/// <summary>
/// Construct an SPI device attached to a particular module
/// </summary>
/// <param name="spiModule">The module this device is attached to</param>
/// <param name="chipSelect">The chip select pin used by this device</param>
/// <param name="chipSelectMode">The ChipSelectMode to use with this device</param>
/// <param name="speedMhz">The speed to operate this device at</param>
/// <param name="mode">The SpiMode of this device</param>
public SpiDevice(Spi spiModule, SpiChipSelectPin chipSelect,
ChipSelectMode chipSelectMode = ChipSelectMode.SpiActiveLow, double speedMhz = 6,
SpiMode mode = SpiMode.Mode00)
{
ChipSelectMode = chipSelectMode;
ChipSelect = chipSelect;
_spi = spiModule;
Frequency = speedMhz;
Mode = mode;
_spi.Enabled = true;
ChipSelect.MakeDigitalPushPullOutAsync();
// Set the initial chip select state
if (chipSelectMode == ChipSelectMode.PulseLowAtBeginning ||
chipSelectMode == ChipSelectMode.PulseLowAtEnd || chipSelectMode == ChipSelectMode.SpiActiveLow)
{
ChipSelect.DigitalValue = true;
}
else
{
ChipSelect.DigitalValue = false;
}
}
/// <summary>
/// Construct an SPI device attached to a particular module
/// </summary>
/// <param name="SpiModule">The module this device is attached to</param>
/// <param name="ChipSelect">The chip select pin used by this device</param>
/// <param name="csMode">The ChipSelectMode to use with this device</param>
/// <param name="SpeedMHz">The speed to operate this device at</param>
/// <param name="mode">The SpiMode of this device</param>
public SpiDevice(Spi SpiModule, Pin ChipSelect, ChipSelectMode csMode = ChipSelectMode.SpiActiveLow, double SpeedMHz = 1, SpiMode mode = SpiMode.Mode00)
{
this.ChipSelectMode = csMode;
this.ChipSelect = ChipSelect;
this.spi = SpiModule;
this.Frequency = SpeedMHz;
this.Mode = mode;
this.ChipSelect.Mode = PinMode.PushPullOutput;
spi.Enabled = true;
}
/// <summary>
/// Set up a ChainableShiftRegisterOutput connected to an SPI port.
/// </summary>
/// <param name="spiModule">the SPI module to use</param>
/// <param name="latchPin">The latch pin to use</param>
/// <param name="numBytes">The number of bytes to write to this device</param>
/// <param name="mode">The SPI mode to use for all shift registers in this chain</param>
/// <param name="csMode">The ChipSelectMode to use for all shift registers in this chain</param>
/// <param name="speedMhz">The speed to use for all shift registers in this chain</param>
public ChainableShiftRegisterOutput(Spi spiModule, SpiChipSelectPin latchPin, int numBytes = 1,
double speedMhz = 6, SpiMode mode = SpiMode.Mode00, ChipSelectMode csMode = ChipSelectMode.PulseHighAtEnd)
{
spiDevice = new SpiDevice(spiModule, latchPin, csMode, speedMhz, mode);
this.numBytes = numBytes;
CurrentValue = new byte[numBytes];
lastValues = new byte[numBytes];
}
/// <summary>
/// Send/receive data
/// </summary>
/// <param name="dataToWrite">
/// a byte array of the data to send. The length of the transaction is determined by the length of this array.
