birdcmds.c

一个C语言写的读入位置跟踪器数据的源程序

	case 3:     /* Display Pickup Values*/
	    /*
		Get the Crystal Frequency
	    */
	    if (!getcrystalfreq())
		return(FALSE);

	    /*
		Set the Sync Type
	    */
	    birdcrtsynccmd[1] = 255;

	    /*
		Stay in a Loop displaying the Pickup Values
	    */
	    do
	    {
		if (send_serial_cmd(birdcrtsynccmd,2) != 2)
		    return(FALSE);

		/*
		    Get the 4 byte response response
		*/
		for (i=0; i<4; i++)
		{
		    rxchar = waitforchar();
		    parameter[i] = rxchar;
		    if (rxchar < 0)
		    {
			printf("** ERROR ** could not read data back from the Bird\n\r");
			hitkeycontinue();
			return(FALSE);
		    }
		}
		/*
		    Display the Retrace Voltage
		*/
		i = *(unsigned char *) &parameter[0] +
		    ((*(unsigned char *) &parameter[1]) << 8);

		printf ("%6.4f  ", (float)((float)i * 5.0/32768.0));

		/*
		    Compute the Retrace Rate if the count is not = 0
		    ...then display
		*/
		i = *(unsigned char *)&parameter[2] +
		    ((*(unsigned char *)&parameter[3]) << 8);
		if (i != 0)
		     printf ("      %6.2f\n\r",
			  (float)((125000.0 * crystalfreq)/(unsigned short)i)/2);
		else
		     printf ("       00.00\n\r");
	    }
	    while (!ckkbhit());   /* Stay in the loop until a key is hit */
	    clearkey();           /* clear the keyboard */

	    /*
		    Set the Sync Type to OFF
	    */
	    birdcrtsynccmd[1] = 0;

	    /*
		Send the Command
	    */
	    if (send_serial_cmd(birdcrtsynccmd,2) != 2)
		return(FALSE);

	    break;

	    case ESC_SEL:
		return(ESC_SEL);
    }
    hitkeycontinue();
    return(TRUE);
}

/*
    showfbbconfig       Display the FBB Configuration

    Prototype in:       cmdutil.h

    Parameters Passed:  void

    Return Value:       void

    Remarks:            Displays the FBB Configuration information pointed
			to by fbbconfig

*/
void showfbbconfig(fbbconfig)
unsigned char * fbbconfig;
{
    short i;
    short j;
    short active;

    switch (fbbconfig[0])
    {
	case 0:
	    printf("\n\rFBB Bird configured for Stand Alone Operation\n\r");
	    break;
	case 1:
	    printf("\n\rFBB Bird configured for 1 Transmitter/N Receiver Operation\n\r");
	    break;
	default:
	    printf("** ERROR ** invalid FBB Configuration Mode\n\r");
    }
    hitkeycontinue();

    printf("\n\rFBB Devices..");
    for (i=1;i<=numfbbaddrs;i++)
    {
	printf("\n\rDevice at FBB address %d is ", i);
	if (i < 15)
	{
	    j = *(unsigned char *)&fbbconfig[1] +
		((*(unsigned char *)&fbbconfig[2]) << 8);
	    active = ((0x1 << i) & j);
	}
	else
	{
	    j = *(unsigned char *)&fbbconfig[5] +
		((*(unsigned char *)&fbbconfig[6]) << 8);
	    active = ((0x1 << i-15) & j);
	}

	if (active)
	   printf("RUNNING");
	else
	   printf("NOT RUNNING");

	if (i == 20)    /* Don't let the info run off the screen */
	   hitkeycontinue();

    }
    hitkeycontinue();

    printf("\n\rFBB Dependents..");
    for (i=1;i<=14;i++)
    {
	printf("\n\rDevice at FBB address %d is ", i);
	j = *(unsigned char *)&fbbconfig[3] +
	    ((*(unsigned char *)&fbbconfig[4]) <<8);
	if ((0x1 << i) & j)
	   printf("DEPENDENT");
	else
	   printf("NOT DEPENDENT");
    }
}



