Select(0); + } + $w_ChangeBoardConfiguration->changeboardconfig_BoardConfiguration->Show(); + $w_ChangeBoardConfiguration->changeboardconfig_OK->Enable(); + return 1; +WERROR: + $w_ChangeBoardConfiguration->changeboardconfig_Text2->Text( + 'No connection to board!' . "\r\n". "\r\n". + 'Press >Cancel<.' ); + return 0; +} + +sub changeboardconfig_Cancel_Click{ + ##ClosePort(); +## TextOut( "\r\n".'Change Board Configuration Tool... ABORTED!'."\r\n" ); + TextOut( "\r\n".'Change Encoder Support Tool... ABORTED!'."\r\n" ); + $w_ChangeBoardConfiguration->Hide(); + 0; +} + +sub changeboardconfig_OK_Click{ + my $bcf = $w_ChangeBoardConfiguration->changeboardconfig_BoardConfiguration->SelectedItem(); + TextOut( "\r\n".'xf... ' ); + SetExtendedTimoutFirst(1000); #storing to Eeprom can take a while! so extend timeout + my $res= ExecuteCmdwCrc( 'xf', HexstrToStr('0'.$bcf.'00') ); + if( substr($res,length($res)-1,1) ne 'o' ){ TextOut( 'hhhhhkashdhn' ); } #this should never happen + TextOut( ' ok' ); + + TextOut( "\r\n".'xx... ' ); + $res= ExecuteCmd( 'xx' ); + if( substr($res,length($res)-1,1) ne 'o' ){ TextOut( 'hhhhhkashdhn' ); } #this should never happen + TextOut( ' ok' ); + TextOut( "\r\n".'disconnect ...'); + SetDoFirstReadOut(0); #to suppress "Please do first ..." line + DisconnectFromBoard(0); + TextOut( "\r\n".'waiting for a moment before reconnecting ...'); + _delay_ms( 1500 ); +## TextOut( "\r\n".'Change Board Configuration Tool... DONE!'."\r\n" ); + TextOut( "\r\n".'Change Encoder Support Tool... DONE!'."\r\n" ); + $w_ChangeBoardConfiguration->Hide(); + + ConnectToBoard(); + 0; +} + +# Ende # CHANGE BOARD CONFIGURATION Tool Window +############################################################################### + + + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# ESP8266 Configuration Tool Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# + +my $ESPConfigBackgroundColor= [96,96,96]; + +my $ESPAutoConfigureIsRunning= 0; + +my $ESPConfigXsize= 450; +my $ESPConfigYsize= 470; + +my $w_ESPConfig= Win32::GUI::DialogBox->new( -name=> 'espconfig_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> "o323BGC ESP8266 Wifi Module Configure Tool", -size=> [$ESPConfigXsize,$ESPConfigYsize], + -helpbox => 0, + -background=>$ESPConfigBackgroundColor, +); +$w_ESPConfig->SetIcon($Icon); + +sub t_ESPConfigTool_Click{ ESPConfigInit(); ESPConfigShow(); 1; } +sub espconfig_Window_Terminate{ ClosePort(); $w_ESPConfig->Hide(); 0; } + +my $ESPConfigIsInitialized = 0; + +sub ESPConfigInit{ + if( $ESPConfigIsInitialized>0 ){ return; } + $ESPConfigIsInitialized = 1; + my $xpos= 20; + my $ypos= 20; + $w_ESPConfig->AddLabel( -name=> 'espconfig_Text1_label', -font=> $StdWinFont, + -text=> "With this tool you can configure the ESP8266 Wifi module connected to your STorM32-BGC board.", + -pos=> [$xpos,$ypos], -width=> 420, -height=>30, + -background=>$ESPConfigBackgroundColor, -foreground=> [255,255,255], + ); + $ypos+= 30 + 1*13; + $w_ESPConfig->AddLabel( -name=> 'espconfig_Text1b_label', -font=> $StdWinFont, + -text=> "IMPORTANT: +The STorM32 board MUST be connected to the PC via the USB connector. +The ESP8266 module MUST be connected to either the UART or UART2 port.", + -pos=> [$xpos,$ypos], -multiline=>1, -height=>4*13+10, -width=> 420, + -background=>$ESPConfigBackgroundColor, -foreground=> [255,255,255], + ); + $ypos+= 35 + 2*13; + $w_ESPConfig->AddLabel( -name=> 'espconfig_Text3_label', -font=> $StdWinFont, + -text=> "Select the USB COM port of STorM32 board:", + -pos=> [$xpos,$ypos], -width=> 250, -height=>30, + -background=>$ESPConfigBackgroundColor, -foreground=> [255,255,255], + ); + $xpos+= 250; + $w_ESPConfig->AddCombobox( -name=> 'espconfig_Port', -font=> $StdWinFont, + -pos=> [$xpos,$ypos-3], -size=> [140,180], #-size=> [70,180], + -dropdown=> 1, -vscroll=>1, + -onDropDown=> sub{ + ($GetComPortOK,@PortList)= GetComPorts(); + if($GetComPortOK>0){ + my $s= $_[0]->Text(); + $_[0]->Clear(); $_[0]->Add( @PortList ); $_[0]->SelectString( $s ); #$Port has COM + friendly name + if($_[0]->SelectedItem()<0){ $_[0]->Select(0); } + } + } + ); + $w_ESPConfig->espconfig_Port->SetDroppedWidth(140); + $w_ESPConfig->espconfig_Port->Add( @PortList ); + if( scalar @PortList){ $w_ESPConfig->espconfig_Port->SelectString( 'COM1' ); } #$Port has COM + friendly name + $ypos+= 35; + $xpos= 20; + $w_ESPConfig->AddLabel( -name=> 'espconfig_Text333_label', -font=> $StdWinFont, + -text=> "Select the port the ESP8266 is connected to:", + -pos=> [$xpos,$ypos], + -background=>$ESPConfigBackgroundColor, -foreground=> [255,255,255], + ); + $xpos+= 250; + $w_ESPConfig->AddCombobox( -name=> 'espconfig_EspUart', -font=> $StdWinFont, + -pos=> [$xpos,$ypos-3], -size=> [140,180], #-size=> [70,180], + -dropdown=> 1, -vscroll=>1, + ); + $w_ESPConfig->espconfig_EspUart->Add( ('UART', 'UART2') ); + $w_ESPConfig->espconfig_EspUart->Select(1); #uart2 as default + + $ypos+= 35; + $xpos= 20; + $w_ESPConfig->AddLabel( -name=> 'espconfig_Text4_label', -font=> $StdWinFont, + -text=> "Upload the firmware .bin file to the ESP8266:", + -pos=> [$xpos,$ypos], -multiline=>1, -height=>2*13+10, + -background=>$ESPConfigBackgroundColor, -foreground=> [255,255,255], + ); + $xpos+= 250; + $w_ESPConfig->AddButton( -name=> 'espconfig_UploadBin', -font=> $StdWinFont, + -text=> 'Upload .Bin', -pos=> [$xpos,$ypos-3], -width=> 140, + ); + + $ypos+= 35; + $xpos= 20; + $w_ESPConfig->AddLabel( -name=> 'espconfig_Text5_label', -font=> $StdWinFont, + -text=> "Upload the files in 'data' to the ESP8266:", + -pos=> [$xpos,$ypos], -multiline=>1, -height=>2*13+10, + -background=>$ESPConfigBackgroundColor, -foreground=> [255,255,255], + ); + $xpos+= 250; + $w_ESPConfig->AddButton( -name=> 'espconfig_UploadData', -font=> $StdWinFont, + -text=> 'Upload Data Files', -pos=> [$xpos,$ypos-3+2], -width=> 140, + ); + + $ypos= $ESPConfigYsize-150-18+5 -25; + $xpos= 20; + $w_ESPConfig->AddLabel( -name=> 'espconfig_Text15_label', -font=> $StdWinFont, + -text=> "Edit ESP8266 configuration file (for experts only):", + -pos=> [$xpos,$ypos], -multiline=>1, -height=>2*13+10, + -background=>$ESPConfigBackgroundColor, -foreground=> [255,255,255], + ); + $xpos+= 250 +20; + $w_ESPConfig->AddButton( -name=> 'espconfig_EditConfig', -font=> $StdWinFont, + -text=> 'Edit Configuration', -pos=> [$xpos,$ypos-3+2], -width=> 100, + ); + + $w_ESPConfig-> AddTextfield( -name=> 'espconfig_RecieveText', + -pos=> [5,$ESPConfigYsize-150-18+5], -size=> [$ESPConfigXsize-16,93+40-5], -font=> $StdTextFont, + -vscroll=> 1, -multiline=> 1, -readonly => 1, + -foreground =>[ 0, 0, 0], + -background=> [192,192,192],#[96,96,96], + ); +} #end of ESPConfigInit() + + +sub ESPConfigShow{ + #SetDoFirstReadOut(0); + DisconnectFromBoard(0); + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_ESPConfig->Move($x+150,$y+100); + $w_ESPConfig->espconfig_RecieveText->Text(''); + $Port = $w_Main->m_Port->Text(); + $w_ESPConfig->espconfig_Port->SelectString( $Port ); + $w_ESPConfig->Show(); +} + +sub ESPConfigTextOut{ + $w_ESPConfig->espconfig_RecieveText->Append( PrepareTextForAppend(shift) ); +} + +sub ESPConfigOpen{ + my $header = shift; + #set the port to the selected in this tool + my $UsbPort = $w_ESPConfig->espconfig_Port->Text(); + if( not ComIsUSB($UsbPort) ){ + ESPConfigTextOut( $header."... ABORTED!\nSelected USB COM port is not a USB connection.\n" ); return 0; + } + $w_Main->m_Port->SelectString( $UsbPort ); + $Port = $w_Main->m_Port->Text(); #$Port has COM + friendly name + if( not OpenPort() ){ + ClosePort(); + ESPConfigTextOut( $header."... ABORTED!\nConnection to STorM32 board failed!\n" ); return 0; + } + return 1; +} + +sub ESPConfigSetEspUart{ + my $Option= $NameToOptionHash{'Esp Configuration'}; + my $res1 = SendRcCmdwoOut( '03'. UCharToHexstr($Option->{adr}).'00' ); + if( $res1 =~ /[tc]/ ){ + ClosePort(); return 0; + } + my $CurrentEspUart = substr( ExtractPayloadFromRcCmd($res1), 2*2, 2) + 0; + my $DesiredEspUart = $w_ESPConfig->espconfig_EspUart->SelectedItem()+1; + if( $CurrentEspUart != $DesiredEspUart ){ + ESPConfigTextOut( "\nset Esp Configuration to uart" ); + if( $DesiredEspUart > 1 ){ ESPConfigTextOut( "$DesiredEspUart" ); } + $res1 = SendRcCmdwoOut( '04'. UCharToHexstr($Option->{adr}).'00' . UCharToHexstr($DesiredEspUart).'00' ); + if( $res1 =~ /[tc]/ ){ + ClosePort(); return 0; + } + ESPConfigTextOut( "\nstore settings"); + my $s = ExecuteCmd( 'xs' ); + if( substr($s,length($s)-1,1) ne 'o' ){ + ClosePort(); return 0; + } + } + return 1; +} + +sub ESPConfigOpenTunnel{ + ESPConfigTextOut( "\nreset ESP8266 and open tunnel" ); + my $s = ExecuteCmd( 'xQS' ); + if( substr($s,length($s)-1,1) ne 'o' ){ ClosePort(); return 0; } + WritePort( 'cESPFLASH' ); + _delay_ms(500); #wait a bit and let the STorM32 digest + ClosePort(); #this would happen anyway during a flash + return 1; +} + +sub espconfig_UploadBin_Click{ + ESPConfigTextOut( "\nUploading .bin firmware file" ); + if( not ESPConfigOpen( "\nUploading .bin firmware file" ) ){ return 0; } + if( not ESPConfigSetEspUart() ){ + ESPConfigTextOut( "\nUploading .bin firmware file... ABORTED!\nConnection to STorM32 board failed!\n" ); return 0; + } + if( not ESPConfigOpenTunnel() ){ + ESPConfigTextOut( "\nUploading .bin firmware file... ABORTED!\nConnection to STorM32 board failed!\n" ); return 0; + }; + my $s = '"'.$EspWebAppPath.'\\'.$EspToolExe.'"'; + $s .= ' -vv -cd ck -cb 115200 -cp '.ExtractCom($Port).' -ca 0x00000 -cf'; + $s .= ' "'.$EspWebAppPath.'\\'.$EspWebAppBin.'"'."\n"; + $s .= '@echo.'."\n"; + $s .= '@pause'."\n"; + open(F,">$BGCToolRunFile.bat"); + print F $s; + close( F ); + ESPConfigTextOut( "\nstart uploading firmware..." ); + $w_Main->ShellExecute('open',"$BGCToolRunFile.bat","",'',1); + ESPConfigTextOut( " ok" ); + ESPConfigTextOut( "\nUploading firmware... DOS BOX STARTED\n" ); + 0; +} + +sub espconfig_UploadData_Click{ + ESPConfigTextOut( "\nUploading data files" ); + ESPConfigOpen( "\nUploading .bin firmware file" ); + if( not ESPConfigSetEspUart() ){ + ESPConfigTextOut( "\nUploading .bin firmware file... ABORTED!\nConnection to STorM32 board failed!\n" ); return 0; + } + if( not ESPConfigOpenTunnel() ){ + ESPConfigTextOut( "\nUploading .bin firmware file... ABORTED!\nConnection to STorM32 board failed!\n" ); return 0; + }; + my $s = '"'.$EspWebAppPath.'\\'.$EspMkSpiffsExe.'"'; + $s .= ' -c' . ' "'.$EspWebAppPath.'\\data"' . ' -p 256 -b 4096 -s 131072' ; + $s .= ' "'.$EspWebAppPath.'\\'.$EspSpiffsBin.'"'; + $s .= ' -d 5'."\n"; + $s .= '"'.$EspWebAppPath.'\\'.$EspToolExe.'"'; + $s .= ' -cd ck -cb 115200 -cp '.ExtractCom($Port).' -ca 0xDB000 -cf'; + $s .= ' "'.$EspWebAppPath.'\\'.$EspSpiffsBin.'"'; + $s .= "\n"; + $s .= '@echo.'."\n"; + $s .= '@pause'."\n"; + open(F,">$BGCToolRunFile.bat"); + print F $s; + close( F ); + ESPConfigTextOut( "\nstart uploading data files..." ); + $w_Main->ShellExecute('open',"$BGCToolRunFile.bat","",'',1); + ESPConfigTextOut( " ok" ); + ESPConfigTextOut( "\nUploading data files... DOS BOX STARTED\n" ); + 0; +} + +sub espconfig_EditConfig_Click{ + ESPConfigEditorShow(); + 0; +} + +#---- +# EDIT CONFIGURATION WINDOW +#---- +my $EspConfigEditXSize= 780; +my $EspConfigEditYSize= 780; + +my $EspConfigEditBackgroundColor= [96,96,96]; +my $EspConfigEditTextFont= Win32::GUI::Font->new(-name=>'Lucida Console', -size=>10 ); + +my $w_ESPConfigEdit_Menubar= Win32::GUI::Menu-> new( + 'File' => '', + '>Accept and Exit', 'espconfigedit_Accept', + '>Cancel', 'espconfigedit_Cancel', +); + +my $w_ESPConfigEdit= Win32::GUI::Window->new( -name=> 'espconfigedit_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> $BGCStr." ESP8266 Configuration File Editor", -size=> [$EspConfigEditXSize,$EspConfigEditYSize], + -helpbox => 0, + -background => $EspConfigEditBackgroundColor, + -menu => $w_ESPConfigEdit_Menubar, + -dialogui => 0, + -hasminimize => 0, -minimizebox => 0, -hasmaximize => 0, -maximizebox => 0, +); +$w_ESPConfigEdit->SetIcon($Icon); + +$w_ESPConfigEdit->AddButton( -name=> 'espconfigedit_Accept', -font=> $StdWinFont, + -text=> 'Accept', -pos=> [0,0], -width=>45, -height=>16, +); +$w_ESPConfigEdit->AddButton( -name=> 'espconfigedit_Cancel', -font=> $StdWinFont, + -text=> 'Cancel', -pos=> [45,0], -width=>45, -height=>16, +); +$w_ESPConfigEdit->AddLabel( -name=> 'espconfigedit_Title', -font=> $StdWinFont, + -text=> $EspConfigFile, + -pos=> [90,0], -width=> $xsize-150-6, -height=>15, + -align=>'center', +); +$w_ESPConfigEdit-> AddTextfield( -name=> 'espconfigedit_Text', -font=> $EspConfigEditTextFont, #-font=> $StdWinFont, + -pos=> [-1,15], -size=> [$xsize-4,$ysize-41-15], #-size=> [$xsize-14,$ysize-52], + -hscroll=> 1, -vscroll=> 1, + -autovscroll=> 1, -autohscroll=> 1, + -keepselection => 1, + -multiline=> 1, +); + +sub espconfigedit_Window_Resize { + my $mw = $w_ESPConfigEdit->ScaleWidth(); + my $mh = $w_ESPConfigEdit->ScaleHeight(); + my $lh = $w_ESPConfigEdit->espconfigedit_Title->Height(); + $w_ESPConfigEdit->espconfigedit_Title->Width( $mw - 90 ); + $w_ESPConfigEdit->espconfigedit_Text->Width( $mw+2 ); + $w_ESPConfigEdit->espconfigedit_Text->Height( $mh-$lh+1); +} + +sub espconfigedit_Window_Terminate{ $w_ESPConfigEdit->Hide(); 0; } +sub espconfigedit_Cancel_Click{ $w_ESPConfigEdit->Hide(); 0; } + +sub espconfigedit_Accept_Click{ + my $file = $EspWebAppPath.'\\data\\'.$EspConfigFile; + if( !open(F,">$file") ){ + ESPConfigTextOut( "Editing Configuration... ERROR\nCould not save to configuration file $EspConfigFile.\n" ); + }else{ + print F $w_ESPConfigEdit->espconfigedit_Text->Text(); + close(F); + } + $w_ESPConfigEdit->Hide(); + 0; +} + +sub ESPConfigEditorShow{ + my $file = $EspWebAppPath.'\\data\\'.$EspConfigFile; + if( !open(F,"<$file") ){ + ESPConfigTextOut( "Editing Configuration... ABBORTED\nConfiguration file $EspConfigFile could not be opened.\n" ); return 0; + } + my $s=''; while(){ $s.= $_; } close(F); + $w_ESPConfigEdit->espconfigedit_Text->Text( PrepareTextForAppend($s) ); + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_ESPConfigEdit->Move($x+190,$y+20); #100 + $w_ESPConfigEdit->Show(); +} + +# Ende # ESP8266 Configuration Tool Window +############################################################################### + + + + + + + + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# BLUETOOTH Configuration Tool Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# + +my $BTConfigBackgroundColor= [96,96,96]; + +my $BTAutoConfigureIsRunning= 0; + +my $ATCmdTimeDelay= 5; #100ms +my $ATCmdTimeOut= 20; #100ms +my @ATBaudRateList= ('','1200','2400','4800','9600','19200','38400','57600','115200'); +my @STORMBaudRateList= ('','@a','@b','@c','@d','@e','@f','@g','@h'); + +my $BTConfigXsize= 450; +my $BTConfigYsize= 470; + +my $w_BTConfig= Win32::GUI::DialogBox->new( -name=> 'btconfig_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> "o323BGC Bluetooth Module Configure Tool", -size=> [$BTConfigXsize,$BTConfigYsize], + -helpbox => 0, + -background=>$BTConfigBackgroundColor, +); +$w_BTConfig->SetIcon($Icon); + +sub t_BTConfigTool_Click{ BTConfigInit(); BTConfigShow(); 1; } +sub btconfig_Window_Terminate{ ClosePort(); $w_BTConfig->Hide(); 0; } + +my $BTConfigIsInitialized = 0; + +sub BTConfigInit{ + if( $BTConfigIsInitialized>0 ){ return; } + $BTConfigIsInitialized = 1; + my $xpos= 20; + my $ypos= 20; + $w_BTConfig->AddLabel( -name=> 'btconfig_Text1_label', -font=> $StdWinFont, + -text=> "With this tool you can configure the BT module (HC06) on your STorM32-BGC board.", + -pos=> [$xpos,$ypos], -width=> 420, -height=>30, + -background=>$BTConfigBackgroundColor, -foreground=> [255,255,255], + ); + $ypos+= 30; + $w_BTConfig->AddLabel( -name=> 'btconfig_Text1b_label', -font=> $StdWinFont, + -text=> "IMPORTANT: +The STorM32 board MUST be connected to the PC via the USB connector. +There MUST NOT be anything connected to the UART port. +It's a good idea to press the Reset button now.", + -pos=> [$xpos,$ypos], -multiline=>1, -height=>4*13+10, -width=> 420, + -background=>$BTConfigBackgroundColor, -foreground=> [255,255,255], + ); + $ypos+= 35 + 3*13; + $w_BTConfig->AddLabel( -name=> 'btconfig_Text3_label', -font=> $StdWinFont, + -text=> "Select the USB COM port your board is attached to:", + -pos=> [$xpos,$ypos], -width=> 250, -height=>30, + -background=>$BTConfigBackgroundColor, -foreground=> [255,255,255], + ); + $xpos+= 250; + #$ypos+= 25; + $w_BTConfig->AddCombobox( -name=> 'btconfig_Port', -font=> $StdWinFont, + -pos=> [$xpos,$ypos-3], -size=> [140,180], #-size=> [70,180], +# -dropdownlist=> 1, -vscroll=>1, + -dropdown=> 1, -vscroll=>1, + -onDropDown=> sub{ + ($GetComPortOK,@PortList)= GetComPorts(); + if($GetComPortOK>0){ + my $s= $_[0]->Text(); + $_[0]->Clear(); $_[0]->Add( @PortList ); $_[0]->SelectString( $s ); #$Port has COM + friendly name + if($_[0]->SelectedItem()<0){ $_[0]->Select(0); } + } + } + ); + $w_BTConfig->btconfig_Port->SetDroppedWidth(140); + $w_BTConfig->btconfig_Port->Add( @PortList ); + if( scalar @PortList){ $w_BTConfig->btconfig_Port->SelectString( 'COM1' ); } #$Port has COM + friendly name + $xpos= 20; + $ypos+= 35; + $w_BTConfig->AddLabel( -name=> 'btconfig_Text333_label', -font=> $StdWinFont, + -text=> "Enter