public bool Begin()
{
Rebug.Print("Opening BNO communications channel...");
_comPort.Open();
ConfigMode();
write_byte(Bno055Registers.Bno055PageIdAddr, 0);
var bnoId = read_byte(Bno055Registers.Bno055ChipIdAddr);
Rebug.Print("Read chip ID for BNO055: 0x" + bnoId.ToString("x"));
if (bnoId != Bno055Id)
{
return(false);
}
//reset the device
write_byte(Bno055Registers.Bno055SysTriggerAddr, 0x20, false);
//sleep 650 ms after reset for chip to be ready(as suggested in datasheet)
Thread.Sleep(650);
//set to normal power mode
write_byte(Bno055Registers.Bno055PwrModeAddr, (byte)Bno055PowerMode.PowerModeNormal);
//default to external oscillator
write_byte(Bno055Registers.Bno055SysTriggerAddr, 0x80);
//enter normal operation mode
OpMode();
return(true);
}
public void TurnOff()
{
Rebug.Print("Sending signal to power off RICH detector");
_richPin.Write(true);
Thread.Sleep(4000);
_richPin.Write(false);
}
public Soccer(Room room)
{
this.room = room;
this.ball = null;
this.rebugMove = null;
this.pushMove = null;
this.cloudMove = null;
this.goals = new List <RoomItem>();
}
private static void ThreadWorker()
{
while (true)
{
//Wait for pulse from ThreadPool, signifying a new work item has been queued
// ReSharper disable once InconsistentlySynchronizedField
ThreadSynch.WaitOne();
var workItem = new WorkItem();
lock (ThreadActions) {
//pull the next work item off of the queue
if (ThreadActions.Count > 0)
{
workItem = ThreadActions.Dequeue() as WorkItem;
}
//no pending actions - reset threads so they wait for next pulse.
else
{
lock (ThreadSynch)
ThreadSynch.Reset();
}
}
//if no action, go back to waiting.
if (workItem?.Action == null)
{
continue;
}
//workItem.Action();
//FlightComputer.TriggerEvent(workItem.Loggable, ref workItem.PacketData);
//if (workItem.Persistent) QueueWorkItem(workItem);
//Debug.Print("Current Thread Queue count: " + ThreadActions.Count);
//safe
try
{
//try to execute, then trigger any events, then re-add to queue if repeatable.
workItem.Action();
FlightComputer.TriggerEvent(workItem.Loggable, ref workItem.PacketData);
if (workItem.Persistent)
{
QueueWorkItem(workItem);
}
}
catch (Exception e)
{
Rebug.Print("ThreadPool: Unhandled error executing action - " + e.Message + e.InnerException);
Rebug.Print("StackTrace: " + e.StackTrace);
//maybe just reset the flight computer?
}
}
}
public static byte[] CurrentTime()
{
var time = new byte[7];
I2CBus.GetInstance().ReadRegister(SlaveConfig, 0x00, time, TransactionTimeout);
var realseconds = Tools.Bcd2Bin(new [] { time[0] });
var minutes = Tools.Bcd2Bin(new [] { time[1] });
var hours = Tools.Bcd2Bin(new [] { time[2] });
Rebug.Print("Current time: " + hours + ":" + minutes + ":" + realseconds + ", Freemem: " + Debug.GC(true) + ", Action Count: " + ThreadPool.ActionCount + ", Log count: " + FlightComputer.Logger.PendingItems);
return(new[]
{
(byte)hours,
(byte)minutes,
(byte)realseconds
});
}
internal void AddBall(RoomItem item)
{
if (ball == null)
{
ball = item;
OtanixEnvironment.GetGame().GetRoomManager().QueueBallAdd(room);
if (ball.GetBaseItem().Name == "futebol_rebug")
{
rebugMove = new Rebug(room, this);
}
else if (ball.GetBaseItem().Name == "futebol_push")
{
pushMove = new Push(room, this);
}
else if (ball.GetBaseItem().Name == "futebol_cloud")
{
cloudMove = new Cloud(room, this);
}
}
}
private byte[] serial_send(byte[] command, int expectedLength, bool ack = true, int maxTries = 10, int tries = 0)
{
lock (Locker) {
_comPort.Flush();
_comPort.Write(command, 0, command.Length);
//If no ack needed, we're done.
if (!ack)
{
return(null);
}
//wait for serial stream to fill with expected ack data
Thread.Sleep(500); //bug THIS THIS SLOW... should wait until correct amount of data is ready to be read.
var response = new byte[_comPort.BytesToRead];
var readCount = _comPort.Read(response, 0, response.Length);
//If we timed out, throw an exception.
if (readCount == 0)
{
Rebug.Print("Serial ACK timeout...");
}
//if we didn't get an error code (0xEE07), we're done.
if (response.Length > 0 && !(response[0] == 0xEE && response[1] == 0x07))
{
return(response);
}
//if we tried 5 times to get a non-error ACK and didn't, throw an exception.
