Public Class Main Private Sub ExitToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles ExitToolStripMenuItem.Click 'quit app End End Sub Private Sub Main_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load 'populate comm port combo box Dim X As Integer For X = 1 To 32 cmbCommPort.Items.Add(Trim(Str(X))) Next 'Sets a value indicating whether to catch calls on the wrong thread that access a control's Handle property txtBaseStationACK.CheckForIllegalCrossThreadCalls = False txtSOP.CheckForIllegalCrossThreadCalls = False txtDeliveryFlags.CheckForIllegalCrossThreadCalls = False txtAppDataType.CheckForIllegalCrossThreadCalls = False txtNodeAddress.CheckForIllegalCrossThreadCalls = False txtReplyLength.CheckForIllegalCrossThreadCalls = False txtExtraByte.CheckForIllegalCrossThreadCalls = False txtCommand.CheckForIllegalCrossThreadCalls = False txtRoll.CheckForIllegalCrossThreadCalls = False txtPitch.CheckForIllegalCrossThreadCalls = False txtYaw.CheckForIllegalCrossThreadCalls = False txtTimerTick.CheckForIllegalCrossThreadCalls = False txtLQI.CheckForIllegalCrossThreadCalls = False txtRSSI.CheckForIllegalCrossThreadCalls = False txtMyCS.CheckForIllegalCrossThreadCalls = False txtTheirCS.CheckForIllegalCrossThreadCalls = False txtElapsed.CheckForIllegalCrossThreadCalls = False End Sub Private Sub SampleToolStripMenuItem_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles SampleToolStripMenuItem.Click 'set error handler On Error GoTo ErrorHandler 'test for comm port selection If cmbCommPort.Text = "" Then 'event Call ReportEvent("Comm Port not selected") 'exit Exit Sub End If 'determine action based on menu check If SampleToolStripMenuItem.Checked = False Then 'event Call ReportEvent("Sampling started") 'set menu check SampleToolStripMenuItem.Checked = True 'disable combo cmbCommPort.Enabled = False 'disable numupdown NumUpDown.Enabled = False 'zero elapsed time counter ElapsedTime = 0 'zero previous time counter PreviousTime = 0 'set flag flgFirstPass = 0 'set serial port number SerialPort1.PortName() = "COM" + Trim(cmbCommPort.Text) 'set receive threshold SerialPort1.ReceivedBytesThreshold = 29 'open serial port SerialPort1.Open() 'redim command byte array ReDim arrCommand(0 To 9) 'dim Dim CommandCheckSum As Double 'calc checksum CommandCheckSum = 11 + _ 0 + _ (NumUpDown.Value \ 256) + _ (NumUpDown.Value Mod 256) + _ 2 + _ 0 + _ 206 'populate command byte array with packetized polling command for 0xCE arrCommand(0) = 170 arrCommand(1) = 11 arrCommand(2) = 0 arrCommand(3) = (NumUpDown.Value \ 256) arrCommand(4) = (NumUpDown.Value Mod 256) arrCommand(5) = 2 arrCommand(6) = 0 arrCommand(7) = 206 arrCommand(8) = CommandCheckSum \ 256 arrCommand(9) = CommandCheckSum Mod 256 'send command SerialPort1.Write(arrCommand, 0, 10) ElseIf SampleToolStripMenuItem.Checked = True Then 'open serial port SerialPort1.Close() 'event Call ReportEvent("Sampling stopped") 'set menu check SampleToolStripMenuItem.Checked = False 'set checksum indicator lblCheckSum.ForeColor = Color.Red 'enable combo cmbCommPort.Enabled = True 'enable numupdown NumUpDown.Enabled = True End If Exit Sub ErrorHandler: 'open serial port If SerialPort1.IsOpen = True Then SerialPort1.Close() 'event Call ReportEvent("Sampling errored: " + Err.Description) 'set menu check SampleToolStripMenuItem.Checked = False 'set checksum indicator lblCheckSum.ForeColor = Color.Red 'enable combo cmbCommPort.Enabled = True 'enable numupdown NumUpDown.Enabled = True 'exit Exit Sub End Sub Private Function ReportEvent(ByVal MyEvent As String) As Boolean 'add event to text If txtEvent.Text = "" Then txtEvent.Text = MyEvent Else txtEvent.Text = txtEvent.Text + Chr(13) + Chr(10) + MyEvent End If End Function Private Function CheckSum() As Boolean 'set error handler On Error GoTo ErrorHandler '-----calc