the desired name of the BT module:", + -pos=> [$xpos,$ypos], + -background=>$BTConfigBackgroundColor, -foreground=> [255,255,255], + ); + $xpos+= 250; + $w_BTConfig-> AddTextfield( -name=> 'btconfig_Name', -font=> $StdWinFont, + -pos=> [$xpos,$ypos-3], -size=> [140,23], + ); + $w_BTConfig->btconfig_Name->SetLimitText(11); + $w_BTConfig->btconfig_Name->Text('STorM32-BGC'); + $xpos= 20; + $ypos+= 35; + $w_BTConfig->AddLabel( -name=> 'btconfig_Text4_label', -font=> $StdWinFont, + -text=> "Run the auto configure sequence: +(please be patient, this takes few minutes)", + -pos=> [$xpos,$ypos], -multiline=>1, -height=>2*13+10, + -background=>$BTConfigBackgroundColor, -foreground=> [255,255,255], + ); + $xpos+= 250; + #$ypos+= 25; + $w_BTConfig->AddButton( -name=> 'btconfig_AutoConfigure', -font=> $StdWinFont, + -text=> 'Auto Configure', -pos=> [$xpos,$ypos-3+7], -width=> 140, + ); + $xpos= 20; + $ypos+= 65; + $w_BTConfig->AddLabel( -name=> 'btconfig_Text5_label', -font=> $StdWinFont, + -text=> "Manual configuration tool (for experts only)", + -pos=> [$xpos,$ypos], + -background=>$BTConfigBackgroundColor, -foreground=> [255,255,255], + ); + $ypos+= 20; + $w_BTConfig->AddLabel( -name=> 'btconfig_Text5b_label', -font=> $StdWinFont, + -text=> "command", + -pos=> [$xpos,$ypos], + -background=>$BTConfigBackgroundColor, -foreground=> [255,255,255], + ); + $w_BTConfig->AddTextfield( -name=> 'btconfig_Cmd', -font=> $StdWinFont, + -pos=> [$xpos+$w_BTConfig->btconfig_Text5b_label->Width()+3,$ypos-3], + -size=> [$BTConfigXsize-157-4+46-$w_BTConfig->btconfig_Text5b_label->Width(),23], + ); + $w_BTConfig->AddButton( -name=> 'btconfig_Send', -font=> $StdWinFont, + -text=> 'Send', -pos=> [$BTConfigXsize-90,$ypos-3+2], -width=> 60, + ); + $w_BTConfig->btconfig_Cmd->Text(''); + $w_BTConfig-> AddTextfield( -name=> 'btconfig_RecieveText', + -pos=> [5,$BTConfigYsize-150-18+5], -size=> [$BTConfigXsize-16,93+40-5], -font=> $StdTextFont, + -vscroll=> 1, -multiline=> 1, -readonly => 1, + -foreground =>[ 0, 0, 0], + -background=> [192,192,192],#[96,96,96], + ); +} #end of BTConfigInit() + +sub BTConfigShow{ + DisconnectFromBoard(0); ##it disconnects itself then UARTis removed + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_BTConfig->Move($x+150,$y+100); + $w_BTConfig->btconfig_RecieveText->Text(''); + $w_BTConfig->Show(); +} + +sub btconfig_Send_Click{ + BTConfigTextOut( "\r\n".'Send' ); + if( not BTConfigOpenPort() ){ ClosePort(); return 0; } + #_delay_ms( 1000 ); + my $cmd= $w_BTConfig->btconfig_Cmd->Text(); + BTConfigTextOut( "\r\n".$cmd."\r\n" ); + my $s= SendATCommand( $cmd, 1 ); + BTConfigTextOut( "\r\n".$cmd.'->'.$s ); + BTConfigTextOut( "\r\n".'Done'."\r\n" ); + ClosePort(); + 0; +} + +my $BTConfigBTMmoduleType = 'HC06'; #HC06 is the default + +sub BTConfigBTMmoduleVersionIsOk{ + my $s = shift; + if( substr($s,0,18) eq 'AT+VERSIONOKlinvor' ){ + $BTConfigBTMmoduleType = 'HC06'; + return 1; # accepted + } + if( substr($s,0,18) eq 'AT+VERSIONhc01.com' ){ + $BTConfigBTMmoduleType = 'HC06'; + return 1;# accepted + } + if( substr($s,0,15) eq 'AT+VERSIONHC-08' ){ + $BTConfigBTMmoduleType = 'HC08'; + return 1;# accepted + } + return 0; +} + +# extension to "new" hc06, as reported by RocketMouse, +# http://www.rcgroups.com/forums/showpost.php?p=35475966&postcount=8771 +# the only change seems to be in the response to AT+VERSION, which is AT+VERSIONhc01.comV2.0 +# extension to hc08, as reported by zyawooo, +# http://www.rcgroups.com/forums/showpost.php?p=35696578&postcount=1113 + +#used commands, with responses +# HC06: +# 'AT' -> ATOK +# 'AT+VERSION' -> AT+VERSIONOKlinvor..., AT+VERSIONhc01.com... +# 'AT+'.$ATBAUD -> 'AT+'.$ATBAUD.'OK'.$Baudrate +# 'AT+NAME'.$btname -> 'AT+NAME'.$btname.'OKsetname' +# HC08: +# 'AT' -> ATOK +# 'AT+VERSION' -> AT+VERSIONHC-08 V2.4,2016-07-08 +# AT+BAUD=115200 -> AT+BAUD=115200OK115200,NONE +# AT+NAME=XYZ -> AT+NAME=XYZOKsetNAME:XYZ + +sub btconfig_AutoConfigure_Click{ + my $cmd= ''; my $s= ''; my $response= ''; my $detectedbaud= -1; + + if( $BTAutoConfigureIsRunning==0 ){ + $BTAutoConfigureIsRunning= 1; + }elsif( $BTAutoConfigureIsRunning==1 ){ + $BTAutoConfigureIsRunning= 2; return 0; + }else{ return 0; } + $w_BTConfig->btconfig_AutoConfigure->Text('Stop Auto Configure'); + + BTConfigTextOut( "\r\n".'Run auto configure... '."\r\n".'(please wait, this takes few minutes)' ); + if( not BTConfigOpenPort() ){ goto EXIT; } ##BUG: ClosePort(); return 0; } + + #check connection + BTConfigTextOut( "\r\n".'check connection...' ); + $s= SendATCommand( 't', 0 ); + if( $s eq 'o' ){ + BTConfigTextOut( ' OK' ); + }else{ + BTConfigTextOut( "\r\n".'connection FAILED!' ); + BTConfigTextOut( "\r\n".'Please check the COM port and/or press the Reset button on the board.' ); + goto EXIT; + } + + BTConfigTextOut( "\r\n".'communication baudrate is '.$Baudrate.' bps' ); + + #enter Qmode + BTConfigTextOut( "\r\n".'enter BT Qmode...' ); + $s= SendATCommand( 'xQB', 0 ); + if( $s eq 'o' ){ + BTConfigTextOut( ' OK' ); + }else{ + BTConfigTextOut( "\r\n".'connection FAILED!' ); + BTConfigTextOut( "\r\n".'Please press the Reset button on the board.' ); + goto EXIT; + } + + _delay_ms( 500 ); + #scan all baudrates + $detectedbaud = -1; + for(my $baud=1; $baud<=8; $baud++ ){ + BTConfigTextOut( "\r\n".'scan at '.$ATBaudRateList[$baud].' bps... ' ); + if( $BTAutoConfigureIsRunning>1 ){ BTConfigTextOut( "\r\n".'auto configure ABORTED!' ); goto EXIT; } + $cmd= $STORMBaudRateList[$baud].'AT'; + BTConfigTextOut( "\r\n".' '.$cmd ); + $s= SendATCommand( $cmd, 0 ); + BTConfigTextOut( '->'.$s ); + if( $s ne 'ATOK' ){ BTConfigTextOut( "\r\n".' no BT module at this baud rate' ); }else{ + BTConfigTextOut( "\r\n".' BT module detected at '.$ATBaudRateList[$baud].' bps' ); + $detectedbaud= $baud; last; + } +# $s= $w_BTConfig->btconfig_RecieveText->GetLine(0); #this helps to avoid the next cmd to be executed too early +# Win32::GUI::DoEvents(); + } + if( $detectedbaud < 0 ){ BTConfigTextOut( "\r\n".'no BT module found, auto configure ABORTED!' ); goto EXIT; } + + #BT module detected, set some variables + my $ATBAUD; my $BTBAUD; + if( $Baudrate<=9600 ){ + $ATBAUD= 'BAUD4'; $BTBAUD='@d'; + }elsif( $Baudrate<=19200 ){ + $ATBAUD= 'BAUD5'; $BTBAUD='@e'; + }elsif( $Baudrate<=38400 ){ + $ATBAUD= 'BAUD6'; $BTBAUD='@f'; + }elsif( $Baudrate<=57600 ){ + $ATBAUD= 'BAUD7'; $BTBAUD='@g'; + }else{ + $ATBAUD= 'BAUD8'; $BTBAUD='@h'; + } + + my $error= 0; + #BT module detected, check + BTConfigTextOut( "\r\n".'check BT module... ' ); + $cmd= 'AT'; + BTConfigTextOut( "\r\n".' '.$cmd ); + $s= SendATCommand( $cmd, 0 ); + BTConfigTextOut( '->'.$s ); + if( $s ne 'ATOK' ){ $error+= 0x01; } + $cmd= 'AT+VERSION'; + BTConfigTextOut( "\r\n".' '.$cmd.'->' ); + $s= SendATCommand( $cmd, 1 ); +# if( substr($s,0,18) ne 'AT+VERSIONOKlinvor' ){ $error+= 0x02; } + if( not BTConfigBTMmoduleVersionIsOk($s) ){ $error+= 0x02; } + if( $error ){ BTConfigTextOut( "\r\n".'Check FAILED, something went wrong!' ); goto EXIT; } + BTConfigTextOut( "\r\n".'BT module identified as a '.$BTConfigBTMmoduleType ); + +##### use $Baudrate !!!!! + #BT module detected, configure + BTConfigTextOut( "\r\n".'configure BT module... ' ); + _delay_ms( 500 ); + #1=1200, 2=2400, 3=4800, 4=9600 (default), 5=19200, 6=38400, 7=57600, 8=115200, + if( $BTConfigBTMmoduleType eq 'HC06' ){ + $cmd= 'AT+'.$ATBAUD; + BTConfigTextOut( "\r\n".' '.$cmd ); + $s= SendATCommand( $cmd, 0 ); + BTConfigTextOut( '->'.$s ); + if( $s ne 'AT+'.$ATBAUD.'OK'.$Baudrate ){ $error+= 0x04; } + }elsif( $BTConfigBTMmoduleType eq 'HC08' ){ + $cmd= 'AT+BAUD='.$Baudrate.',N'; + BTConfigTextOut( "\r\n".' '.$cmd ); + $s= SendATCommand( $cmd, 0 ); + BTConfigTextOut( '->'.$s ); + if( $s ne 'AT+BAUD='.$Baudrate.'OK'.$Baudrate.',NONE' ){ $error+= 0x04; } + } + if( $error ){ BTConfigTextOut( "\r\n".'Configure FAILED!' ); goto EXIT; } + + _delay_ms( 500 ); + my $btname= $w_BTConfig->btconfig_Name->Text(); + if( $btname eq '' ){ $btname= 'STorM32-BGC'; } + #filter bt name + $btname =~ s/@//g; + $btname = substr( $btname, 0, 16 ); + if( $BTConfigBTMmoduleType eq 'HC06' ){ + $cmd= $BTBAUD.'AT+NAME'.$btname; + BTConfigTextOut( "\r\n".' '.$cmd ); + $s= SendATCommand( $cmd, 0 ); + BTConfigTextOut( '->'.$s ); + if( $s ne 'AT+NAME'.$btname.'OKsetname' ){ $error+= 0x20; } + }elsif( $BTConfigBTMmoduleType eq 'HC08' ){ + $cmd= $BTBAUD.'AT+NAME='.$btname; + BTConfigTextOut( "\r\n".' '.$cmd ); + $s= SendATCommand( $cmd, 0 ); + BTConfigTextOut( '->'.$s ); + if( $s ne 'AT+NAME='.$btname.'OKsetNAME:'.$btname ){ $error+= 0x20; } + } + if( $error ){ BTConfigTextOut( "\r\n".'Configure FAILED!' ); goto EXIT; } + + #BT module detected, doublecheck + BTConfigTextOut( "\r\n".'double check configuration of BT module... ' ); + _delay_ms( 500 ); + $s= SendATCommand( $BTBAUD, 0 ); + $cmd= 'AT'; + BTConfigTextOut( "\r\n".' '.$cmd ); + $s= SendATCommand( $cmd, 0 ); + BTConfigTextOut( '->'.$s ); + if( $s ne 'ATOK' ){ $error+= 0x08; } + $cmd= 'AT+VERSION'; + BTConfigTextOut( "\r\n".' '.$cmd.'->' ); + $s= SendATCommand( $cmd, 1 ); +# if( substr($s,0,18) ne 'AT+VERSIONOKlinvor' ){ $error+= 0x10; } + if( not BTConfigBTMmoduleVersionIsOk($s) ){ $error+= 0x10; } + if( $error ){ BTConfigTextOut( "\r\n".'Doublecheck FAILED, something went wrong!' ); goto EXIT; } + + BTConfigTextOut( "\r\n".'Configuration of BT module was succesfull!' ); + BTConfigTextOut( "\r\n".'DONE' ); + BTConfigTextOut( "\r\n"."\r\n".'PLEASE POWER-DOWN THE BOARD. WAIT FEW SECONDS BEFORE APPLYING POWER AGAIN.' ); + goto FIN; + +EXIT: + BTConfigTextOut( "\r\n"."\r\n".'PLEASE RESET THE BOARD.' ); + +FIN: + BTConfigTextOut( "\r\n" ); + ClosePort(); + $BTAutoConfigureIsRunning= 0; + $w_BTConfig->btconfig_AutoConfigure->Text('Auto Configure'); + 0; +} + + +sub BTConfigTextOut{ + $w_BTConfig->btconfig_RecieveText->Append( PrepareTextForAppend(shift) ); +} + +sub BTConfigOpenPort{ + $Port= $w_BTConfig->btconfig_Port->Text(); #$Port has COM + friendly name + if( ExtractCom($Port) eq '' ){ + BTConfigTextOut( "\r\nPort not specified!"."\r\n" ); return 0; #this error should never happen + } + $p_Serial = Win32::SerialPort->new( ExtractCom($Port) ); + if( not $p_Serial ){ + BTConfigTextOut( "\r\nOpening port ".ExtractCom($Port)." FAILED!"."\r\n" ); return 0; + }else{ + ConfigComPort(); + return 1; + } + return 0; +} + +sub StrToReadableStr{ + my $s= shift; + my $ss= ''; + for(my $i=0; $i=ord(' ') )and( $c<=ord('~') )){ + $ss.= chr($c); + }elsif( $c==10 ){ + $ss.= '\n'; + }else{ + $ss.='*'; #$ss.='<'.sprintf("%d",$c).'>'; + } + } + return $ss; +} + +sub SendATCommand{ + my $cmd= shift; + my $outputflag= shift; + _delay_ms( 100*$ATCmdTimeDelay ); + WritePort( $cmd ); + my $response= ''; + my $tmo= GetTickCount() + 150*$ATCmdTimeOut; #timeout in 100 ms + while( GetTickCount() < $tmo ){ + my ($i, $s) = ReadPortOneByte(); + my $ss= StrToReadableStr($s); + if(( defined $outputflag )&&( $outputflag>0 )){ BTConfigTextOut( $ss ); } + $response.= $ss; + $s= $w_BTConfig->btconfig_RecieveText->GetLine(0); #this helps to avoid the next cmd to be executed too early + Win32::GUI::DoEvents(); + }; + my $s= $response; + return ($response,$s); #this is dirty, a call $s=SendATCommand results in $s +} + + + + + +# Ende # BLUETOOTH Configuration Tool Window +############################################################################### + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# UPDATE Tool Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# +# ShellExecute may nozt work since it returns immediately and doesn't wait for called to finish +# http://www.perl-community.de/bat/poard/thread/5223 +# Win32::SetChildShowWindow(0); #damit system kein Fenster öffnet +# system( "owH_extract.exe in.txt out.txt" ); + +my %MonthHash = ( 'Jan'=>'01', 'Feb'=>'02', 'Mar'=>'03', 'Apr'=>'04', 'Mai'=>'05', 'June'=>'06', 'July'=>'07', + 'Aug'=>'08', 'Sep'=>'09', 'Oct'=>'10', 'Nov'=>'11', 'Dez'=>'12', ); + +my $UpdateBackgroundColor= [96,96,96]; + +my $UpdateLatestVersion = 0; +my $UpdateLatestDate = ''; + +my $UpdateXsize= 450; +my $UpdateYsize= 205; + +my $w_Update= Win32::GUI::DialogBox->new( -name=> 'update_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> "o323BGC Update Tool", -size=> [$UpdateXsize,$UpdateYsize], + -helpbox => 0, + -background=>$UpdateBackgroundColor, +); +$w_Update->SetIcon($Icon); + +sub m_Update_Click{ UpdateInit(); UpdateShow(); 0; } +sub update_Window_Terminate{ $w_Update->Hide(); 0; } +sub update_OK_Click{ $w_Update->Hide(); 0; } + +my $UpdateIsInitialized = 0; + +sub UpdateInit{ + if( $UpdateIsInitialized>0 ){ return; } + $UpdateIsInitialized = 1; + my $xpos= 20; + my $ypos= 20; + $w_Update->AddLabel( -name=> 'update_Text1_label', -font=> $StdWinFont, + -text=> 'This tool checks for updates, and lets you download them.', + -pos=> [$xpos,$ypos], -width=> 420, -height=>30, + -background=>$UpdateBackgroundColor, -foreground=> [255,255,255], + ); + $ypos+= 35; + $w_Update->AddLabel( -name=> 'update_Text2_label', -font=> $StdWinFont, + -text=> '-', + -pos=> [$xpos,$ypos], -width=> 400, -height=>70, + -background=>$CGrey128, -foreground=> [255,255,255], + ); + $xpos= 20; + $ypos= $UpdateYsize -60; + $w_Update->AddButton( -name=> 'update_DownloadAndSave', -font=> $StdWinFont, + -text=> 'Download and Save', -pos=> [$UpdateXsize/2-80,$ypos], -width=> 160, + ); + $w_Update->update_DownloadAndSave->Hide(); + $w_Update->AddButton( -name=> 'update_OK', -font=> $StdWinFont, + -text=> 'OK', -pos=> [$UpdateXsize/2-40,$ypos], -width=> 80, + ); + $w_Update->update_OK->Hide(); +} + +sub UpdateShow{ + DataDisplayHalt(); + $w_Update->update_DownloadAndSave->Hide(); + $w_Update->update_OK->Hide(); + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_Update->Move($x+150,$y+100); + $w_Update->update_Text2_label->Text( 'Checking git for updates... Please wait!' ); + $w_Update->Show(); + Win32::GUI::DoEvents(); + sleep(1); + ($UpdateLatestVersion,$UpdateLatestDate) = Update_CheckGitForLatestVersion(); + if( $UpdateLatestVersion==0 ){ + $w_Update->update_Text2_label->Text( + 'Checking git for updates... ABORTED!'."\r\n".'Connecting to git failed.' + ); + return 0; + } + $VersionStr =~ /^(\d+?)\. (.+?)\.? (\d+?) v(.+?)$/; +#TextOut( "\r\n".$1 ); TextOut( "\r\n".$2 ); TextOut( "\r\n".$3 ); TextOut( "\r\n".$4 ); +#TextOut( "\r\n".$MonthHash{$2} ); + my $currentversion = $4; + my $currentdate = $3.$MonthHash{$2}.$1; + $currentversion =~ s/\.//g; + my $s= 'Your firmware release: v'.$currentversion.'-v'.$currentdate."\r\n"; + $s.= 'Latest firmware release: v'.$UpdateLatestVersion.'-v'.$UpdateLatestDate."\r\n"; + $s.= "\r\n"; + $w_Update->update_Text2_label->Text( $s ); + $currentversion =~ s/\D//g; + if( $currentversion>= $UpdateLatestVersion ){ + $s.= 'You have the latest firmware installed :)'."\r\n"; + $w_Update->update_Text2_label->Text( $s ); + $w_Update->update_OK->Show(); + return 0; + } + $s.= 'A new firmware version is available, do you want to download the zip file?'."\r\n"; + $w_Update->update_Text2_label->Text( $s ); + $w_Update->update_DownloadAndSave->Enable(); + $w_Update->update_DownloadAndSave->Show(); +} + +my $UpdateZipFileDir_lastdir= $ExePath; + +sub update_DownloadAndSave_Click{ + $w_Update->update_DownloadAndSave->Hide(); + my $dir= Win32::GUI::BrowseForFolder( -owner=> $w_Main, + -title=> 'Select Firmware Zip File Directory', + -directory=> $UpdateZipFileDir_lastdir, + -folderonly=> 1, + ); + if( $dir ){ + $UpdateZipFileDir_lastdir= $dir; + my $zipfilename= 'o323bgc-release-v'.$UpdateLatestVersion.'-v'.$UpdateLatestDate; + my $s= 'Downloading firmware '. $zipfilename .'.zip... Please wait!'."\r\n"; + $w_Update->update_Text2_label->Text( $s ); + if( Update_DownloadLatestVersionFromGit($zipfilename,$dir) ){ + $s.= 'Downloading ... DONE'."\r\n" . "\r\n" . 'Please unzip the dowloaded file. Have fun :)'."\r\n"; + }else{ + $s.= 'Downloading ... ABORTED'."\r\n" . 'Connection to git failed.'; + } + $w_Update->update_Text2_label->Text( $s ); + $w_Update->update_OK->Enable(); + $w_Update->update_OK->Show(); + }elsif( Win32::GUI::CommDlgExtendedError() ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); } + 1; +} + +sub Update_CheckGitForLatestVersion{ +#http://www.perlhowto.com/executing_external_commands + #get github directory page as html + Win32::SetChildShowWindow(0); + my $res= system( + 'bin\wget\wget', + '-q', '--no-check-certificate', #'-O "github-firmware-directory-list-html"', + 'https://github.com/olliw42/storm32bgc/tree/master/firmware%20binaries%20%26%20gui' + ); + if( $res!=0 ){ return (0,''); } + system( 'ren', '"firmware binaries & gui"', '"github-firmware-directory-list-html"' ); + #load github directory page + my $directorieshtml= ''; + open( F, "){ $directorieshtml .= $_; } + close( F ); + system( 'del', '"github-firmware-directory-list-html"' ); + #scan and extract directories from github directory page +## my @directories = ( $directorieshtml =~ /href=".*?(o323bgc-release-.*?)"/g ); + my @directories = ( $directorieshtml =~ /href=".*?(o323bgc-release-.*?\.zip)"/g ); #only get .zip + #get latest directory + my $version = 0; + my $date = ''; + my $zipfilename = ''; + foreach my $s (@directories){ +#TextOut( "\r\n".