/Gimbal/_BruGi/GUI/blg-tool.tcl

https://github.com/macressler/x-VTOLdrone · TCL · 1526 lines · 1287 code · 178 blank · 61 comment · 175 complexity · 5b304ea674d39b3e1d1dc23c970fed76 MD5 · raw file

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  1. #!/usr/bin/wish
    2. 

  2. #
    3. 

  3. # Copyright by Oliver Dippel <oliver@multixmedia.org>
    4. 

  4. # 
    5. 

  5. # This program is free software: you can redistribute it and/or modify
    6. 

  6. # it under the terms of the GNU General Public License as published by
    7. 

  7. # the Free Software Foundation, either version 3 of the License, or
    8. 

  8. # any later version. see <http://www.gnu.org/licenses/>
    9. 

  9. # 
    10. 

  10. 

  11. set VERSION 49
    12. 

  12. 

  13. #####################################################################################
    14. 

  14. # Big hexdata
    15. 

  15. #####################################################################################
    16. 

  16. 

  17. set HEXDATA ""
    18. 

  18. 

  19. image create photo logo -data {
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  63. }
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  64. 

  65. 

  66. image create photo sensor -data {
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  146. BDSgC2pQAANgs6j6BbpABK5BN6vxAPBGR/8RAl4IAkLwhy2gAkTSEOvwCGvABmQgi2JQBObjob8G
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  147. IceQDLCQAqggBGWgCpB0H63SlSLkhQuwAyRwAi2gB6NKZwSgmHgQB+7mlTsQQcbxOF5gBxQwAHeg
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  148. BjIwbbrQCgNgAMKgCwAAhbaBK9fUGgIgGyCwAjL+EFY3wAIqkAO28BDscAaP8AZWsAVt8AZjEAab
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  152. WgRBoKixsRrEiCF0y7ItkAInsAJo3AIt4AIq4AIp7BDb8AuSEAZmgAdbQAZjkARj4B1dMgCokAf+
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  154. HBQABCABKaATIsA5KOACKBCMSeIFjOkQ8ZANz8CPYrAFYnAFY1AGdiAW8rMAsvUXvPIXtfQ4FPAA
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  155. LqAK3tnBXJEqPpADVdAauXECa/MU08YAaJAKLRAA2CwCdTALAIwCF4KNTSUeCgACKygCEOACSWJQ
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  156. nKMCKrADfwiSQSAaEjENvLAEXiAHbuAGYsAFZQBQlJg4xxEVXwEBP0AHdcCtwRGxZeAF8xEdDnCn
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  157. caI4s0bMWoBJswagCKAGe+DBTDcAahwx8Kr+IXckHgsIASywAixQFyfQxilAwitgAyXQAjLwA5nn
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  158. EEm7BHBQggbLBlpABzB6H14CASQ5AHoABXtwBXVQC0VAMXNkB9OXUiowS6tJJ2/QCqeQAhu8NvCm
    159. 

  159. B17AM2EqVY1YGfxZGSTAAjoR0yzAAmbcAiSgxi3wAyOQwEFQEe0gBWoQkGAABmJwuW9gLA7goYFC
    160. 

  160. AvMKAi7QClCAGkFABzLQAEXFHolaN5UHFtF5HAdgAFygCUAAS5BIAYwwhG5RZv5BG7HnGcF4AhSw
    161. 

  161. E9gc12e8AjcAAxzABIIQBDDwBRahDmYgBmBgB2LwBmVwBWIgd1RyG9cSHQMgAk0gCzQgI23+4Aoy
    162. 

  162. YC4n0ARDwCIjAymEeId24HeF17t++KGtsye0ERiysQLJVsY7wd5nwgKyswIwUAGQYAiVUANmgBH+
    163. 

  163. sATQsAQDfQXopAVcFhzOpSFekSRNoAlOkGh50Ab75CsUIFobPBy8toDfiD2rUF+z8hZU8lAo7UQJ
    164. 

  164. EAAGoAEu0AI4MAIjwAIaMAItsHEjkAI9YAKz0wIcEAqDEAbxkhHKAA2SAAds8AYCLQZeIAZvsTe3
    165. 

  165. EXQgMJxekAopYAB0oAX2aNHd8p8Q4xZ3cyO3EQFVsAO7QmcaAizDoY5dAgEq8NKIUgIrUAIpIAIr
    166. 

  166. 0AAmzgO76wI7sANHgATkABLYEA1/MAb+Qb4FVSDkN+QjkvJFwGcHUKAJaBCxlnMAVUAD1zQYDvI5
    167. 

  167. lAEds0JTERoeGjShDkACLoDGIiDX01ECJWADK+ACtsMCHAAJTEADQPAF45AS07AIZxC1W0C+VVAF
    168. 

  168. X4BzU4JHMOo5dpAKabCWDa0pLrAKP1DR4zphq7nh2BMral0Z/YLGMvCHpC4CKIACcc0COUADOUAF
    169. 

  169. L/AHltAHg+AEHEET7QAMUVCLUXsFVaAFbYADnzNPIdACN5SFGacBecsJlxwEedDkBSAYDvDvffIa
    170. 

  170. CoADb3Ecp6Mr9hECQnADaOwC047mKRDXOMADRPADPEAFHFAJfSAK5jAU7BAGc/AGdEz+BmDABcft
    171. 

  171. Am5xW+MBJYRMkjerAsToXXSoBySQcWzpV0zzFmsRLnLyHOMkA4iCAzewA7JzAzdgAztA10LgAz2g
    172. 

  172. AzsgA4MgCtNQFu0ABXXwCFkQw5XqyzeiJKK1hS9SeQ1ABpxAAw0w8YAiAWCQBxiQADKQqF9Jfacj
    173. 

  173. AF+HHA5wA2cMu6WeAy0gBDtwAz7wAzIQA0cgBVDgAkVQA9bQDnghDksADFhwBlrgBldQBH++X8NR
    174. 

  174. yHJ1AAqVAGrQCVCgCrUAKAHQAJrwqbqABmjyH9AEKeIhNQtgvSb+PWeMA0Zv6j1ABDrwAn4QCaHA
    175. 

  175. AVeQ4wIRD2axDc4QCkjwnVcQ2FD++43nfEOzwhoSgAquAAUMhQClWgCzsGm8d1TY8ipsIgI4oMYr
    176. 

  176. gAMlMAIigAEl8DsvoARDQAVU4AEcXwmSUMuOAQ3RcARpcMdQAAYAcUWMDwcREDhYUPDAgxAHIEDQ
    177. 

  177. g2oBAxFCGgw4MCBBggEQIhyI8ADBAAciWqwYceJEChAsgJRYgYNEiR5CtPTIweSSIWvx+v0EGlTo
    178. 

  178. UKJFjQ6FJiUMG1JtxLjBQobGAwcHFCw4APLAggUSVrAqg0pPmwENEizgiDHhAQcDHsRMgaFFihQn
    179. 

  179. XIigUQIHjhMtaAAJ8+PHlGztfB5FnFjxUERrmpQZI+bKlSRhZChAcJWkgBAPMib+SIGmFQkSbSEU
    180. 

  180. GBAgYVUFD27cwNECQwocd+uSmGHFCowjfiRVMKLE22LixRWDgUKZjBYtyL3IgNBwgAIBBxmg1Tjd
    181. 

  181. AISzCx4U6AriBI4VVly44OtDL4oVNmzg0JHiiCFKmB4NN55fv9B0URop+YIL5rwY4goQqjpgJAUM
    182. 

  182. 2iiBjCAwy60BJlzghBUurIu8FliwwYoVWGChhx54aKEGPyo5JJv9VmTxG2J4QeIMMsqoYrI3GnJA
    183. 

  183. gayoS0gBBxyMEKsEILhwhRLEwyGF81qwIQQWggtCBRZI2MCPZ+SRh0Ut9ePmGUmUwGKLN6rQYosr
    184. 

  184. QshRgQEQQAArks5q4IEEGLD+0IUWLFyBhJjQS2GHFVKowYgllHhhAxWY2TLR/Z4JRYpSspjCiyrE
    185. 

  185. 8IKGAyRgSwCuHAhgABBGQmEBF1hYwQUUNBABgxJgoMBCHdCDwY9MLAllE3YUxTU/eaZZQg48zLjC
    186. 

  186. Ci+08GIHg1ZbK4QICiJSJZUgIOEE92zQgbwedGjBAkIqqWScXL81Dh5E6OjCCzdq9MILMVbg6iPP
    187. 

  187. 3IIAhBXwBEHeeWfIYS8ZdMihCys0OCKSULIEt2DiwiDjiyqwSDfdK1iIYIGDWiNBJiPnxeG9HVpw
    188. 

  188. QQcdYOBgiSFwUCEGYgxGmTh2pOhlCjPIoNSLIrw4YQEF6s3zQhBKgOmGC3f+uLaIDf445JMjiLgm
    189. 

  189. ZaUXE8cZZ7B4ow11JZUBhBBWOGkF8bCuDT0fhCCChyopocSZYZZGWzFuQplEDDxi9oIIO7GOKSYa
    190. 

  190. dsBBhh9uEGIHK54wwpBLnCE4bcONmgaUN8SA2wsf5j3B3hVu2EEGF3JIQoYhbsACCWrQOTz0o3wJ
    191. 

  191. gxEynOCCC+SquHODF0Zg4YYhgOjgD1A8gAIKZETnvSh44KkD2CHIaOILKB6PVjwehKCCBkEqiUSR
    192. 