/// </param>
/// <param name="chipSelect">The chip select pin, if any, to use during this transaction.</param>
/// <param name="chipSelectMode">The chip select mode to use during this transaction (if a CS pin is selected)</param>
/// <param name="speedMhz">The speed to perform this transaction at.</param>
/// <param name="burstMode"The burst mode (if any) to use.</param>
/// <param name="spiMode">The SPI mode to use during this transaction.</param>
/// <returns>An awaitable byte array with the received data.</returns>
public async Task <byte[]> SendReceiveAsync(byte[] dataToWrite, SpiChipSelectPin chipSelect = null,
ChipSelectMode chipSelectMode = ChipSelectMode.SpiActiveLow, double speedMhz = 6,
SpiBurstMode burstMode = SpiBurstMode.NoBurst, SpiMode spiMode = SpiMode.Mode00)
{
var transactionLength = dataToWrite.Length;
var returnedData = new byte[transactionLength];
if (Enabled != true)
{
Utility.Error("SPI module must be enabled before starting transaction", true);
}
if (chipSelect != null && chipSelect.SpiModule != this)
{
Utility.Error("Chip select pin must belong to this SPI module", true);
}
if (speedMhz > 0.8 && speedMhz < 6)
{
Debug.WriteLine(
"NOTICE: automatically rounding up SPI speed to 6 MHz, due to a possible silicon bug. This bug affects SPI speeds between 0.8 and 6 MHz, so if you need a speed lower than 6 MHz, please set to 0.8 MHz or lower.");
speedMhz = 6;
}
using (await _device.ComsLock.LockAsync().ConfigureAwait(false))
{
var spi0Ckr = (int)Math.Round(24.0 / speedMhz - 1);
if (spi0Ckr > 255.0)
{
spi0Ckr = 255;
Debug.WriteLine(
"NOTICE: Requested SPI frequency of {0} MHz is below the minimum frequency, and will be clipped to 0.09375 MHz (93.75 kHz).",
speedMhz);
}
else if (spi0Ckr < 0)
{
spi0Ckr = 0;
Debug.WriteLine(
"NOTICE: Requested SPI frequency of {0} MHz is above the maximum frequency, and will be clipped to 24 MHz.",
speedMhz);
}
var actualFrequency = 48.0 / (2.0 * (spi0Ckr + 1.0));
if (Math.Abs(actualFrequency - speedMhz) > 1)
{
Debug.WriteLine(
"NOTICE: SPI module actual frequency of {0} MHz is more than 1 MHz away from the requested frequency of {1} MHz",
actualFrequency, speedMhz);
}
if (dataToWrite.Length > 255)
{
throw new Exception("Maximum packet length is 255 bytes");
}
var header = new byte[7];
header[0] = (byte)DeviceCommands.SpiTransaction;
header[1] = (byte)(chipSelect?.PinNumber ?? 255);
header[2] = (byte)chipSelectMode;
header[3] = (byte)spi0Ckr;
header[4] = (byte)spiMode;
header[5] = (byte)burstMode;
header[6] = (byte)transactionLength;
// just send the header
if (burstMode == SpiBurstMode.BurstRx)
{
await _device.SendPeripheralConfigPacketAsync(header).ConfigureAwait(false);
}
else
{
var dataToSend = new byte[transactionLength + header.Length];
Array.Copy(header, dataToSend, header.Length);
Array.Copy(dataToWrite, 0, dataToSend, header.Length, transactionLength);
var bytesRemaining = dataToSend.Length;
var offset = 0;
while (bytesRemaining > 0)
{
var transferLength = bytesRemaining > 64 ? 64 : bytesRemaining;
var tmp = dataToSend.Skip(offset).Take(transferLength);
await _device.SendPeripheralConfigPacketAsync(tmp.ToArray()).ConfigureAwait(false);
offset += transferLength;
bytesRemaining -= transferLength;
}
}
// no need to wait if we're not reading anything
if (burstMode != SpiBurstMode.BurstTx)
{
var bytesRemaining = transactionLength;
var srcIndex = 0;
while (bytesRemaining > 0)
{
var numBytesToTransfer = bytesRemaining > 64 ? 64 : bytesRemaining;
var receivedData = await _device.ReceiveCommsResponsePacketAsync((uint)numBytesToTransfer)
.ConfigureAwait(false);
Array.Copy(receivedData, 0, returnedData, srcIndex,
receivedData.Length); // just in case we don't get what we're expecting
srcIndex += numBytesToTransfer;
bytesRemaining -= numBytesToTransfer;
}
}
}
return(returnedData);
}
/// <summary>
/// Construct a shift register attached to an SPI port
/// </summary>
/// <param name="spiModule">The SPI module this shift register is attached to</param>
/// <param name="latchPin">The latch pin to use</param>
/// <param name="numPins">The number of pins on the shift register</param>
/// <param name="mode">THe SPI mode to use with this shift register (and subsequent ones on this chain)</param>
/// <param name="csMode">The chip select mode to use with this shift register (and subsequent ones on this chain)</param>
/// <param name="speedMhz">The speed to operate this shift register (and subsequent ones on this chain) with</param>
public ShiftOut(Spi spiModule, SpiChipSelectPin latchPin, int numPins = 8, SpiMode mode = SpiMode.Mode00,
ChipSelectMode csMode = ChipSelectMode.PulseHighAtEnd, double speedMhz = 1)
: base(spiModule, latchPin, numPins / 8, speedMhz, mode, csMode)
{
setup(numPins);
}