$s ); +## if( $s =~ m/\./ ){ next; } # to skip .zip #changed, we search for the .zip now +## $s =~ /.*?e-v(\d+?)-/; +## my $ver = $1; +## $s =~ /.*\d-v(\d+)$/; +## my $d = $1; + #$s =~ /.*?release-v(\d+)-v(\d+)\.zip/; + $s =~ /o323bgc-release-v(\d+)-v(\d+)\.zip/; + my $ver = $1; + my $d = $2; +#TextOut( "\r\n".$ver." ".$d ); + if( $ver>$version ){ $version = $ver; $date= $d; $zipfilename= $s;} + } + return ($version,$date,$zipfilename); +} + +sub Update_DownloadLatestVersionFromGit{ +#http://www.perlhowto.com/executing_external_commands + my $zipfilename = shift; + my $dir = shift; + my $res= system( + 'bin\wget\wget', '-q', '--no-check-certificate', + 'https://github.com/olliw42/storm32bgc/tree/master/firmware%20binaries%20%26%20gui/'.$zipfilename.'.zip' + ); + if( $res!=0 ){ return 0; } + system( 'move', $zipfilename.'.zip', $dir ); + return 1; +} + + + +# Ende # UPDATE Tool Window +############################################################################### + + + + + + + + + + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# MAVLINK Test Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# +#my $w_RcCmd; #to make interpreter happy + +my $MAVSTX= 'FE'; + +my $RCCMDINSTX= 'FA'; +my $RCCMDOUTSTX= 'FB'; + +my $RcCmdDetailsOut = 1; +my $RcCmdConnectionTest = 1; +my $RcCmdUse0xFE = $MavlinkRcUse0xFE; + +##my $MavlinkRcUse0xFE = 0; #is a global variable + +my $MAVLINK_MSG_ID_COMMAND_LONG = 76; +my $MAVLINK_MSG_ID_COMMAND_LONG_CRC = 152; +my $MAVLINK_MSG_ID_COMMAND_LONG_LEN = 33; + +my $MAV_CMD_TARGET_SPECIFIC = 1235; + +#my $MAVLINK_MSG_ID_MOUNT_CONFIGURE = 156; +#my $MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC = 19; + +#my $MAVLINK_MSG_ID_MOUNT_CONTROL = 157; +#my $MAVLINK_MSG_ID_MOUNT_CONTROL_CRC = 21; + +#my $MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC = 234; +#my $MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC_CRC = 152; + +#my $MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC_ACK = 235; +#my $MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC_ACK_CRC = 102; + +my $STORM32_SYSCOMP_ID = '47' . '43'; # Sys-ID 71, Comp-ID 67 #this is the STorM32 +#my $GCS_SYSCOMP_ID = 'FF'.'BE', #this is my GCS +my $GCS_SYSCOMP_ID = '52'.'43'; + +my $RC_CMD_GETVERSION = '01'; +my $RC_CMD_GETVERSION_RESPONSE_LEN = 11; +my $RC_CMD_GETVERSIONSTR = '02'; +my $RC_CMD_GETVERSIONSTR_RESPONSE_LEN = 3 + 3*16 + 2; +my $RC_CMD_GETPARAMETER = '03'; +my $RC_CMD_GETPARAMETER_RESPONSE_LEN = 9; +my $RC_CMD_GETDATA = '05'; +my $RC_CMD_GETDATA_RESPONSE_LEN = 3 + 2+2*$CMD_d_PARAMETER_ZAHL + 2; +my $RC_CMD_GETDATAFIELDS = '06'; #length is variable!!! +my $RC_CMD_ACK_LEN = 6; + + +sub SendRcCmd{ + my $msg = shift; #command + payload + my $doread = shift; #this is the number of bytes expected as response, it is 6 for the default ACK message + + my $DetailsOut = $RcCmdDetailsOut; + $RcCmdDetailsOut = 1; + my $ConnectionTest = $RcCmdConnectionTest; + $RcCmdConnectionTest = 1; + my $Use0xFE = $RcCmdUse0xFE; + $RcCmdUse0xFE = $MavlinkRcUse0xFE; + + my $msglen = UCharToHexstr( length($msg)/2 - 1 ); #don't count the msg_id byte +#TextOut( "!$msglen!" ); + my $cmd= $RCCMDINSTX. $msglen . $msg . '33'.'34'; #crc check is not activated, hence dummy crc + if( not defined $doread ){ + my $rc_cmd_id = substr($msg,0,2); +#TextOut( "!$rc_cmd_id!" ); + if( $rc_cmd_id eq $RC_CMD_GETPARAMETER ){ + $doread = $RC_CMD_GETPARAMETER_RESPONSE_LEN; + }elsif( $rc_cmd_id eq $RC_CMD_GETVERSION ){ + $doread = $RC_CMD_GETVERSION_RESPONSE_LEN; + }elsif( $rc_cmd_id eq $RC_CMD_GETVERSIONSTR ){ + $doread = $RC_CMD_GETVERSIONSTR_RESPONSE_LEN; + }elsif( $rc_cmd_id eq $RC_CMD_GETDATA ){ + $doread = $RC_CMD_GETDATA_RESPONSE_LEN; + }elsif( $rc_cmd_id eq $RC_CMD_GETDATAFIELDS ){ + if($DetailsOut){ TextOut( 'No length specified, RC command is ignored!'."\r\n" ); } + }else{ + $doread = $RC_CMD_ACK_LEN; #6 is is the default CMD_ACK + } +#TextOut( "!$doread!" ); + } + +if($Use0xFE){ + #embeed into mavlink frame + TextOut( $cmd."\r\n" ); + my $rccmd = substr( $cmd, 0, -2*2 ); + while( length($rccmd)<2*($MAVLINK_MSG_ID_COMMAND_LONG_LEN-5) ){ $rccmd .= '00'; } #2*28 +#TextOut( "! ".$cmd." !".$rccmd."! " ); + $cmd = $MAVSTX . UCharToHexstr($MAVLINK_MSG_ID_COMMAND_LONG_LEN) . '00' . $GCS_SYSCOMP_ID . + UCharToHexstr($MAVLINK_MSG_ID_COMMAND_LONG) . + $rccmd . + UIntToHexstrSwapped($MAV_CMD_TARGET_SPECIFIC) . #'D304' . #command #1235 = 04D3 + $STORM32_SYSCOMP_ID . #target Sys-ID & Comp-ID + '00'; #confirmation + $cmd .= DoNativeMavlinkCrc( $cmd, $MAVLINK_MSG_ID_COMMAND_LONG_CRC ); + $doread = 6 + $MAVLINK_MSG_ID_COMMAND_LONG_LEN + 2; +} +#TextOut( "!".$cmd."!" );TextOut( "!".$doread."!\r\n" ); + if( $ConnectionTest ){ + if( not ConnectionIsValid() ){ + if($DetailsOut){ TextOut( 'No connection to board, RC command is ignored!'."\r\n" ); } + return ''; + } + } + if($DetailsOut){ TextOut( $cmd."\r\n" ); } + WritePort( HexstrToStr($cmd) ); + my $count= 0; my $result= ''; + my ($timeout, $timeoutfirst) = GetTimeoutsForReading(); + my $tmo = GetTickCount() + $timeout; + do{ + if( GetTickCount() > $tmo ){ if($DetailsOut){TextOut('t');} return 't'; } + my ($i, $s) = ReadPortOneByte(); + $count+= $i; + $result.= $s; + if($DetailsOut){ TextOut( StrToHexstr($s) ); } + }while( $count<$doread ); # xFE x01 x00 x47='G' x43='C' x96=150 x??=ack crc-low crc-high + + my $crcOK = 0; +if($Use0xFE){ + $crcOK = CheckNativeMavlinkCrc( $result, $count, $MAVLINK_MSG_ID_COMMAND_LONG_CRC, $DetailsOut ); +}else{ + $crcOK = CheckNativeMavlinkCrc( $result, $count, -1, $DetailsOut ); +} + if( $crcOK != 1 ){ return 'c'; } + +if($Use0xFE){ + #strip off mavlink frame + $result = substr($result,6, unpack("C",substr($result,7,1))+3 ); + if($DetailsOut){ TextOut( "\r\n".StrToHexstr($result) ); } +} + $result = StrToHexstr($result); + if($DetailsOut){ TextOut( "\r\n" ); } +#RR TextOut( "!".ExtractPayloadFromRcCmd($result)."!" ); + return $result; +} + + +sub SendRcCmdwoOut{ + $RcCmdDetailsOut = 0; + $RcCmdConnectionTest = 0; + return SendRcCmd( shift, shift ); +} + +#whenever the result of a SendRcComd is used, it MUST be digested with ExtractPayloadFromRcCmd() !!!! +sub ExtractPayloadFromRcCmd{ + my $msg = shift; + my $len = HexstrToDez(substr($msg,2,2)); + return substr($msg,2*3,2*$len); +} + + +my $RcCmdXPos= 100; +my $RcCmdYPos= 100; + +my $RcCmdXsize= 510; +my $RcCmdYsize= 400+20; + +my $w_RcCmd= Win32::GUI::DialogBox->new( -name=> 'rccmd_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> "RC Command Tool", + -pos=> [$RcCmdXPos,$RcCmdYPos], + -size=> [$RcCmdXsize,$RcCmdYsize], + -helpbox => 0, +); +$w_RcCmd->SetIcon($Icon); + +sub t_RcCmdTool_Click{ RcCmdInit(); RcCmdShow(); 1; } + +sub rccmd_Window_Terminate{ $w_RcCmd->Hide(); 0; } + +sub SendRcCmdTool{ +## $RcCmdUse0xFE = $w_RcCmd->rccmd_UseFE->GetCheck(); + SendRcCmd(shift); +} + +my $RcCmdIsInitialized = 0; + +sub RcCmdInit{ + if( $RcCmdIsInitialized>0 ){ return; } + $RcCmdIsInitialized = 1; + my $xpos= 20; + my $ypos= 20; + $w_RcCmd->AddButton( -name=> 'rccmd_PitchUp', -font=> $StdWinFont, + -text=> 'PitchUp', -pos=> [$xpos,$ypos-3], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."PitchUp"."\r\n" ); SendRcCmdTool( '0A' . 'E803' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_PitchMid', -font=> $StdWinFont, + -text=> 'PitchMid', -pos=> [$xpos,$ypos-3+25], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."PitchMid"."\r\n" ); SendRcCmdTool( '0A' . 'DC05' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_PitchDown', -font=> $StdWinFont, + -text=> 'PitchDown', -pos=> [$xpos,$ypos-3+50], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."PitchDown"."\r\n" ); SendRcCmdTool( '0A' . 'D007' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_PitchReCenter', -font=> $StdWinFont, + -text=> 'PitchReCenter', -pos=> [$xpos,$ypos-3+75], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."PitchReCenter"."\r\n" ); SendRcCmdTool( '0A' . '0000' ); 1; }, + ); + $xpos+= 120; + $w_RcCmd->AddButton( -name=> 'rccmd_RollUp', -font=> $StdWinFont, + -text=> 'RollUp', -pos=> [$xpos,$ypos-3], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."RollUp"."\r\n" ); SendRcCmdTool( '0B' . 'E803' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_RollMid', -font=> $StdWinFont, + -text=> 'RollMid', -pos=> [$xpos,$ypos-3+25], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."RollMid"."\r\n" ); SendRcCmdTool( '0B' . 'DC05' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_RollDown', -font=> $StdWinFont, + -text=> 'RollDown', -pos=> [$xpos,$ypos-3+50], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."RollDown"."\r\n" ); SendRcCmdTool( '0B' . 'D007' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_RollReCenter', -font=> $StdWinFont, + -text=> 'RollReCenter', -pos=> [$xpos,$ypos-3+75], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."RollReCenter"."\r\n" ); SendRcCmdTool( '0B' . '0000' ); 1; }, + ); + $xpos+= 120; + $w_RcCmd->AddButton( -name=> 'rccmd_YawDown', -font=> $StdWinFont, + -text=> 'YawLeft', -pos=> [$xpos,$ypos-3+0], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."YawDown"."\r\n" ); SendRcCmdTool( '0C' . 'D007' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_YawMid', -font=> $StdWinFont, + -text=> 'YawMid', -pos=> [$xpos,$ypos-3+25], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."YawMid"."\r\n" ); SendRcCmdTool( '0C' . 'DC05' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_YawUp', -font=> $StdWinFont, + -text=> 'YawRight', -pos=> [$xpos,$ypos-3+50], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."YawUp"."\r\n" ); SendRcCmdTool( '0C' . 'E803' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_YawReCenter', -font=> $StdWinFont, + -text=> 'YawReCenter', -pos=> [$xpos,$ypos-3+75], -width=> 100, + -onClick=> sub{ TextOut( "\r\n"."YawReCenter"."\r\n" ); SendRcCmdTool( '0C' . '0000' ); 1; }, + ); + $xpos+= 120; + $w_RcCmd->AddButton( -name=> 'rccmd_SetAngle', -font=> $StdWinFont, + -text=> 'SetAngle', -pos=> [$xpos,$ypos-3], -width=> 100, + ); + $w_RcCmd->AddTextfield( -name=> 'rccmd_SetAngle_Pitch', -font=> $StdWinFont, + -text=> '0', -pos=> [$xpos,$ypos-3+25], -size=> [100,23], + ); + $w_RcCmd->AddTextfield( -name=> 'rccmd_SetAngle_Roll', -font=> $StdWinFont, + -text=> '0', -pos=> [$xpos,$ypos-3+50], -size=> [100,23], + ); + $w_RcCmd->AddTextfield( -name=> 'rccmd_SetAngle_Yaw', -font=> $StdWinFont, + -text=> '0', -pos=> [$xpos,$ypos-3+75], -size=> [100,23], + ); + $w_RcCmd->AddCheckbox( -name=> 'rccmd_SetAngle_Limited', -font=> $StdWinFont, + -text=> 'limited', -pos=> [$xpos,$ypos-3+100], -size=> [100,23], + ); + + $xpos= 20; + $ypos= 20 + 50+ 25+25+20+20; + $w_RcCmd->AddButton( -name=> 'rccmd_AuxKeyMode0', -font=> $StdWinFont, + -text=> 'ActivePanMode Default', -pos=> [$xpos,$ypos-3], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Aux Key off-off"."\r\n" ); SendRcCmdTool( '64' . '00' ); 1; }, + ); + $ypos+= 25; + $w_RcCmd->AddButton( -name=> 'rccmd_AuxKeyMode1', -font=> $StdWinFont, + -text=> 'ActivePanModeSetting #1', -pos=> [$xpos,$ypos-3], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Aux Key off-on"."\r\n" ); SendRcCmdTool( '64' . '01' ); 1; }, + ); + $ypos+= 25; + $w_RcCmd->AddButton( -name=> 'rccmd_AuxKeyMode2', -font=> $StdWinFont, + -text=> 'ActivePanModeSetting #2', -pos=> [$xpos,$ypos-3], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Aux Key on-off"."\r\n" ); SendRcCmdTool( '64' . '02' ); 1; }, + ); + $ypos+= 25; + $w_RcCmd->AddButton( -name=> 'rccmd_AuxKeyMode3', -font=> $StdWinFont, + -text=> 'ActivePanModeSetting #3', -pos=> [$xpos,$ypos-3], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Aux Key on-on"."\r\n" ); SendRcCmdTool( '64' . '03' ); 1; }, + ); + $xpos+= 160; + $ypos= 20 + 50+ 25+25+20+20; + $w_RcCmd->AddButton( -name=> 'rccmd_SetStandBy', -font=> $StdWinFont, + -text=> 'Set StandBy', -pos=> [$xpos,$ypos-3], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Set StandBy"."\r\n" ); SendRcCmdTool( '0E' . '01' ); 1; }, + ); + $ypos+= 25; + $w_RcCmd->AddButton( -name=> 'rccmd_ResetStandBy', -font=> $StdWinFont, + -text=> 'Reset StandBy', -pos=> [$xpos,$ypos-3], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Reset StandBy"."\r\n" ); SendRcCmdTool( '0E' . '00' ); 1; }, + ); + $xpos+= 160; + $ypos= 20 + 50+ 25+25+20+20; + $w_RcCmd->AddButton( -name=> 'rccmd_CameraShutter', -font=> $StdWinFont, + -text=> 'Shutter', -pos=> [$xpos,$ypos-3], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Shutter"."\r\n" ); SendRcCmdTool( '0F'. 'aa'.'01'.'aaaaaaaa' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_CameraShutterDelayed', -font=> $StdWinFont, + -text=> 'Shutter Delayed', -pos=> [$xpos,$ypos-3+25], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Shutter Delayed"."\r\n" ); SendRcCmdTool( '0F'. 'aa'.'02'.'aaaaaaaa' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_CameraVideoOn', -font=> $StdWinFont, + -text=> 'Video On', -pos=> [$xpos,$ypos-3+50], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Video On"."\r\n" ); SendRcCmdTool( '0F'. 'aa'.'03'.'aaaaaaaa' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_CameraVideoOff', -font=> $StdWinFont, + -text=> 'Video Off', -pos=> [$xpos,$ypos-3+75], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Video Off"."\r\n" ); SendRcCmdTool( '0F'. 'aa'.'04'.'aaaaaaaa' ); 1; }, + ); + $w_RcCmd->AddButton( -name=> 'rccmd_CameraReset', -font=> $StdWinFont, + -text=> 'Reset', -pos=> [$xpos,$ypos-3+100], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Camera Reset"."\r\n" ); SendRcCmdTool( '0F'. 'aa'.'00'.'aaaaaaaa' ); 1; }, + ); + $xpos= 20; + $ypos= 20 + 50+ 25+25+20+20 + 100 + 20; + $w_RcCmd->AddButton( -name=> 'rccmd_GetVersion', -font=> $StdWinFont, + -text=> 'Get Version', -pos=> [$xpos,$ypos-3], -width=> 140, + -onClick=> sub{ TextOut( "\r\n"."Get Version"."\r\n" ); SendRcCmdTool( '01' ); 1; }, + ); + $ypos+= 25; + $w_RcCmd->AddButton( -name=> 'rccmd_GetParameter', -font=> $StdWinFont, + -text=> 'Get Parameter', -pos=> [$xpos,$ypos-3], -width=> 140, + ); + $w_RcCmd->AddLabel( -name=> 'rccmd_GetParameter_label', -font=> $StdWinFont, + -text=> "Nr", -pos=> [$xpos+150,$ypos], + ); + $w_RcCmd->AddTextfield( -name=> 'rccmd_GetParameter_Nr', -font=> $StdWinFont, + -pos=> [$xpos+150+$w_RcCmd->rccmd_GetParameter_label->Width()+3,$ypos-3], -size=> [40,23], + ); + $w_RcCmd->rccmd_GetParameter_Nr->Text(0); + $ypos+= 25; + $w_RcCmd->AddButton( -name=> 'rccmd_SetParameter', -font=> $StdWinFont, + -text=> 'Set Parameter', -pos=> [$xpos,$ypos-3], -width=> 140, + ); + $w_RcCmd->AddLabel( -name=> 'rccmd_SetParameterNr_label', -font=> $StdWinFont, + -text=> "Nr", -pos=> [$xpos+150,$ypos], + ); + $w_RcCmd->AddTextfield( -name=> 'rccmd_SetParameter_Nr', -font=> $StdWinFont, + -pos=> [$xpos+150+$w_RcCmd->rccmd_SetParameterNr_label->Width()+3,$ypos-3], -size=> [40,23], + ); + $w_RcCmd->rccmd_SetParameter_Nr->Text(0); + $w_RcCmd->AddLabel( -name=> 'rccmd_SetParameterValue_label', -font=> $StdWinFont, + -text=> "Value", -pos=> [$xpos+210,$ypos], + ); + $w_RcCmd->AddTextfield( -name=> 'rccmd_SetParameter_Value', -font=> $StdWinFont, + -pos=> [$xpos+210+$w_RcCmd->rccmd_SetParameterValue_label->Width()+3,$ypos-3], -size=> [40,23], + ); + $w_RcCmd->rccmd_SetParameter_Value->Text(0); + $ypos+= 25; + $w_RcCmd->AddButton( -name=> 'rccmd_GetData', -font=> $StdWinFont, + -text=> 'Get Data', -pos=> [$xpos,$ypos-3], -width=> 140, + ); + + $xpos= 20 + 160 + 160; + $ypos= 20 + 50+ 25+25+20+20 + 100 + 20; + $ypos+= 25; + $w_RcCmd->AddButton( -name=> 'rccmd_SetPwmOut', -font=> $StdWinFont, + -text=> 'SetPwmOut', -pos=> [$xpos,$ypos-3], -width=> 140, + ); + $w_RcCmd->AddTextfield( -name=> 'rccmd_SetPwmOut_Value', -font=> $StdWinFont, + -text=>'1500', -pos=> [$xpos +40,$ypos-3 +25], -size=> [60,23], + ); + +## $w_RcCmd->AddCheckbox( -name=> 'rccmd_UseFE', -font=> $StdWinFont, +## #-text=> 'use 0xFE', -pos=> [$MavlinkXsize-70,$MavlinkYsize-44], -size=> [60,23], +## -text=> 'use 0xFE', -pos=> [$RcCmdXsize-69,$RcCmdYsize-47], -size=> [60,23], +## ); +## if( $MavlinkRcUse0xFE ){ $w_RcCmd->rccmd_UseFE->Checked(1); } +} #end of MavlinkInit() + + +sub RcCmdShow{ +# DataDisplayHalt(); + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; + $w_RcCmd->Move($x+100,$y+100); + $w_RcCmd->Show(); + if( not ConnectionIsValid() ){ return 0; } + return 1; +} + + +sub rccmd_SetAngle_Click{ + TextOut( "\r\n".'SetAngle'."\r\n" ); + my $pitch = sprintf("%.5E",$w_RcCmd->rccmd_SetAngle_Pitch->Text()); + my $roll = sprintf("%.5E",$w_RcCmd->rccmd_SetAngle_Roll->Text()); + my $yaw = sprintf("%.5E",$w_RcCmd->rccmd_SetAngle_Yaw->Text()); + TextOut( $pitch.','.$roll.','.$yaw.',0,0!'."\r\n" ); + my $pitchf = FloatToHexstrSwapped($pitch); + my $rollf = FloatToHexstrSwapped($roll); + my $yawf = FloatToHexstrSwapped($yaw); + my $flags = '00'; #angles are unlimited + if( $w_RcCmd->rccmd_SetAngle_Limited->GetCheck()>0 ){ $flags= '07'; } # all angles are limited + my $type = '00'; # type is proper gimbal Euler angles in STorM32 frame (NWU) +#TextOut('!'.$pitchf.','.$rollf.','.$yawf.','.$flags.','.$type.'