private void PacketReceived(RF24Radio radio, int pipe, byte[] packet)
{
if (_isClosing)
{
return;
}
Dispatcher.Invoke(() =>
{
analogStick.XDirection = ((double)(packet[0] - 127)) / 128;
analogStick.YDirection = ((double)(packet[1] - 128)) / 128;
bool upperButton = packet[2] != 0;
bool lowerButton = packet[3] != 0;
analogStick.Foreground = upperButton || lowerButton ? _stickPressedColor : _stickReleasedColor;
});
}
public void OnDeviceConnected(WirekiteDevice device)
{
_device = device;
_device.ResetConfiguration();
if (hasBuiltInLED)
{
_builtinLED = device.ConfigureDigitalOutputPin(13, DigitalOutputPinAttributes.Default);
_ledTimer = new Timer(Blink, null, 300, 500);
}
if (useLEDBoard)
{
_redLED = device.ConfigureDigitalOutputPin(16, DigitalOutputPinAttributes.HighCurrent);
_orangeLED = device.ConfigureDigitalOutputPin(17, DigitalOutputPinAttributes.HighCurrent);
_greenLED = device.ConfigureDigitalOutputPin(21, DigitalOutputPinAttributes.HighCurrent);
_switchPort = device.ConfigureDigitalInputPin(12, DigitalInputPinAttributes.Pullup | DigitalInputPinAttributes.TriggerRaising | DigitalInputPinAttributes.TriggerFalling, (port, value) =>
{
Dispatcher.Invoke(new Action(() =>
{
SetSwitchDisplay(value);
}));
});
SetSwitchDisplay(device.ReadDigitalPin(_switchPort));
_dutyCyclePin = device.ConfigureAnalogInputPin(AnalogPin.A4, 127, (port, value) =>
{
device.WritePWMPin(_pwmOutputPin, value);
Dispatcher.Invoke(new Action(() =>
{
string text = String.Format("{0:##0.0} %", value * 100);
dutyCycleValueLabel.Content = text;
}));
});
_frequencyPin = device.ConfigureAnalogInputPin(AnalogPin.A1, 149, (port, value) =>
{
if (Math.Abs(value - _prevFrequencyValue) > 0.01)
{
_prevFrequencyValue = value;
int frequency = (int)((Math.Exp(Math.Exp(value)) - Math.Exp(1)) * 900 + 10);
_device.ConfigurePWMTimer(0, frequency, PWMTimerAttributes.Default);
Dispatcher.Invoke(new Action(() =>
{
string text = String.Format("{0} Hz", frequency);
frequencyValueLabel.Content = text;
}));
}
});
_voltageXPin = device.ConfigureAnalogInputPin(AnalogPin.A8, 137, (port, value) =>
{
Dispatcher.Invoke(new Action(() =>
{
analogStick.XDirection = 1.0 - value * 2;
}));
});
_voltageYPin = device.ConfigureAnalogInputPin(AnalogPin.A9, 139, (port, value) =>
{
Dispatcher.Invoke(new Action(() =>
{
analogStick.YDirection = 1.0 - value * 2;
}));
});
_stickSwitchPin = device.ConfigureDigitalInputPin(20,
DigitalInputPinAttributes.TriggerRaising | DigitalInputPinAttributes.TriggerFalling | DigitalInputPinAttributes.Pullup,
(port, value) =>
{
Dispatcher.Invoke(new Action(() =>
{
analogStick.Foreground = value ? _stickReleasedColor : _stickPressedColor;
}));
});
analogStick.Foreground = device.ReadDigitalPin(_stickSwitchPin) ? _stickReleasedColor : _stickPressedColor;
_pwmOutputPin = device.ConfigurePWMOutputPin(10);
}
if (useI2CBoard)
{
_i2cPort = _device.ConfigureI2CMaster(I2CPins.I2CPinsSCL16_SDA17, 400000);
_gyro = new GyroMPU6050(_device, _i2cPort);
_gyro.StartCalibration();
_gyroTimer = new Timer(ReadGyro, null, 400, 400);
_ammeter = new Ammeter(_device, _i2cPort);
_ammeterTimer = new Timer(ReadAmmeter, null, 300, 350);
_display = new OLEDDisplay(_device, _i2cPort)
{
DisplayOffset = 2
};
StartOLEDShow();
}
if (useSpiTFTBoard)
{
if (_device.GetBoardInfo(BoardInfo.Board) == WirekiteDevice.BoardTeensyLC)
{
_spiPort = _device.ConfigureSPIMaster(14, 11, WirekiteDevice.InvalidPortId, 16000000, SPIAttributes.Default);
}
else
{
_device.ConfigureFlowControl(memorySize: 20000, maxOutstandingRequests: 100);
_spiPort = _device.ConfigureSPIMaster(14, 11, WirekiteDevice.InvalidPortId, 18000000, SPIAttributes.Default);
}
_colorTFT = new ColorTFT(_device, _spiPort, 6, 4, 5);
StartColorShow();
}
if (useSpiRFBoard)
{
if (_device.GetBoardInfo(BoardInfo.Board) == WirekiteDevice.BoardTeensy3_2)
{
_device.ConfigureFlowControl(memorySize: 20000, maxOutstandingRequests: 100);
}
_spiPort = _device.ConfigureSPIMaster(14, 11, 12, 10000000, SPIAttributes.Default);
_radio = new RF24Radio(_device, _spiPort, 18, 19);
_radio.InitModule();
_radio.RFChannel = 0x52;
_radio.AutoAck = false;
_radio.OutputPower = RF24Radio.RFOutputPower.Low;
_radio.ConfigureIRQPin(10, 10, PacketReceived);
_radio.OpenTransmitPipe(0x389f30cc1b);
_radio.OpenReceivePipe(1, 0x38a8bb7201);
_radio.StartListening();
_radioThread = new Thread(SendTime);
_radioThread.Start();
}
}