public static void DeviceControl(
FPGA.OutputSignal <bool> DOUT,
FPGA.InputSignal <bool> RXD,
FPGA.OutputSignal <bool> TXD
)
{
bool internalTXD = true;
FPGA.Config.Link(internalTXD, TXD);
object commsLock = new object();
bool internalDOUT = false;
FPGA.Config.Link(internalDOUT, DOUT);
const uint baud = 115200;
FPGA.SyncStream <uint> heartBeat = new FPGA.SyncStream <uint>();
const int servosCount = 5;
byte[] servosBuff = new byte[servosCount];
Sequential servosHandler = () =>
{
FPGA.OutputSignal <bool> ServoItem = new FPGA.OutputSignal <bool>();
bool servoOut = false;
FPGA.Config.Link(servoOut, ServoItem);
while (true)
{
uint idx = FPGA.Config.InstanceId();
byte servoData = 0;
servoData = servosBuff[idx];
MG996R.Write(servoData, out servoOut);
}
};
FPGA.Config.OnStartup(servosHandler, servosCount);
// SERVOs driver
Sequential <uint> servosDataHandler = (iteration) =>
{
byte data = 0;
lock (commsLock)
{
UART.RegisteredWrite(baud, 2, out internalTXD);
for (int i = 0; i < servosCount; i++)
{
data = UART.Read(baud, RXD);
servosBuff[i] = data;
}
}
};
FPGA.Config.OnStream(heartBeat, servosDataHandler);
// LED driver
Sequential <uint> ledHandler = (iteration) =>
{
uint data = 0;
uint[] buff = new uint[64];
lock (commsLock)
{
UART.RegisteredWrite(baud, 1, out internalTXD);
for (int i = 0; i < buff.Length; i++)
{
UART.ReadUnsigned32(baud, RXD, ref data);
buff[i] = data;
}
}
WS2812B.SyncWrite(buff, 0, buff.Length, out internalDOUT);
};
FPGA.Config.OnStream(heartBeat, ledHandler);
// main application driver
uint beat = 0;
Sequential heartBeatHandler = () =>
{
heartBeat.Write(beat);
beat++;
};
FPGA.Config.OnTimer(TimeSpan.FromMilliseconds(100), heartBeatHandler);
}
public static void Draw(uint[] buff, out bool DOUT)
{
WS2812B.SyncWrite(buff, 0, buff.Length, out DOUT);
}