!'); + SendRcCmdTool( '11' . $pitchf . $rollf . $yawf . $flags . $type ); + +##message interval test +# float param1; ///< Parameter 1, as defined by MAV_CMD enum. +# float param2; ///< Parameter 2, as defined by MAV_CMD enum. +# float param3; ///< Parameter 3, as defined by MAV_CMD enum. +# float param4; ///< Parameter 4, as defined by MAV_CMD enum. +# float param5; ///< Parameter 5, as defined by MAV_CMD enum. +# float param6; ///< Parameter 6, as defined by MAV_CMD enum. +# float param7; ///< Parameter 7, as defined by MAV_CMD enum. +# uint16_t command; ///< Command ID, as defined by MAV_CMD enum. +# uint8_t target_system; ///< System which should execute the command +# uint8_t target_component; ///< Component which should execute the command, 0 for all components +# uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) +# my $msgid = FloatToHexstrSwapped(30); ##attitude +# my $rate = FloatToHexstrSwapped(25000); +# SendNativeMavlinkCmdwWriteOnly( +# 'FF'.'BE', #this is my GCS +# UCharToHexstr($MAVLINK_MSG_ID_COMMAND_LONG), #command_long, #76 +# $msgid . $rate . '00000000'. '00000000'. '00000000'. '00000000'. '00000000' . +# 'FF01' . #command #511 MAV_CMD_SET_MESSAGE_INTERVAL +# '47' . '43' . # sys ID 71, CompID 67 #this is the STorM32 +# '00', +# $MAVLINK_MSG_ID_COMMAND_LONG_CRC, +# ); + +# float param1; ///< Parameter 1, as defined by MAV_CMD enum. +# float param2; ///< Parameter 2, as defined by MAV_CMD enum. +# float param3; ///< Parameter 3, as defined by MAV_CMD enum. +# float param4; ///< Parameter 4, as defined by MAV_CMD enum. +# float param5; ///< Parameter 5, as defined by MAV_CMD enum. +# float param6; ///< Parameter 6, as defined by MAV_CMD enum. +# float param7; ///< Parameter 7, as defined by MAV_CMD enum. +# uint16_t command; ///< Command ID, as defined by MAV_CMD enum. +# uint8_t target_system; ///< System which should execute the command +# uint8_t target_component; ///< Component which should execute the command, 0 for all components +# uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) +# SendNativeMavlinkCmdwWriteOnly( +# 'FF'.'BE', #this is my GCS +# UCharToHexstr($MAVLINK_MSG_ID_COMMAND_LONG), #command_long, #76 +# $pitchf . $rollf . $yawf . '00000000'. '00000000'. $flags.$type.'0000' . '00000000' . +# 'CD00' . #command #205 DO_MOUNT +# '47' . '43' . # sys ID 71, CompID 67 #this is the STorM32 +# '00', +# $MAVLINK_MSG_ID_COMMAND_LONG_CRC, +# ); +# SendNativeMavlinkCmd( +# $GCS_SYSCOMP_ID, #'FF'.'BE', #this is my GCS +# UCharToHexstr($MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC), +# $STORM32_SYSCOMP_ID . #'47' . '43' . # sys ID 71, CompID 67 #this is the STorM32 +# '76', #UCharToHexstr(StrToDez('v')), +# $MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC_CRC, +# $MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC_ACK_CRC, +# #-1 #nothing to read +# #0 #do read, unknown response length +# 59 + 8, +# ); + +## send to Pixhawk (01,01), mimicking Misson Planner (FF,BE) +# int32_t input_a; ///< pitch(deg*100) or lat, depending on mount mode +# int32_t input_b; ///< roll(deg*100) or lon depending on mount mode +# int32_t input_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode +# uint8_t target_system; ///< System ID +# uint8_t target_component; ///< Component ID +# uint8_t save_position; ///< if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) +# my $pitchi32 = Int32ToHexstrSwapped($pitch*100); +# my $rolli32 = Int32ToHexstrSwapped($roll*100); +# my $yawi32 = Int32ToHexstrSwapped($yaw*100); +#TextOut( $pitchi32.','.$rolli32.','.$yawi32.',!' ); + +###$Baudrate = 57600;OpenPort(); +# TEST of sending "new" mount_control to pixhawk, digested and forwarded to STorM32 +# SendNativeMavlinkCmdwWriteOnly( +# 'FF'.'BE', #this is my GCS +# UCharToHexstr($MAVLINK_MSG_ID_MOUNT_CONFIGURE), #mount_configure, #156 +# '0101'. +# '00'. #RETRACT +# #'01'. #NEUTRAL +# #'02'. #MAVLINK_TARGETING +# #'03'. #RC_TARGETING +# '000000', +# $MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC, +# ); +# SendNativeMavlinkCmdwWriteOnly( +# 'FF'.'BE', #this is my GCS +# UCharToHexstr($MAVLINK_MSG_ID_MOUNT_CONTROL), #mount_control, #157 +# $pitchi32 . $rolli32 . $yawi32 . +# '0101' . # sys ID 1, CompID 0 #'47' . '43' . # sys ID 71, CompID 67 +# '90', #10000000 +# $MAVLINK_MSG_ID_MOUNT_CONTROL_CRC, +# ); + +# TEST of passing cmd_long_do_mount_control through pixhawk to STorM32 +# SendNativeMavlinkCmdwWriteOnly( +# '52'.'43', #this is the GUI +# #'FF'.'BE', #this is my GCS +# UCharToHexstr($MAVLINK_MSG_ID_COMMAND_LONG), #command_long, #76 +# $pitchf . $rollf . $yawf . '00000000'. '00000000'. $flags.$type.'0000' . '00000000' . +# 'CD00' . #command #205 DO_MOUNT +# '47' . '43' . # sys ID 71, CompID 67 #this is the STorM32 +# '00', +# $MAVLINK_MSG_ID_COMMAND_LONG_CRC, +# ); + +# TEST of passing empeded MavRC Set_Angle through pixhawk to STorM32 +# sending directly to STorM32 works +# sending to pixhawk works, with code changes +# the recieving data needs more careful treatment, since there might be other messages coming into its way +# SendNativeMavlinkCmdwWriteOnly( +# '52'.'43', #this is the GUI +# #'FF'.'BE', #this is my GCS +# UCharToHexstr($MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC), +# '47' . '43' . # sys ID 71, CompID 67 #this is the STorM32 +# '11' . #MAVLINKRC_CMD_SETANGLE #17 +# $pitchf . $rollf . $yawf . +# $flags . $type , +# $MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC_CRC, +# ); +###ClosePort(); + 1; + } + +sub rccmd_GetParameter_Click{ + TextOut( "\r\n".'Get Parameter'."\r\n" ); + my $s= $w_RcCmd->rccmd_GetParameter_Nr->Text(); + #TextOut( UCharToHexstr($s) ); + ## SendRcCmdTool( '03'. UCharToHexstr($s).'00', 8+2*2 ); + SendRcCmdTool( '03'. UCharToHexstr($s).'00' ); + 1; +} + +sub rccmd_SetParameter_Click{ + TextOut( "\r\n".'Set Parameter'."\r\n" ); + my $s= $w_RcCmd->rccmd_SetParameter_Nr->Text(); + $s= UCharToHexstr($s).'00'; + TextOut( $s.'!' ); + my $v= $w_RcCmd->rccmd_SetParameter_Value->Text(); + if( $v<0 ){ $v = $v+65536; } + $v= UIntToHexstrSwapped($v); #$v= UIntToHexstr($v); $v= substr($v,2,2).substr($v,0,2); + TextOut( $v.'!' ); + SendRcCmdTool( '04'. $s.$v ); #SendMavlinkCmd( '02'. '0000'.'6400' ); + 1; +} + +sub rccmd_GetData_Click{ + TextOut( "\r\n".'Get Data'."\r\n" ); + #$RcCmdUse0xFE = $w_RcCmd->rccmd_UseFE->GetCheck(); ##BUG: this doesn't work since field is too long to be embeeded + SendRcCmd( '05'. '00' );#, 8 + 2 + 2*$CMD_d_PARAMETER_ZAHL); #8 +2 + 2*32 = 74 #type & data + 1; +} + +sub rccmd_SetPwmOut_Click{ + TextOut( "\r\n".'SetPwmOut'."\r\n" ); + my $v= $w_RcCmd->rccmd_SetPwmOut_Value->Text(); + TextOut( $v.'!' ); + $v= UIntToHexstrSwapped($v); #$v= UIntToHexstr($v); $v= substr($v,2,2).substr($v,0,2); + TextOut( $v.'!' ); + SendRcCmdTool( '13'. $v ); + 1; +} + + +sub DoNativeMavlinkCrc{ + my $msg = shift; + my $crcextra = shift; + + my $msglen = length($msg)/2; + my $cmdpacked = HexstrToStr( $msg ); + my $crctxpacked = 0; + if( $crcextra>=0 ){ + #that's the method to take into account also the extra crc + $crctxpacked = do_crc( substr($cmdpacked,1).chr($crcextra) , $msglen ); + }else{ + $crctxpacked = do_crc( substr($cmdpacked,1) , $msglen ); + } + return UIntToHexstrSwapped($crctxpacked); +} + +sub CheckNativeMavlinkCrc{ + my $result = shift; + my $count = shift; + my $crcextraread = shift; + my $DetailsOut = shift; + + my $len = unpack( "C", substr($result,1,1) ); + if($DetailsOut){ TextOut( " LEN:".$len." COUNT:".$count ); } + my $crc = 0; + $crc = unpack( "v", substr($result,$count-2,2) ); + if($DetailsOut){ TextOut( " CRC:".UIntToHexstr($crc) ); } + if( $crcextraread>=0 ){ + #that's the method to take into account also the extra crc + $result = substr($result,0,$count-2).chr($crcextraread).substr($result,$count-2,2); + $count++; + } + my $crc2 = do_crc( substr($result,1), $count ); + if($DetailsOut){ TextOut( " CRC2:0x".UIntToHexstr($crc2)."!" ); } + + if( $crc2 != 0 ){ return 0; } + return 1; +} + + +# 0: do read, unknown response length +# -1: do not read +sub SendNativeMavlinkCmd{ + my $sysidcompid = shift; + my $msgid = shift; #command + my $payload = shift; #payload + my $crcextra = shift; + my $crcextraread = shift; + my $doread = shift; if( not defined $doread ){ $doread=-1; } #-1 indactes nothing to read + + my $payloadlen = UCharToHexstr( length($payload)/2 ) ; + my $cmd = $MAVSTX. $payloadlen .'00' . $sysidcompid . $msgid . $payload ; + $cmd .= DoNativeMavlinkCrc( $cmd, $crcextra ); + TextOut( $cmd."\r\n" ); + WritePort( HexstrToStr($cmd) ); + +#BUG: the recieving data needs more careful treatment, since there might be other messages coming into its way +if( $doread >= 0 ){ + if( $doread==0 ){ $doread = 10000; } + my $count= 0; my $result= ''; + my ($timeout, $timeoutfirst) = GetTimeoutsForReading(); + my $tmo = GetTickCount() + $timeout; + do{ + if( GetTickCount() > $tmo ){ + if( $doread<10000 ){ return ''; }else{ goto LE; } + } + my ($i, $s) = ReadPortOneByte(); + $count+= $i; + $result.= $s; + TextOut( StrToHexstr($s) ); + }while( $count<$doread ); # xFE x01 x00 x47='G' x43='C' x96=150 x??=ack crc-low crc-high +LE: +#TextOut("??"); + if( CheckNativeMavlinkCrc($result,$count,$crcextraread,1)==0 ){ return 'c'; } + $result = StrToHexstr($result); + TextOut( "\r\n" ); + return $result; +} + return ''; +} + + +sub SendNativeMavlinkCmdwWriteOnly{ + SendNativeMavlinkCmd( + shift, #my $sysidcompid = shift; + shift, #my $msgid = shift; #command + shift, #my $payload = shift; #payload + shift, #my $crcextra = shift; + 0, #my $crcextraread = shift; + -1 #-1 indactes nothing to read + ); +} + + + + + + + + + +#-----------------------------------------------------------------------------# +############################################################################### +############################################################################### +# Motion Control Tool Window +############################################################################### +############################################################################### +#-----------------------------------------------------------------------------# + +my $MotionControlXPos= 100; +my $MotionControlYPos= 100; +my $MotionControlXsize= 550; +my $MotionControlYsize= 440; + +my $MotionControlBackgroundColor= [96,96,96]; +my $MotionControlEditorTextFont= Win32::GUI::Font->new(-name=>'Lucida Console', -size=>10 ); + +my $w_MotionControl_Menubar= Win32::GUI::Menu-> new( + 'Motion Control Scripts' => '', + '>New', 'mcontrol_New', + '>Load from File...', 'mcontrol_Load', + '>Save to File...', 'mcontrol_Save', + '>-', 0, + '>Run', 'mcontrol_Run', + '>-', 0, + '>Exit', 'mcontrol_Exit', +); + +#my $w_MotionControl= Win32::GUI::DialogBox->new( -name=> 'mcontrol_Window', -parent => $w_Main, -font=> $StdWinFont, +my $w_MotionControl= Win32::GUI::Window->new( -name=> 'mcontrol_Window', -parent => $w_Main, -font=> $StdWinFont, + -text=> "Motion Control Tool", + -pos=> [$MotionControlXPos,$MotionControlYPos], + -size=> [$MotionControlXsize,$MotionControlYsize], + -helpbox => 0, + -background=>$MotionControlBackgroundColor, + -menu=> $w_MotionControl_Menubar, + -dialogui => 0, #is required so that rets are e.g. not captured + -hasminimize => 0, -minimizebox => 0, -hasmaximize => 0, -maximizebox => 0, +); +$w_MotionControl->SetIcon($Icon); + +sub mcontrol_Window_Resize { + my $mw = $w_MotionControl->ScaleWidth(); + my $mh = $w_MotionControl->ScaleHeight(); + my $lh = $w_MotionControl->mcontrol_Title->Height(); + $w_MotionControl->mcontrol_Title->Width( $mw - 105 ); + $w_MotionControl->mcontrol_Text->Width( $mw+2 ); + $w_MotionControl->mcontrol_Text->Height( $mh-$lh+1 +1); +} + +sub t_MotionControlTool_Click{ MotionControlInit(); MotionControlShow(); 1; } +sub mcontrol_Window_Terminate{ $w_MotionControl->Hide(); TextOut( 'Motion Control Tool ended'."\r\n" ); 0; } +sub mcontrol_Exit_Click{ mcontrol_Window_Terminate(); 0; } +sub mcontrol_New_Click{ $w_MotionControl->mcontrol_Text->Text(''); 0; } +sub mcontrol_Run_Click{ MotionControlRun(); 0; } + +my $MotionControlFile_lastdir= $ExePath; + +sub mcontrol_Load_Click{ + my $file= Win32::GUI::GetOpenFileName( -owner=> $w_Main, + -title=> 'Load Motion Control Script from File', + -nochangedir=> 1, + -directory=> $SettingsFile_lastdir, #MotionControl_lastdir, #".\\", + -defaultextension=> '.mcs', + -filter=> ['*.mcs'=>'*.mcs','All files' => '*.*'], + -pathmustexist=> 1, + -filemustexist=> 1, + ); + if( $file ){ + if( !open(F,"<$file") ){ + $w_Main->MessageBox( "Some error occured, sorry",'ERROR'); return; } + my $s=''; while(){ $s.= $_; } close(F); + #$w_MotionControl->mcontrol_Title->Text( ' '.RemoveBasePath($file) ); + $w_MotionControl->mcontrol_Text->Text( $s ); + }elsif( Win32::GUI::CommDlgExtendedError() ){ $w_Main->MessageBox("Some error occured, sorry",'ERROR'); } + 1; +} + +sub mcontrol_Save_Click{ + my $file= Win32::GUI::GetSaveFileName( -owner=> $w_Main, + -title=> 'Save Motion Control Script to File', + -nochangedir=> 1, + -directory=> $SettingsFile_lastdir, #MotionControl_lastdir, #".\\", + -defaultextension=> '.mcs', + -filter=> ['*.mcs'=>'*.mcs','All files' => '*.*'], + -pathmustexist=> 1, + -overwriteprompt=> 1, + -noreadonlyreturn => 1, + -explorer=>0, + ); + if( $file ){ + if( !open(F,">$file") ){ + $w_Main->MessageBox("Some error occured, sorry",'ERROR'); return; } + print F $w_MotionControl->mcontrol_Text->Text(); + close(F); + }elsif( Win32::GUI::CommDlgExtendedError() ){$w_Main->MessageBox("Some error occured, sorry",'ERROR');} + 1; +} + + +my $MotionControlIsInitialized = 0; +my $MotionControlUseMavlinkEmbedding = 0; +my $MotionControlMavlinkBaudrate = 57600; +my $MotionControlMavlinkOriginalBaudrate = 115200; +my $MotionControlMavlinkGuiSysID = '52'; +my $MotionControlMavlinkGuiCompID = '43'; +my $MotionControlMavlinkBoardSysID = 71; # '47'; +my $MotionControlMavlinkBoardCompID = 61; # '43'; + +sub MotionControlInit{ + if( $MotionControlIsInitialized>0 ){ return; } + $MotionControlIsInitialized = 1; + my $xpos= 20; + my $ypos= 20; + + $w_MotionControl->AddButton( -name=> 'mcontrol_Load', -font=> $StdWinFont, + -text=> 'Load', + -pos=> [0,0], -width=>35, -height=>16, # -width=> $xsize-6, -height=>15, + ); + $w_MotionControl->AddButton( -name=> 'mcontrol_Save', -font=> $StdWinFont, + -text=> 'Save', + -pos=> [35,0], -width=>35, -height=>16, # -width=> $xsize-6, -height=>15, + ); + $w_MotionControl->AddButton( -name=> 'mcontrol_Run', -font=> $StdWinFont, + -text=> 'Run', + -pos=> [70,0], -width=>35, -height=>16, # -width=> $xsize-6, -height=>15, + ); + + $w_MotionControl->AddLabel( -name=> 'mcontrol_Title', -font=> $StdWinFont, + -text=> ' ', + -pos=> [105,0], -width=> $MotionControlXsize-105-6, -height=>15, + #-align=>'center', #-background=>$CBlue, + ); + + $w_MotionControl-> AddTextfield( -name=> 'mcontrol_Text', -font=> $MotionControlEditorTextFont, #-font=> $StdWinFont, + -pos=> [-1,15], -size=> [$MotionControlXsize-4,$MotionControlYsize-42-15], #-size=> [$xsize-14,$ysize-52], + -hscroll=> 1, -vscroll=> 1, + -autovscroll=> 1, -autohscroll=> 1, + -keepselection => 1, + -multiline=> 1, + ); +} #end of MotionControlInit() + +sub MotionControlShow{ + my ($x, $y) = ($w_Main->GetWindowRect())[0..1]; +# $w_MotionControl->Move($x+100,$y+100); + $w_MotionControl->Move( $x + $ColNumber*$OPTIONSWIDTH_X+40-15+20-385-180+1 , $y+50-12 ); + TextOut( "\n".'Motion Control Tool started ...'."\n" ); + $w_MotionControl->Show(); + return 1; +} + +#COMMENT: this breaks the DoEvents loop, so windows freezes! +sub MotionControlRun{ +# if( not ConnectionIsValid() ){ return 0; } + DataDisplayHalt(); + my $mc_script = $w_MotionControl->mcontrol_Text->Text(); + $MotionControlUseMavlinkEmbedding = 0; + #check if mavlinkembedding is enabled + if( $mc_script =~ /UseMavlinkEmbedding\s*\(.*\)\s*;/i ){ +TextOut( "UseMavlinkEmbedding(); found! " ); + $mc_script =~ /(UseMavlinkEmbedding\s*\(.*\)\s*;)/i; +TextOut( "$1!" ); + my $c = eval($1); + if($@){ TextOut('Motion Control Script ERROR'."\n".$@."\n"); goto ERORR; }; +TextOut( "$MotionControlUseMavlinkEmbedding!$MotionControlMavlinkBaudrate!$MotionControlMavlinkGuiSysID!$MotionControlMavlinkGuiCompID!$MotionControlMavlinkBoardSysID!$MotionControlMavlinkBoardCompID" ); + } + if( $MotionControlUseMavlinkEmbedding==0 ){ + if( not ConnectToBoard() ){ return 0; } + TextOut('Motion Control Script Run ... '."\n"); + }else{ + #open port for mavlinkembedding + DisconnectFromBoard(0); + $MotionControlMavlinkOriginalBaudrate = $Baudrate; + $Baudrate = $MotionControlMavlinkBaudrate; + if( not OpenPort() ){ + TextOut('Motion Control Script ERROR'."\n".'Failed to open port'."\n"); + $Baudrate = $MotionControlMavlinkOriginalBaudrate; + return 0; + } + $Baudrate = $MotionControlMavlinkOriginalBaudrate; #since the port is opened, it can be reset already here + TextOut('Motion Control Script Run ... (using mavlink embedding)'."\n"); + } + my $c = eval($mc_script); + #die $@ if ($@); + if($@){ TextOut('Motion Control Script ERROR'."\n".$@."\n") }; + if( $MotionControlUseMavlinkEmbedding==0 ){ + SetReadDetailsOut(0); + ExecuteReadwoFirstReturn(); + }else{ + #close port of mavlinkembedding + ClosePort(); + } +ERROR: + TextOut('Motion Control Script DONE'."