  192. bnqn3qgv4Ijiii/irovnk3ZowgQjADFkmurPL+qVX5ZYwose/tQgBRiAIGKHGJD4pHD09/+pnF5e
    193. 

  193. AVAPyGMBJjhCCTGwQiNJ2sE/BgalGsBYwhf8NIJAgOITSGCEOhq4QaD4Yg1R2NsLFDGJQCyQgyfs
    194. 

  194. Ryq+QIMw1EARJkQhCpHhBVSsI4Y3xGEOdbhDHholIAA7
    195. 

  195. }
    196. 

  196. 

  197. #####################################################################################
    198. 

  198. # Tooltip
    199. 

  199. #####################################################################################
    200. 

  200. 

  201. proc setTooltip {widget text} {
    202. 

  202. 	if { $text != "" } {
    203. 

  203. 

  204. 		bind $widget <Any-Enter>    [list .helptext configure -text "$text"]
    205. 

  205. 

  206. #		bind $widget <Any-Enter>    [list after 500 [list showTooltip %W $text]]
    207. 

  207. #		bind $widget <Any-Leave>    [list after 500 [list destroy %W.tooltip]]
    208. 

  208. #		bind $widget <Any-KeyPress> [list after 500 [list destroy %W.tooltip]]
    209. 

  209. #		bind $widget <Any-Button>   [list after 500 [list destroy %W.tooltip]]
    210. 

  210. 	}
    211. 

  211. }
    212. 

  212. 

  213. proc showTooltip {widget text} {
    214. 

  214. 	global tcl_platform
    215. 

  215. 	if { [string match $widget* [winfo containing  [winfo pointerx .] [winfo pointery .]] ] == 0  } {
    216. 

  216. 		return
    217. 

  217. 	}
    218. 

  218. 	catch { destroy $widget.tooltip }
    219. 

  219. 	set scrh [winfo screenheight $widget]    ; # 1) flashing window fix
    220. 

  220. 	set scrw [winfo screenwidth $widget]     ; # 1) flashing window fix
    221. 

  221. 	set tooltip [toplevel $widget.tooltip -bd 1 -bg black]
    222. 

  222. 	wm geometry $tooltip +$scrh+$scrw        ; # 1) flashing window fix
    223. 

  223. 	wm overrideredirect $tooltip 1
    224. 

  224. 	if {$tcl_platform(platform) == {windows}} { ; # 3) wm attributes...
    225. 

  225. 		wm attributes $tooltip -topmost 1   ; # 3) assumes...
    226. 

  226. 	}                                           ; # 3) Windows
    227. 

  227. 	pack [label $tooltip.label -bg lightyellow -fg black -text $text -justify left]
    228. 

  228. 	set width [winfo reqwidth $tooltip.label]
    229. 

  229. 	set height [winfo reqheight $tooltip.label]
    230. 

  230. 	set pointer_below_midline [expr [winfo pointery .] > [expr [winfo screenheight .] / 2.0]]                ; # b.) Is the pointer in the bottom half of the screen?
    231. 

  231. 	set positionX [expr [winfo pointerx .] - round($width / 2.0)]    ; # c.) Tooltip is centred horizontally on pointer.
    232. 

  232. 	set positionY [expr [winfo pointery .] + 35 * ($pointer_below_midline * -2 + 1) - round($height / 2.0)]  ; # b.) Tooltip is displayed above or below depending on pointer Y position.
    233. 

  233. 	if  {[expr $positionX + $width] > [winfo screenwidth .]} {
    234. 

  234. 		set positionX [expr [winfo screenwidth .] - $width]
    235. 

  235. 	} elseif {$positionX < 0} {
    236. 

  236. 		set positionX 0
    237. 

  237. 	}
    238. 

  238. 	wm geometry $tooltip [join  "$width x $height + $positionX + $positionY" {}]
    239. 

  239. 	raise $tooltip
    240. 

  240. 	bind $widget.tooltip <Any-Enter> {destroy %W}
    241. 

  241. 	bind $widget.tooltip <Any-Leave> {destroy %W}
    242. 

  242. }
    243. 

  243. 

  244. #####################################################################################
    245. 

  245. # Menu
    246. 

  246. #####################################################################################
    247. 

  247. 

  248. menu .menu -tearoff 0
    249. 

  249. menu .menu.file -tearoff 0
    250. 

  250. .menu add cascade -label "File" -menu .menu.file -underline 0
    251. 

  251. 

  252. 	.menu.file add command -label "Connect" -command {
    253. 

  253. 		connect_serial
    254. 

  254. 	}
    255. 

  255. 	.menu.file add command -label "Close" -command {
    256. 

  256. 		close_serial
    257. 

  257. 	}
    258. 

  258. 	.menu.file add command -label "Open file..." -command {
    259. 

  259. 		load_values_from_file
    260. 

  260. 	}
    261. 

  261. 	.menu.file add command -label "Save file..." -command {
    262. 

  262. 		save_values2file
    263. 

  263. 	}
    264. 

  264. 	.menu.file add separator
    265. 

  265. 	.menu.file add command -label "Exit" -command {
    266. 

  266. 		exit 0
    267. 

  267. 	}
    268. 

  268. 

  269. menu .menu.options -tearoff 0
    270. 

  270. .menu add cascade -label "Options" -menu .menu.options -underline 0
    271. 

  271. 	.menu.options add command -label "set Defaults" -command {
    272. 

  272. 		set_defaults
    273. 

  273. 	}
    274. 

  274. 	.menu.options add command -label "Load from Board" -command {
    275. 

  275. 		send_par
    276. 

  276. 	}
    277. 

  277. 	.menu.options add command -label "Save to Board" -command {
    278. 

  278. 		save_values
    279. 

  279. 	}
    280. 

  280. 	.menu.options add command -label "Load from Flash" -command {
    281. 

  281. 		load_from_flash
    282. 

  282. 	}
    283. 

  283. 	.menu.options add command -label "Save to Flash" -command {
    284. 

  284. 		save_to_flash
    285. 

  285. 	}
    286. 

  286. 	.menu.options add command -label "Gyro-Cal" -command {
    287. 

  287. 		gyro_cal
    288. 

  288. 	}
    289. 

  289. 

  290. if {$HEXDATA != ""} {
    291. 

  291. 	menu .menu.firmware -tearoff 0
    292. 

  292. 	.menu add cascade -label "Firmware" -menu .menu.firmware -underline 0
    293. 

  293. 		.menu.firmware add command -label "Upload" -command {
    294. 

  294. 			close_serial
    295. 

  295. 			set device [.device.spin get]
    296. 

  296. 			set ArduinoSerial [ArduinoSerial_Init [.device.spin get] 57600]
    297. 

  297. 			ArduinoReset
    298. 

  298. 			ArduinoSerial_SendCMD $defs(STK_GET_SIGN_ON)
    299. 

  299. 			if {$ArduinoTimeout != 0} {
    300. 

  300. 				.bottom.info configure -text "ERROR: upload firmware"
    301. 

  301. 				.bottom.info configure -background red
    302. 

  302. 				update
    303. 

  303. 				after 1000
    304. 

  304. 			} else {
    305. 

  305. 				.bottom.info configure -text "start uploading firmware"
    306. 

  306. 				ArduinoSendData "0x0000" $HEXDATA
    307. 

  307. 				ArduinoReset
    308. 

  308. 			}
    309. 

  309. 			after 500
    310. 

  310. 			connect_serial
    311. 

  311. 		}
    312. 

  312. }
    313. 

  313. 

  314. 

  315. menu .menu.help -tearoff 0
    316. 

  316. 	.menu add cascade -label "Help" -menu .menu.help -underline 0
    317. 

  317. 	.menu.help add command -label "Tuning" -command {
    318. 

  318. 		show_help_tuning
    319. 

  319. 	}
    320. 

  320. 	.menu.help add separator
    321. 

  321. 	.menu.help add command -label "Homepage" -command {
    322. 

  322. 		launchBrowser "http://brushlessgimbal.de/"
    323. 

  323. 	}
    324. 

  324. 	.menu.help add command -label "Documentation" -command {
    325. 

  325. 		launchBrowser "http://brushlessgimbal.de/brugi-v1/software/"
    326. 

  326. 	}
    327. 

  327. 	.menu.help add separator
    328. 

  328. 	.menu.help add command -label "About..." -command {
    329. 

  329. 		show_help_about
    330. 

  330. 	}
    331. 

  331. 

  332. . configure -menu .menu
    333. 

  333. 

  334. #####################################################################################
    335. 

  335. # serialports
    336. 

  336. #####################################################################################
    337. 

  337. 

  338. if {[string match "*Linux*" $tcl_platform(os)]} {
    339. 

  339. 	set comports ""
    340. 

  340. 	set device ""
    341. 

  341. 	catch {
    342. 

  342. 		set comports "[glob /dev/ttyUSB*] [glob /dev/ttyACM*]"
    343. 

  343. 		set device "[lindex $comports end]"
    344. 

  344. 	}
    345. 

  345. } elseif {[string match "*Windows*" $tcl_platform(os)]} {
    346. 

  346. 	set comports {"com1:" "com2:" "com3:" "com4:" "com5:" "com6:" "com7:" "com8:" "com9:" "com10:" "com11:" "com12:" "com13:" "com14:" "com15:"}
    347. 

  347. 	catch {
    348. 

