/// <summary>
/// Reads device statuses.
/// </summary>
/// <returns>Device statuses</returns>
private Status GetStatus()
{
_sensor.WriteByte((byte)Register.HMC_STATUS_REG_ADDR);
byte status = _sensor.ReadByte();
return((Status)status);
}
/// <summary>
/// Reads an 8 bit value from a register
/// </summary>
/// <param name="register">
/// Register to read from
/// </param>
/// <returns>
/// Value from register
/// </returns>
internal byte Read8BitsFromRegister(byte register)
{
_i2cDevice.WriteByte(register);
byte value = _i2cDevice.ReadByte();
return(value);
}
private byte GetStatus()
{
_i2cDevice.WriteByte(0x71);
// whithout this delay the reading the status fails often.
Thread.Sleep(10);
byte status = _i2cDevice.ReadByte();
return(status);
}
private byte ReadRegister(Register register)
{
WakeUpDevice();
_i2cDevice.WriteByte((byte)register);
var ret = _i2cDevice.ReadByte();
SleepDownDevice();
return(ret);
}
/// <summary>
/// Read a single byte without a register from an I2C device.
/// </summary>
/// <param name="bus">I2C device</param>
/// <returns>Read value</returns>
internal byte ReadI2CSingleByte(I2cDevice bus)
{
try
{
byte returnValue = bus.ReadByte();
return(returnValue);
}
catch (Exception)
{
throw;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Bmxx80Base"/> class.
/// </summary>
/// <param name="deviceId">The ID of the device.</param>
/// <param name="i2cDevice">The <see cref="I2cDevice"/> to create with.</param>
/// <exception cref="ArgumentNullException">Thrown when the given <see cref="I2cDevice"/> is null.</exception>
/// <exception cref="IOException">Thrown when the device cannot be found on the bus.</exception>
protected Bmxx80Base(byte deviceId, I2cDevice i2cDevice)
{
_i2cDevice = i2cDevice ?? throw new ArgumentNullException(nameof(i2cDevice));
_i2cDevice.WriteByte((byte)Bmxx80Register.CHIPID);
byte readSignature = _i2cDevice.ReadByte();
if (readSignature != deviceId)
{
throw new IOException($"Unable to find a chip with id {deviceId}");
}
}
/// <summary>
/// 使用 prescale 来设置 PWM 频率
/// </summary>
public void SetPwmFrequency(byte prescale)
{
var oldmode = device.ReadByte();
var newmode = (oldmode & 0x7F) | 0x10; // sleep
device.Write(new byte[] { MODE1, (byte)newmode }); // go to sleep
device.Write(new byte[] { PRESCALE, prescale });
device.Write(new byte[] { MODE1, oldmode });
Thread.Sleep(5);
device.Write(new byte[] { MODE1, (byte)(oldmode | 0x80) });
}
/// <summary>
/// Reads an 8 bit value from a register.
/// </summary>
/// <param name="register">Register to read from.</param>
/// <returns>Value from register.</returns>
protected internal byte Read8BitsFromRegister(byte register)
{
if (_communicationProtocol == CommunicationProtocol.I2c)
{
_i2cDevice.WriteByte(register);
byte value = _i2cDevice.ReadByte();
return(value);
}
else
{
throw new NotImplementedException();
}
}
/// <summary>
/// Create a TCS4272x sensor
/// </summary>
/// <param name="i2cDevice">The I2C Device class</param>
/// <param name="integrationTime">The time to wait for sensor to read the data, minimum is 0.024 seconds, maximum in the constructor is 0.7 seconds</param>
/// <param name="gain">The gain when integrating the color measurement</param>
/// <param name="autoDisposable">true to dispose the I2C Device class at dispose</param>
public Tcs3472x(I2cDevice i2cDevice, double integrationTime = 0.0024, Gain gain = Gain.Gain16X, bool autoDisposable = true)
{
_i2cDevice = i2cDevice ?? throw new ArgumentNullException(nameof(i2cDevice));
// Maximum is 700 ms for the initialization. Value can be changed for a long one but not during this initialization phase
_autoDisposable = autoDisposable;
_i2cDevice.WriteByte((byte)(Registers.COMMAND_BIT | Registers.ID));
ChipId = (TCS3472Type)_i2cDevice.ReadByte();
_isLongTime = false;
IntegrationTime = Math.Clamp(integrationTime, 0.0024, 0.7);
SetIntegrationTime(integrationTime);
Gain = gain;
PowerOn();
}
/// <summary>
/// Initializes a new instance of the <see cref="SensorHub"/> class.