if (++tries == maxTries)
{
throw new IOException("Exceeded max tries to acknowlege serial command without bus error.");
}
return(serial_send(command, expectedLength, maxTries: maxTries, tries: tries));
}
}
private void OpMode()
{
Rebug.Print("BNO055 entering normal operation mode...");
SetMode(_mode);
}
private void ConfigMode()
{
Rebug.Print("BNO055 entering configuration mode...");
SetMode(Bno055OpMode.OperationModeConfig);
}
public static void Main()
{
var bus = new I2CBus();
var lcdProvider = new MCP23008LcdTransferProvider(bus);
var lcd = new Lcd(lcdProvider);
lcd.Begin(16, 2);
lcd.Backlight = true;
lcd.Write("Payload McPayload Face v1.0");
for (int i = 0; i < 12; i++)
{
lcd.ScrollDisplayLeft();
Thread.Sleep(200);
}
Thread.Sleep(1000);
lcd.Clear();
LCDFinish(lcd, "ACC DemoSat 2016");
//THIS SECTION CREATES / INITIALIZES THE SERIAL LOGGER
Debug.Print("Flight computer started successfully. Beginning INIT.");
//Lcd = new LiquidCrystalI2C(0x01, 16, 2);
//Lcd.write("Testing!");
lcd.Write("Starting logger.");
var logger = new Logger();
Debug.Print("Starting logger.");
logger.Start();
LCDFinish(lcd, "Done.");
lcd.Write("Starting clock...");
Rebug.Print("Starting clock.");
Clock.Instance.Start();
LCDFinish(lcd, "Done.");
//THIS SECTION CREATES/INITIALIZES THE PRESSURE SENSOR
//lcd.Write("Init BMP sensor.");
//Rebug.Print("Initializing BMP Sensor ");
//var bmploop = new PressureTempAltitudeUpdater(bus, delay: 1000);
//LCDFinish(lcd);
//THIS SECTION CREATES/INITIALIZES THE SERIAL BNO 100HZ UPDATER
lcd.Write("Init BNO sensor...");
Rebug.Print("Initializing BNO Sensor ");
var bno = new SerialBno(SerialPorts.COM1, 5000, 5000, SerialBno.Bno055OpMode.OperationModeNdof);
var bnoloop = new SerialBnoUpdater(bno, delay: 1000);
LCDFinish(lcd, "Done.");
////Starts up the expensive mag
lcd.Write("Init exp. mag...");
Rebug.Print("Initializing expensive magnetometer on com3");
var expensiveMagLoop = new ExpensiveMagUpdater(delay: 1000);
LCDFinish(lcd, "Done.");
lcd.Write("Init calib disp.");
Rebug.Print("Initializing BNO calibration display loop");
var printBnoCalib = new BNOCalibUpdate(bno, lcd, delay: 1000);
LCDFinish(lcd, "Done.");
//////THIS SECTION CREATES/INITIALIZES THE MAGNETOMETER UPDATER
var mag_dump_size = 18432;
lcd.Write("Init fast mag...");
Rebug.Print("Initializing fast mag dump collector with a size of " + mag_dump_size + "bytes.");
var customMagLoop = new CustomMagUpdater(mag_dump_size, AnalogChannels.ANALOG_PIN_A0);
LCDFinish(lcd, "Done.");
//Thread.Sleep(5000);
lcd.Write("Init complete...");
Rebug.Print("Flight computer INIT Complete. Continuing with boot.");
LCDFinish(lcd, "Continuing boot.");
//THIS SECTION INITIALIZES AND STARTS THE MEMORY MONITOR
lcd.Write("Start memory monitor...");
Rebug.Print("Starting memory monitor...");
MemoryMonitor.Instance.Start(ref logger);
LCDFinish(lcd, "Done.");
////THIS STARTS THE Mag dump update
lcd.Write("Start f.mag loop...");
Rebug.Print("Starting fast mag dump...");
customMagLoop.Start();
LCDFinish(lcd, "Done.");
////THIS STARTS THE BNO SENSOR UPDATE
lcd.Write("Start bno loop...");
Rebug.Print("Starting bno sensor updates...");
bnoloop.Start();
LCDFinish(lcd, "Done.");
//THIS STARTS THE BNO SENSOR UPDATE
//lcd.Write("Start bmp loop");
//Rebug.Print("Starting bmp sensor updates...");
//bmploop.Start();
//LCDFinish(lcd);
//THIS STARTS THE EXPENSIVE MAG UPDATE
lcd.Write("Start e.mag loop...");
Rebug.Print("Starting expensive mag updates...");
expensiveMagLoop.Start();
LCDFinish(lcd, "Done.");
lcd.Write("Boot successful!");
LCDFinish(lcd, "Entering run state.");
Rebug.Print("Flight computer boot successful.");
printBnoCalib.Start();
}
public static void Main()
{
//THIS SECTION CREATES / INITIALIZES THE SERIAL LOGGER
Debug.Print("Flight computer started successfully. Beginning INIT.");
var logger = new Logger();