  348. 		set serial_base "HKEY_LOCAL_MACHINE\\HARDWARE\\DEVICEMAP\\SERIALCOMM"
    349. 

  349. 		set values [registry values $serial_base]
    350. 

  350. 		set res {}
    351. 

  351. #		foreach valueName $values {
    352. 

  352. #			set PortName "[registry get $serial_base $valueName]"
    353. 

  353. #			lappend res "$PortName"
    354. 

  354. #		}
    355. 

  355. 		foreach valueName $values {
    356. 

  356. 			set PortName "//./[registry get $serial_base $valueName]"
    357. 

  357. 			lappend res "$PortName"
    358. 

  358. 		}
    359. 

  359. 		set comports $res
    360. 

  360. 	}
    361. 

  361. 	set device "[lindex $comports end]"
    362. 

  362. } elseif {[string match "*Darwin*" $tcl_platform(os)] || [string match "*MacOS*" $tcl_platform(os)]} {
    363. 

  363. 	set comports ""
    364. 

  364. 	set device ""
    365. 

  365. 	catch {
    366. 

  366. 		set comports [glob /dev/cu.usbserial-*]
    367. 

  367. 		set device "[lindex $comports end]"
    368. 

  368. 	}
    369. 

  369. }
    370. 

  370. 

  371. #####################################################################################
    372. 

  372. # Global variables
    373. 

  373. #####################################################################################
    374. 

  374. 

  375. set Serial 0
    376. 

  376. set LastValX 0
    377. 

  377. set LastValY 0
    378. 

  378. set chart 0
    379. 

  379. set params "gyroPitchKp gyroPitchKi gyroPitchKd gyroRollKp gyroRollKi gyroRollKd accTimeConstant mpuLPF angleOffsetPitch angleOffsetRoll dirMotorPitch dirMotorRoll motorNumberPitch motorNumberRoll maxPWMmotorPitch maxPWMmotorRoll minRCPitch maxRCPitch minRCRoll maxRCRoll rcGain rcLPF rcModePPM rcChannelPitch rcChannelRoll rcMid rcAbsolute accOutput enableGyro enableACC axisReverseZ axisSwapXY"
    380. 

  380. 

  381. foreach var $params {
    382. 

  382. 	if {$var == "vers"} {
    383. 

  383. 	} elseif {! [string match "*,*" $var]} {
    384. 

  384. 		set par($var) 0
    385. 

  385. 		set par($var,scale) 1
    386. 

  386. 		set par($var,offset) 0
    387. 

  387. 	}
    388. 

  388. }
    389. 

  389. 

  390. 

  391. set par(gyroPitchKp,scale) 1000.0
    392. 

  392. set par(gyroPitchKi,scale) 1000.0
    393. 

  393. set par(gyroPitchKd,scale) 1000.0
    394. 

  394. set par(gyroRollKp,scale) 1000.0
    395. 

  395. set par(gyroRollKi,scale) 1000.0
    396. 

  396. set par(gyroRollKd,scale) 1000.0
    397. 

  397. set par(angleOffsetPitch,scale) 100.0
    398. 

  398. set par(angleOffsetRoll,scale) 100.0
    399. 

  399. set par(rcLPF,scale) 10.0
    400. 

  400. set par(maxPWMmotorPitch,scale) 2.5
    401. 

  401. set par(maxPWMmotorRoll,scale) 2.5
    402. 

  402. set par(rcChannelPitch,offset) 1
    403. 

  403. set par(rcChannelRoll,offset) 1
    404. 

  404. set par(motorNumberPitch,offset) 1
    405. 

  405. set par(motorNumberRoll,offset) 1
    406. 

  406. 

  407. 

  408. 

  409. set CHART_SCALE 0.5
    410. 

  410. set buffer ""
    411. 

  411. set count 0
    412. 

  412. set chart_count 0
    413. 

  413. 

  414. #####################################################################################
    415. 

  415. # Serial-Functions
    416. 

  416. #####################################################################################
    417. 

  417. 

  418. proc Serial_Init {ComPort ComRate} {
    419. 

  419. 	global Serial
    420. 

  420. 	catch {close $Serial}
    421. 

  421. 	catch {fileevent $Serial readable ""}
    422. 

  422. 	set iChannel 0
    423. 

  423. 	if {[catch {
    424. 

  424. 		set iChannel [open $ComPort w+]
    425. 

  425. 		fconfigure $iChannel -mode $ComRate,n,8,1 -ttycontrol {RTS 1 DTR 0} -blocking FALSE
    426. 

  426. 		fileevent $iChannel readable [list rd_chid $iChannel]
    427. 

  427. 		.bottom.version configure -text "Serial-Ok: $ComPort @ $ComRate"
    428. 

  428. 		.bottom.info configure -text "Serial-Ok: $ComPort @ $ComRate"
    429. 

  429. 		.device.connect configure -text "Reconnect"
    430. 

  430. 	}]} {
    431. 

  431. 		.bottom.version configure -text "Serial-Error: $ComPort @ $ComRate"
    432. 

  432. 		.bottom.version configure -background red
    433. 

  433. 		.bottom.info configure -text "Serial-Error: $ComPort @ $ComRate"
    434. 

  434. 		.device.connect configure -text "Connect"
    435. 

  435. 		return 0
    436. 

  436. 	}
    437. 

  437. 	return $iChannel
    438. 

  438. }
    439. 

  439. 

  440. proc close_serial {} {
    441. 

  441. 	global Serial
    442. 

  442. 	catch {close $Serial}
    443. 

  443. 	.device.connect configure -text "Connect"
    444. 

  444. }
    445. 

  445. 

  446. #####################################################################################
    447. 

  447. # CLI-Functions
    448. 

  448. #####################################################################################
    449. 

  449. 

  450. proc connect_serial {} {
    451. 

  451. 	global Serial
    452. 

  452. 	global count
    453. 

  453. 	global device
    454. 

  454. 	global buffer
    455. 

  455. #	.bottom.info configure -background yellow
    456. 

  456. 	set device [.device.spin get]
    457. 

  457. 	set Serial [Serial_Init $device 115200]
    458. 

  458. 	set count 0
    459. 

  459. 	if {$Serial == 0} {
    460. 

  460. 		.bottom.info configure -background red
    461. 

  461. 		.bottom.info configure -text "not connected"
    462. 

  462. 		return
    463. 

  463. 	} else {
    464. 

  464. 		.bottom.info configure -background green
    465. 

  465. 		.bottom.info configure -text "connected"
    466. 

  466. 	}
    467. 

  467. 	after 6000 send_par
    468. 

  468. }
    469. 

  469. 

  470. proc draw_chart {} {
    471. 

  471. 	global Serial
    472. 

  472. 	global chart
    473. 

  473. 	if {$Serial == 0} {
    474. 

  474. 		.bottom.info configure -background red
    475. 

  475. 		.bottom.info configure -text "not connected"
    476. 

  476. 		return
    477. 

  477. 	}
    478. 

  478. 	if {$chart == 1} {
    479. 

  479. 		set chart 0
    480. 

  480. 		.bottom.info configure -text "SEND: oac 0"
    481. 

  481.         	puts -nonewline $Serial "oac 0\n"
    482. 

  482. 		flush $Serial
    483. 

  483. 		.note.general.chart.fr1.button configure -text "Start"
    484. 

  484. 	} else {
    485. 

  485. 		set chart 1
    486. 

  486. 		.bottom.info configure -text "SEND: oac 1"
    487. 

  487.         	puts -nonewline $Serial "oac 1\n"
    488. 

  488. 		flush $Serial
    489. 

  489. 		.note.general.chart.fr1.button configure -text "Stop"
    490. 

  490. 	}
    491. 

  491. }
    492. 

  492. 

  493. proc send_parvar {n1 n2 op} {
    494. 

  494. 	global Serial
    495. 

  495. 	global par
    496. 

  496. 

  497. 	if {$Serial == 0} {
    498. 

  498. 		.bottom.info configure -background red
    499. 

  499. 		.bottom.info configure -text "not connected"
    500. 

  500. 		return
    501. 

  501. 	}
    502. 

  502. 	if {$n2 == "vers"} {
    503. 

  503. 	} elseif {$n2 == "dirMotorPitch" || $n2 == "dirMotorRoll"} {
    504. 

  504. 		if {$par($n2) == 1} {
    505. 

  505. 			.bottom.info configure -text "SEND: par $n2 -1"
    506. 

  506. 		        puts -nonewline $Serial "par $n2 -1\n"
    507. 

  507. 		} else {
    508. 

  508. 			.bottom.info configure -text "SEND: par $n2 1"
    509. 

  509. 		        puts -nonewline $Serial "par $n2 1\n"
    510. 

  510. 		}
    511. 

  511. 	} else {
    512. 

  512. 		.bottom.info configure -text "SEND: par $n2 [expr $par($n2) * $par($n2,scale) - $par($n2,offset)]"
    513. 

  513. 	        puts -nonewline $Serial "par $n2 [expr $par($n2) * $par($n2,scale) - $par($n2,offset)]\n"
    514. 

  514. 	}
    515. 

  515. 	flush $Serial
    516. 

  516. 	after 20
    517. 

  517. }
    518. 

  518. 

  519. proc send_par {} {
    520. 

  520. 	global Serial
    521. 

  521. 	global count
    522. 

  522. 	global device
    523. 

  523. 	global buffer
    524. 

  524. 	set count 0
    525. 

  525. 	set buffer ""
    526. 

  526. 	if {$Serial == 0} {
    527. 

