public bool Lunch()
{
try
{
//检查依赖
if (!EquipmentBus.ControllerRegister.CheckRely(RelyEquipment))
{
throw new Exception($"依赖设备尚未启动{string.Join("、", RelyEquipment)}");
}
I2CDevice = I2CDriver.I2CBus.AddDevice(Addr);
I2CDevice.WriteAddressByte(MODE1, 0x00);
SetPWMFreq(Freq);
EquipmentData.IsEnable = true;
EquipmentBus.ControllerRegister.Register(RegisterType.Pca9685, false);
}
catch (Exception ex)
{
EquipmentData.AddError(LogType.Error, $"启动地址为{Addr},频率为{Freq}的PCA9685失败！", ex);
Logger.Add(LogType.Error, $"启动地址为{Addr},频率为{Freq}的PCA9685失败！", ex);
EquipmentData.IsEnable = false;
return(false);
}
return(true);
}
private void ADS1115ReadValuesWiringPi(byte busId, byte i2cAddress, byte[] configDataChunk, byte[] convertDataChunk)
{
Pi.Init <BootstrapWiringPi>();
II2CDevice ads1115 = Pi.I2C.AddDevice(i2cAddress);
var configWord = (ushort)((configDataChunk[2] << 8) + configDataChunk[1]);
// Write config register to the ADC
//var currentConfig = ads1115.ReadAddressWord(ADS1115.ADS1115_REG_POINTER_CONFIG);
//Console.WriteLine($"Setting original configuration ({currentConfig.ToString("X")}) to {config.ToString("X")}");
ads1115.WriteAddressWord(configDataChunk[0], configWord);
//currentConfig = ads1115.ReadAddressWord(ADS1115.ADS1115_REG_POINTER_CONFIG);
//Console.WriteLine($"New configuration: {currentConfig.ToString("X")}");
DateTime firstDataRead = DateTime.UtcNow;
while (true)
{
// Read the conversion results
ushort result = (ushort)(ads1115.ReadAddressWord(convertDataChunk[0]));
float voltage = (float)(result < 32768 ? result : -(65536 - result)) * 2.048f / 65536.0f;
j++;
if (j % 1000 == 0)
{
Console.WriteLine(String.Format("| ADC value: {0,5} V | sample rate: {1,7} SPS |", voltage.ToString("N", CultureInfo.InvariantCulture), ((double)j / (DateTime.UtcNow - firstDataRead).TotalSeconds).ToString("N")));
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="AccelerometerGY521"/> class.
/// </summary>
/// <param name="device">I2C device.</param>
/// <param name="gyroScale">The gyroscope sensitivity factor.</param>
/// <param name="accelScale">The accelerometer sensitivity factor.</param>
public AccelerometerGY521(II2CDevice device, GfsSel gyroScale, AfsSel accelScale)
{
Device = device;
GyroscopeScale = gyroScale;
AccelerometerScale = accelScale;
ReadWorker = new Thread(Run);
}
/// <summary>
/// Initializes a new instance of the <see cref="ADS1x15"/> class.
/// </summary>
/// <param name="device">The i2c device to use.</param>
/// <param name="delay">amount of time to delay between write/read.</param>
/// <param name="shift">bits to shift for sign correction.</param>
protected ADS1x15(II2CDevice device, byte delay, byte shift)
{
_device = device ?? throw new ArgumentNullException(nameof(device));
_conversionDelay = delay;
_bitShift = shift;
Gain = AdsGain.GAINONE;
}
public static UInt32 Read24Bits(II2CDevice device, byte reg, ByteOrder byteOrder, string exceptionMessage)
{
try
{
byte[] data = new byte[3];//ReadBytes(device, reg, 3, exceptionMessage);
for (int i = 0; i < data.Length; ++i)
{
data[i] = device.ReadAddressByte(reg); //Read8Bits(device,reg,"error");
}
switch (byteOrder)
{
case ByteOrder.BigEndian:
return((UInt32)((data[0] << 16) | (data[1] << 8) | data[2]));
case ByteOrder.LittleEndian:
return((UInt32)((data[2] << 16) | (data[1] << 8) | data[0]));
default:
throw new SensorException($"Unsupported byte order {byteOrder}");
}
}
catch (Exception exception)
{
throw new SensorException(exceptionMessage, exception);
}
}
//Method to initialize the BME280 sensor
public async Task InitializeAsync()
{
Console.WriteLine("BME280::Initialize");
try
{
Console.WriteLine("0ab");
bme280 = Pi.I2C.AddDevice(BME280_Address);
Console.WriteLine("0ac");
//Check if device was found
if (bme280 == null)
{
Console.WriteLine("Device not found");
}
else
{
try
{
//Make sure the I2C device is initialized
await BeginAsync();
}
catch (Exception e)
{
init = false;
Console.WriteLine("Exception: " + e.Message + "\n" + e.StackTrace);
}
}
}
catch (Exception e)
{
Console.WriteLine("Exception: " + e.Message + "\n" + e.StackTrace);
throw;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="ADS1x15"/> class.