\n"); + return 1; +} + +#SendNativeMavlinkCmdwWriteOnly((): +# my $sysidcompid = shift; +# my $msgid = shift; #command +# my $payload = shift; #payload +# my $crcextra = shift; +sub SendEmbeddedMavlinkCmd{ + my $msg = shift; + my $msglen = UCharToHexstr( length($msg)/2 - 1 ); #don't count the msg_id byte + my $rccmd = $RCCMDINSTX . $msglen . $msg; #msg without crc + while( length($rccmd)<2*28 ){ $rccmd .= '00'; } + SendNativeMavlinkCmdwWriteOnly( + UCharToHexstr($MotionControlMavlinkGuiSysID).UCharToHexstr($MotionControlMavlinkGuiCompID), #'52'.'43', #this is the GUI + UCharToHexstr($MAVLINK_MSG_ID_COMMAND_LONG), + $rccmd. + UIntToHexstrSwapped($MAV_CMD_TARGET_SPECIFIC). #'D304' . #command #1235 = 04D3 + UCharToHexstr($MotionControlMavlinkBoardSysID).UCharToHexstr($MotionControlMavlinkBoardCompID). #'47' . '43' . # sys ID 71, CompID 67 #this is the STorM32 + '00', #confirmation + $MAVLINK_MSG_ID_COMMAND_LONG_CRC + ); +} + +sub SendMotionContrlCmd{ + if( $MotionControlUseMavlinkEmbedding==0 ){ + SendRcCmd( shift ); + }else{ + SendEmbeddedMavlinkCmd( shift ); + } +} + +## motion control convenience function ## + +#enables the use of embedded mavlink commands +# baudrate, GCS sysid, GCS compid, STorM32 sysid, STorM32 compid, +sub UseMavlinkEmbedding{ + $MotionControlMavlinkBaudrate = shift; + $MotionControlMavlinkGuiSysID = shift; + $MotionControlMavlinkGuiCompID = shift; + $MotionControlMavlinkBoardSysID = shift; + $MotionControlMavlinkBoardCompID = shift; + $MotionControlUseMavlinkEmbedding = 1; +} + +#waits the specified time in seconds +# time in 0.1 sec +sub Wait{ + my $timeinsec = shift; +TextOut( 'Wait '.$timeinsec."\n" ); + _delay_ms( 1000*$timeinsec ); +} + +#triggers the camera shutter +# camera command as string +sub DoCamera{ + my $cmd = uc(shift); +TextOut( 'CMD_DOCAMERA '.$cmd."\n" ); + my $data = '00'; + if( $cmd eq 'SHUTTER' ){ $data = '01'; } + elsif( $cmd eq 'SHUTTERDELAYED' ){ $data = '02'; } + elsif( $cmd eq 'VIDEOON' ){ $data = '03'; } + elsif( $cmd eq 'VIDEOOFF' ){ $data = '04'; } + my $msg = '0F'. 'aa'.$data.'aaaaaaaa'; + SendMotionContrlCmd( $msg ); +} + +#sets the angle of the gimbal +sub SetAngle{ + my $pitch = shift; + my $roll = shift; + my $yaw = shift; +TextOut( 'CMD_SETANGLE '.$pitch.','.$roll.','.$yaw.',0,0'."\n" ); +## TextOut( $pitch.','.$roll.','.$yaw.',0,0!' ); + my $pitchf = FloatToHexstrSwapped($pitch); + my $rollf = FloatToHexstrSwapped($roll); + my $yawf = FloatToHexstrSwapped($yaw); + my $type = '00'; # type is proper gimbal Euler angles in STorM32 frame (NWU) + my $flags = '00'; #angles are unlimited + #$flags= '07'; # all angles are limited +#TextOut('!'.$pitchf.','.$rollf.','.$yawf.','.$flags.','.$type.'!'); + my $msg = '11' . $pitchf . $rollf . $yawf . $flags . $type; + SendMotionContrlCmd( $msg ); +} + +#sets the pwm output +sub SetPwmOut{ + my $v = shift; +TextOut( 'CMD_SETPWMOUT '.$v."\n" ); + $v= UIntToHexstrSwapped($v); #$v= UIntToHexstr($v); $v= substr($v,2,2).substr($v,0,2); + my $msg = '13'. $v; + SendMotionContrlCmd( $msg ); +} + +#triggers a recenter of the camera +sub RecenterCamera{ +TextOut( 'RecenterCamera'."\n" ); + my $msg1 = '0A' . '0000'; + my $msg2 = '0B' . '0000'; + my $msg3 = '0C' . '0000'; + SendMotionContrlCmd( $msg1 ); + SendMotionContrlCmd( $msg2 ); + SendMotionContrlCmd( $msg3 ); +} + +#sets a paramter value +# paramter nr or parameter name as string, parameter raw value +sub SetParameter{ + my $nrstr = shift; + my $value = shift; + my $nr; + if( $nrstr =~ /^\d{1,3}$/ ){ #consider this to be a number + $nr = $nrstr; + }else{ #assume its a string -> search for it + $nr = FindOptionAdrByName( $nrstr ); + if( $nr eq '' ){ #parametername is not known, throw an error + TextOut( 'ERROR: SetParameter('.$nrstr.','.$value.')'."\n" ); + return; + } + } +TextOut( 'CMD_SETPARAMETER '.$nr.','.$value."\n" ); + my $s= $nr; + $s= UCharToHexstr($s).'00'; + my $v= $value; + if( $v<0 ){ $v = $v+65536; } + $v= UIntToHexstrSwapped($v); #$v= UIntToHexstr($v); $v= substr($v,2,2).substr($v,0,2); + my $msg = '04'. $s.$v; + SendMotionContrlCmd( $msg ); +} + +#restore parameter to EEPROM value +# parameter nr or parameter name as string +sub RestoreParameter{ + my $nrstr = shift; + my $nr; + if( $nrstr =~ /^\d{1,3}$/ ){ #consider this to be a number + $nr = $nrstr; + }else{ #assume its a string -> search for it + $nr = FindOptionAdrByName( $nrstr ); + if( $nr eq '' ){ #parametername is not known, throw an error + TextOut( 'ERROR: RestoreParameter('.$nrstr.')'."\n" ); + return; + } + } +TextOut( 'CMD_RESTOREPARAMETER '.$nr."\n" ); + my $s= $nr; + $s= UCharToHexstr($s).'00'; + my $msg = UCharToHexstr(20). $s; + SendMotionContrlCmd( $msg ); +} + +#restore all parameter to EEPROM value +sub RestoreAllParameters{ +TextOut( 'CMD_RESTOREALLPARAMETER'."\n" ); + my $msg = UCharToHexstr(21); + SendMotionContrlCmd( $msg ); +} + + + + + + + + + + + + + +############################################################################### +# Allgemeine Subroutinen +############################################################################### + +sub sqr{ my $x=shift; return $x*$x; } + +sub divide{ my $x= shift; my $y= shift; my $z= 0; eval '$z= $x/$y;'; return $z; } + +# integer division: compute $n div $d (so 4 div 2 is 2, 5 div 2 is also 2) +# parameters are $n then $d +sub quotient { + my $n = shift; my $d = shift; + my $r = $n; my $q = 0; + while( $r >= $d ){ $r = $r - $d; $q = $q + 1; } + return $q; +} + + +sub StrToDez{ + my $s= shift; + if( substr($s,0,2) eq '0x' ){ $s= HexstrToDez($s); } + return $s; +} + +sub HexstrToDez{ return hex(shift); } + +sub HexstrToStr{ return pack('H*',shift); } + +sub StrToHexstr{ return uc(unpack('H*',shift)); } + +sub DezToHexstr{ return uc(sprintf("%0x",shift)); } + +sub UCharToHexstr{ return uc(sprintf("%02lx",shift)); } + +sub UIntToHexstr{ return uc(sprintf("%04lx",shift)); } + +#sub UInt32ToHexstr{ return uc(sprintf("%08lx",shift)); } + + +sub UIntToHexstrSwapped{ + return StrToHexstr( pack('S',shift) ); +} + +sub Int32ToHexstrSwapped{ + return StrToHexstr( pack('l',shift) ); +} + +#http://stackoverflow.com/questions/770342/how-can-i-convert-four-characters-into-a-32-bit-ieee-754-float-in-perl +#Tested this on 0xC2ED4000 => -118.625 and it works. +#Tested this on 0x3E200000 => 0.15625 and found a bug! (fixed) +sub FloatToHexstrSwapped{ +# my $f = pack( 'f', shift ); +# my @fb = unpack( 'C4', $f ); +#TextOut('$'.StrToHexstr($f).','.UCharToHexstr($fb[0]).UCharToHexstr($fb[1]).UCharToHexstr($fb[2]).UCharToHexstr($fb[3]).'$'); +#TextOut('$'.unpack('H*',$f).','.UCharToHexstr($fb[0]).UCharToHexstr($fb[1]).UCharToHexstr($fb[2]).UCharToHexstr($fb[3]).'$'); +# return UCharToHexstr($fb[0]).UCharToHexstr($fb[1]).UCharToHexstr($fb[2]).UCharToHexstr($fb[3]); + return StrToHexstr( pack('f',shift) ); +} + +sub UCharToBitstr{ return uc(sprintf("%08lb",shift)); } + +sub UIntToBitstr{ return uc(sprintf("%016lb",shift)); } + +sub IntelHexChkSum{ + my $s= shift; + my $sum=0; + $sum+= $_ for unpack('C*', pack("H*", $s)); + my $hex_sum= DezToHexstr( $sum ); + $hex_sum = substr($hex_sum, -2); # just save the last byte of sum + my $chksum = ( hex($hex_sum) ^ 0xFF) + 1; # 2's complement of hex_sum + $chksum= UCharToHexstr( $chksum ); + return $chksum; # put is back to the end of string, done +} + +sub IntelHexLineType{ # :10 0100 00 214601360121470136007EFE09D21901 40 = len adr type data cc + return substr(shift,7,2); +} + +sub IntelHexLineAdr{ # :10 0100 00 214601360121470136007EFE09D21901 40 = len adr type data cc + return HexstrToDez(substr(shift,3,4)); +} + +sub IntelHexLineData{ # :10 0100 00 214601360121470136007EFE09D21901 40 = len adr type data cc + my $data= substr(shift,9,300); + $data=~ s/.{2}$//g; #remove last CC + return $data; +} + +sub ExtractIntelHexLine{ # :10 0100 00 214601360121470136007EFE09D21901 40 = len adr type data cc + my $line= shift; + my $len= HexstrToDez(substr($line,1,2)); + my $adr= HexstrToDez(substr($line,3,4)); + my $type= substr($line,7,2); + my $data= substr($line,9,300); + $data=~ s/.{2}$//g; #remove last CC + return ($len, $adr, $data, $type); +} + +sub TrimStrToLength{ #fills str with space, and cuts str to length + my $s= shift; my $len= shift; + while( length($s)<$len ){ $s= $s.' '; } + return substr($s,0,$len); +} + +sub TrimStrWithCharToLength{ #fills str with space, and cuts str to length + my $s= shift; my $len= shift; my $c= shift; + while( length($s)<$len ){ $s= $s.$c; } + return substr($s,0,$len); +} + +sub StrToHexstrFull{ + my $s= shift; + my $ss=''; + for(my $i=0; $i=16 ){ $j= 0; if( $i Show(); +if( $ShowUpdateNotesAtStartup ){ + m_UpdateNotes_Click(); +} +Win32::GUI::Dialog(); +if( $p_Serial ){ $p_Serial->close; } +undef $p_Serial; + + +if( not defined $IniFile ){ + open(F,">$IniFileName"); + print F "[SYSTEM]\n\n"; + close( F ); + $IniFile = new Config::IniFiles( -file => $IniFileName ); +} +if( defined $IniFile ){ + +$IniFile->newval( 'SYSTEM', 'XPos', $w_Main->AbsLeft() ); +$IniFile->newval( 'SYSTEM', 'YPos', $w_Main->AbsTop() ); + +$IniFile->newval( 'SYSTEM', 'DataDisplayXPos', $w_DataDisplay->AbsLeft() ); +$IniFile->newval( 'SYSTEM', 'DataDisplayYPos', $w_DataDisplay->AbsTop() ); +$IniFile->newval( 'SYSTEM', 'FontName', $StdWinFontName ); +$IniFile->newval( 'SYSTEM', 'FontSize', $StdWinFontSize ); +$IniFile->newval( 'SYSTEM', 'TextFontSize', $StdTextFontSize ); +$ShowUpdateNotesAtStartup = 0; #this is to deactivae after first call +if( $f_Tab{pid}->UseSimplifiedPID->Checked() ){ $UseSimplifiedPIDs = 1; }else{ $UseSimplifiedPIDs = 0; } +$IniFile->newval( 'SYSTEM', 'UseSimplifiedPIDs', $UseSimplifiedPIDs ); +if( $f_Tab{pid}->AutoWritePIDChanges->Checked() ){ $UseAutoWritePIDChanges = 1; }else{ $UseAutoWritePIDChanges = 0; } +$IniFile->newval( 'SYSTEM', 'UseAutoWritePIDChanges', $UseAutoWritePIDChanges ); +$IniFile->newval( 'SYSTEM', 'ShowNotesAtStartup', $ShowUpdateNotesAtStartup ); + +$IniFile->newval( 'PORT', 'Port', ExtractCom($w_Main->m_Port->Text()) ); +$IniFile->newval( 'PORT', 'BaudRate', $Baudrate ); + +$IniFile->newval( 'PROTOCOL', 'MavlinkRcUse0xFE', $MavlinkRcUse0xFE ); + +$IniFile->newval( 'TIMING', 'ExecuteCmdTimeOutFirst', $ExecuteCmdTimeOutFirst ); +$IniFile->newval( 'TIMING', 'ExecuteCmdTimeOut', $ExecuteCmdTimeOut ); +$IniFile->newval( 'TIMING', 'ExecuteCmdBTAddedTimeOut', $ExecuteCmdBTAddedTimeOut ); +$IniFile->newval( 'TIMING', 'MaxConnectionLost', $MaxConnectionLost ); + +$IniFile->newval( 'DIALOG', 'OptionInvalidColor', '0x'.sprintf("%06x",$OptionInvalidColor) ); +$IniFile->newval( 'DIALOG', 'OptionValidColor', '0x'.sprintf("%06x",$OptionValidColor) ); +$IniFile->newval( 'DIALOG', 'OptionModifiedColor', '0x'.sprintf("%06x",$OptionModifiedColor) ); + +$IniFile->newval( 'FLASH', 'Board', $f_Tab{flash}->flash_Board->Text() ); +$IniFile->newval( 'FLASH', 'HexFileDir', $FirmwareHexFileDir ); +$IniFile->newval( 'FLASH', 'Version', $f_Tab{flash}->flash_Version->Text() ); +#$IniFile->newval( 'FLASH', 'Programmer', $f_Tab{flash}->flash_Programmer->Text() ); +$IniFile->newval( 'FLASH', 'Stm32Programmer', $Storm32Programmer ); +$IniFile->newval( 'FLASH', 'NtProgrammer', $NtProgrammer ); +$IniFile->newval( 'FLASH', 'STLinkPath', $STLinkPath ); +$IniFile->newval( 'FLASH', 'STMFlashLoaderPath', $STMFlashLoaderPath ); + +$IniFile->newval( 'ESP', 'EspWebAppPath', $EspWebAppPath ); +$IniFile->newval( 'ESP', 'EspToolExe', $EspToolExe ); +$IniFile->newval( 'ESP', 'EspWebAppBin', $EspWebAppBin ); +$IniFile->newval( 'ESP', 'EspMkSpiffsExe', $EspMkSpiffsExe ); +$IniFile->newval( 'ESP', 'EspSpiffsBin', $EspSpiffsBin ); +$IniFile->newval( 'ESP', 'EspConfigFile', $EspConfigFile ); + +$IniFile->newval( 'LINKS', 'HelpLink', $HelpLink ); +$IniFile->newval( 'LINKS', 'ConfigureGimbalStepIIHelpLink', $ConfigureGimbalStepIIHelpLink ); + +$IniFile->newval( 'BOARDCONFIGURATION','LastActiveConfiguration', $ActiveBoardConfiguration ); + +$IniFile->RewriteConfig(); +undef $IniFile; +} + + +############################################################################### +############################################################################### diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/Brief-Manual.txt b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/Brief-Manual.txt new file mode 100644 index 0000000..b5660b2 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/Brief-Manual.txt @@ -0,0 +1,28 @@ +brief instructions for using the ESP8266 wifi support + +0) you need a black ESP-01 (i.e. a ESP-01 with 1M instead of 0.5M)(typically they come with a label "AI-Cloud inside", or as ESP-01s "s series"). + +1) you need to flash the firmware onto the ESP +- connect the ESP to a usb-ttl adapter and connect the pins to bring it into bootloader mode, exactly as explained on one of the many instructions on the web +- browse to the o323BgcEspWebApp directory in the STorM32 firmware folder +- double click cmd-here.bat +- enter uploadInoBin COM??, where COM?? stands for the com port (e.g. COM23), and hit enter + +2) you need to upload the files in the data subfolder to the SPIFFS file system +- connect the ESP to a usb-ttl adapter and connect the pins to bring it into bootloader mode, exactly as explained on one of the many instructions on the web +- browse to the o323BgcEspWebApp directory in the StorM32 firmware folder +- double click cmd-here.bat +- enter uploadDataToFs COM??, where COM?? stands for the com port (e.g. COM23), and hit enter + +3) Connect the ESP to the STorM32 board +- connect the ESP's Tx and Rx pins to the STorM32's UART Rx and Tx pins +- provide 3.3V power to the ESP (do NOT use the STorM32's 3.3V pins, they are too weak)(do NOT use voltages larger than 3.3V) + +4) Configure ESP in STorM32 GUI +- set the parameter "Esp Configuration" in the Expert tab to "Uart" + +5) Connect Wifi +By default the ESP is configured as access point with ssid "STorM32 ESP" and password "thisisgreat". So, connect to it, start the browser, and go to 192.168.4.1. Alternative, start the GUI and choose "ESP" in teh Port field. + + +You are greatly encouraged to improve the javascript and css files. This is made very easy. The ESP just provides a very rudimentary HTML skeleton, everything essential is filled in by the js and css scripst, and these are stored in the ESP's filesystem. In order to use your own js and css, you just have to upload them to the EPS's filesystem (step 3). You also can provide links to js and css files on your own webspace, which makes development most easy. See storm32web.cfg for details. \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/LICENCE.txt b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/LICENCE.txt new file mode 100644 index 0000000..dcbd3ec --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/LICENCE.txt @@ -0,0 +1,17 @@ +LICENCE + +(c) OlliW 2017 +Use permitted for private purposes only. + + +esptool and mkspiffs were taken from Arduino 1.8.3 EPS8266 core v2.2.0 + +esptool +https://github.com/espressif/esptool + +mkspiffs +https://github.com/igrr/mkspiffs + +gzip 1.3.12-1-bin +http://www.gzip.org/ +http://gnuwin32.sourceforge.net/packages/gzip.htm diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/cmd-here.bat b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/cmd-here.bat new file mode 100644 index 0000000..911dc38 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/cmd-here.bat @@ -0,0 +1 @@ +cmd \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.cfg b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.cfg new file mode 100644 index 0000000..821f074 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.cfg @@ -0,0 +1,51 @@ +;configuration file for STorM32 Web App v0.27b +; (c) www.OlliW.eu 2017 +; case doesn't matter +; comments can be added at end of line with a ';' + +;------------------------------------------- +;sets the mode, in which the ESP operates +; this can be Station, AP, AP Bridge, AP + gopro Station + +;mode = station +;mode = AP +mode = AP bridge + +;sets the wifi router credentials +; is used only if mode = Station +; the url is something like e.g 192.168.2.117 +; check the startup output on Tx to see which url is used + +router ssid = +router password = + +;sets the AP credentials +; is used if mode = AP, AP + gopro Station, AP Bridge +; the url is 192.168.4.1:80 + +AP ssid = STorM32 ESP ;this must be STorM32 ESP if mode = AP bridge +AP password = thisisgreat + +;sets the Gopro credentials +; is used if mode = AP + gopro Station +; enter the credentials as you find them in your gopro menu + +gopro ssid = +gopro password = + +;------------------------------------------- +;sets a link to an external js script +; if set, it will be used, otherwise the storm32web.js file in the FS system will be used +; this can be very convenient for development + +;js link = http://www.olliw.eu/downloads/storm32/espwebapp/espweb.js + +;sets a link to an external css +; if set, it will be used, otherwise the storm32web.css file in the FS system will be used +; this can be very convenient for development + +;css link = http://www.olliw.eu/downloads/storm32/espwebapp/espweb.css + +;------------------------------------------- +;this enables the debug lines in the web app +debug = off \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.css b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.css new file mode 100644 index 0000000..fac68dc --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.css @@ -0,0 +1,97 @@ +body { + margin: 0; +} + +#MenuTop { + margin: 0; + padding: 8px 16px; + height: 20px; /*= 36px-16px*//*84px; *//*= 100px-16px*/ + width: 100%; + position: fixed; + top: 0; + overflow: hidden; + background-color: #333; + color: white; +} + + +ul.NavigationBar { + list-style-type: none; + margin: 0; + padding: 0; + height: 100%; + width: 200px; + position: fixed; + overflow: auto; + background-color: #f1f1f1; +} +.NavigationBar li a { + display: block; + text-decoration: none; + padding: 8px 16px; + color: #000; +} +.NavigationBar li a.active { + background-color: #4CAF50; + color: white; +} +.NavigationBar li a:hover:not(.active) { + background-color: #555; + color: white; +} + +#Content { + margin-left: 200px; + margin-top: 36px; /*100px;*/ + padding: 16px 16px; + height: 1000px; +} + +label.PLabel { + display:inline-block; + width: 200px; + color: green; + padding: 5px 5px; +} +.PSelect { + width: 150px; +} +.PInput { + width: 145px; +} + +.DInfo { + margin-top: 32px; + margin-left: 5px; + padding: 10px 0px; + /*background-color: #f1f1f1;*/ +} +.DInfoTable table { + padding-top: 10px; +} +.DInfoTable td{ +} +.DInfoTable td:first-child{ + width: 380px; +} +.DInfo label, .DInfoTitle{ + color: blue; +} + +.FileList table { + margin: 0px; + padding: 0px 0px; + min-width: 100px; + background-color: #f1f1f1; + text-align: left; +} +.FileList td { + padding: 0px 5px; +} +.FileList th,td { + padding-right: 5px; + text-align: left; +} +.FileInfo { + margin-top: 5px; +} diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.js b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.js new file mode 100644 index 0000000..618b3ad --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.js @@ -0,0 +1,1235 @@ +//STorM32 Web App v0.27b +// (c) www.OlliW.eu 2017 + +/*TODO: +- always do a read before a write ? +- check validity after a write +- version check, as in GUI +- several tries before alert in updateRead, updateStatus +*/ + + +'use strict'; + + +//http://geekswithblogs.net/lorint/archive/2006/03/07/71625.aspx +//https://stackoverflow.com/questions/1018705/how-to-detect-timeout-on-an-ajax-xmlhttprequest-call-in-the-browser +function ajaxDo(type, url, content, func) { + + if( XhttpTransferInProgress ){ alert("A Xhttp transfer is currently in progress. Wait and repeat."); return; } + XhttpTransferInProgress = true; + + var xhttp = new XMLHttpRequest(); + xhttp.onreadystatechange = function() { + if( this.readyState == 4 ){ + clearTimeout(xhttpTimeout); + if( (this.readyState == 4) && (this.status == 200) ){ + ConnectionIsValid = true; + func(this); + }else{ + ConnectionIsValid = false; + setPAllToInvalid(); + } + } + }; + xhttp.open(type, url, true); //xhttp.open('POST', url, true); //xhttp.open('GET', url, true); + if( content.length ) xhttp.send(content); else xhttp.send(); + // timeout to abort in 5 seconds + function ajaxTimeout(){ + xhttp.abort(); + ConnectionIsValid = false; + setPAllToInvalid(); + alert("Xhttp request timed out"); + } + var xhttpTimeout = setTimeout(ajaxTimeout,3000); + + XhttpTransferInProgress = false; +} + + +function ajaxPost(url, content, func) { + ajaxDo('POST', url, content, func); +} + +function ajaxGet(url, content, func) { + ajaxDo('GET', url, content, func); +} + + +//----------------------------------------------------- +// parameter description +//----------------------------------------------------- + +//capability constants +var BOARD_CAPABILITY_FOC = 0x0100; + +var FocIsEnabled = false; + +//this is a flag to avoid that more than one xhhtp transfer is going on at a time +// is this really working???? +var XhttpTransferInProgress = false; + +//this is flag tells about the connection to the ESP and/or STorM32 +// it holds the success result of the last XhttpRequest, as well as that of the returned resposne, if it was 'o' or not +var ConnectionIsValid = false; + +//this is the string of hex received via read, i.e. g +// it is needed to keep the scripts, and to keep values not available or changed +// it has to be maintained +var PValues = ''; + +//this is to maintain the status of the PValues +var INVALID = 0; +var VALID = 1; +var MODIFIED = 2; +var PStatus = INVALID; //this can be invalid = 0, valid = 1, modified; + +// L229 +var P = +{ +/* + 'FirmwareVersion' : {'default' : '', 'column' : 1, 'unit' : '', 'size' : 16, 'hidden' : 0, + 'page' : 'dashboard', 'type' : 'OPTTYPE_STR+OPTTYPE_READONLY', 'name' : 'Firmware Version'}, + 'GyroLPF' : {'steps' : 1, 'default' : 1, 'adr' : 12, 'max' : 6, 'len' : 0, + 'page' : 'pid', 'min' : 0, + 'choices' : ['off', '1.5 ms', '3.0 ms', '4.5 ms', '6.0 ms', '7.5 ms', '9 ms'], + 'type' : 'OPTTYPE_LISTA', 'unit' : '', 'size' : 1, 'hidden' : 0, 'pos' : [1, 1], + 'name' : 'Gyro LPF', 'ppos' : 0}, + 'PitchP' : {'steps' : 10, 'default' : 400, 'adr' : 0, 'max' : 3000, + 'page' : 'pid', 'min' : 0, 'len' : 5, 'size' : 2, 'ppos' : 2, + 'type' : 'OPTTYPE_UI', 'hidden' : 0, 'pos' : [2, 1], + 'name' : 'Pitch P', 'unit' : ''}, +*/ + 'FirmwareVersion' : {'default' : '', 'type' : 'OPTTYPE_STR+OPTTYPE_READONLY', 'name' : 'Firmware Version', 'column' : 1, 'hidden' : 0, 'steps' : 1, 'page' : 'dashboard', 'size' : 16, 'unit' : ''}, + 'Board' : {'default' : '', 'type' : 'OPTTYPE_STR+OPTTYPE_READONLY', 'name' : 'Board', 'hidden' : 0, 'steps' : 1, 'page' : 'dashboard', 'size' : 16, 'unit' : ''}, + 'Name' : {'default' : '', 'type' : 'OPTTYPE_STR+OPTTYPE_READONLY', 'name' : 'Name', 'hidden' : 0, 'steps' : 1, 'page' : 'dashboard', 'size' : 16, 'unit' : ''}, + 'GyroLPF' : {'default' : 1, 'name' : 'Gyro LPF', 'choices' : ['off', '1.5 ms', '3.0 ms', '4.5 ms', '6.0 ms', '7.5 ms', '9 ms'], 'len' : 0, 'steps' : 1, 'max' : 6, 'hidden' : 0, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'pos' : [1, 1], 'page' : 'pid', 'adr' : 12, 'size' : 1, 'unit' : ''}, + 'FocGyroLPF' : {'default' : 1, 'name' : 'Foc Gyro LPF', 'choices' : ['off', '1.5 ms', '3.0 ms', '4.5 ms', '6.0 ms', '7.5 ms', '9 ms'], 'len' : 0, 'steps' : 1, 'max' : 6, 'hidden' : 0, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'pos' : [1, 1], 'page' : 'pid', 'adr' : 41, 'size' : 1, 'unit' : ''}, + 'Imu2FeedForwardLPF' : {'default' : 1, 'name' : 'Imu2 FeedForward LPF', 'choices' : ['off', '1.5 ms', '4 ms', '10 ms', '22 ms', '46 ms', '94 ms'], 'len' : 0, 'steps' : 1, 'max' : 6, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'pid', 'adr' : 72, 'size' : 1, 'unit' : ''}, + 'VoltageCorrection' : {'default' : 0, 'name' : 'Voltage Correction', 'pos' : [1, 4], 'len' : 7, 'steps' : 1, 'max' : 200, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'pid', 'adr' : 75, 'size' : 2, 'unit' : '%'}, + 'RollYawPDMixing' : {'default' : 0, 'name' : 'Roll Yaw PD Mixing', 'len' : 5, 'steps' : 1, 'max' : 100, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'pid', 'adr' : 73, 'size' : 2, 'unit' : '%'}, + 'PitchP' : {'default' : 400, 'name' : 'Pitch P', 'pos' : [2, 1], 'len' : 5, 'steps' : 10, 'max' : 3000, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 2, 'hidden' : 0, 'page' : 'pid', 'adr' : 0, 'size' : 2, 'unit' : ''}, + 'PitchI' : {'default' : 1000, 'name' : 'Pitch I', 'len' : 7, 'steps' : 50, 'max' : 32000, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 1, 'hidden' : 0, 'page' : 'pid', 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'ppos' : 1, 'hidden' : 0, 'page' : 'pan', 'adr' : 84, 'size' : 2, 'unit' : ''}, + 'PitchPanDeadband' : {'default' : 0, 'name' : 'Pitch Pan Deadband', 'pos' : [2, 3], 'len' : 5, 'steps' : 10, 'max' : 600, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 1, 'hidden' : 0, 'page' : 'pan', 'adr' : 85, 'size' : 2, 'unit' : '\u00b0'}, + 'PitchPanExpo' : {'default' : 0, 'name' : 'Pitch Pan Expo', 'len' : 5, 'steps' : 1, 'max' : 100, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'pan', 'adr' : 86, 'size' : 2, 'unit' : '%'}, + 'RollPan' : {'default' : 20, 'name' : 'Roll Pan', 'column' : 3, 'len' : 5, 'steps' : 1, 'max' : 50, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 1, 'hidden' : 0, 'page' : 'pan', 'adr' : 87, 'size' : 2, 'unit' : ''}, + 'RollPanDeadband' : {'default' : 0, 'name' : 'Roll Pan Deadband', 'pos' : [3, 3], 'len' : 5, 'steps' : 10, 'max' : 600, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 1, 'hidden' : 0, 'page' : 'pan', 'adr' : 88, 'size' : 2, 'unit' : '\u00b0'}, + 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'adr' : 104, 'size' : 2, 'unit' : 'us'}, + 'RcRollTrim' : {'default' : 0, 'name' : 'Rc Roll Trim', 'len' : 0, 'steps' : 1, 'max' : 100, 'type' : 'OPTTYPE_SI', 'min' : -100, 'ppos' : 0, 'hidden' : 0, 'page' : 'rcinputs', 'adr' : 111, 'size' : 2, 'unit' : 'us'}, + 'RcYawTrim' : {'default' : 0, 'name' : 'Rc Yaw Trim', 'len' : 0, 'steps' : 1, 'max' : 100, 'type' : 'OPTTYPE_SI', 'min' : -100, 'ppos' : 0, 'hidden' : 0, 'page' : 'rcinputs', 'adr' : 118, 'size' : 2, 'unit' : 'us'}, + 'RcPitch' : {'default' : 0, 'name' : 'Rc Pitch', 'column' : 2, 'choices' : ['off', 'Rc-0', 'Rc-1', 'Rc-2', 'Rc2-0', 'Rc2-1', 'Rc2-2', 'Rc2-3', 'Pot-0', 'Pot-1', 'Pot-2', 'Virtual-1', 'Virtual-2', 'Virtual-3', 'Virtual-4', 'Virtual-5', 'Virtual-6', 'Virtual-7', 'Virtual-8', 'Virtual-9', 'Virtual-10', 'Virtual-11', 'Virtual-12', 'Virtual-13', 'Virtual-14', 'Virtual-15', 'Virtual-16', 'But switch', 'But latch', 'But step', 'Aux-0 switch', 'Aux-1 switch', 'Aux-2 switch', 'Aux-01 switch', 'Aux-012 switch', 'Aux-0 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: 55, 'size' : 1, 'unit' : ''}, + 'RollMotorUsage' : {'default' : 3, 'name' : 'Roll Motor Usage', 'choices' : ['normal', 'level', 'startup pos', 'disabled'], 'len' : 0, 'steps' : 1, 'max' : 3, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'setup', 'adr' : 56, 'size' : 1, 'unit' : ''}, + 'YawMotorUsage' : {'default' : 3, 'name' : 'Yaw Motor Usage', 'choices' : ['normal', 'level', 'startup pos', 'disabled'], 'len' : 0, 'steps' : 1, 'max' : 3, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'setup', 'adr' : 57, 'size' : 1, 'unit' : ''}, + 'ImuOrientation' : {'default' : 0, 'name' : 'Imu Orientation', 'choices' : ['no.0 : z0\u00b0 x y z', 'no.1 : z90\u00b0 -y x z', 'no.2 : z180\u00b0 -x -y z', 'no.3 : z270\u00b0 y -x z', 'no.4 : x0\u00b0 y z x', 'no.5 : x90\u00b0 -z y x', 'no.6 : x180\u00b0 -y -z x', 'no.7 : x270\u00b0 z -y x', 'no.8 : y0\u00b0 z x y', 'no.9 : y90\u00b0 -x z y', 'no.10 : y180\u00b0 -z -x y', 'no.11 : y270\u00b0 x -z y', 'no.12 : -z0\u00b0 y x -z', 'no.13 : -z90\u00b0 -x y -z', 'no.14 : -z180\u00b0 -y -x -z', 'no.15 : -z270\u00b0 x -y -z', 'no.16 : -x0\u00b0 z y -x', 'no.17 : -x90\u00b0 -y z -x', 'no.18 : -x180\u00b0 -z -y -x', 'no.19 : -x270\u00b0 y -z -x', 'no.20 : -y0\u00b0 x z -y', 'no.21 : -y90\u00b0 -z x -y', 'no.22 : -y180\u00b0 -x -z -y', 'no.23 : -y270\u00b0 z -x -y'], 'len' : 0, 'steps' : 1, 'max' : 23, 'hidden' : 0, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'pos' : [1, 1], 'page' : 'gimbalconfig', 'adr' : 51, 'size' : 1, 'unit' : ''}, + 'Imu2Orientation' : {'default' : 0, 'name' : 'Imu2 Orientation', 'choices' : ['no.0 : z0\u00b0 x y z', 'no.1 : z90\u00b0 -y x z', 'no.2 : z180\u00b0 -x -y z', 'no.3 : z270\u00b0 y -x z', 'no.4 : x0\u00b0 y z x', 'no.5 : x90\u00b0 -z y x', 'no.6 : x180\u00b0 -y -z x', 'no.7 : x270\u00b0 z -y x', 'no.8 : y0\u00b0 z x y', 'no.9 : y90\u00b0 -x z y', 'no.10 : y180\u00b0 -z -x y', 'no.11 : y270\u00b0 x -z y', 'no.12 : -z0\u00b0 y x -z', 'no.13 : -z90\u00b0 -x y -z', 'no.14 : -z180\u00b0 -y -x -z', 'no.15 : -z270\u00b0 x -y -z', 'no.16 : -x0\u00b0 z y -x', 'no.17 : -x90\u00b0 -y z -x', 'no.18 : -x180\u00b0 -z -y -x', 'no.19 : -x270\u00b0 y -z -x', 'no.20 : -y0\u00b0 x z -y', 'no.21 : -y90\u00b0 -z x -y', 'no.22 : -y180\u00b0 -x -z -y', 'no.23 : -y270\u00b0 z -x -y'], 'len' : 0, 'steps' : 1, 'max' : 23, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 54, 'size' : 1, 'unit' : ''}, + 'PitchMotorPoles' : {'default' : 14, 'name' : 'Pitch Motor Poles', 'pos' : [2, 1], 'len' : 0, 'steps' : 2, 'max' : 28, 'type' : 'OPTTYPE_UI', 'min' : 8, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 13, 'size' : 2, 'unit' : ''}, + 'PitchMotorDirection' : {'default' : 2, 'name' : 'Pitch Motor Direction', 'choices' : ['normal', 'reversed', 'auto'], 'len' : 0, 'steps' : 1, 'max' : 2, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 14, 'size' : 1, 'unit' : ''}, + 'PitchStartupMotorPos' : {'default' : 504, 'name' : 'Pitch Startup Motor Pos', 'len' : 5, 'steps' : 1, 'max' : 1008, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 15, 'size' : 2, 'unit' : ''}, + 'FocPitchMotorDirection' : {'default' : 0, 'name' : 'Foc Pitch Motor Direction', 'choices' : ['normal', 'reversed', 'auto'], 'len' : 0, 'steps' : 1, 'max' : 1, 'hidden' : 0, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'pos' : [2, 1], 'page' : 'gimbalconfig', 'adr' : 42, 'size' : 1, 'unit' : ''}, + 'FocPitchZeroPos' : {'default' : 0, 'name' : 'Foc Pitch Zero Pos', 'len' : 5, 'steps' : 8, 'max' : 16383, 'type' : 'OPTTYPE_SI', 'min' : -16384, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 43, 'size' : 2, 'unit' : ''}, + 'PitchOffset' : {'default' : 0, 'name' : 'Pitch Offset', 'pos' : [2, 4], 'len' : 5, 'steps' : 5, 'max' : 300, 'type' : 'OPTTYPE_SI', 'min' : -300, 'ppos' : 2, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 58, 'size' : 2, 'unit' : '\u00b0'}, + 'RollMotorPoles' : {'default' : 14, 'name' : 'Roll Motor Poles', 'pos' : [3, 1], 'len' : 0, 'steps' : 2, 'max' : 28, 'type' : 'OPTTYPE_UI', 'min' : 8, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 16, 'size' : 2, 'unit' : ''}, + 'RollMotorDirection' : {'default' : 2, 'name' : 'Roll Motor Direction', 'choices' : ['normal', 'reversed', 'auto'], 'len' : 0, 'steps' : 1, 'max' : 2, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 17, 'size' : 1, 'unit' : ''}, + 'RollStartupMotorPos' : {'default' : 504, 'name' : 'Roll Startup Motor Pos', 'len' : 5, 'steps' : 1, 'max' : 1008, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 18, 'size' : 2, 'unit' : ''}, + 'FocRollMotorDirection' : {'default' : 0, 'name' : 'Foc Roll Motor Direction', 'choices' : ['normal', 'reversed', 'auto'], 'len' : 0, 'steps' : 1, 'max' : 1, 'hidden' : 0, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'pos' : [3, 1], 'page' : 'gimbalconfig', 'adr' : 44, 'size' : 1, 'unit' : ''}, + 'FocRollZeroPos' : {'default' : 0, 'name' : 'Foc Roll Zero Pos', 'len' : 5, 'steps' : 8, 'max' : 16383, 'type' : 'OPTTYPE_SI', 'min' : -16384, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 45, 'size' : 2, 'unit' : ''}, + 'RollOffset' : {'default' : 0, 'name' : 'Roll Offset', 'pos' : [3, 4], 'len' : 5, 'steps' : 5, 'max' : 300, 'type' : 'OPTTYPE_SI', 'min' : -300, 'ppos' : 2, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 59, 'size' : 2, 'unit' : '\u00b0'}, + 'YawMotorPoles' : {'default' : 14, 'name' : 'Yaw Motor Poles', 'pos' : [4, 1], 'len' : 0, 'steps' : 2, 'max' : 28, 'type' : 'OPTTYPE_UI', 'min' : 8, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 19, 'size' : 2, 'unit' : ''}, + 'YawMotorDirection' : {'default' : 2, 'name' : 'Yaw Motor Direction', 'choices' : ['normal', 'reversed', 'auto'], 'len' : 0, 'steps' : 1, 'max' : 2, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 20, 'size' : 1, 'unit' : ''}, + 'YawStartupMotorPos' : {'default' : 504, 'name' : 'Yaw Startup Motor Pos', 'len' : 5, 'steps' : 1, 'max' : 1008, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 21, 'size' : 2, 'unit' : ''}, + 'FocYawMotorDirection' : {'default' : 0, 'name' : 'Foc Yaw Motor Direction', 'choices' : ['normal', 'reversed', 'auto'], 'len' : 0, 'steps' : 1, 'max' : 1, 'hidden' : 0, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'pos' : [4, 1], 'page' : 'gimbalconfig', 'adr' : 46, 'size' : 1, 'unit' : ''}, + 'FocYawZeroPos' : {'default' : 0, 'name' : 'Foc Yaw Zero Pos', 'len' : 5, 'steps' : 8, 'max' : 16383, 'type' : 'OPTTYPE_SI', 'min' : -16384, 'ppos' : 0, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 47, 'size' : 2, 'unit' : ''}, + 'YawOffset' : {'default' : 0, 'name' : 'Yaw Offset', 'pos' : [4, 4], 'len' : 5, 'steps' : 5, 'max' : 300, 'type' : 'OPTTYPE_SI', 'min' : -300, 'ppos' : 2, 'hidden' : 0, 'page' : 'gimbalconfig', 'adr' : 60, 'size' : 2, 'unit' : '\u00b0'}, + 'AccLPF' : {'default' : 2, 'name' : 'Acc LPF', 'choices' : ['off', '1.5 ms', '4.5 ms', '12 ms', '25 ms', '50 ms', '100 ms'], 'len' : 0, 'steps' : 1, 'max' : 6, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 71, 'size' : 1, 'unit' : ''}, + 'RcAdcLPF' : {'default' : 0, 'name' : 'Rc Adc LPF', 'choices' : ['off', '1.5 ms', '4.5 ms', '12 ms', '25 ms', '50 ms', '100 ms'], 'len' : 0, 'steps' : 1, 'max' : 6, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 98, 'size' : 1, 'unit' : ''}, + 'HoldToPanTransitionTime' : {'default' : 250, 'name' : 'Hold To Pan Transition Time', 'len' : 5, 'steps' : 25, 'max' : 1000, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 95, 'size' : 2, 'unit' : 'ms'}, + 'AccCompensationMethod' : {'default' : 1, 'name' : 'Acc