		    /* return number of samples taken*/

int getsamples(samplesize,mean,stddev,pk_pk,maximum,minimum)
int samplesize; 
double mean[]; 
double stddev[];
double pk_pk[];
double maximum[];
double minimum[];
{
 short i;
 int index;
 unsigned char temprs232tofbbaddr;
 short birddata[14]; 
 unsigned char posorientcmd;
 unsigned char datasize;
 int wfc;
 double floatdata[6], sx[6], sx2[6];
 short outputmode = CONTINUOUS;
 short buttonmode = 0;
 short cmdsize=0;
 static unsigned char birdchangevaluecmd[] = {'P',0,0,0,0,0};  

 /* make sure not in FBB group mode - add later */
 /* no button mode */
 
 /* initualize mean[] and stddev[] */
 for (index=0; index<6; index++) {
   mean[index]=0; stddev[index]=0; 
   sx[index]=0; sx2[index]=0;
   maximum[index]=-9999; minimum[index]=9999;
 }

 /* 
	send the mode Command (ie. POSANGLES)
 */
 posorientcmd = 'Y';
 datasize = 6;
 if (send_serial_cmd(&posorientcmd,1) != 1) return(0);
  
 /*
	enable data ready char, only to master
 */
 temprs232tofbbaddr = rs232tofbbaddr;
 rs232tofbbaddr = 0; /* to master */
 birdchangevaluecmd[1] = 8;
 birdchangevaluecmd[2] = 1;
 cmdsize = 3;
 if (send_serial_cmd(birdchangevaluecmd,cmdsize) != cmdsize) {
	       printf("\n\r * problem sending data ready char enable *");
	       rs232tofbbaddr = temprs232tofbbaddr;
	       return(0);
 }
 rs232tofbbaddr = temprs232tofbbaddr;

 /*
    wait 5 cycles for filters to settle
 */
 for (index=0; index<5; index++) 
   do  /* wait for data ready char from master */
     wfc = waitforchar(); 
   while ( wfc != data_ready_char );


 for (index=0; index<samplesize; index++) 
 {
   printf("\r %3d ",index+1);

   /* 
      wait for data ready char from master before taking record from bird
   */

   do  
     wfc = waitforchar(); /* timed out at low measurement speed (14-16 Hz) */
   while ( wfc != data_ready_char );

   /*
	request a new point from bird
   */
   if (send_serial_cmd((unsigned char *)"B",1) != 1) /* get another set of points */
   {
       /*
	    disable data ready char from master, error exit
       */
       birdchangevaluecmd[1] = 8;
       birdchangevaluecmd[2] = 0;
       cmdsize = 3;
       if (send_serial_cmd(birdchangevaluecmd,cmdsize) != cmdsize) 
	       printf("\n\r * problem sending data ready char disable *");
       return(0);           /* return done if errors */
   }
  
  /*
	get the data NOW
  */
  if (!readbirddata(birddata,datasize,outputmode,buttonmode)) {
       /*
	    disable data ready char, error exit
       */
       temprs232tofbbaddr = rs232tofbbaddr;
       rs232tofbbaddr = 0; /* to master */
       birdchangevaluecmd[1] = 8;
       birdchangevaluecmd[2] = 0;
       cmdsize = 3;
       if (send_serial_cmd(birdchangevaluecmd,cmdsize) != cmdsize) 
	       printf("\n\r * problem sending data ready char disable *");
       rs232tofbbaddr = temprs232tofbbaddr;
       return(0);           /* return done if errors */
   }
  
  for (i=0;i<6;i++) {
     if (i<3) floatdata[i] = (double)(birddata[i] * posk);
     else     floatdata[i] = (double)(birddata[i] * ANGK);
     sx[i]+=floatdata[i];
     sx2[i]+= (floatdata[i]*floatdata[i]);
     if (floatdata[i]<minimum[i]) minimum[i]=floatdata[i];
     if (floatdata[i]>maximum[i]) maximum[i]=floatdata[i];
  }

 } 
 
 /* finish calculating the mean and Stddev */
 for (index=0; index<6; index++) {
  double temp;
    mean[index] = sx[index]/(double)samplesize;
    temp= sx2[index]/(double)samplesize - mean[index]*mean[index];
    stddev[index] = sqrt(fabs(temp));
    pk_pk[index]=maximum[index]-minimum[index];
 }