/// </summary>
/// <param name="delay">amount of time to delay between write/read.</param>
/// <param name="shift">bits to shift for sign correction.</param>
/// <param name="address">I2C Address.</param>
protected ADS1x15(byte delay, byte shift, byte address = ADS1x15ADDRESS)
{
device = Pi.I2C.AddDevice(i2cAddress = address);
conversionDelay = delay;
bitShift = shift;
Gain = AdsGaint.GAINTWOTHIRDS; /* +/- 6.144V range (limited to VDD +0.3V max!) */
}
public LSM9DS1()
{
Pi.Init <BootstrapWiringPi>();
Console.WriteLine(Pi.Info.ToString());
_accGyroDevice = Pi.I2C.AddDevice(AccGyroAddress);
_magDevice = Pi.I2C.AddDevice(MagAddress);
}
/// <summary>
/// Initializes a new instance of the <see cref="ADS1x15"/> class.
/// </summary>
/// <param name="delay">amount of time to delay between write/read.</param>
/// <param name="shift">bits to shift for sign correction.</param>
/// <param name="address">I2C Address.</param>
protected ADS1x15(byte delay, byte shift, byte address = ADS1x15ADDRESS)
{
device = Pi.I2C.AddDevice(i2cAddress = address);
conversionDelay = delay;
bitShift = shift;
Console.WriteLine($"did: {device.DeviceId} desc:{device.FileDescriptor}");
Gain = AdsGaint.GAINTWOTHIRDS; /* +/- 6.144V range (limited to VDD +0.3V max!) */
}
public override void Execute(II2CDevice i2CDevice)
{
i2CDevice.Write(GenerateRegisterSensorPackage());
byte[] buffer = new byte[9];
i2CDevice.Read(buffer);
ParseResponse(buffer);
}
public override void Execute(II2CDevice i2CDevice)
{
i2CDevice.Write(GenerateRegisterSensorPackage());
byte[] buffer = new byte[9];
i2CDevice.Read(buffer);
ParseResponse(buffer);
}
public Display(II2CDevice I2cDevice, uint WidthPx = 128, uint HeightPx = 32, bool flipDisplay = false)
{
ScreenWidthPX = WidthPx;
ScreenHeightPx = HeightPx;
i2cDevice = I2cDevice;
FlipDisplay = flipDisplay;
ScreenPages = ScreenHeightPx / 8;
DisplayBuffer = new byte[ScreenPages, ScreenWidthPX];
}
//Method to initialize the BMP280 sensor
public BME280()
{
try
{
bme280 = Pi.I2C.AddDevice(BME280_Address);
}
catch (Exception e)
{
Logger.Log(ConsoleColor.Red, "Exception: " + e.Message + "\n" + e.StackTrace);
}
}
public static UInt16 Read16Bits(II2CDevice device, byte reg, ByteOrder byteOrder, string exceptionMessage)
{
try
{
return(device.ReadAddressWord(reg));
}
catch (Exception exception)
{
throw new SensorException(exceptionMessage, exception);
}
}
public static byte Read8Bits(II2CDevice device, byte reg, string exceptionMessage)
{
try
{
return(device.ReadAddressByte(reg));
}
catch (Exception exception)
{
throw new SensorException(exceptionMessage, exception);
}
}
public static void Write(II2CDevice device, byte reg, byte command, string exceptionMessage)
{
try
{
device.WriteAddressByte(reg, command);
}
catch (Exception exception)
{
throw new SensorException(exceptionMessage, exception);
}
}
private void ConnectToI2CDevices()
{
try
{
_i2CDevice = Pi.I2C.AddDevice(_i2CAddress);
}
catch (Exception exception)
{
throw new SensorException("Failed to connect to HTS221", exception);
}
}
private void ConnectToI2CDevices()
{
try
{
_accelGyroI2CDevice = Pi.I2C.AddDevice(_accelGyroI2CAddress);
_magI2CDevice = Pi.I2C.AddDevice(_magI2CAddress);
}
catch (Exception exception)
{
throw new SensorException("Failed to connect to LSM9DS1", exception);
}
}
public override void Execute(II2CDevice i2CDevice)
{
i2CDevice.Write(GenerateClearSignalCachePackage());
int offset = 0;
while (offset < _signal.Length)
{
var buffer = _signal.Skip(offset).Take(30).ToArray();
offset += buffer.Length;
i2CDevice.Write(GenerateFillSignalCachePackage(buffer));
}
i2CDevice.Write(GenerateSendCachedSignalPackage());
}
public override void Execute(II2CDevice i2CDevice)
{
i2CDevice.Write(GenerateClearSignalCachePackage());
int offset = 0;
while (offset < _signal.Length)
{
var buffer = _signal.Skip(offset).Take(30).ToArray();
offset += buffer.Length;
i2CDevice.Write(GenerateFillSignalCachePackage(buffer));
}
i2CDevice.Write(GenerateSendCachedSignalPackage());
}
/// <summary>
/// Initializes a new instance of the <see cref="OledDisplaySsd1306"/> class.