Debug.Print("Starting logger...");
logger.Start();
Rebug.Print("Starting stopwatch");
Clock.Instance.Start();
Rebug.Print("Recording time-sync packet");
var timeSync = new TimeSync(delay: 10000);
timeSync.Run();
//Initializes the RICH on pin D7
Rebug.Print("Initializing RICH detector");
var rich = new Rich();
//THIS SECTION CREATES/INITIALIZES THE SERIAL BNO 100HZ UPDATER
Rebug.Print("Initializing BNO Sensor ");
var bnoloop = new SerialBnoUpdater(delay: 1000);
//THIS SECTION CREATES/INITIALIZES THE GEIGER COUNTER UPDATER
Rebug.Print("Initializing geiger counter collection data");
var geigerloop = new GeigerUpdater(delay: 10, size: 2048);
//THIS SECTION CREATES/INITIALIZES THE GEIGER COUNTER UPDATER
var accel_dump_size = 18432;
Rebug.Print("Initializing fast accel dump collector with a size of " + accel_dump_size + "bytes.");
var acceldumploop = new AccelUpdater(accel_dump_size);
//Thread.Sleep(5000);
Rebug.Print("Flight computer INIT Complete. Continuing with boot.");
//THIS SECTION INITIALIZES AND STARTS THE MEMORY MONITOR
Rebug.Print("Starting memory monitor...");
MemoryMonitor.Instance.Start(ref logger);
//THIS STARTS THE Accel dump update
Rebug.Print("Starting accel dumper...");
acceldumploop.Start();
//THIS STARTS THE BNO SENSOR UPDATE
Rebug.Print("Starting bno sensor updates...");
bnoloop.Start();
//THIS STARTS THE Geiger UPDATE.
Rebug.Print("Starting geiger counter data collection...");
geigerloop.Start();
//Starts the RICH detector
Rebug.Print("Starting RICH detector");
rich.TurnOn();
Rebug.Print("Flight computer boot successful.");
}
public bool Begin()
{
Rebug.Print("Starting up expensive mag!");
_comPort.Open();
return(true);
}
public static void Main()
{
I2CBus bus = new I2CBus();
//THIS SECTION CREATES / INITIALIZES THE SERIAL LOGGER
Debug.Print("Flight computer started successfully. Beginning INIT.");
var logger = new Logger();
Debug.Print("Starting logger.");
logger.Start();
Rebug.Print("Starting clock.");
Clock.Instance.Start();
//var tracker = new LightTracker(PWMChannels.PWM_PIN_D5, PWMChannels.PWM_PIN_D10,
// Cpu.AnalogChannel.ANALOG_2, Cpu.AnalogChannel.ANALOG_0,
// Cpu.AnalogChannel.ANALOG_3, Cpu.AnalogChannel.ANALOG_1);
var tracker = new LightTracker(PWMChannels.PWM_PIN_D5, Cpu.AnalogChannel.ANALOG_0,
Cpu.AnalogChannel.ANALOG_1);
tracker.Start();
//THIS SECTION CREATES/INITIALIZES THE PRESSURE SENSOR
//lcd.Write("Init BMP sensor.");
Rebug.Print("Initializing BMP Sensor ");
var bmploop = new PressureTempAltitudeUpdater(bus, delay: 1000);
//LCDFinish(lcd);
//THIS SECTION CREATES/INITIALIZES THE SERIAL BNO 100HZ UPDATER
Rebug.Print("Initializing BNO Sensor ");
var bno = new SerialBno(SerialPorts.COM1, 5000, 5000, SerialBno.Bno055OpMode.OperationModeNdof);
var bnoloop = new SerialBnoUpdater(bno, delay: 1000);
Rebug.Print("Initializing BNO calibration display loop");
var printBnoCalib = new BNOCalibUpdate(bno, delay: 1000);
//LCDFinish(lcd, "Done.");
//Thread.Sleep(5000);
//lcd.Write("Init complete...");
Rebug.Print("Flight computer INIT Complete. Continuing with boot.");
//LCDFinish(lcd, "Continuing boot.");
//THIS SECTION INITIALIZES AND STARTS THE MEMORY MONITOR
//lcd.Write("Start memory monitor...");
Rebug.Print("Starting memory monitor...");
MemoryMonitor.Instance.Start(ref logger);
//LCDFinish(lcd, "Done.");
//LCDFinish(lcd, "Done.");
////THIS STARTS THE BNO SENSOR UPDATE
//lcd.Write("Start bno loop...");
Rebug.Print("Starting bno sensor updates...");
bnoloop.Start();
//LCDFinish(lcd, "Done.");
//THIS STARTS THE BNO SENSOR UPDATE
//lcd.Write("Start bmp loop");
//TODO BNP180 discontinued... Update at later time
Rebug.Print("Starting bmp sensor updates...");
bmploop.Start();
//LCDFinish(lcd);
//lcd.Write("Boot successful!");
//LCDFinish(lcd,"Entering run state.");
Rebug.Print("Flight computer boot successful.");
printBnoCalib.Start();
}
