/// <summary>
/// Constructs a read register packet.
/// </summary>
/// <param name="registerData">
/// <see cref="RegisterData"/> instance containing register address to be read.
/// </param>
/// <returns>
/// Constructed and encoded read register packet
/// </returns>
public static byte[] ConstructReadRegisterPacket(RegisterData registerData)
{
byte[] decodedPacket = new byte[] { (byte)PacketHeaders.ReadRegister,
(byte)((ushort)registerData.Address >> 8),
(byte)registerData.Address,
0};
decodedPacket = InsertChecksum(decodedPacket);
return PacketEncoding.EncodePacket(decodedPacket);
}
protected virtual void OnRegisterDataReceived(RegisterData e) { if (RegisterDataReceived != null) RegisterDataReceived(this, e); }
/// <summary>
/// Sends write register packet.
/// </summary>
/// <param name="registerData">
/// Register data containing register address and value.
/// </param>
public void SendWriteRegisterPacket(RegisterData registerData)
{
SendByteArray(PacketConstruction.ConstructWriteRegisterPacket(registerData));
PacketsWrittenCounter.WriteRegisterPackets++;
}
/// <summary>
/// Write <see cref="RegisterData"/> to CSV file. Will create new file if required.
/// </summary>
/// <param name="registerData">
/// x-IMU register data.
/// </param>
public void WriteRegisterData(RegisterData registerData)
{
string fixedPointValue = "NaN";
try
{
fixedPointValue = registerData.ConvertValueToFloat().ToString(CultureInfo.InvariantCulture);
}
catch { }
WriteCSVlineAtFileIndex(((ushort)registerData.Address).ToString(CultureInfo.InvariantCulture) + "," + registerData.Value.ToString(CultureInfo.InvariantCulture) + "," + fixedPointValue + "," + Enum.GetName(typeof(RegisterAddresses), registerData.Address), FileIndexes.Registers);
PacketsWrittenCounter.WriteRegisterPackets++;
}
/// <summary>
/// Writes write register packet.
/// </summary>
/// <param name="registerData">
/// Register data containing register address and value.
/// </param>
public void WriteWriteRegisterPacket(RegisterData registerData)
{
WriteByteArray(PacketConstruction.ConstructWriteRegisterPacket(registerData));
PacketsWrittenCounter.WriteRegisterPackets++;
}
/// <summary>
/// Sends read register packet.
/// </summary>
/// <param name="registerData">
/// Register data containing register address.
/// </param>
public void SendReadRegisterPacket(RegisterData registerData)
{
SendByteArray(PacketConstruction.ConstructReadRegisterPacket(registerData));
PacketsWrittenCounter.ReadRegisterPackets++;
}
/// <summary>
/// Register data received event to read x-IMU device ID.
/// </summary>
private void xIMUserialobj_RegisterDataReceived(object sender, RegisterData e)
{
if (e.Address == RegisterAddresses.DeviceID)
{
receivedDeviceID = string.Format("{0:X4}", e.Value);
}
}