/// </summary>
/// <param name="device">The device.</param>
/// <param name="model">The model.</param>
/// <param name="vccSource">State of the VCC.</param>
/// <exception cref="ArgumentException">Invalid display model - model.</exception>
/// <exception cref="ArgumentNullException">device.</exception>
public OledDisplaySsd1306(II2CDevice device, DisplayModel model, VccSourceMode vccSource)
{
switch (model)
{
case DisplayModel.Display128X32:
{
Width = 128;
Height = 32;
break;
}
case DisplayModel.Display128X64:
{
Width = 128;
Height = 64;
break;
}
case DisplayModel.Display96X16:
{
Width = 96;
Height = 16;
break;
}
default:
{
throw new ArgumentException("Invalid display model", nameof(model));
}
}
Model = model;
Device = device ?? throw new ArgumentNullException(nameof(device));
VccSource = vccSource;
_bufferPageCount = Height / 8;
_bitBuffer = new BitArray(Width * Height);
_byteBuffer = new byte[1 + (_bitBuffer.Length / 8)];
_byteBuffer[0] = 0x40; // The first byte signals data
_bitsPerPage = 8 * Width;
Initialize();
IsActive = true;
}
// public static UInt32 Read32Bits(II2CDevice device, byte reg, ByteOrder byteOrder, string exceptionMessage)
// {
// try
// {
// byte[] data = ReadBytes(device, reg, 4, exceptionMessage);
// switch (byteOrder)
// {
// case ByteOrder.BigEndian:
// return (UInt32)((data[0] << 24) | (data[1] << 16) | (data[2] << 8) | data[3]);
// case ByteOrder.LittleEndian:
// return (UInt32)((data[3] << 24) | (data[2] << 16) | (data[1] << 8) | data[0]);
// default:
// throw new SensorException($"Unsupported byte order {byteOrder}");
// }
// }
// catch (Exception exception)
// {
// throw new SensorException(exceptionMessage, exception);
// }
// }
public static byte[] ReadBytes(II2CDevice device, byte reg, int count, string exceptionMessage)
{
try
{
byte[] addr = { reg };
byte[] data = new byte[count];
device.Write(reg);
for (int i = 0; i < count; ++i)
{
data[i] = device.ReadAddressByte(reg);
}
return(data);
//return device.ReadAddressBlock(reg, count);
}
catch (Exception exception)
{
throw new SensorException(exceptionMessage, exception);
}
}
public override void Execute(II2CDevice i2CDevice)
{
i2CDevice.Write(ToPackage());
}
/// <summary>
/// Initializes a new instance of the <see cref="ADS1015"/> class.
/// </summary>
/// <param name="address">The I2C Address for this device.</param>
public ADS1015(II2CDevice device)
: base(device, ADS1015CONVERSIONDELAY, 4)
{
}
public void Execute(II2CDevice i2CDevice)
{
i2CDevice.Write(ToPackage());
}
public Pcf8574(int address)
{
dev = Pi.I2C.AddDevice(address);
Read();
}
public PCA9685(int address, int frequency = 1600) // NOTE: The I2C address is configurable by the chip between 0x40 through 0x7F with some exclusions
{
device = Pi.I2C.AddDevice(i2cAddress = address);
Setup(frequency);
}
/// <summary>
/// Write to the I2C register, ADS1x15 is byte swapped.
/// </summary>
/// <param name="registery">register address to write to</param>
/// <param name="value">value to set</param>
public static void WriteAddressWordSwapped(this II2CDevice device, byte registery, ushort value)
{
device.WriteAddressWord(registery, SwapWord(value));
}
/// <summary>
/// Initializes a new instance of the <see cref="AccelerometerGY521"/> class
/// with default values for gyroscope (250 °/s) and accelerometer (2g) scale range.