  527. 		.bottom.info configure -background red
    528. 

  528. 		.bottom.info configure -text "not connected"
    529. 

  529. 		return
    530. 

  530. 	}
    531. 

  531. 	.bottom.info configure -text "PAR: reading values..."
    532. 

  532. 

  533.         puts -nonewline $Serial "par\n"
    534. 

  534. 	flush $Serial
    535. 

  535. }
    536. 

  536. 

  537. proc save_values {} {
    538. 

  538. 	global Serial
    539. 

  539. 	global count
    540. 

  540. 	global device
    541. 

  541. 	global par
    542. 

  542. 	.bottom.info configure -text "saving values"
    543. 

  543. 	.bottom.info configure -background yellow
    544. 

  544. 	update
    545. 

  545. 	if {$Serial == 0} {
    546. 

  546. 		.bottom.info configure -background red
    547. 

  547. 		.bottom.info configure -text "not connected"
    548. 

  548. 		return
    549. 

  549. 	}
    550. 

  550. 	foreach var [array names par] {
    551. 

  551. 		if {$var == "vers"} {
    552. 

  552. 		} elseif {! [string match "*,*" $var]} {
    553. 

  553. 			send_parvar "par" $var "w"
    554. 

  554. 			after 20
    555. 

  555. 		}
    556. 

  556. 	}
    557. 

  557. 	.bottom.info configure -text "saving values done"
    558. 

  558. 	.bottom.info configure -background green
    559. 

  559. }
    560. 

  560. 

  561. proc load_values_from_file {} {
    562. 

  562. 	global Serial
    563. 

  563. 	set types {
    564. 

  564. 		{"Text files"		{.txt}	}
    565. 

  565. 		{"Text files"		{}		TEXT}
    566. 

  566. 		{"All files"		*}
    567. 

  567. 	}
    568. 

  568. 	global selected_type
    569. 

  569. 	if {![info exists selected_type]} {
    570. 

  570. 		set selected_type "Tcl Scripts"
    571. 

  571. 	}
    572. 

  572. 	set file [tk_getOpenFile -filetypes $types -parent . -typevariable selected_type]
    573. 

  573. 	if {$file != ""} {
    574. 

  574. 		set fp [open $file r]
    575. 

  575. 		if {$fp > 0} {
    576. 

  576. 			set file_data [read $fp]
    577. 

  577. 			close $fp
    578. 

  578. 			foreach line "[split $file_data "\n"]" {
    579. 

  579. 				if {$line != ""} {
    580. 

  580. 				        puts $Serial "$line"
    581. 

  581. 					flush $Serial
    582. 

  582. 					after 20
    583. 

  583. 				}
    584. 

  584. 			}
    585. 

  585. 			.bottom.info configure -text "load: done"
    586. 

  586. 			update
    587. 

  587. 			connect_serial
    588. 

  588. 		} else {
    589. 

  589. 			.bottom.info configure -text "load: error, reading file: $file"
    590. 

  590. 			update
    591. 

  591. 		}
    592. 

  592. 	}
    593. 

  593. 	after 200 send_par
    594. 

  594. }
    595. 

  595. 

  596. proc save_values2file {} {
    597. 

  597. 	global Serial
    598. 

  598. 	global device
    599. 

  599. 	global par
    600. 

  600. 	set types {
    601. 

  601. 		{"Text files"		{.txt}	}
    602. 

  602. 		{"Text files"		{}		TEXT}
    603. 

  603. 		{"All files"		*}
    604. 

  604. 	}
    605. 

  605. 	set file [tk_getSaveFile -filetypes $types -parent . -initialfile blg-gimbal -defaultextension .txt]
    606. 

  606. 	if {$file != ""} {
    607. 

  607. 		set fp [open $file w]
    608. 

  608. 		foreach var [array names par] {
    609. 

  609. 			if {$var == "vers"} {
    610. 

  610. 			} elseif {! [string match "*,*" $var]} {
    611. 

  611. 				if {$var == "dirMotorPitch" || $var == "dirMotorRoll"} {
    612. 

  612. 					if {$par($var) == 1} {
    613. 

  613. 					        puts -nonewline $fp "par $var -1\n"
    614. 

  614. 					} else {
    615. 

  615. 					        puts -nonewline $fp "par $var 1\n"
    616. 

  616. 					}
    617. 

  617. 				} else {
    618. 

  618. 				        puts -nonewline $fp "par $var [expr $par($var) * $par($var,scale) - $par($var,offset)]\n"
    619. 

  619. 				}
    620. 

  620. 			}
    621. 

  621. 		}
    622. 

  622. 		close $fp
    623. 

  623. 	}
    624. 

  624. }
    625. 

  625. 

  626. proc gyro_cal {} {
    627. 

  627. 	global Serial
    628. 

  628. 	global count
    629. 

  629. 	global device
    630. 

  630. 	set count 0
    631. 

  631. 	if {$Serial == 0} {
    632. 

  632. 		.bottom.info configure -background red
    633. 

  633. 		.bottom.info configure -text "not connected"
    634. 

  634. 		return
    635. 

  635. 	}
    636. 

  636. 	.bottom.info configure -background red
    637. 

  637. 	.bottom.info configure -text "gyro recalibration"
    638. 

  638. 	update
    639. 

  639.         puts -nonewline $Serial "GC\n"
    640. 

  640. 	flush $Serial
    641. 

  641. }
    642. 

  642. 

  643. proc save_to_flash {} {
    644. 

  644. 	global Serial
    645. 

  645. 	global count
    646. 

  646. 	global device
    647. 

  647. 	set count 0
    648. 

  648. 	if {$Serial == 0} {
    649. 

  649. 		.bottom.info configure -background red
    650. 

  650. 		.bottom.info configure -text "not connected"
    651. 

  651. 		return
    652. 

  652. 	}
    653. 

  653.         puts -nonewline $Serial "WE\n"
    654. 

  654. 	flush $Serial
    655. 

  655. }
    656. 

  656. 

  657. proc load_from_flash {} {
    658. 

  658. 	global Serial
    659. 

  659. 	global count
    660. 

  660. 	global device
    661. 

  661. 	set count 0
    662. 

  662. 	.bottom.info configure -text "loading from flash"
    663. 

  663. 	update
    664. 

  664. 	if {$Serial == 0} {
    665. 

  665. 		.bottom.info configure -background red
    666. 

  666. 		.bottom.info configure -text "not connected"
    667. 

  667. 		return
    668. 

  668. 	}
    669. 

  669.         puts -nonewline $Serial "RE\n"
    670. 

  670. 	flush $Serial
    671. 

  671. 	after 200 send_par
    672. 

  672. }
    673. 

  673. 

  674. proc set_defaults {} {
    675. 

  675. 	global Serial
    676. 

  676. 	global count
    677. 

  677. 	global device
    678. 

  678. 	set count 0
    679. 

  679. 	.bottom.info configure -text "setting defaults"
    680. 

  680. 	update
    681. 

  681. 	if {$Serial == 0} {
    682. 

  682. 		.bottom.info configure -background red
    683. 

  683. 		.bottom.info configure -text "not connected"
    684. 

  684. 		return
    685. 

  685. 	}
    686. 

  686.         puts -nonewline $Serial "SD\n"
    687. 

  687. 	flush $Serial
    688. 

  688. 	after 200 send_par
    689. 

  689. }
    690. 

  690. 

  691. #####################################################################################
    692. 

  692. # Serial-Calback
    693. 

  693. #####################################################################################
    694. 

  694. 

  695. proc rd_chid {chid} {
    696. 

  696. 	global buffer
    697. 

  697. 	global count
    698. 

  698. 	global chart_count
    699. 

  699. 	global VERSION
    700. 

  700. 	global par
    701. 

  701. 	if {$chid == 0} {
    702. 

  702. 		return
    703. 

  703. 	}
    704. 

  704. #	catch {
    705. 

  705. 		set ch [read $chid 1]
    706. 

  706. 		if {$ch == "\r"} {
    707. 

  707. 		} elseif {$ch == "\n"} {
    708. 

  708. 			if {1 == 1} {
    709. 

  709. 				.bottom.info configure -text "INFO: $buffer"
    710. 

  710. #				update
    711. 

  711. 				set var [lindex $buffer 0]
    712. 

  712. 				set val [lindex $buffer 1]
    713. 

  713. 

  714. 				if {$var == "vers"} {
    715. 

  715. 					set par(vers) "$val"
    716. 

  716. 					.bottom.version configure -text "Firmware-Version: $par(vers)"
    717. 

  717. 					.bottom.version configure -background lightgray
    718. 

  718. 				} elseif {$var == "dirMotorPitch" || $var == "dirMotorRoll"} {
    719. 

  719. 					if {$val == -1} {
    720. 

  720. 						set par($var) 1
    721. 

  721. 					} else {
    722. 

  722. 						set par($var) 0
    723. 

  723. 					}
    724. 

  724. 

  725. 				} elseif {[info exists par($var,scale)]} {
    726. 

  726. 					set par($var) [expr ($val + $par($var,offset)) / $par($var,scale)]
    727. 

  727. 				} elseif {[string match "* ACC *" $buffer]} {
    728. 

  728. 					set chart 1
    729. 

  729. 					.bottom.info configure -text "OAC: $buffer"
    730. 

  730. 					global LastValX
    731. 

  731. 					global LastValY
    732. 

  732. 					global CHART_SCALE
    733. 