 /*
	disable data ready char from master, pior to normal exit
 */
 temprs232tofbbaddr = rs232tofbbaddr;
 rs232tofbbaddr = 0; /* to master */
 birdchangevaluecmd[1] = 8;
 birdchangevaluecmd[2] = 0;
 cmdsize = 3;
 if (send_serial_cmd(birdchangevaluecmd,cmdsize) != cmdsize) {
	       printf("\n\r * problem sending data ready char disable *");
	       rs232tofbbaddr = temprs232tofbbaddr;
	       return(0);
 }
 rs232tofbbaddr = temprs232tofbbaddr;

 return(samplesize);
}


void printsamples(int samplesize, double mean[], double stddev[], 
		double pk_pk[], double maximum[], double minimum[]) 
{
 int index;
 
 printf("\r     X       Y       Z      Az      El     Roll\t\t%4d samples\n",samplesize);
 for (index=0; index<6; index++) printf("%7.2lf\t",mean[index]);
 printf("\tMean\n\r");
 for (index=0; index<6; index++) printf("%7.2lf\t",maximum[index]);
 printf("\tMax\n\r");
 for (index=0; index<6; index++) printf("%7.2lf\t",minimum[index]);
 printf("\tMin\n\r");
 for (index=0; index<6; index++) printf("%7.2lf\t",pk_pk[index]);
 printf("\tPeak to Peak\n\r");
 for (index=0; index<6; index++) printf("%7.2lf\t",stddev[index]);
 printf("\tStd Deviation\n\r");
 printf("\n\n");

 /* hitkeycontinue(); */
}

void clearbuff() {    /* clear serial buffer  function */
short rxchar;
  do
    rxchar = get_serial_char();
  while ( rxchar != NODATAAVAIL );
}



void getsamplesoverrange(int samplesize) {
 float start, end, step, temp, present;
 unsigned char temprs232tofbbaddr;
 int stepnumber, index;
 double mean[6], stddev[6], pk_pk[6];
 double maximum[6], minimum[6], noise;
 unsigned short i, el;
 unsigned short xmtr_time_cnt;
 float xtime;
 short cmdsize=0;
 static unsigned char birdchangevaluecmd[] = {'P',0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};  

  /*
	Get the CPU crstal freq from master
  */
  clearbuff();
  temprs232tofbbaddr = rs232tofbbaddr;
  rs232tofbbaddr = 0; /* to master */
  if (!getcrystalfreq()) {
	  printf("\n\r * problem getting crystal frequency *");
	  return;
  }
  rs232tofbbaddr = temprs232tofbbaddr;
  printf("\n\r Crystal Frequency is: %4.1f\n",crystalfreq);


  start=getfloat("\n What starting frequency (14-144 Hz):",14,144);
  end=getfloat(" What ending frequency (14-144 Hz):",14,144);
  if (start==end) {
	printf("Start value and End value can not be the same.");
	hitkeycontinue();
	return;
  }
  if (start>end) {
    temp=start; start=end; end=temp;
  }
  do {
   step=getfloat(" What step frequency (positive number):",0,144);
  } while (step<=0);

  printf("\n\n\rMeasurement rate at START of scan in Measurments/sec %6.2f.",start);
  printf("\n\rMeasurement rate at END of scan %6.2f.",end);
  printf("\n\rScan step size in measurments/sec %6.2f",step);
    