/// </summary>
/// <param name="device">The device.</param>
public AccelerometerGY521(II2CDevice device)
: this(device, GfsSel.Fsr250, AfsSel.Fsr2G)
{
}
public abstract void Execute(II2CDevice i2CDevice);
public PCA9685(int busId = 2, int address = 0x46)
{
device = Pi.I2C.AddDevice(i2cAddress = address);
Setup();
}
public void UpdateAccelConfig(II2CDevice device)
{
/* CTRL_REG0_XM (0x1F) (Default value: 0x00)
Bits (7-0): BOOT FIFO_EN WTM_EN 0 0 HP_CLICK HPIS1 HPIS2
BOOT - Reboot memory content (0: normal, 1: reboot)
FIFO_EN - Fifo enable (0: disable, 1: enable)
WTM_EN - FIFO watermark enable (0: disable, 1: enable)
HP_CLICK - HPF enabled for click (0: filter bypassed, 1: enabled)
HPIS1 - HPF enabled for interrupt generator 1 (0: bypassed, 1: enabled)
HPIS2 - HPF enabled for interrupt generator 2 (0: bypassed, 1 enabled) */
byte reg0Config = (byte)((HPFEnabledGenerator2 ? 1 : 0) << 7 &
(HPFEnabledGenerator1 ? 1 : 0) << 6 &
(HPFEnabledForClick ? 1 : 0) << 5 &
(FifoWatermarkEnabled ? 1 : 0) << 2 &
(FifoEnabled ? 1 : 0) << 1 &
(RebootMemory ? 1 : 0));
/* CTRL_REG1_XM (0x20) (Default value: 0x07)
Bits (7-0): AODR3 AODR2 AODR1 AODR0 BDU AZEN AYEN AXEN
AODR[3:0] - select the acceleration data rate:
0000=power down, 0001=3.125Hz, 0010=6.25Hz, 0011=12.5Hz,
0100=25Hz, 0101=50Hz, 0110=100Hz, 0111=200Hz, 1000=400Hz,
1001=800Hz, 1010=1600Hz, (remaining combinations undefined).
BDU - block data update afor accel AND mag
0: Continuous update
1: Output registers aren't updated until MSB and LSB have been read.
AZEN, AYEN, and AXEN - Acceleration x/y/z-axis enabled.
0: Axis disabled, 1: Axis enabled */
byte reg1Config = (byte)((XAxisEnabled ? 1 : 0) << 7 &
(YAxisEnabled ? 1 : 0) << 6 &
(ZAxisEnabled ? 1 : 0) << 5 &
(BlockDataUpdateForAccelAndMag ? 1 : 0) << 4 &
(int) DataRate);
/* CTRL_REG2_XM (0x21) (Default value: 0x00)
Bits (7-0): ABW1 ABW0 AFS2 AFS1 AFS0 AST1 AST0 SIM
ABW[1:0] - Accelerometer anti-alias filter bandwidth
00=773Hz, 01=194Hz, 10=362Hz, 11=50Hz
AFS[2:0] - Accel full-scale selection
000=+/-2g, 001=+/-4g, 010=+/-6g, 011=+/-8g, 100=+/-16g
AST[1:0] - Accel self-test enable
00=normal (no self-test), 01=positive st, 10=negative st, 11=not allowed
SIM - SPI mode selection
0=4-wire, 1=3-wire */
byte reg2Config = (byte)((SPI3WireMode ? 1 : 0) << 7 &
(int)SelfTest << 5 &
(int)Scale << 2 &
(int)AntiAliasFilterBandwidth);
device.WriteByte(DOFConsts.CTRL_REG0_XM, reg0Config);
device.WriteByte(DOFConsts.CTRL_REG1_XM, reg1Config);
device.WriteByte(DOFConsts.CTRL_REG2_XM, reg2Config);
// NOTE: Not sure how this register should be set documentation says:
/* CTRL_REG3_XM is used to set interrupt generators on INT1_XM
Bits (7-0): P1_BOOT P1_TAP P1_INT1 P1_INT2 P1_INTM P1_DRDYA P1_DRDYM P1_EMPTY
*/
// Accelerometer data ready on INT1_XM (0x04)
device.WriteByte(DOFConsts.CTRL_REG3_XM, 0x04);
}
public I2C(byte adress)
{
_device = Pi.I2C.AddDevice(adress);
}
public void UpdateGyroConfig(II2CDevice device)
{
device.WriteByte(CTRL_REG1_G, this.OutputDataRate);
device.WriteByte(CTRL_REG2_G, this.HighPassFilter);
device.WriteByte(CTRL_REG3_G, this.InteruptDRDY);
device.WriteByte(CTRL_REG4_G, this.ScaleAndUpdate);
device.WriteByte(CTRL_REG5_G, this.FIFOHPFINT1);
}
public abstract void Execute(II2CDevice i2CDevice);
protected ADS1x15(byte address = ADS1x15_ADDRESS)
{
device = Pi.I2C.AddDevice(i2cAddress = address);
Gain = adsGain_t.GAIN_TWOTHIRDS; /* +/- 6.144V range (limited to VDD +0.3V max!) */
}