/// </summary>
public SensorHub(I2cDevice i2cDevice)
{
_i2cDevice = i2cDevice ?? throw new ArgumentNullException(nameof(i2cDevice));
try
{
_i2cDevice.WriteByte((byte)_i2cDevice.ConnectionSettings.DeviceAddress);
_i2cDevice.ReadByte();
}
catch (IOException ex)
{
throw new IOException($"No response from SensorHub with address {_i2cDevice.ConnectionSettings.DeviceAddress}", ex);
}
}
public byte DigitalRead(Pin pin)
{
var wbuffer = new byte[4] {
(byte)Command.DigitalRead, (byte)pin, 0x00, 0x00
};
var rBuffer = new byte[1];
grovePiPlusDevice.Write(wbuffer);
// grovePiPlusDevice.WriteRead(wbuffer, rBuffer);
Thread.Sleep(2);
var value = grovePiPlusDevice.ReadByte();
return(value);
}
/// <summary>
/// 初始化 PCA9685
/// </summary>
public PCA9685(int address = PCA9685_ADDRESS, int busId = 1)
{
Address = address;
BusId = busId;
// Setup I2C interface for the device.
device = I2cDeviceFactory.GetDevice(BusId, Address);
SetPwm(0, 0);
device.Write(new byte[] { MODE2, OUTDRV });
device.Write(new byte[] { MODE1, ALLCALL });
Thread.Sleep(5); // wait for oscillator
int mode1 = device.ReadByte();
mode1 = mode1 & ~SLEEP; // wake up (reset sleep)
device.Write(new byte[] { MODE1, (byte)mode1 });
Thread.Sleep(5); // wait for oscillator
}
/// <summary>
/// Initializes a new instance of the <see cref="Bmxx80Base"/> class.
/// </summary>
/// <param name="deviceId">The ID of the device.</param>
/// <param name="i2cDevice">The <see cref="I2cDevice"/> to create with.</param>
/// <exception cref="ArgumentNullException">Thrown when the given <see cref="I2cDevice"/> is null.</exception>
/// <exception cref="IOException">Thrown when the device cannot be found on the bus.</exception>
protected Bmxx80Base(byte deviceId, I2cDevice i2cDevice)
{
_i2cDevice = i2cDevice ?? throw new ArgumentNullException(nameof(i2cDevice));
_i2cDevice.WriteByte((byte)Bmxx80Register.CHIPID);
byte readSignature = _i2cDevice.ReadByte();
if (readSignature != deviceId)
{
throw new IOException($"Unable to find a chip with id {deviceId}. Found one with id {readSignature}");
}
ReadCalibrationData();
Reset();
#if NETCOREAPP2_1
if (_calibrationData is null)
{
throw new Exception("BMxx80 device is not correctly configured.");
}
#endif
}
private byte Read(Register register)
{
_i2c.WriteByte((byte)((byte)register | ReadMask));
return(_i2c.ReadByte());
}
private JoystickState ReadState()
{
_i2c.WriteByte(StateRegister);
return((JoystickState)_i2c.ReadByte());
}
private byte I2cRead8(Registers reg)
{
_i2cDevice.WriteByte((byte)(Registers.COMMAND_BIT | reg));
return(_i2cDevice.ReadByte());
}
private byte ReadByte(Register reg)
{
_i2cDevice.WriteByte((byte)reg);
return(_i2cDevice.ReadByte());
}
/// <summary>
/// Read 8 bits from a given <see cref="Register"/>.
/// </summary>
/// <param name="register">The <see cref="Register"/> to read from.</param>
/// <returns>Value from register.</returns>
/// <remarks>
/// Cast to an <see cref="sbyte"/> if you want to read a signed value.
/// </remarks>
internal byte Read8Bits(Register register)
{
_i2cDevice.WriteByte((byte)register);
return(_i2cDevice.ReadByte());
}
public byte ReadByte() => Device.ReadByte();
/// <summary>
/// Read a byte
/// </summary>
/// <param name="i2cDevice">An I2C device</param>
/// <param name="reg">The register to read</param>
/// <returns>The register value</returns>
public override byte ReadByte(I2cDevice i2cDevice, byte reg)
{
i2cDevice.WriteByte(reg);
return(i2cDevice.ReadByte());
}