  /* 
      get the average receiver position for display
  */
  printf("\n\n\r");

  getsamples(100,mean,stddev,pk_pk,maximum,minimum);
  
  printf("\rRECEIVER LOCATION\n\tX\tY\tZ\tAz\tEL\tROLL");
  printf("\n\r      %6.2lf  %6.2lf  %6.2lf %7.2lf %7.2lf %7.2lf",
	     mean[0],mean[1],mean[2],mean[3],mean[4],mean[5]);

  if (abs(mean[4])<45.0) { 
     /* EL below 45 degrees, use average Euler angle statistics */
     el=0;
     printf("\n\n\rSpeed   Xtime    Xmtr_Time_Cnt    Avg Euler Pk-Pk\n");
  } else {
     el=1;
     printf("\n\n\r* NOTE *  because Euler elevation was larger then 45 degrees, only ");
     printf("\n\relevation Peak to Peak will be displayed.");
     printf("\n\n\rSpeed   Xtime    Xmtr_Time_Cnt     EL Pk-Pk\n");
  }

  stepnumber = (int) ( (end-start)/step );

  for (present=start,index=0; index<=stepnumber; index++) {
    
    /*
	Check to see if user is tire of waiting
    */
    if (ckkbhit()) {
	printf("\n\n\r ** Keyboard break ** \n");
	break;
    }

    /*
      set measurement rate
    */

      /*
	Set the Parameter number and the command size
      */
      birdchangevaluecmd[1] = 6;
      cmdsize = 4;

      /*
	convert to transmitter time counts
      */
      i = (unsigned)(((crystalfreq/8.0)*1000.0)*
		   (((1000.0/present)-0.3)/4.0));
      *(unsigned char *)&birdchangevaluecmd[2] = (unsigned char) (i & 0xff);
      *(unsigned char *)&birdchangevaluecmd[3] = (unsigned char) ((i & 0xff00) >> 8);
	    
      xmtr_time_cnt = i;
      xtime = xmtr_time_cnt*(8.0/crystalfreq)/1000.0;
      
      /*
	 Send the new measurement speed Command to the Master unit
      */
      temprs232tofbbaddr = rs232tofbbaddr;
      rs232tofbbaddr = 0; /* to master */

      if (send_serial_cmd(birdchangevaluecmd,cmdsize) != cmdsize) {
	       printf("\n\r * problem setting new measurement rate *");
	       rs232tofbbaddr = temprs232tofbbaddr;
	       return;
      }
      rs232tofbbaddr = temprs232tofbbaddr;       

    if (getsamples(samplesize,mean,stddev,pk_pk,maximum,minimum)!=samplesize) 
	  return;

    if (el==0) noise = (pk_pk[3]+pk_pk[4]+pk_pk[5])/3.0;
    else noise = pk_pk[4];

    printf("\r%5.1lf   %6.3f   %10u         %5.2lf\n",present,xtime,xmtr_time_cnt,noise);
    present+=step;
    if (present>end) present=end;
  }
  hitkeycontinue();
}



/*
    getbirdstatistics   - aquire data and take noise statistics

    Prototype in:       birdcmds.h

    Parameters Passed:  void

    Return Value:       void

    Remarks:            Being developed.
*/

void getbirdstatistics(){

    int samplesize;
    int answer;
    double mean[6],stddev[6],pk_pk[6],maximum[6],minimum[6];    


    static char * birdstatmenu[] = {"Select Statistics option:",
				   "Return to main menu",
				   "Change sample number",
				   "Take POS/ANGLE samples",
				   "Take samples over a range"};

    samplesize=500;

    printf("\n\r** Reminder **");
    printf("\n\rIf you have a multiple receiver system and using one RS232 to");
    printf("\n\rthe master, then you must use the RS232 to FBB command to select");
    printf("\n\rthe receiver you want noise statistics from.");
    printf("\n\rTake receiver out of BUTTON mode and GROUP mode.");
    printf("\n\rTo get statistics at measurement rates above 110 Hz, the baud rate");
    printf("\n\rmust be at least 38400.\n");

    while (1) {   /* loop forever */

      printf("\n\rDefault sample number: %4d\n",samplesize);
       /*
	   Find out what the user wants to do ...
       */
      
      switch (sendmenu(birdstatmenu,4))
      {
	case 0:     /* return to main menu */
	   return;

	case 1:     /* specify sample size */
	   do {
	     printf ("\n\rEnter the number of samples for statistics: ");
	     if ((answer = getnumber()) == ESC_SEL)  break;
	     if (answer<3) 
		printf("\n\r number must be greater then 3 (or ESC key)");
	   } while (answer < 3) ;
	   samplesize=answer;
	   break;

	case 2:     /* take samples pos/angles */