  733. 					set ValX [expr [lindex $buffer 0] / 1000.0]
    734. 

  734. 					set TEST [lindex $buffer 1]
    735. 

  735. 					set ValY [expr [lindex $buffer 2] / 1000.0]
    736. 

  736. 					if {($TEST == "ACC" || $TEST == "DMP") && [string is double -strict $ValX] && [string is double -strict $ValY]} {
    737. 

  737. 						incr chart_count 1
    738. 

  738. 						if {$chart_count >= 450} {
    739. 

  739. 							set chart_count 0
    740. 

  740. 						}
    741. 

  741. 						.note.general.chart.chart1 delete "line_$chart_count"
    742. 

  742. 						.note.general.chart.chart1 create line $chart_count [expr 100 - ($LastValX / 2 * $CHART_SCALE + 50)] [expr $chart_count + 1] [expr 100 - ($ValX * $CHART_SCALE / 2 + 50)] -fill orange -tags "line_$chart_count"
    743. 

  743. 						.note.general.chart.chart1 create line $chart_count [expr 100 - ($LastValY / 2 * $CHART_SCALE + 50)] [expr $chart_count + 1] [expr 100 - ($ValY * $CHART_SCALE / 2 + 50)] -fill green -tags "line_$chart_count"
    744. 

  744. 						.note.general.chart.chart1 delete "pos"
    745. 

  745. 						.note.general.chart.chart1 create line [expr $chart_count + 1] 0 [expr $chart_count + 1] 100 -fill yellow -tags "pos"
    746. 

  746. 						.note.general.chart.chart1 create text 5 10 -text "Pitch: $ValX" -anchor w -fill orange -tags "pos"
    747. 

  747. 						.note.general.chart.chart1 create text 5 25 -text "Roll:  $ValY" -anchor w -fill green -tags "pos"
    748. 

  748. 						.note.general.chart.chart1 create text 5 90 -text "Scale:  $CHART_SCALE" -anchor w -fill green -tags "pos"
    749. 

  749. 						set LastValX $ValX
    750. 

  750. 						set LastValY $ValY
    751. 

  751. 					}
    752. 

  752. 

  753. 				} elseif {[string match "*recalibration: done*" $buffer]} {
    754. 

  754. 

  755. 					#tk_messageBox -icon info -message "Gyro-Recalibration done" -type ok -parent .
    756. 

  756. 					.bottom.info configure -text "Gyro-Recalibration done"
    757. 

  757. 					.bottom.info configure -background green
    758. 

  758. 					update
    759. 

  759. 				} elseif {[string match "* ddddd *" $buffer]} {
    760. 

  760. 					.bottom.info configure -text "READY!"
    761. 

  761. 					.bottom.info configure -background green
    762. 

  762. 				} else {
    763. 

  763. 				}
    764. 

  764. 			}
    765. 

  765. 			set buffer ""
    766. 

  766. 		} else {
    767. 

  767. 			append buffer $ch
    768. 

  768. 		}
    769. 

  769. #	}
    770. 

  770. }
    771. 

  771. 

  772. #####################################################################################
    773. 

  773. # Arduino-Flashloader
    774. 

  774. #####################################################################################
    775. 

  775. 

  776. set defs(STK_OK)		"0x10"
    777. 

  777. set defs(STK_INSYNC)		"0x14"
    778. 

  778. set defs(STK_GET_SIGN_ON)	"0x30"
    779. 

  779. set defs(STK_LOAD_ADDRESS)	"0x55"
    780. 

  780. set defs(STK_READ_PAGE)		"0x74"
    781. 

  781. set defs(STK_WRITE_PAGE)	"0x64"
    782. 

  782. set defs(CRC_EOP)		"0x20"
    783. 

  783. set ArduinoTimeout 0
    784. 

  784. 

  785. proc ArduinoSerial_Init {ComPort ComRate} {
    786. 

  786. 	global ArduinoSerial
    787. 

  787. 	catch {close $ArduinoSerial}
    788. 

  788. 	set iChannel 0
    789. 

  789. 	if {[catch {
    790. 

  790. 		set iChannel [open $ComPort w+]
    791. 

  791. 		fconfigure $iChannel -mode $ComRate,n,8,2 -translation binary -ttycontrol {RTS 1 DTR 0} -blocking FALSE
    792. 

  792. 		.bottom.info configure -text "ArduinoSerial-OK: $ComPort @ $ComRate"
    793. 

  793. 		update
    794. 

  794. 	}]} {
    795. 

  795. 		.bottom.info configure -text "ArduinoSerial-Error: $ComPort @ $ComRate"
    796. 

  796. 		update
    797. 

  797. 	}
    798. 

  798. 	return $iChannel
    799. 

  799. }
    800. 

  800. 

  801. proc ArduinoWait_reply {} {
    802. 

  802. 	global ArduinoSerial
    803. 

  803. 	global ArduinoTimeout
    804. 

  804. 	global defs
    805. 

  805. 	set num 0
    806. 

  806. 	set num2 0
    807. 

  807. 	set ch [read $ArduinoSerial 1]
    808. 

  808. 	binary scan $ch c num
    809. 

  809. 	set counter 0
    810. 

  810. 	while {$num == 0 && $counter < 1000} {
    811. 

  811. 		set ch [read $ArduinoSerial 1]
    812. 

  812. 		binary scan $ch c num
    813. 

  813. 		after 10
    814. 

  814. 		incr counter
    815. 

  815. 	}
    816. 

  816. 	if {$counter >= 1000} {
    817. 

  817. 		.bottom.info configure -text "#### timeout ####"
    818. 

  818. 		update
    819. 

  819. 		set ArduinoTimeout 1
    820. 

  820. 		after 1000
    821. 

  821. 		return
    822. 

  822. 	}
    823. 

  823. 	binary scan $ch c num
    824. 

  824. 	set ch2 [read $ArduinoSerial 1]
    825. 

  825. 	binary scan $ch2 c num2
    826. 

  826. 	set counter 0
    827. 

  827. 	while {$num2 == 0 && $counter < 1000} {
    828. 

  828. 		set ch2 [read $ArduinoSerial 1]
    829. 

  829. 		binary scan $ch2 c num2
    830. 

  830. 		after 10
    831. 

  831. 		incr counter
    832. 

  832. 	}
    833. 

  833. 	if {$counter >= 1000} {
    834. 

  834. 		.bottom.info configure -text "#### timeout ####"
    835. 

  835. 		update
    836. 

  836. 		set ArduinoTimeout 1
    837. 

  837. 		after 1000
    838. 

  838. 		return
    839. 

  839. 	}
    840. 

  840. 	binary scan $ch2 c num2
    841. 

  841. 	set ret "[format 0x%02x $num]"
    842. 

  842. 	set ret2 "[format 0x%02x $num2]"
    843. 

  843. 	if {$ret == $defs(STK_INSYNC) && $ret2 == $defs(STK_OK)} {
    844. 

  844. #		puts "	STK_INSYNC"
    845. 

  845. 	} else {
    846. 

  846. 		puts "Error: "
    847. 

  847. 		puts "	< $ret"
    848. 

  848. 		puts "	< $ret2"
    849. 

  849. 		.bottom.info configure -text "Flash-Error"
    850. 

  850. 		update
    851. 

  851. 		after 1000
    852. 

  852. #		return
    853. 

  853. 	}
    854. 

  854. }
    855. 

  855. 

  856. proc ArduinoSerial_SendCMD {CMD} {
    857. 

  857. 	global ArduinoSerial
    858. 

  858. 	global defs
    859. 

  859. 	puts -nonewline $ArduinoSerial "[binary format c $CMD]"
    860. 

  860. 	flush $ArduinoSerial
    861. 

  861. 	puts -nonewline $ArduinoSerial "[binary format c $defs(CRC_EOP)]"
    862. 

  862. 	flush $ArduinoSerial
    863. 

  863. 	ArduinoWait_reply
    864. 

  864. }
    865. 

  865. 

  866. proc ArduinoReset {} {
    867. 

  867. 	global ArduinoSerial
    868. 

  868. 	fconfigure $ArduinoSerial -ttycontrol {RTS 0}
    869. 

  869. 	flush $ArduinoSerial
    870. 

  870. 	after 200
    871. 

  871. 	fconfigure $ArduinoSerial -ttycontrol {RTS 1}
    872. 

  872. 	flush $ArduinoSerial
    873. 

  873. 	after 200
    874. 

  874. }
    875. 

  875. 

  876. proc ArduinoSendWORD {WORD} {
    877. 

  877. 	global ArduinoSerial
    878. 

  878. 	global defs
    879. 

  879. 	set WORD [expr $WORD / 2]
    880. 

  880. 	set WORD_BYTE2 "0x[string range [format %04x $WORD] 2 3]"
    881. 

  881. 	set WORD_BYTE1 "0x[string range [format %04x $WORD] 0 1]"
    882. 

  882. 	puts -nonewline $ArduinoSerial "[binary format c $WORD_BYTE2]"
    883. 

  883. 	flush $ArduinoSerial
    884. 

  884. 	puts -nonewline $ArduinoSerial "[binary format c $WORD_BYTE1]"
    885. 

  885. 	flush $ArduinoSerial
    886. 

  886. }
    887. 

  887. 

  888. proc ArduinoSetAddr {ADDR} {
    889. 

  889. 	global ArduinoSerial
    890. 

  890. 	global defs
    891. 

  891. 	puts -nonewline $ArduinoSerial "[binary format c $defs(STK_LOAD_ADDRESS)]"
    892. 