TheirCheckSum 'dim Dim X As Double 'zero variable TheirCheckSum = 0 'calc TheirCheckSum For X = 2 To 24 TheirCheckSum = TheirCheckSum + CDbl(arrBytes(X)) Next X 'handle CheckSum rollover TheirCheckSum = TheirCheckSum Mod 65536 'calc MyCheckSum MyCheckSum = (CDbl(arrBytes(27)) * 256) + arrBytes(28) 'compare checksums If MyCheckSum = TheirCheckSum Then ''set checksum return CheckSum = True '-----------parse packet BaseStationACK = arrBytes(0) SOP = arrBytes(1) DeliveryFlags = arrBytes(2) AppDataType = arrBytes(3) NodeAddress = (CDbl(arrBytes(4)) * 256) + arrBytes(5) ReplyLength = arrBytes(6) ExtraByte = arrBytes(7) Command = arrBytes(8) 'convert array of 32bit floating point values in IEEE-754 format arrTemp(0) = arrBytes(12) arrTemp(1) = arrBytes(11) arrTemp(2) = arrBytes(10) arrTemp(3) = arrBytes(9) Roll = BitConverter.ToSingle(arrTemp, 0) 'scale radians to degrees Roll = Roll * (180 / 3.14159) 'round Roll = Math.Round(Roll, 1) 'convert array of 32bit floating point values in IEEE-754 format arrTemp(0) = arrBytes(16) arrTemp(1) = arrBytes(15) arrTemp(2) = arrBytes(14) arrTemp(3) = arrBytes(13) Pitch = BitConverter.ToSingle(arrTemp, 0) 'scale radians to degrees Pitch = Pitch * (180 / 3.14159) 'round Pitch = Math.Round(Pitch, 1) 'convert array of 32bit floating point values in IEEE-754 format arrTemp(0) = arrBytes(20) arrTemp(1) = arrBytes(19) arrTemp(2) = arrBytes(18) arrTemp(3) = arrBytes(17) Yaw = BitConverter.ToSingle(arrTemp, 0) 'scale radians to degrees Yaw = Yaw * (180 / 3.14159) 'round Yaw = Math.Round(Yaw, 1) 'calc timer tick and elapsed time TimerTick = TimerTickCalc(21) 'signal indicators LQI = arrBytes(25) RSSI = arrBytes(26) Else 'set checksum return CheckSum = False End If 'exit Exit Function ErrorHandler: 'set checksum return CheckSum = False 'exit Exit Function End Function Private Sub SerialPort1_DataReceived(ByVal sender As System.Object, ByVal e As System.IO.Ports.SerialDataReceivedEventArgs) Handles SerialPort1.DataReceived 'set error handler On Error GoTo ErrorHandler 'temporary cob job 'there should be a better way to trap a comm event that isn't 'generated by the receive threshold being met If SerialPort1.BytesToRead = 0 Then 'event ''Call ReportEvent(Trim(Str(SerialPort1.BytesToRead))) 'exit Exit Sub End If 'set variable UpperLimitOfArray = SerialPort1.BytesToRead - 1 'prep array ReDim arrBytes(0 To UpperLimitOfArray) 'get comm buffer SerialPort1.Read(arrBytes, 0, SerialPort1.BytesToRead) 'test for no byte return If UBound(arrBytes) = -1 Then 'set checksum indicator lblCheckSum.ForeColor = Color.Red 'send command SerialPort1.Write(arrCommand, 0, 10) 'exit Exit Sub End If 'test 29 byte return and 0xAA 0xAA header If Not UBound(arrBytes) = 28 And Not arrBytes(0) = 170 And Not arrBytes(1) = 170 Then 'set checksum indicator lblCheckSum.ForeColor = Color.Red 'send command SerialPort1.Write(arrCommand, 0, 10) 'exit Exit Sub End If 'test checksum If CheckSum() = False Then 'set checksum indicator lblCheckSum.ForeColor = Color.Red 'send command SerialPort1.Write(arrCommand, 0, 10) 'exit Exit Sub End If 'set checksum indicator lblCheckSum.ForeColor = Color.Green 'display data txtBaseStationACK.Text = BaseStationACK txtSOP.Text = SOP txtDeliveryFlags.Text = DeliveryFlags txtAppDataType.Text = AppDataType txtNodeAddress.Text = NodeAddress txtReplyLength.Text = ReplyLength txtExtraByte.Text = ExtraByte txtCommand.Text = Command txtRoll.Text = Roll txtPitch.Text = Pitch txtYaw.Text = Yaw txtTimerTick.Text = DisplayTimerTickCalc txtLQI.Text = LQI txtRSSI.Text = RSSI txtMyCS.Text = MyCheckSum txtTheirCS.Text = TheirCheckSum txtElapsed.Text = ElapsedTime 'send command SerialPort1.Write(arrCommand, 0, 10) Exit Sub ErrorHandler: 'close serial port If SerialPort1.IsOpen = True Then SerialPort1.Close() 'exit Exit Sub End Sub End Class