Compensation Method', 'choices' : ['standard', 'advanced'], 'len' : 0, 'steps' : 1, 'max' : 1, 'hidden' : 0, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'pos' : [1, 6], 'page' : 'expert', 'adr' : 65, 'size' : 1, 'unit' : ''}, + 'ImuAccThreshold' : {'default' : 25, 'name' : 'Imu Acc Threshold', 'column' : 2, 'len' : 5, 'steps' : 1, 'max' : 100, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 2, 'hidden' : 0, 'page' : 'expert', 'adr' : 64, 'size' : 2, 'unit' : 'g'}, + 'AccNoiseLevel' : {'default' : 40, 'name' : 'Acc Noise Level', 'len' : 0, 'steps' : 1, 'max' : 150, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 3, 'hidden' : 0, 'page' : 'expert', 'adr' : 66, 'size' : 2, 'unit' : 'g'}, + 'AccThreshold' : {'default' : 50, 'name' : 'Acc Threshold', 'len' : 0, 'steps' : 1, 'max' : 100, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 2, 'hidden' : 0, 'page' : 'expert', 'adr' : 67, 'size' : 2, 'unit' : 'g'}, + 'AccVerticalWeight' : {'default' : 25, 'name' : 'Acc Vertical Weight', 'len' : 0, 'steps' : 5, 'max' : 100, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 68, 'size' : 2, 'unit' : '%'}, + 'AccZentrifugalCorrection' : {'default' : 30, 'name' : 'Acc Zentrifugal Correction', 'len' : 0, 'steps' : 5, 'max' : 100, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 69, 'size' : 2, 'unit' : '%'}, + 'AccRecoverTime' : {'default' : 250, 'name' : 'Acc Recover Time', 'len' : 0, 'steps' : 5, 'max' : 1000, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 70, 'size' : 2, 'unit' : ' ms'}, + 'MotorMapping' : {'default' : 0, 'name' : 'Motor Mapping', 'column' : 3, 'choices' : ['M0=pitch , M1=roll', 'M0=roll , M1=pitch', 'roll yaw pitch', 'yaw roll pitch', 'pitch yaw roll', 'yaw pitch roll'], 'len' : 0, 'steps' : 1, 'max' : 5, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 22, 'size' : 1, 'unit' : ''}, + 'ImuMapping' : {'default' : 0, 'name' : 'Imu Mapping', 'choices' : ['1 = id1 , 2 = id2', '1 = id2 , 2 = id1'], 'len' : 0, 'steps' : 1, 'max' : 1, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 52, 'size' : 1, 'unit' : ''}, + 'ADCCalibration' : {'default' : 1550, 'name' : 'ADC Calibration', 'len' : 0, 'steps' : 10, 'max' : 2000, 'type' : 'OPTTYPE_UI', 'min' : 1000, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 76, 'size' : 2, 'unit' : ''}, + 'Imu3Configuration' : {'default' : 0, 'name' : 'Imu3 Configuration', 'column' : 4, 'choices' : ['off', 'default', '2 = id2, 3 = onboard', '2 = onboard, 3 = id2', '2 = onboard, 3 = id3', '2 = onboard, 3 = off'], 'len' : 0, 'steps' : 1, 'max' : 5, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 135, 'size' : 1, 'unit' : ''}, + 'Imu3Orientation' : {'default' : 0, 'name' : 'Imu3 Orientation', 'choices' : ['no.0 : z0\u00b0 x y z', 'no.1 : z90\u00b0 -y x z', 'no.2 : z180\u00b0 -x -y z', 'no.3 : z270\u00b0 y -x z', 'no.4 : x0\u00b0 y z x', 'no.5 : x90\u00b0 -z y x', 'no.6 : x180\u00b0 -y -z x', 'no.7 : x270\u00b0 z -y x', 'no.8 : y0\u00b0 z x y', 'no.9 : y90\u00b0 -x z y', 'no.10 : y180\u00b0 -z -x y', 'no.11 : y270\u00b0 x -z y', 'no.12 : -z0\u00b0 y x -z', 'no.13 : -z90\u00b0 -x y -z', 'no.14 : -z180\u00b0 -y -x -z', 'no.15 : -z270\u00b0 x -y -z', 'no.16 : -x0\u00b0 z y -x', 'no.17 : -x90\u00b0 -y z -x', 'no.18 : -x180\u00b0 -z -y -x', 'no.19 : -x270\u00b0 y -z -x', 'no.20 : -y0\u00b0 x z -y', 'no.21 : -y90\u00b0 -z x -y', 'no.22 : -y180\u00b0 -x -z -y', 'no.23 : -y270\u00b0 z -x -y'], 'len' : 0, 'steps' : 1, 'max' : 23, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'expert', 'adr' : 136, 'size' : 1, 'unit' : ''}, + 'Uart1Configuration' : {'default' : 0, 'name' : 'Uart1 Configuration', 'choices' : ['off', 'gps target'], 'len' : 0, 'steps' : 1, 'max' : 1, 'hidden' : 0, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'pos' : [4, 5], 'page' : 'expert', 'adr' : 139, 'size' : 1, 'unit' : ''}, + 'MavlinkConfiguration' : {'default' : 0, 'name' : 'Mavlink Configuration', 'choices' : ['no heartbeat', 'emit heartbeat', 'heartbeat + attitude', 'h.b. + mountstatus'], 'len' : 0, 'steps' : 1, 'max' : 3, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'interfaces', 'adr' : 144, 'size' : 1, 'unit' : ''}, + 'MavlinkSystemID' : {'default' : 71, 'name' : 'Mavlink System ID', 'len' : 0, 'steps' : 1, 'max' : 255, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'interfaces', 'adr' : 145, 'size' : 2, 'unit' : ''}, + 'MavlinkComponentID' : {'default' : 67, 'name' : 'Mavlink Component ID', 'len' : 0, 'steps' : 1, 'max' : 255, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'interfaces', 'adr' : 146, 'size' : 2, 'unit' : ''}, + 'UavcanConfiguration' : {'default' : 0, 'name' : 'Uavcan Configuration', 'choices' : ['off', 'normal'], 'len' : 0, 'steps' : 1, 'max' : 1, 'hidden' : 0, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'pos' : [2, 1], 'page' : 'interfaces', 'adr' : 148, 'size' : 1, 'unit' : ''}, + 'UavcanNodeID' : {'default' : 71, 'name' : 'Uavcan Node ID', 'len' : 0, 'steps' : 1, 'max' : 124, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 0, 'hidden' : 0, 'page' : 'interfaces', 'adr' : 149, 'size' : 2, 'unit' : ''}, + 'STorM32LinkConfiguration' : {'default' : 0, 'name' : 'STorM32Link Configuration', 'choices' : ['off', 'normal'], 'len' : 0, 'steps' : 1, 'max' : 1, 'hidden' : 0, 'type' : 'OPTTYPE_LISTA', 'min' : 0, 'ppos' : 0, 'pos' : [3, 1], 'page' : 'interfaces', 'adr' : 137, 'size' : 1, 'unit' : ''}, + 'STorM32LinkWaitTime' : {'default' : 50, 'name' : 'STorM32Link Wait Time', 'len' : 0, 'steps' : 5, 'max' : 250, 'type' : 'OPTTYPE_UI', 'min' : 0, 'ppos' : 1, 'hidden' : 0, 'page' : 'interfaces', 'adr' : 138, 'size' : 2, 'unit' : 's'}, +} + +var M = +{ + "Dashboard" : { 'name' : 'Dashboard', 'page' : 'dashboard' }, + "PID" : { 'name' : 'PID', 'page' : 'pid' }, + "Pan" : { 'name' : 'Pan', 'page' : 'pan' }, + "RcInputs" : { 'name' : 'Rc Inputs', 'page' : 'rcinputs' }, + "Functions" : { 'name' : 'Functions', 'page' : 'functions' }, + "Scripts" : { 'name' : 'Scripts', 'page' : 'scripts' }, + "Setup" : { 'name' : 'Setup', 'page' : 'gimbalsetup' }, + "GimbalConfig" : { 'name' : 'Gimbal Configuration', 'page' : 'gimbalconfig' }, + "Expert" : { 'name' : 'Expert', 'page' : 'expert' }, + "Interfaces" : { 'name' : 'Interfaces', 'page' : 'interfaces' }, + "About" : { 'name' : 'About', 'page' : 'about' } +} + + +function getPstrScale(pstr) { + var scale = 1.0; + var ppos = P[pstr].ppos; + if( ppos==1 ){ scale *= 0.1; } + if( ppos==2 ){ scale *= 0.01; } + if( ppos==3 ){ scale *= 0.001; } + if( ppos==4 ){ scale *= 0.0001; } + if( ppos==5 ){ scale *= 0.00001; } + if( ppos==6 ){ scale *= 0.000001; } + return scale; +} + + +function do_crc(buf,len) { + var buffer = new ArrayBuffer(1024); + var u8View = new Uint8Array(buffer); + + for(var i=0;i>8) ^ (tmp<<8) ^ (tmp<<3) ^ (tmp>>4); + crc = crc & 0xFFFF; + } + + return crc; +} + + +//----------------------------------------------------- +// onload initialization +//----------------------------------------------------- + +window.onload = function () +{ + PValues = ''; + PStatus = INVALID; + XhttpTransferInProgress = false; + ConnectionIsValid = false; + + initMenuHtml(); + initAPageHtml(); + initPPageHtml(); + + document.getElementById('PDebug').style.display = 'none'; + //document.getElementById('xhttp_responseText').style.display = 'none'; + //document.getElementById('xhttp_allResponseHeaders').style.display = 'none'; + + + var url = document.URL; + var lastSegment = url.split('/').pop(); //gives the last segment of the url + updateMenu(null,lastSegment); + initPBody(); + adaptToFocEnabled(); +// updateRead(); + +// document.getElementById('comment').innerText = "!"+document.body.innerHTML.replace(//g,'!'); +// document.body.innerHTML = "\n"+document.body.innerHTML; +// document.body.innerHTML = "\n" + document.body.innerHTML; +} + + +//this are the pages as they also appear in the SETUP_PARAMETERLIST P +// these mirror the first navigation bar (= menu) entries +// it start with the first menu entry, and all menu entries must follow, so that a page also indexes the menu +// the format MUST be as such: +// "
  • Dashboard
    • \n", +// the ?page is used to have a nicier display, but also importantly to figure out the class='active' in the js script +// the last entry is that is also used in SETUP_PARAMTERLIST !! +// js.html is a dummy webpage, for the menu navigation only the ? parameter is used +// this allows to provide a page to cover for the case of an invalid entry +function initMenuHtml() { + + var m = ""; + for (var mstr in M) { + m += "
  • "+M[mstr].name+"
    • \n"; + } + document.getElementById('NavigationBar').innerHTML = m; + +// document.getElementById('comment').innerText = m; +} + +function initAPageHtml() { + + var c = ""; + + c += "\n"; +// c += "\n"; //it is crucial to do onchange() and not onclick() here!! +// c += "\n"; +// c += "\n"; + c += "

    \n"; + c += "
    \n\n
    filesize
    \n"; + c += "
    \n"; + c += "
    "; + c += "
    \n"; + c += "
    \n"; + + document.getElementById('APage').innerHTML += '

    \n\n'+c+'\n'; + +// document.getElementById('comment').innerText = c; +} + + + + +/* the formats must be such: +OPTTYPE_STR+OPTTYPE_READONLY: +\n + +OPTTYPE_LISTA: +\n + +OPTTYPE_UI, OPTTYPE_SI: +\n +*/ +function initPPageHtml() { + + var c = ""; + c += "\n"; + c += "\n"; + c += ""; + c += "

    \n"; + document.getElementById('PCmdLine').innerHTML = c; + + var p = ""; + for (var pstr in P) { + switch(P[pstr].type){ + case 'OPTTYPE_STR+OPTTYPE_READONLY': + p += "\n"; + break; + case 'OPTTYPE_LISTA': + p += "\n"; + break; + case 'OPTTYPE_UI': case 'OPTTYPE_SI': + p += "\n"; + break; + } + } + + p += "
    \n"; + + document.getElementById('PBody').innerHTML = p; + +// document.getElementById('comment').innerText = p; +} + + +function initPBodyListA(pstr) { + var Elem = document.getElementById(pstr); + + var html = ""; + for(var i=0; i"+P[pstr].choices[i]+"\n"; + }else{ + html += "\n"; + } + } + + Elem.innerHTML = html; + + Elem.min = 0; + Elem.max = parseInt(P[pstr].max); //for a ListA it's an integer + Elem.value = parseInt(P[pstr].default); + +// document.getElementById('comment').innerText = 'initPBodyListA ' + html; +} + + +function initPBodyUI(pstr) { + var Elem = document.getElementById(pstr); + + var scale = getPstrScale(pstr); + + var Xmin = parseFloat(P[pstr].min) * scale; + var Xmax = parseFloat(P[pstr].max) * scale; + var Xdefault = parseFloat(P[pstr].default) * scale; + var Xstep = parseFloat(P[pstr].steps) * scale; + + Elem.min = Xmin; + Elem.max = Xmax; + Elem.step = Xstep; + Elem.value = Xdefault; + + var ElemSlider = document.getElementById(pstr+'Slider'); + + ElemSlider.min = Xmin; //the order is important, do default last + ElemSlider.max = Xmax; + ElemSlider.step = Xstep; + ElemSlider.value = Xdefault; + +// document.getElementById('comment').innerText = 'initPBodyUI ' + Xmin + ',' + Xmax + ',' + Xstep + ',' + scale; +} + + +function initPDashboardFooter() { + var c = ''; //'

    \n'; + c += "
    Info Center:"; + c += "
    \n"; + c += "\n"; + c += "\n"; + c += "\n"; + c += "\n"; + c += "\n"; + c += "\n"; + c += "
    -<\span> -<\span>
    -<\span> -<\span>
    -<\span> -<\span>
    -<\span> -<\span>
    -<\span> - - -<\span>
    -<\span>
    \n"; + +// document.getElementById('comment').innerText = '\n'+c; + + document.getElementById('PDashboardFooter').innerHTML = c; +} + + +function initPBody() { + for (var pstr in P) { + if( !document.getElementById(pstr) ) continue; + if( P[pstr].type == 'OPTTYPE_LISTA' ) initPBodyListA(pstr); + if( P[pstr].type == 'OPTTYPE_UI' ) initPBodyUI(pstr); + if( P[pstr].type == 'OPTTYPE_SI' ) initPBodyUI(pstr); + if( P[pstr].type == 'OPTTYPE_STR+OPTTYPE_READONLY' ) document.getElementById(pstr).value = ''; + } + setPAllToInvalid(); + + initPDashboardFooter(); + +// document.getElementById('comment').innerText = 'initPBody'; +} + + +//----------------------------------------------------- +// PBody adaption handling +//----------------------------------------------------- + +var BoardConfiguration_FOC_DisabledParameters = [ + 'Imu2 FeedForward LPF', 'Voltage Correction', + 'Imu2 Configuration', 'Startup Mode', + 'Motor Mapping' +]; +var BoardConfiguration_FOC_HidedParameters = [ + 'Gyro LPF', + 'Pitch P', 'Pitch I', 'Pitch D', 'Pitch Motor Vmax', + 'Roll P', 'Roll I', 'Roll D', 'Roll Motor Vmax', + 'Yaw P', 'Yaw I', 'Yaw D', 'Yaw Motor Vmax', + 'Pitch Motor Poles', 'Pitch Motor Direction', 'Pitch Startup Motor Pos', + 'Roll Motor Poles', 'Roll Motor Direction', 'Roll Startup Motor Pos', + 'Yaw Motor Poles', 'Yaw Motor Direction', 'Yaw Startup Motor Pos', +]; +var BoardConfiguration_FOC_ShownParameters = [ + 'Foc Gyro LPF', + 'Foc Pitch P', 'Foc Pitch I', 'Foc Pitch D', 'Foc Pitch K', + 'Foc Roll P', 'Foc Roll I', 'Foc Roll D', 'Foc Roll K', + 'Foc Yaw P', 'Foc Yaw I', 'Foc Yaw D', 'Foc Yaw K', + 'Foc Pitch Motor Direction', 'Foc Pitch Zero Pos', + 'Foc Roll Motor Direction', 'Foc Roll Zero Pos', + 'Foc Yaw Motor Direction', 'Foc Yaw Zero Pos', +]; + +function arrayContains(array,element) +{ + for(var i=0; i max ){ val = max; } + //TODO we here also need to respect the step!!!! + +// document.getElementById('comment').innerHTML='parsePFloat '+pstr+','+ppos+','+min+','+max+','+step+','+val; + + return (val).toFixed(ppos); +} + + +function updateUI(pstr) { + document.getElementById('comment').innerHTML = 'update'+pstr; + var val = parsePFloat(pstr, P[pstr].ppos); + document.getElementById(pstr).value = val; + document.getElementById(pstr+'Slider').value = val; + + setPToModified(pstr); +} + + +function updateUISlider(pstr) { + document.getElementById('comment').innerHTML = 'update'+pstr+'Slider'; + var val = parsePFloat(pstr+'Slider', P[pstr].ppos); + document.getElementById(pstr).value = val; + document.getElementById(pstr+'Slider').value = val; + + setPToModified(pstr); +} + + +//----------------------------------------------------- +// AJAX +//----------------------------------------------------- + +//https://stackoverflow.com/questions/13697829/hexadecimal-to-string-in-javascript +function hex2a(hex) { + var str = ''; + for (var i = 0; i < hex.length; i += 2) { + var v = parseInt(hex.substr(i, 2), 16); + if (v) str += String.fromCharCode(v); //this skips any '\0' + } + return str; +} + +//converts a hex XXXX to a u16, taking into account having to swap +function hex2u16(hex) { + return parseInt( hex.substr(2,2)+hex.substr(0,2), 16); +} + +//swaps AABB to BBAA +function hexswap(hex) { + return hex.substr(2,2)+hex.substr(0,2); +} + +//converts a value into hex XXXX +function a2hex(a) { + var hex = a.toString(16).toUpperCase(); + while( hex.length < 4 ) hex = '0'+hex; + return hex; +} + + +//converts a u16 into a hex XXXX, taking into account having to swap +function u162hex(a) { + var hex = a2hex(a); + return hex.substr(2,2)+hex.substr(0,2); +} + + +function setPValueLISTA(pstr,hex) { + var value = parseInt(hex,16); + document.getElementById(pstr).value = value; + setPToValid(pstr); +} + +function setPValueUI(pstr,hex) { + var scale = getPstrScale(pstr); + var value = ( parseFloat(parseInt(hex,16)) * scale ).toFixed(P[pstr].ppos); + document.getElementById(pstr).value = value; + document.getElementById(pstr+'Slider').value = value; + setPToValid(pstr); +} + +function setPValueSI(pstr,hex) { + var scale = getPstrScale(pstr); + var i = parseInt(hex,16); + if( i > 32767 ) i -= 65536; + var value = ( parseFloat(i) * scale ).toFixed(P[pstr].ppos); + document.getElementById(pstr).value = value; + document.getElementById(pstr+'Slider').value = value; + setPToValid(pstr); +} + + + +function adaptToFocEnabled() +{ + //adapt title + if( FocIsEnabled ){ + document.getElementById('AppConfiguration').innerHTML = " - for T-STorM32"; + }else{ + document.getElementById('AppConfiguration').innerHTML = " - for STorM32-NT"; + } + + //find active menu + var mstr = '?'; + var lis = document.getElementById('NavigationBar').querySelectorAll('a'); + for(var i=0; i5.5V is detected first time after start +var STATUS_LEVEL_FAILED = 0x0004; + +var STATUS_IMU_OK = 0x0020; +var STATUS_IMU2_OK = 0x0040; + +//status2 flags +var STATUS2_ENCODERS_PRESENT = 0x8000; +var STATUS2_ENCODERYAW_OK = 0x4000; +var STATUS2_ENCODERROLL_OK = 0x2000; +var STATUS2_ENCODERPITCH_OK = 0x1000; + +var STATUS2_MOTORYAW_ACTIVE = 0x0020; //sequence is important, must mirror MOTORPITCHENABLED etc., is used by GUI +var STATUS2_MOTORROLL_ACTIVE = 0x0010; +var STATUS2_MOTORPITCH_ACTIVE = 0x0008; + + +function updateStatus() +{ + if( !ConnectionIsValid ) return; + + //document.getElementById('comment').innerHTML = 'Status clicked... '; + //document.getElementById('xhttp_responseText').innerHTML = ''; + //document.getElementById('xhttp_allResponseHeaders').innerHTML = ''; + ajaxPost('exec?cmd=s', '', function(xhttp){ + var com = ''; + var args = xhttp.responseText; //the reponse comes formatted as "s=XX...XX," + if( xhttp.responseText.substr(0,1) != 's' ){ + ConnectionIsValid = false; + setPAllToInvalid(); + com = 'failed'; + }else{ + var v = args.substr(2); //strip of the 's=' + var state = hex2u16(v.substr(0,2*2)); + var status = hex2u16(v.substr(2*2,2*2)); + var