  892. 	flush $ArduinoSerial
    893. 

  893. 	ArduinoSendWORD "$ADDR"
    894. 

  894. 	puts -nonewline $ArduinoSerial "[binary format c $defs(CRC_EOP)]"
    895. 

  895. 	flush $ArduinoSerial
    896. 

  896. 	ArduinoWait_reply
    897. 

  897. }
    898. 

  898. 

  899. proc ArduinoSendData {START_ADDR file_data} {
    900. 

  900. 	global ArduinoSerial
    901. 

  901. 	global defs
    902. 

  902. 	set BUFFER ""
    903. 

  903. 	set COUNT 0
    904. 

  904. 	if {$file_data != ""} {
    905. 

  905. 		set MAX_ADDR [expr [llength $file_data]]
    906. 

  906. 		foreach BYTE $file_data {
    907. 

  907. 			lappend BUFFER "$BYTE"
    908. 

  908. 			if {$COUNT == 127} {
    909. 

  909. 				.bottom.info configure -text "write: [format 0x%02x $START_ADDR] ([expr [format 0x%x $START_ADDR] * 100 / [format 0x%x $MAX_ADDR]]%)"
    910. 

  910. 				update
    911. 

  911. 				ArduinoSetAddr "[format 0x%x $START_ADDR]"
    912. 

  912. 				puts -nonewline $ArduinoSerial "[binary format c $defs(STK_WRITE_PAGE)]"
    913. 

  913. 				flush $ArduinoSerial
    914. 

  914. 				puts -nonewline $ArduinoSerial "[binary format c "0x0"]"
    915. 

  915. 				flush $ArduinoSerial
    916. 

  916. 				puts -nonewline $ArduinoSerial "[binary format c "0x80"]"
    917. 

  917. 				flush $ArduinoSerial
    918. 

  918. 				puts -nonewline $ArduinoSerial "F"
    919. 

  919. 				flush $ArduinoSerial
    920. 

  920. 				foreach SEND_BYTE $BUFFER {
    921. 

  921. 					puts -nonewline $ArduinoSerial "[binary format c $SEND_BYTE]"
    922. 

  922. 					flush $ArduinoSerial
    923. 

  923. 				}
    924. 

  924. 				puts -nonewline $ArduinoSerial "[binary format c $defs(CRC_EOP)]"
    925. 

  925. 				flush $ArduinoSerial
    926. 

  926. 				ArduinoWait_reply
    927. 

  927. 				incr START_ADDR 128
    928. 

  928. 				set BUFFER ""
    929. 

  929. 				set COUNT 0
    930. 

  930. 			} else {
    931. 

  931. 				incr COUNT
    932. 

  932. 			}
    933. 

  933. 		}
    934. 

  934. 		set NUM 0
    935. 

  935. 		while {$NUM < [expr 128 - $COUNT]} {
    936. 

  936. 			lappend BUFFER "0xFF"
    937. 

  937. 			incr NUM
    938. 

  938. 		}
    939. 

  939. 		.bottom.info configure -text "write: [format 0x%02x $START_ADDR] ([expr [format 0x%x $START_ADDR] * 100 / [format 0x%x $MAX_ADDR]]%)"
    940. 

  940. 		update
    941. 

  941. 		ArduinoSetAddr "[format 0x%x $START_ADDR]"
    942. 

  942. 		puts -nonewline $ArduinoSerial "[binary format c $defs(STK_WRITE_PAGE)]"
    943. 

  943. 		flush $ArduinoSerial
    944. 

  944. 		puts -nonewline $ArduinoSerial "[binary format c "0x0"]"
    945. 

  945. 		flush $ArduinoSerial
    946. 

  946. 		puts -nonewline $ArduinoSerial "[binary format c "0x80"]"
    947. 

  947. 		flush $ArduinoSerial
    948. 

  948. 		puts -nonewline $ArduinoSerial "F"
    949. 

  949. 		flush $ArduinoSerial
    950. 

  950. 		foreach SEND_BYTE $BUFFER {
    951. 

  951. 			puts -nonewline $ArduinoSerial "[binary format c $SEND_BYTE]"
    952. 

  952. 			flush $ArduinoSerial
    953. 

  953. 		}
    954. 

  954. 		puts -nonewline $ArduinoSerial "[binary format c $defs(CRC_EOP)]"
    955. 

  955. 		flush $ArduinoSerial
    956. 

  956. 		ArduinoWait_reply
    957. 

  957. 		.bottom.info configure -text "write: done (100%)"
    958. 

  958. 		update
    959. 

  959. 	} else {
    960. 

  960. 		.bottom.info configure -text "error no data found"
    961. 

  961. 		update
    962. 

  962. 		after 1000
    963. 

  963. 	}
    964. 

  964. }
    965. 

  965. 

  966. proc ArduinoConvertData {file_data} {
    967. 

  967. 	global ArduinoSerial
    968. 

  968. 	global defs
    969. 

  969. 	set BUFFER ""
    970. 

  970. 	if {$file_data != ""} {
    971. 

  971. 		foreach BYTE [split $file_data ""] {
    972. 

  972. 			binary scan $BYTE c num
    973. 

  973. 			if {$num < 0} {
    974. 

  974. 				set num [expr $num + 256]
    975. 

  975. 			}
    976. 

  976. 			lappend BUFFER "[format 0x%x $num]"
    977. 

  977. 		}
    978. 

  978. 		return $BUFFER
    979. 

  979. 	} else {
    980. 

  980. 		.bottom.info configure -text "error no data found"
    981. 

  981. 		update
    982. 

  982. 		after 1000
    983. 

  983. 	}
    984. 

  984. }
    985. 

  985. 

  986. proc ArduinoSendBIN {START_ADDR BINFILE} {
    987. 

  987. 	global ArduinoSerial
    988. 

  988. 	set binfile [open $BINFILE r]
    989. 

  989. 	fconfigure $binfile -translation binary
    990. 

  990. 	set file_data [read $binfile]
    991. 

  991. 	close $binfile
    992. 

  992. 	if {$file_data != ""} {
    993. 

  993. 		ArduinoSendData $START_ADDR [ArduinoConvertData $file_data]
    994. 

  994. 	} else {
    995. 

  995. 		.bottom.info configure -text "error loading BIN-File"
    996. 

  996. 		update
    997. 

  997. 		after 1000
    998. 

  998. 	}
    999. 

  999. }
    1000. 

  1000. 

  1001. proc ArduinoExportBIN {BINFILE} {
    1002. 

  1002. 	set binfile [open $BINFILE r]
    1003. 

  1003. 	fconfigure $binfile -translation binary
    1004. 

  1004. 	set file_data [read $binfile]
    1005. 

  1005. 	close $binfile
    1006. 

  1006. 	if {$file_data != ""} {
    1007. 

  1007. 		return "[ArduinoConvertData $file_data]"
    1008. 

  1008. 	} else {
    1009. 

  1009. 		.bottom.info configure -text "error loading BIN-File"
    1010. 

  1010. 		update
    1011. 

  1011. 		after 1000
    1012. 

  1012. 	}
    1013. 

  1013. }
    1014. 

  1014. 

  1015. #####################################################################################
    1016. 

  1016. # GUI-Helper-Functions
    1017. 

  1017. #####################################################################################
    1018. 

  1018. 

  1019. set tline 0
    1020. 

  1020. proc show_textline {wid line} {
    1021. 

  1021. 	global tline
    1022. 

  1022. 	label $wid.tline_$tline -anchor nw -text "$line"
    1023. 

  1023. 	pack $wid.tline_$tline -side top -expand yes -fill x
    1024. 

  1024. 	incr tline
    1025. 

  1025. }
    1026. 

  1026. 

  1027. proc motorNumberPitch_check {n1 n2 op} {
    1028. 

  1028. 	global par
    1029. 

  1029. 	catch {
    1030. 

  1030. 		if {$par(motorNumberPitch) == 1} {
    1031. 

  1031. 			set par(motorNumberRoll) 2
    1032. 

  1032. 		} else {
    1033. 

  1033. 			set par(motorNumberRoll) 1
    1034. 

  1034. 		}
    1035. 

  1035. 	}
    1036. 

  1036. }
    1037. 

  1037. trace variable par(motorNumberPitch) w motorNumberPitch_check
    1038. 

  1038. 

  1039. proc motorNumberRoll_check {n1 n2 op} {
    1040. 

  1040. 	global par
    1041. 

  1041. 	catch {
    1042. 

  1042. 		if {$par(motorNumberRoll) == 1} {
    1043. 

  1043. 			set par(motorNumberPitch) 2
    1044. 

  1044. 		} else {
    1045. 

  1045. 			set par(motorNumberPitch) 1
    1046. 

  1046. 		}
    1047. 

  1047. 	}
    1048. 

  1048. }
    1049. 

  1049. trace variable par(motorNumberRoll) w motorNumberRoll_check
    1050. 

  1050. 

  1051. proc show_help {helptext} {
    1052. 

  1052. 	tk_messageBox -icon info -message "$helptext" -type ok -parent .
    1053. 

  1053. }
    1054. 

  1054. 

  1055. proc gui_slider {wid variable min max step title tooltiptext helptext} {
    1056. 

  1056. 	global par
    1057. 

  1057. 	label $wid
    1058. 

  1058. 	pack $wid -side top -expand yes -fill x
    1059. 

  1059. 	setTooltip $wid "$tooltiptext"
    1060. 

