public static void KeyCodeToDirection(
KeypadKeyCode keyCode,
ref eDirectionType direction)
{
var lookup = new FPGA.Collections.ReadOnlyDictionary <KeypadKeyCode, eDirectionType>()
{
{ KeypadKeyCode.D2, eDirectionType.Up },
{ KeypadKeyCode.D8, eDirectionType.Down },
{ KeypadKeyCode.D4, eDirectionType.Left },
{ KeypadKeyCode.D6, eDirectionType.Right }
};
direction = lookup[keyCode];
}
public static void Controls(
// ADC
FPGA.OutputSignal <bool> ADC1NCS,
FPGA.OutputSignal <bool> ADC1SLCK,
FPGA.OutputSignal <bool> ADC1DIN,
FPGA.InputSignal <bool> ADC1DOUT,
// keypad
FPGA.OutputSignal <bool> K7,
FPGA.OutputSignal <bool> K6,
FPGA.OutputSignal <bool> K5,
FPGA.OutputSignal <bool> K4,
FPGA.InputSignal <bool> K3,
FPGA.InputSignal <bool> K2,
FPGA.InputSignal <bool> K1,
FPGA.InputSignal <bool> K0,
ref KeysDTO controlsState)
{
KeypadKeyCode internalCode = 0;
FPGA.Config.Link(internalCode, out controlsState.KeyCode);
ushort adcChannel1Value = 32767, adcChannel2Value = 32767;
FPGA.Config.Link(adcChannel1Value, controlsState.X);
FPGA.Config.Link(adcChannel2Value, controlsState.Y);
Sequential keypadHandler = () =>
{
Keypad4x4.ReadASCIICode(K7, K6, K5, K4, K3, K2, K1, K0, out internalCode);
};
FPGA.Config.OnTimer(TimeSpan.FromMilliseconds(20), keypadHandler);
Sequential joystickHandler = () =>
{
while (true)
{
ADC102S021.Read(out adcChannel1Value, out adcChannel2Value, ADC1NCS, ADC1SLCK, ADC1DIN, ADC1DOUT);
}
};
FPGA.Config.OnStartup(joystickHandler);
}
public static void ReadASCIICode(
FPGA.OutputSignal <bool> K7,
FPGA.OutputSignal <bool> K6,
FPGA.OutputSignal <bool> K5,
FPGA.OutputSignal <bool> K4,
FPGA.InputSignal <bool> K3,
FPGA.InputSignal <bool> K2,
FPGA.InputSignal <bool> K1,
FPGA.InputSignal <bool> K0,
out KeypadKeyCode code
)
{
byte rawCode = 0;
ReadCode(K7, K6, K5, K4, K3, K2, K1, K0, out rawCode);
FPGA.Collections.ReadOnlyDictionary <byte, Drivers.KeypadKeyCode> asciiLookup = new FPGA.Collections.ReadOnlyDictionary <byte, Drivers.KeypadKeyCode>()
{
{ 0, Drivers.KeypadKeyCode.None },
{ 1, Drivers.KeypadKeyCode.D1 },
{ 2, Drivers.KeypadKeyCode.D2 },
{ 3, Drivers.KeypadKeyCode.D3 },
{ 4, Drivers.KeypadKeyCode.STOP },
{ 5, Drivers.KeypadKeyCode.D4 },
{ 6, Drivers.KeypadKeyCode.D5 },
{ 7, Drivers.KeypadKeyCode.D6 },
{ 8, Drivers.KeypadKeyCode.GO },
{ 9, Drivers.KeypadKeyCode.D7 },
{ 10, Drivers.KeypadKeyCode.D8 },
{ 11, Drivers.KeypadKeyCode.D9 },
{ 12, Drivers.KeypadKeyCode.LOCK },
{ 13, Drivers.KeypadKeyCode.ENT },
{ 14, Drivers.KeypadKeyCode.D0 },
{ 15, Drivers.KeypadKeyCode.ESC },
{ 16, Drivers.KeypadKeyCode.PWR },
};
code = asciiLookup[rawCode];
}
public static void LEDControl(
KeypadKeyCode keyCode,
FPGA.OutputSignal <bool> DOUT)
{
bool internalDOUT = false;
FPGA.Config.Link(internalDOUT, DOUT);
Func <bool> hasCode = () => keyCode != 0;