status2 = hex2u16(v.substr(4*2,2*2)); + var status3 = hex2u16(v.substr(6*2,2*2)); + var performance = hex2u16(v.substr(8*2,2*2)); + var errors = hex2u16(v.substr(10*2,2*2)); + var voltage = hex2u16(v.substr(12*2,2*2)); + + var c = ''; var c2 = ''; + + if( status & STATUS_IMU_PRESENT ){ + c = ' is PRESENT'; c += ' @ NtBus'; + if( status & STATUS_IMU_OK ) c2 = ' OK'; else c2 = ' ERR'; + }else{ + c = ' is not available'; c2 = ' -'; + } + document.getElementById('DInfoImu1').innerHTML = c; + document.getElementById('DInfoImu1State').innerHTML = c2; + + if( status & STATUS_IMU2_PRESENT ){ + c = ' is PRESENT'; + if( status & STATUS_IMU2_NTBUS ){ + c += ' @ NtBus'; + }else{ + if( status & STATUS_IMU2_HIGHADR ){ c+= ' @ high adr = on-board Imu'; }else{ c += ' @ low adr = external Imu'; } + } + if( status & STATUS_IMU2_OK ) c2 = ' OK'; else c2 = ' ERR'; + }else{ + c = ' is not available'; c2 = ' -'; + } + document.getElementById('DInfoImu2').innerHTML = c; + document.getElementById('DInfoImu2State').innerHTML = c2; + + if( status2 & STATUS2_ENCODERS_PRESENT ) c = ' are PRESENT'; else c = ' are not available'; + document.getElementById('DInfoEncoders').innerHTML = c; + c = ''; + if( status2 & STATUS2_ENCODERS_PRESENT ){ + if( status2 & STATUS2_ENCODERPITCH_OK ) c += ' OK'; else c += ' ERR'; + if( status2 & STATUS2_ENCODERROLL_OK ) c += ' OK'; else c += ' ERR'; + if( status2 & STATUS2_ENCODERYAW_OK ) c += ' OK'; else c += ' ERR'; + }else c += ' - - -'; + document.getElementById('DInfoEncodersState').innerHTML = c; + + c = ' are'; + if( status2 & STATUS2_MOTORPITCH_ACTIVE ) c += ' ACTIVE'; else c += ' OFF'; + if( status2 & STATUS2_MOTORROLL_ACTIVE ) c += ' ACTIVE'; else c += ' OFF'; + if( status2 & STATUS2_MOTORYAW_ACTIVE ) c += ' ACTIVE'; else c += ' OFF'; + document.getElementById('DInfoMotors').innerHTML = c; + + document.getElementById('DInfoState').innerHTML = ' is ' + getStorm32State(state); + + if( status & STATUS_BAT_ISCONNECTED ) c = ' is CONNECTED'; else c = ' is not connected'; + document.getElementById('DInfoBat').innerText = c; + if( status & STATUS_BAT_VOLTAGEISLOW ) c = ' is LOW: '; else c = ' is OK: '; + document.getElementById('DInfoVoltage').innerText = c + parseFloat(voltage*0.001).toFixed(2)+' V'; + + document.getElementById('DInfoBusErrors').innerText = parseInt(errors); + + com = 'ok'; + + //connection is valid, so trigger a next time + setTimeout(updateStatus, 1000); + } + + //document.getElementById('comment').innerHTML += com; + //document.getElementById('xhttp_responseText').innerHTML = xhttp.responseText; + //document.getElementById('xhttp_allResponseHeaders').innerHTML = xhttp.getAllResponseHeaders(); + }); +} + + + +//----------------------------------------------------- +// file handling +//----------------------------------------------------- + +function fileLoadList() { + document.getElementById('comment').innerHTML = 'Load File List clicked... '; + document.getElementById('xhttp_responseText').innerHTML = ''; + document.getElementById('xhttp_allResponseHeaders').innerHTML = ''; + + ajaxPost('fslist?dir=/', 'TEST', function(xhttp){ + //json format { "files" : [ { "name" : "xxxxxx.xxx", "size" : "xxx" } , {} .... ], "total" : "bytes", "free" : "bytes" } + var c = 'Error in json parse'; + {try{ + var Fjson = JSON.parse(xhttp.responseText); + c = "filesize\n"; + for(var i=0; i"+Fjson.files[i].size+"\n"; + } + document.getElementById('FileList').innerHTML = c; + document.getElementById('FileTotalValue').innerHTML = Fjson.total; + document.getElementById('FileFreeValue').innerHTML = Fjson.free; + }catch(e){}} + +// document.getElementById('comment').innerText += '\n' + c; + document.getElementById('xhttp_responseText').innerHTML = xhttp.responseText; + document.getElementById('xhttp_allResponseHeaders').innerHTML = xhttp.getAllResponseHeaders(); + }); +} + + +function fileUpLoadDummy() { + document.getElementById('FileUpLoad').click(); +} + +// https://wiki.selfhtml.org/wiki/JavaScript/File_Upload +function fileUpLoad(evt) { + document.getElementById('comment').innerHTML = 'UpLoad File clicked... '; + document.getElementById('xhttp_responseText').innerHTML = ''; + document.getElementById('xhttp_allResponseHeaders').innerHTML = ''; + + var files = evt.target.files; // FileList object +// document.getElementById('comment').innerText += '\n' + files + '!' + files.length; +// for (var i=0; i"+Fjson[i].size+"\n"; + } + document.getElementById('FileList').innerHTML = c; + + document.getElementById('comment').innerText += '\n' + c; + document.getElementById('xhttp_responseText').innerHTML = xhttp.responseText; + document.getElementById('xhttp_allResponseHeaders').innerHTML = xhttp.getAllResponseHeaders(); + }); +*/ +} + + +function fileDownLoad(evt) { + document.getElementById('comment').innerHTML = 'DownLoad File clicked... '; + document.getElementById('xhttp_responseText').innerHTML = ''; + document.getElementById('xhttp_allResponseHeaders').innerHTML = ''; +} + + +function fileDelete() { + document.getElementById('comment').innerHTML = 'Delete File clicked... '; + document.getElementById('xhttp_responseText').innerHTML = ''; + document.getElementById('xhttp_allResponseHeaders').innerHTML = ''; +} \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.js.gz b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.js.gz new file mode 100644 index 0000000..9e287b8 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data-release/storm32web.js.gz differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data/storm32web.cfg b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data/storm32web.cfg new file mode 100644 index 0000000..821f074 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data/storm32web.cfg @@ -0,0 +1,51 @@ +;configuration file for STorM32 Web App v0.27b +; (c) www.OlliW.eu 2017 +; case doesn't matter +; comments can be added at end of line with a ';' + +;------------------------------------------- +;sets the mode, in which the ESP operates +; this can be Station, AP, AP Bridge, AP + gopro Station + +;mode = station +;mode = AP +mode = AP bridge + +;sets the wifi router credentials +; is used only if mode = Station +; the url is something like e.g 192.168.2.117 +; check the startup output on Tx to see which url is used + +router ssid = +router password = + +;sets the AP credentials +; is used if mode = AP, AP + gopro Station, AP Bridge +; the url is 192.168.4.1:80 + +AP ssid = STorM32 ESP ;this must be STorM32 ESP if mode = AP bridge +AP password = thisisgreat + +;sets the Gopro credentials +; is used if mode = AP + gopro Station +; enter the credentials as you find them in your gopro menu + +gopro ssid = +gopro password = + +;------------------------------------------- +;sets a link to an external js script +; if set, it will be used, otherwise the storm32web.js file in the FS system will be used +; this can be very convenient for development + +;js link = http://www.olliw.eu/downloads/storm32/espwebapp/espweb.js + +;sets a link to an external css +; if set, it will be used, otherwise the storm32web.css file in the FS system will be used +; this can be very convenient for development + +;css link = http://www.olliw.eu/downloads/storm32/espwebapp/espweb.css + +;------------------------------------------- +;this enables the debug lines in the web app +debug = off \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data/storm32web.css b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data/storm32web.css new file mode 100644 index 0000000..fac68dc --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data/storm32web.css @@ -0,0 +1,97 @@ +body { + margin: 0; +} + +#MenuTop { + margin: 0; + padding: 8px 16px; + height: 20px; /*= 36px-16px*//*84px; *//*= 100px-16px*/ + width: 100%; + position: fixed; + top: 0; + overflow: hidden; + background-color: #333; + color: white; +} + + +ul.NavigationBar { + list-style-type: none; + margin: 0; + padding: 0; + height: 100%; + width: 200px; + position: fixed; + overflow: auto; + background-color: #f1f1f1; +} +.NavigationBar li a { + display: block; + text-decoration: none; + padding: 8px 16px; + color: #000; +} +.NavigationBar li a.active { + background-color: #4CAF50; + color: white; +} +.NavigationBar li a:hover:not(.active) { + background-color: #555; + color: white; +} + +#Content { + margin-left: 200px; + margin-top: 36px; /*100px;*/ + padding: 16px 16px; + height: 1000px; +} + +label.PLabel { + display:inline-block; + width: 200px; + color: green; + padding: 5px 5px; +} +.PSelect { + width: 150px; +} +.PInput { + width: 145px; +} + +.DInfo { + margin-top: 32px; + margin-left: 5px; + padding: 10px 0px; + /*background-color: #f1f1f1;*/ +} +.DInfoTable table { + padding-top: 10px; +} +.DInfoTable td{ +} +.DInfoTable td:first-child{ + width: 380px; +} +.DInfo label, .DInfoTitle{ + color: blue; +} + +.FileList table { + margin: 0px; + padding: 0px 0px; + min-width: 100px; + background-color: #f1f1f1; + text-align: left; +} +.FileList td { + padding: 0px 5px; +} +.FileList th,td { + padding-right: 5px; + text-align: left; +} +.FileInfo { + margin-top: 5px; +} diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data/storm32web.js.gz b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data/storm32web.js.gz new file mode 100644 index 0000000..9e287b8 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/data/storm32web.js.gz differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/esptool.exe b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/esptool.exe new file mode 100644 index 0000000..0a1bfc8 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/esptool.exe differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/gzip.exe b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/gzip.exe new file mode 100644 index 0000000..f189a73 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/gzip.exe differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/mkspiffs.exe b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/mkspiffs.exe new file mode 100644 index 0000000..9d589c2 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/mkspiffs.exe differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/storm32web.ino.generic.bin b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/storm32web.ino.generic.bin new file mode 100644 index 0000000..c8d43f9 Binary files /dev/null and b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/storm32web.ino.generic.bin differ diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/uploadDataToFs.bat b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/uploadDataToFs.bat new file mode 100644 index 0000000..dd1a723 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/uploadDataToFs.bat @@ -0,0 +1,3 @@ +mkspiffs -c data -p 256 -b 4096 -s 131072 storm32web.spiffs.bin -d 5 + +esptool -cd ck -cb 115200 -cp %1 -ca 0xDB000 -cf storm32web.spiffs.bin \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/uploadInoBin.bat b/firmware binaries & gui/o323bgc-release-v230-v20170730/o323BgcEspWebApp/uploadInoBin.bat new file 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b/firmware binaries & gui/o323bgc-release-v230-v20170730/pano-example1.mcs @@ -0,0 +1,31 @@ +# this is a simple pano example to demonstrate some things +# the script is Perl code, with some convenience functions +# for controlling the gimbal + +TextOut( "Start\n" ); # display text in the message console + +SetAngle( 0, 0, -50 ); # sets pitch, roll, yaw, in degrees +Wait( 3 ); # waits 3 seconds +DoCamera( 'Shutter' ); # releases the camera shutter, if activated + +SetAngle( 0, 0, 0 ); +Wait( 3 ); +DoCamera( 'Shutter' ); + +SetAngle( 0, 0, +50 ); +Wait( 3 ); +DoCamera( 'Shutter' ); + +SetAngle( -20, 0, -50 ); #this is a long path, so wait longer +Wait( 3 ); + +# since it's just Perl, one can use all its language features +# such as defining variables, and for loops +for( my $yaw=-50; $yaw<=50.1; $yaw+=50 ){ + SetAngle( -20, 0, $yaw ); + Wait( 3 ); + DoCamera( 'Shutter' ); +} + +RecenterCamera(); # recenters all three axes +TextOut( "End\n" ); \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/pano-example3.mcs b/firmware binaries & gui/o323bgc-release-v230-v20170730/pano-example3.mcs new file mode 100644 index 0000000..287fc4a --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/pano-example3.mcs @@ -0,0 +1,59 @@ +# this is a simple pano example to demonstrate some things +# the script is Perl code, with some convenience functions +# for controlling the gimbal + +TextOut( "Start\n" ); + +TextOut( "Adjust Speed\n" ); +SetParameter( 'Rc Pitch Accel Limit', 100 ); +SetParameter( 'Rc Roll Accel Limit', 100 ); +SetParameter( 'Rc Yaw Accel Limit', 100 ); +Wait( 3 ); + +TextOut( "Move\n" ); + +SetAngle( -20, 0, -50 ); +Wait( 3 ); +DoCamera( 'Shutter' ); + +SetAngle( -20, 0, 0 ); +Wait( 2 ); +DoCamera( 'Shutter' ); + +SetAngle( -20, 0, +50 ); +Wait( 2 ); +DoCamera( 'Shutter' ); + +SetAngle( 0, 0, 50 ); +Wait( 2 ); +DoCamera( 'Shutter' ); + +SetAngle( 0, 0, 0 ); +Wait( 2 ); +DoCamera( 'Shutter' ); + +SetAngle( 0, 0, -50 ); +Wait( 2 ); +DoCamera( 'Shutter' ); + +SetAngle( 20, 0, -50 ); +Wait( 2 ); +DoCamera( 'Shutter' ); + +SetAngle( 20, 0, 0 ); +Wait( 2 ); +DoCamera( 'Shutter' ); + +SetAngle( 20, 0, +50 ); +Wait( 2 ); +DoCamera( 'Shutter' ); + +RecenterCamera(); # recenters all three axes + +TextOut( "Restore Speed\n" ); +RestoreParameter( 'Rc Pitch Accel Limit' ); +RestoreParameter( 'Rc Roll Accel Limit' ); +RestoreParameter( 'Rc Yaw Accel Limit' ); +#RestoreAllParameters(); + +TextOut( "End\n" ); \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/pano_v1.scr b/firmware binaries & gui/o323bgc-release-v230-v20170730/pano_v1.scr new file mode 100644 index 0000000..d04c832 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/pano_v1.scr @@ -0,0 +1,23 @@ +CASE#DEFAULT + STOP +CASE#1 + SETANGLE -22.5 0 31.5 + WAIT 20 + DOCAMERA 1 + SETANGLEYAW 0 + WAIT 20 + DOCAMERA 1 + SETANGLEYAW -31.5 + WAIT 20 + DOCAMERA 1 + SETANGLE 22.5 0 -31.5 + WAIT 20 + DOCAMERA 1 + SETANGLEYAW 0 + WAIT 20 + DOCAMERA 1 + SETANGLEYAW 31.5 + WAIT 20 + DOCAMERA 1 + DORECENTER + STOP diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/pano_v2.scr b/firmware binaries & gui/o323bgc-release-v230-v20170730/pano_v2.scr new file mode 100644 index 0000000..c49cbfe --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/pano_v2.scr @@ -0,0 +1,11 @@ +CASE#DEFAULT + DORECENTER + STOP +CASE#1 + SETANGLEYAW_W 45 30 + SETPANOWAITS 30 30 10 + SETPANORANGE 90 + DOPANO 30 -8 + DOPANO 0 8 + DOPANO -30 -8 + STOP diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/remote-rc-switch.scr b/firmware binaries & gui/o323bgc-release-v230-v20170730/remote-rc-switch.scr new file mode 100644 index 0000000..740856f --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/remote-rc-switch.scr @@ -0,0 +1,12 @@ +CASE#DEFAULT + REMOTEENABLE + RESTORE "Rc Pitch" + STOP +CASE#1 + REMOTEDISABLE + RESTORE "Rc Pitch" + STOP +CASE#2 + REMOTEENABLE + SET "Rc Pitch" 0 + STOP diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/servo-pano-example2.mcs b/firmware binaries & gui/o323bgc-release-v230-v20170730/servo-pano-example2.mcs new file mode 100644 index 0000000..5f438d2 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/servo-pano-example2.mcs @@ -0,0 +1,24 @@ +# this is a simple servo example to demonstrate some things +# the script is Perl code, with some convenience functions +# for controlling the gimbal +# pwmout must be configured + +TextOut( "Start\n" ); # display text in the message console + +SetParameter( 'Pwm Out Configuration', 1 ); #enables pwm out + +SetPwmOut( 1000 ); #moves a servo to 1000 +Wait( 3 ); + +# since it's just Perl, one can use all its language features +# such as defining variables, for loops, ... + +for( my $servo= 1000; $servo<=2000.1; $servo+=100 ){ + SetPwmOut( $servo ); + Wait( 3 ); + DoCamera( 'Shutter' ); +} + +SetPwmOut( 1500 ); #moves the servo back to center + +TextOut( "End\n" ); \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/yawspeedlimit_v1.scr b/firmware binaries & gui/o323bgc-release-v230-v20170730/yawspeedlimit_v1.scr new file mode 100644 index 0000000..85a512c --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/yawspeedlimit_v1.scr @@ -0,0 +1,6 @@ +CASE#DEFAULT + SET "Rc Yaw Speed Limit" 400 + STOP +CASE#1 + SET "Rc Yaw Speed Limit" 100 + STOP diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/yawspeedlimit_v2.scr b/firmware binaries & gui/o323bgc-release-v230-v20170730/yawspeedlimit_v2.scr new file mode 100644 index 0000000..397fed0 --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/yawspeedlimit_v2.scr @@ -0,0 +1,2 @@ +SETMINMAX "Rc Yaw Speed Limit" 100 400 +REPEAT \ No newline at end of file diff --git a/firmware binaries & gui/o323bgc-release-v230-v20170730/yawspeedlimit_v3.scr b/firmware binaries & gui/o323bgc-release-v230-v20170730/yawspeedlimit_v3.scr new file mode 100644 index 0000000..bf5860a --- /dev/null +++ b/firmware binaries & gui/o323bgc-release-v230-v20170730/yawspeedlimit_v3.scr @@ -0,0 +1,6 @@ +CASE#DEFAULT + RESTORE "Rc Yaw Speed Limit" + STOP +CASE#1 + SET "Rc Yaw Speed Limit" 100 + STOP