  1060. 

  1061. 		label $wid.label -text "$title" -width 14 -anchor w
    1062. 

  1062. 		pack $wid.label -side left -expand no -fill x
    1063. 

  1063. 

  1064. 		frame $wid.frame
    1065. 

  1065. 		pack $wid.frame -side left -expand yes -fill x
    1066. 

  1066. 

  1067. 			eval button $wid.frame.help -text \"?\" -width 1 -command \{show_help \"$helptext\"\}
    1068. 

  1068. 			pack $wid.frame.help -side right -expand no -fill none
    1069. 

  1069. 

  1070. 			spinbox $wid.frame.spin -from $min -to $max -increment $step -width 10 -textvariable par($variable) -width 4
    1071. 

  1071. 			pack $wid.frame.spin -side right -expand yes -fill x
    1072. 

  1072. 

  1073. 			scale $wid.frame.scale -orient horizontal -from $min -to $max -showvalue 0 -resolution $step -variable par($variable)
    1074. 

  1074. 			pack $wid.frame.scale -side right -expand yes -fill x
    1075. 

  1075. }
    1076. 

  1076. 

  1077. proc gui_spin {wid variable min max step title tooltiptext helptext} {
    1078. 

  1078. 	global par
    1079. 

  1079. 	frame $wid
    1080. 

  1080. 	pack $wid -side top -expand yes -fill x
    1081. 

  1081. 	setTooltip $wid "$tooltiptext"
    1082. 

  1082. 

  1083. 		label $wid.label -text "$title" -width 14 -anchor w
    1084. 

  1084. 		pack $wid.label -side left -expand no -fill x
    1085. 

  1085. 

  1086. 		frame $wid.frame
    1087. 

  1087. 		pack $wid.frame -side left -expand yes -fill x
    1088. 

  1088. 

  1089. 			eval button $wid.frame.help -text \"?\" -width 1 -command \{show_help \"$helptext\"\}
    1090. 

  1090. 			pack $wid.frame.help -side right -expand no -fill none
    1091. 

  1091. 

  1092. 			set diff [expr $max - $min]
    1093. 

  1093. 			if {$diff <= 8} {
    1094. 

  1094. 				set options ""
    1095. 

  1095. 				set num $min
    1096. 

  1096. 				while {$num <= $max}  {
    1097. 

  1097. 					set options "$options $num"
    1098. 

  1098. 					incr num
    1099. 

  1099. 				}
    1100. 

  1100. 				ttk::combobox $wid.frame.spin -textvariable par($variable) -state readonly -values $options
    1101. 

  1101. 			} else {
    1102. 

  1102. 				spinbox $wid.frame.spin -from $min -to $max -increment $step -width 10 -textvariable par($variable) -width 4
    1103. 

  1103. 			}
    1104. 

  1104. 			pack $wid.frame.spin -side right -expand yes -fill x
    1105. 

  1105. }
    1106. 

  1106. 

  1107. proc gui_check {wid variable title title2 tooltiptext helptext} {
    1108. 

  1108. 	global par
    1109. 

  1109. 	frame $wid
    1110. 

  1110. 	pack $wid -side top -expand yes -fill x
    1111. 

  1111. 	setTooltip $wid "$tooltiptext"
    1112. 

  1112. 

  1113. 		label $wid.label -text "$title" -width 14 -anchor w
    1114. 

  1114. 		pack $wid.label -side left -expand no -fill x
    1115. 

  1115. 

  1116. 		frame $wid.frame
    1117. 

  1117. 		pack $wid.frame -side left -expand yes -fill x
    1118. 

  1118. 

  1119. 			checkbutton $wid.frame.check -text "$title2" -variable par($variable) -relief flat -anchor w
    1120. 

  1120. 			pack $wid.frame.check -side left -expand yes -fill x
    1121. 

  1121. 

  1122. 			eval button $wid.frame.help -text \"?\" -width 1 -command \{show_help \"$helptext\"\}
    1123. 

  1123. 			pack $wid.frame.help -side left -expand no -fill none
    1124. 

  1124. }
    1125. 

  1125. 

  1126. proc gui_radio {wid variable options title tooltiptext helptext} {
    1127. 

  1127. 	global par
    1128. 

  1128. 	frame $wid
    1129. 

  1129. 	pack $wid -side top -expand yes -fill x
    1130. 

  1130. 	setTooltip $wid "$tooltiptext"
    1131. 

  1131. 

  1132. 		label $wid.label -text "$title" -width 14 -anchor w
    1133. 

  1133. 		pack $wid.label -side left -expand no -fill x
    1134. 

  1134. 

  1135. 		frame $wid.frame
    1136. 

  1136. 		pack $wid.frame -side left -expand yes -fill x
    1137. 

  1137. 

  1138. 			foreach option $options  {
    1139. 

  1139. 				set option_title [lindex $option 0]
    1140. 

  1140. 				set option_value [lindex $option 1]
    1141. 

  1141. 				radiobutton $wid.frame.check_$option -text "$option_title" -value $option_value -variable par($variable) -relief flat
    1142. 

  1142. 				pack $wid.frame.check_$option -side left -expand yes -fill x
    1143. 

  1143. 			}
    1144. 

  1144. 

  1145. 			eval button $wid.frame.help -text \"?\" -width 1 -command \{show_help \"$helptext\"\}
    1146. 

  1146. 			pack $wid.frame.help -side left -expand no -fill none
    1147. 

  1147. }
    1148. 

  1148. 

  1149. proc gui_button {wid title tooltiptext command} {
    1150. 

  1150. 	eval button $wid -text \"$title\" -width 14 -command $command
    1151. 

  1151. 	pack $wid -side left -expand yes -fill x
    1152. 

  1152. 	setTooltip $wid "$tooltiptext"
    1153. 

  1153. }
    1154. 

  1154. 

  1155. proc disable_all {path} {
    1156. 

  1156.     catch {$path configure -state disabled}
    1157. 

  1157.     foreach child [winfo children $path] {
    1158. 

  1158.         disable_all $child
    1159. 

  1159.     }
    1160. 

  1160. }
    1161. 

  1161. 

  1162. proc enable_all {path} {
    1163. 

  1163.     catch {$path configure -state normal}
    1164. 

  1164.     foreach child [winfo children $path] {
    1165. 

  1165.         enable_all $child
    1166. 

  1166.     }
    1167. 

  1167. }
    1168. 

  1168. 

  1169. proc launchBrowser url {
    1170. 

  1170. 	global tcl_platform
    1171. 

  1171. 	switch $tcl_platform(os) {
    1172. 

  1172. 		Darwin {
    1173. 

  1173. 		  set command [list open $url]
    1174. 

  1174. 		}
    1175. 

  1175. 		HP-UX -
    1176. 

  1176. 		Linux  -
    1177. 

  1177. 		SunOS {
    1178. 

  1178. 		  foreach executable {firefox mozilla netscape iexplorer opera lynx w3m links epiphany galeon konqueror mosaic amaya browsex elinks} {
    1179. 

  1179. 		    set executable [auto_execok $executable]
    1180. 

  1180. 		    if [string length $executable] {
    1181. 

  1181. 		      set command [list $executable $url &]
    1182. 

  1182. 		      set command [list $executable $url]
    1183. 

  1183. 		      break
    1184. 

  1184. 		    }
    1185. 

  1185. 		  }
    1186. 

  1186. 		}
    1187. 

  1187. 		{Windows 95} -
    1188. 

  1188. 		{Windows NT} {
    1189. 

  1189. 		  set command "[auto_execok start] {} [list $url]"
    1190. 

  1190. 		}
    1191. 

  1191. 	}
    1192. 

  1192. 	if [info exists command] {
    1193. 

  1193. 		if [catch {exec {*}$command &} err] {
    1194. 

  1194. 		  tk_messageBox -icon error -message "error '$err' with '$command'"
    1195. 

  1195. 		}
    1196. 

  1196. 	} else {
    1197. 

  1197. 		tk_messageBox -icon error -message "Please tell CL that ($tcl_platform(os), $tcl_platform(platform)) is not yet ready for browsing."
    1198. 

  1198. 	}
    1199. 

  1199. }
    1200. 

  1200. 

  1201. #####################################################################################
    1202. 

  1202. # the GUI
    1203. 

  1203. #####################################################################################
    1204. 

  1204. 

  1205. wm title . "Brushless-Gimbal-Tool (for v$VERSION)"
    1206. 

  1206. 

  1207. 

  1208. proc update_mpu {n1 n2 op} {
    1209. 

  1209. 	global par
    1210. 

  1210. 	.note.general.settings.sensor.img.canv delete "arrows"
    1211. 

  1211. 	if {$par(axisSwapXY) == 1} {
    1212. 

  1212. 		.note.general.settings.sensor.img.canv create line 18 38 60 15 -fill green -arrow last -tag arrows
    1213. 

  1213. 		.note.general.settings.sensor.img.canv create line 18 38 50 75 -fill red -arrow last -tag arrows
    1214. 

  1214. 		.note.general.settings.sensor.img.canv create text 55 75 -text "X" -fill red -tag arrows
    1215. 

  1215. 		.note.general.settings.sensor.img.canv create text 65 15 -text "Y" -fill green -tag arrows
    1216. 

  1216. 	} else {
    1217. 

  1217. 		.note.general.settings.sensor.img.canv create line 18 38 60 15 -fill red -arrow last -tag arrows
    1218. 