int position = 0, direction = 0;
FPGA.Config.Suppress("W0003", position);
uint intensity = 6;
bool autoPilotEnabled = false;
uint[] buff = new uint[5];
Sequential autoPilotHandler = () =>
{
if (!autoPilotEnabled)
{
return;
}
HandlePosition(position, direction, 0, buff.Length, out position);
};
FPGA.Config.OnTimer(TimeSpan.FromMilliseconds(300), autoPilotHandler);
Sequential codeHandler = () =>
{
// there is race condition possible - code can go down while handler is executed
switch (keyCode)
{
case KeypadKeyCode.GO:
autoPilotEnabled = true;
break;
case KeypadKeyCode.STOP:
autoPilotEnabled = false;
break;
case KeypadKeyCode.D4:
direction = -1;
if (!autoPilotEnabled)
{
HandlePosition(position, direction, 0, buff.Length, out position);
}
break;
case KeypadKeyCode.D5:
direction = 0;
break;
case KeypadKeyCode.D6:
direction = 1;
if (!autoPilotEnabled)
{
HandlePosition(position, direction, 0, buff.Length, out position);
}
break;
case KeypadKeyCode.D2:
intensity = intensity == 10 ? 10 : intensity + 1;
break;
case KeypadKeyCode.D8:
intensity = intensity == 0 ? 0 : intensity - 1;
break;
}
FPGA.Runtime.WaitForAllConditions(!hasCode());
};
FPGA.Config.OnSignal(hasCode(), codeHandler);
Sequential ledHandler = () =>
{
for (byte i = 0; i < buff.Length; i++)
{
uint data = 0;
if (i == position)
{
data = (intensity * 25);
}
buff[i] = data;
}
Graphics.Draw(buff, out internalDOUT);
};
const bool trigger = true;
FPGA.Config.OnSignal(trigger, ledHandler);
Sequential onStartup = () =>
{
var outerRow = new FPGA.OutputSignal <byte>();
var outerCol = new FPGA.OutputSignal <byte>();
var dto = new Position();
FPGA.Config.Link(dto.row, outerRow);
FPGA.Config.Link(dto.col, outerCol);
DTOTest(dto);
};
FPGA.Config.OnStartup(onStartup);
}
public static void LEDControl(
KeypadKeyCode keyCode,
FPGA.OutputSignal <bool> DOUT,
FPGA.OutputSignal <bool> Servo
)
{
bool internalDOUT = false;
FPGA.Config.Link(internalDOUT, DOUT);
byte servoValue = 0;
MG996R.Continuous(servoValue, Servo);
uint[] buff = new uint[64];
byte baseColor = 5;
Sequential ledHandler = () =>
{
uint color = 0;
switch (keyCode)
{
case KeypadKeyCode.STOP:
color = (uint)(baseColor << 16);
break;
case KeypadKeyCode.GO:
color = (uint)((baseColor << 8) | (baseColor << 16));
break;
case KeypadKeyCode.LOCK:
color = (uint)(baseColor << 8);
break;
case KeypadKeyCode.D2:
baseColor++;
break;
case KeypadKeyCode.D8:
baseColor--;
break;
// servo control
case KeypadKeyCode.ENT:
servoValue = 0;
break;
case KeypadKeyCode.D0:
servoValue = 60;
break;
case KeypadKeyCode.ESC:
servoValue = 120;
break;
case KeypadKeyCode.PWR:
servoValue = 180;
break;
}
for (byte i = 0; i < buff.Length; i++)
{
buff[i] = color;
}
Graphics.Draw(buff, out internalDOUT);
};
const bool trigger = true;
FPGA.Config.OnSignal(trigger, ledHandler);
}
