frmcockpit.frm

一个低成本的捷联惯性导航系统设计程序

            Charset         =   0
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         Height          =   375
         Index           =   2
         Left            =   120
         TabIndex        =   18
         Top             =   1800
         Width           =   975
      End
      Begin VB.Label lblOut 
         Alignment       =   1  'Right Justify
         Caption         =   "dB / dt"
         BeginProperty Font 
            Name            =   "MS Sans Serif"
            Size            =   13.5
            Charset         =   0
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         Height          =   375
         Index           =   1
         Left            =   120
         TabIndex        =   17
         Top             =   1080
         Width           =   975
      End
      Begin VB.Label lblOut 
         Alignment       =   1  'Right Justify
         Caption         =   "dA / dt"
         BeginProperty Font 
            Name            =   "MS Sans Serif"
            Size            =   13.5
            Charset         =   0
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         Height          =   375
         Index           =   0
         Left            =   120
         TabIndex        =   16
         Top             =   360
         Width           =   975
      End
   End
   Begin MSComDlg.CommonDialog CommonDialog 
      Left            =   1080
      Top             =   0
      _ExtentX        =   847
      _ExtentY        =   847
      _Version        =   393216
   End
   Begin VB.CommandButton ButtonExit 
      Caption         =   "Exit"
      Height          =   375
      Left            =   8520
      TabIndex        =   2
      Top             =   2760
      Width           =   1215
   End
   Begin VB.CommandButton ButtonStop 
      Caption         =   "Stop"
      Height          =   375
      Left            =   240
      TabIndex        =   1
      Top             =   2760
      Width           =   1215
   End
   Begin VB.CommandButton ButtonStart 
      Caption         =   "Start"
      Height          =   375
      Left            =   240
      TabIndex        =   0
      Top             =   2160
      Width           =   1215
   End
   Begin VB.Menu mnuConfig 
      Caption         =   "Config"
      Begin VB.Menu mnuSampling 
         Caption         =   "Sampling"
      End
   End
End
Attribute VB_Name = "frmCockpit"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Option Explicit

' Vektorstruktur, 6 Freiheitsgrade. 3 translatorische, 3 rotatorische
' wird fuer Parameteruebergabe an die f_*() Funktionen verwendet
' ACHTUNG: alpha, beta und gamma sind EULERWINKEL, also nicht einfach Rotationen
' um die jeweiligen Achsen. Mehr dazu siehe Transformationen
Private Type VectorType
    xtrans As Double    ' x - Richtung
    ytrans As Double    ' y - Richtung
    ztrans As Double    ' z - Richtung
    arot As Double      ' Alpha = "Bank" = Rot um (Laengsachse = y - Achse)
    brot As Double      ' Beta = "Pitch" = Rot um (Querachse = x - Achse)
    crot As Double      ' Gamma = "Direction" = Rot um (Hochachse = z - Achse)
End Type

Private Sub ButtonExit_Click()
    ' Programm beenden
    End
End Sub

Private Sub ButtonStart_Click()
    ' Diese Routine aquiriert kontinuierlich Daten vom AD und uebergibt
    ' sie dem Artificial Horizont & Virtual Compass
    
    ' Wie koennen mit dem Aufsetzen des Samplings beginnen:
    Dim iStatus As Integer
    Dim iRetval As Integer
    Dim iDevice As Integer
    Dim iDBmodeON As Integer
    Dim iDBmodeOFF As Integer
    Dim ulCount As Long
    Dim iLoopCount As Integer
    Dim iHalfBufsToRead As Integer
    Dim iUnits As Integer
    Dim iSampTB As Integer
    Dim piBuffer() As Integer
    Dim piHalfBuffer() As Integer
    Dim iHalfReady As Integer
    Dim iDAQstopped As Integer
    Dim ulPtsTfr As Long
    Dim iIgnoreWarning As Integer
    Dim lTimeout As Long
    Dim iYieldON As Integer
    
    Dim SampleCounter As Long   ' Zaehler fuer die Anzahl Einzelsampels
    Dim inRecord As Integer     ' Welcher Wert innerhalb des Records?
    Dim iterate As Integer      ' Schlaufenvariable
    Dim realTimebase As Double  ' S_timeBase ist nur ein index 1 - 5
    Dim correctBufferSize As Integer
    Dim tempdouble As Double
    Dim whichDispUpdate As Boolean        ' welches Display soll upgedated werden?
    