  1218. 		.note.general.settings.sensor.img.canv create line 18 38 50 75 -fill green -arrow last -tag arrows
    1219. 

  1219. 		.note.general.settings.sensor.img.canv create text 65 15 -text "X" -fill red -tag arrows
    1220. 

  1220. 		.note.general.settings.sensor.img.canv create text 55 75 -text "Y" -fill green -tag arrows
    1221. 

  1221. 	}
    1222. 

  1222. 	if {$par(axisReverseZ) == 1} {
    1223. 

  1223. 		.note.general.settings.sensor.img.canv create line 18 38 18 100 -fill blue -arrow last -tag arrows
    1224. 

  1224. 		.note.general.settings.sensor.img.canv create text 23 100 -text "Z" -fill blue -tag arrows
    1225. 

  1225. 	} else {
    1226. 

  1226. 		.note.general.settings.sensor.img.canv create line 18 38 18 5 -fill blue -arrow last -tag arrows
    1227. 

  1227. 		.note.general.settings.sensor.img.canv create text 23 7 -text "Z" -fill blue -tag arrows
    1228. 

  1228. 	}
    1229. 

  1229. }
    1230. 

  1230. 

  1231. trace variable par(axisReverseZ) w update_mpu
    1232. 

  1232. trace variable par(axisSwapXY) w update_mpu
    1233. 

  1233. 

  1234. 

  1235. ttk::notebook .note
    1236. 

  1236. pack .note -fill both -expand yes -fill both -padx 2 -pady 3
    1237. 

  1237. 

  1238. 	ttk::frame .note.general
    1239. 

  1239. 	.note add .note.general -text "Settings"
    1240. 

  1240. 

  1241. 	label .note.general.image -relief flat -anchor center -image "logo"
    1242. 

  1242. 	pack .note.general.image -side top -fill none -expand no
    1243. 

  1243. 

  1244. 	labelframe .note.general.settings -text "General"
    1245. 

  1245. 	pack .note.general.settings -side top -expand yes -fill both
    1246. 

  1246. 

  1247. 		labelframe .note.general.settings.rc -text "RC"
    1248. 

  1248. 		pack .note.general.settings.rc -side left -expand yes -fill both
    1249. 

  1249. 

  1250. 			gui_check .note.general.settings.rc.rcModePPM  rcModePPM  "RC PPM/PWM" "PPM" "Mode of RC input, PPM sum oder single PWM RC inputs on A1/A2" "config.rcModePPM: PPM sum oder single PWM RC inputs on A0/A1/A2: PPM sum input on A2 or single RC PWM inputs on A2=Ch0, A1=Ch1, A0=Ch3"
    1251. 

  1251. 			gui_check .note.general.settings.rc.rcAbsolute rcAbsolute "RC Abs/Prop" "Absolute" "Absolute or Incremental RC control" "config.rcAbsolute: Absolute or Incremental RC control, Absolute: gimbal postion follows RC transmitters directly, Proportional: RC controls the gimbal speed, thus in RC stick in center position (1500us) gimbal stops moving, where as the gimbal starts moving if stick is moved"
    1252. 

  1252. 			gui_slider .note.general.settings.rc.rcGain rcGain -200 200.0 0.1 "RC Gain" "RC gain" "config.rcGain: RC Gain in Proportional mode: specifies the gain of the RC channel, larger values increas the speed of the gimbal movement"
    1253. 

  1253. 			gui_slider .note.general.settings.rc.rcLPF rcLPF 1 20 0.1 "RC Low Pass" "RC low pass filter" "config.rcLPF: RC low pass filter in Absolute mode: specifies speed of gimbal movement (sec)"
    1254. 

  1254. 			gui_slider .note.general.settings.rc.rcMid rcMid 1000 2000 1 "RC middle" "RC middle position" "config.rcMid: RC middle position: specifies the PWM time of the RC center position in us (default=1500)"
    1255. 

  1255. 

  1256. 		labelframe .note.general.settings.sensor -text "Sensor"
    1257. 

  1257. 		pack .note.general.settings.sensor -side left -expand yes -fill both
    1258. 

  1258. 

  1259. 

  1260. 			frame .note.general.settings.sensor.set
    1261. 

  1261. 			pack .note.general.settings.sensor.set -side left -expand yes -fill both
    1262. 

  1262. 

  1263. 				gui_check .note.general.settings.sensor.set.axisReverseZ axisReverseZ "Reverse Z-axis" "reversed" "config.axisReverseZ: Set Sensor Orientation: 0=sensor mounted with component side up, 1=sensor mounted upside down" "Set Sensor Orientation Z-Axis: 0=sensor mounted with component side up, 1=sensor mounted upside down"
    1264. 

  1264. 				gui_check .note.general.settings.sensor.set.axisSwapXY axisSwapXY "Swap XY-axis" "swapped" "config.axisSwapXY: Set Sensor Orientation XY-Axis: 0=normal, 1=swap X/Y axis" "Set Sensor Orientation XY-Axis: 0=normal, 1=functions of X/Y axis are exchanged"
    1265. 

  1265. 				gui_slider .note.general.settings.sensor.set.accTimeConstant accTimeConstant 1 20 1 "ACC Time Const"  "ACC Time Constant(sec)" "tconfig.accTimeConstant: time constant of ACC complementary filter.  Controls how fast the gimbal follows ACC (sec)"
    1266. 

  1266. 				gui_slider .note.general.settings.sensor.set.mpuLPF mpuLPF 0 6 1 "MPU LPF" "low pass filter of gyro" "config.mpuLPF: low pass filter of gyro (DLPFMode)   legal values are 0...6, 0=fastest(default) 6=slowest   use slow values if high frequency oscillations occur (still experimental)"
    1267. 

  1267. 				gui_check .note.general.settings.sensor.set.enableGyro enableGyro "Gyro Update" "enabled" "Gyro update" "config.enableGyro: enable gyro update: 0=do not use gyro for attitude calcualtion, just for test and adjustment purposes"
    1268. 

  1268. 				gui_check .note.general.settings.sensor.set.enableACC enableACC "ACC Update" "enabled" "ACC update" "config.enableACC: enable ACC update: 0=do not use ACC for attitude calculation, just for test and adjustment purposes"
    1269. 

  1269. 

  1270. 

  1271. 			frame .note.general.settings.sensor.img
    1272. 

  1272. 			pack .note.general.settings.sensor.img -side left -expand no -fill none
    1273. 

  1273. 

  1274. 				canvas .note.general.settings.sensor.img.canv -relief raised -width 120 -height 120
    1275. 

  1275. 				pack .note.general.settings.sensor.img.canv -side left
    1276. 

  1276. 				.note.general.settings.sensor.img.canv create image 0 0 -anchor nw -image sensor
    1277. 

  1277. 				update_mpu 0 0 0
    1278. 

  1278. 

  1279. 

  1280. 

  1281. 	labelframe .note.general.chart -text "Chart"
    1282. 

  1282. 	pack .note.general.chart -side top -expand no -fill both
    1283. 

  1283. 

  1284. 		canvas .note.general.chart.chart1 -relief raised -width 450 -height 100
    1285. 

  1285. 		pack .note.general.chart.chart1 -side left
    1286. 

  1286. 		.note.general.chart.chart1 create rec 1 1 450 100 -fill black
    1287. 

  1287. 		.note.general.chart.chart1 create line 0 50 450 50 -fill white
    1288. 

  1288. 		setTooltip .note.general.chart.chart1 "acc chart"
    1289. 

  1289. 

  1290. 		frame .note.general.chart.fr1
    1291. 

  1291. 		pack .note.general.chart.fr1 -side left -expand yes -fill both
    1292. 

  1292. 

  1293. 			button .note.general.chart.fr1.button -text "Start" -width 5 -relief raised -command {
    1294. 

  1294. 				draw_chart
    1295. 

  1295. 			}
    1296. 

  1296. 			pack .note.general.chart.fr1.button -side top -expand yes -fill both
    1297. 

  1297. 			setTooltip .note.general.chart.fr1.button "start/stop chart drawing"
    1298. 

  1298. 

  1299. 			frame .note.general.chart.fr1.scale
    1300. 

  1300. 			pack .note.general.chart.fr1.scale -side top -expand no -fill x
    1301. 

  1301. 

  1302. 				scale .note.general.chart.fr1.scale.slider -orient horizontal -from 0.1 -to 10.0 -showvalue 0 -resolution 0.1 -variable CHART_SCALE
    1303. 

  1303. 				pack .note.general.chart.fr1.scale.slider -side left -expand yes -fill x
    1304. 

  1304. 				setTooltip .note.general.chart.fr1.scale.slider "Y-Scale for the chart"
    1305. 

  1305. 

  1306. 				button .note.general.chart.fr1.scale.help -text "?" -width 1 -command {
    1307. 

  1307. 					show_help "Y-Scale for the chart"
    1308. 

  1308. 				}
    1309. 

  1309. 				pack .note.general.chart.fr1.scale.help -side right -expand no -fill none
    1310. 

  1310. 

  1311. 

  1312. 	ttk::frame .note.pitch
    1313. 

  1313. 	.note add .note.pitch -text "Pitch"
    1314. 

  1314. 

  1315. 		labelframe .note.pitch.pid -text "PID" -padx 10 -pady 10
    1316. 

  1316. 		pack .note.pitch.pid -side top -expand no -fill x
    1317. 

  1317. 

  1318. 			gui_slider .note.pitch.pid.p gyroPitch…
    1319.