    ' Initialisierung
    iDevice% = 1                ' DAQ-Card 1200 immer Device 1
    iDBmodeON% = 1              ' DoubleBufferedMode
    correctBufferSize = S_bufferSize - (S_bufferSize Mod S_NrCh)
    If (correctBufferSize Mod 2) <> 0 Then
        correctBufferSize = correctBufferSize - S_NrCh
    End If
    ReDim piBuffer(correctBufferSize)       ' S_bufferSize muss Vielfaches sein!
    ReDim piHalfBuffer(S_bufferSize)    ' Sicher groesser ...
    iUnits% = 0                 ' immer "Samples pro Sekunde"
    ulCount = correctBufferSize
    iHalfBufsToRead% = 20
    lTimeout& = 180
    iYieldON% = 1
    PosCounter = 0
    Ibank = 0
    Ipitch = 0
    
    ' Abbuchbedingung setzen
    GoOnAquire = True

    ' Disable Buttons
    ButtonExit.Enabled = False
    ButtonStart.Enabled = False
    ButtonStop.Enabled = True

    ' Timeout Setzen
    iStatus% = Timeout_Config(iDevice%, lTimeout&)
    iRetval% = NIDAQErrorHandler(iStatus%, "Timeout_Config", iIgnoreWarning%)

    ' Timebase, SampleInterval und ScanInterval berechnen
    ' iStatus% = DAQ_Rate(S_Freq, iUnits%, S_sampTimebase, S_sampInterval)
    ' bestimmen der echten Timebase:
    ' Bedingungen:
    '   - ZeitproMessung >= 10us (bei Gain < 10) = S_sampInterval/realTimebase
    '   - realTimebase  sampTimebase
    '           100 Hz      5
    '           1k Hz       4
    '           10 kHz      3
    '           100kHz      2
    '           1MHz        1
    '   - scanInterval < 65535, > 2 und > NrCh / realTimebase + 5 us
    '   - SampleRate (Hz) = realTimebase / scanInterval
    
    Select Case S_Freq
        Case 1
            ' 1 Hz
            S_sampTimebase = 3
            S_sampInterval = 2
            realTimebase = 10000
            S_scanInterval = 10000
        Case 10
            ' 10 Hz
            S_sampTimebase = 2
            S_sampInterval = 2
            realTimebase = 100000
            S_scanInterval = 10000
        Case 50
            ' 50 Hz
            S_sampTimebase = 2
            S_sampInterval = 2
            realTimebase = 100000
            S_scanInterval = 2000
        Case 150
            ' 150 Hz
            S_sampTimebase = 1
            S_sampInterval = 10
            realTimebase = 1000000
            S_scanInterval = 6667
        Case 300
            ' 300 Hz
            S_sampTimebase = 1
            S_sampInterval = 10
            realTimebase = 1000000
            S_scanInterval = 3333
        Case 500
            ' 500 Hz
            S_sampTimebase = 1
            S_sampInterval = 10
            realTimebase = 1000000
            S_scanInterval = 2000
        Case 2000
            ' 2000 Hz
            S_sampTimebase = 1
            S_sampInterval = 10
            realTimebase = 1000000
            S_scanInterval = 500
    End Select
    If S_Freq <> 0 Then
        S_scanInterval = CInt((1 / S_Freq) * realTimebase)
    Else
        ' Division by zero, kommt nie vor, hoffentlich ;-)
    End If
     
   
    ' Single ended unipolar input mode setzen
    iStatus% = AI_Configure(iDevice%, -1, 1, 0, 1, 0)
    
    ' Double Buffered Mode
    iStatus% = DAQ_DB_Config(iDevice%, iDBmodeON%)
    iRetval% = NIDAQErrorHandler(iStatus%, "DAQ_DB_Config", iIgnoreWarning%)

    ' Dithering einschalten
    iStatus% = MIO_Config(iDevice%, 1, 0)

    ' Starte Scan Aquisition
    iStatus% = Lab_ISCAN_Start(iDevice%, S_NrCh, S_gain, piBuffer%(0), ulCount, S_sampTimebase, S_sampInterval, S_scanInterval)
    iRetval% = NIDAQErrorHandler(iStatus%, "Lab_ISCAN_Start", iIgnoreWarning%)
    
    RecordCounter = 0
    SampleCounter = 0
    
    ' Loopen und lesen
    While ((iLoopCount% < iHalfBufsToRead%) And (iStatus% = 0) And (GoOnAquire))
        iLoopCount% = 0     ' Ewig
        iStatus% = DAQ_DB_HalfReady(iDevice%, iHalfReady%, iDAQstopped%)
        ' Ist wieder ein halber Buffer lesebereit?
        If ((iHalfReady% = 1) And (iStatus% = 0)) Then
            ' Ja, lesebereit
            iStatus% = DAQ_DB_Transfer(iDevice%, piHalfBuffer%(0), ulPtsTfr&, iDAQstopped%)
            iRetval% = NIDAQErrorHandler(iStatus%, "DAQ_DB_Transfer", 0)
            ' Abfuellen in MessArr - Struktur
            For iterate = 0 To (ulPtsTfr& - 1)
                inRecord = S_NrCh - (SampleCounter Mod (S_NrCh)) - 1
                MessArr(RecordCounter, inRecord) = piHalfBuffer%(iterate)
                If inRecord = 0 Then
                    Call calculateOrientation
                    RecordCounter = RecordCounter + 1
                End If
                SampleCounter = SampleCounter + 1   ' Anzahl Samples
            Next iterate
            ' Messung Anzeigen
            If RecordCounter > 0 Then
                For iterate = 0 To 2
                    TextAnalog(iterate).Text = MessArr(RecordCounter - 2, iterate + 3)
                Next iterate