public I2CSensor(SensorPort port, byte address, I2CMode mode)
{
this.port = port;
this.I2CAddress = address;
I2CDevice = SensorManager.Instance.I2CDevice;
this.mode = mode;
SensorManager.Instance.SetAnalogMode((AnalogMode)mode, port);
}
public I2CSensor(SensorPort port, byte address, I2CMode mode)
{
this.port = port;
this.I2CAddress = address;
I2CDevice = SensorManager.Instance.I2CDevice;
this.mode = mode;
SensorManager.Instance.SetAnalogMode((AnalogMode)mode, port);
}
/// <summary>
/// Neue Instanz des PMW Moduls
/// </summary>
/// <param name="device">Device welches genutzt werden soll</param>
/// <param name="i2cAdress">I2C Adresse auf dem Bus</param>
public PMW(Device device, byte i2cAdress)
{
this._device = device;
this._i2cAddrs = i2cAdress;
if (_device.Modes is I2CMode)
{
_i2cMode = _device.Modes as I2CMode;
}
else
{
_device.AddDeviceError("Device ist nicht im I2C Mode");
}
}
/// <summary>
/// Neue Instanz des PMW Moduls
/// </summary>
/// <param name="device">Device welches genutzt werden soll</param>
/// <param name="i2CAddrs">I2C Adresse auf dem Bus</param>
/// <param name="axisNumber">Nummer der Achse am Arm. Ist 0 Basierend</param>
public Axis(Device device, byte i2CAddrs, int axisNumber)
{
AxisNumber = axisNumber;
_i2CAddrs = i2CAddrs;
I2CMode i2CMode = device.Modes as I2CMode;
if (i2CMode != null)
{
_i2CMode = i2CMode;
}
else
{
device.AddDeviceError("Device ist nicht im I2C Mode");
}
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.I2CSensor"/> class.
/// </summary>
/// <param name='mode'>
/// I2C mode
/// </param>
/// <param name='sensorAddress'>
/// I2C address.
/// </param>
/// <param name='pollInterval'>
/// Poll interval between checking for new values. This may need some tweaking depending on the sensor
/// </param>
public I2CBase(I2CMode mode, byte sensorAddress, int pollInterval) : base((SensorType)mode, SensorMode.Raw)
{
address = sensorAddress;
pollTime = pollInterval;
}
private const int I2CTimeOut = 500;//in MS
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.I2CSensor"/> class.
/// </summary>
/// <param name='mode'>
/// I2C mode
/// </param>
/// <param name='sensorAddress'>
/// I2C address.
/// </param>
public I2CBase(I2CMode mode, byte sensorAddress) : base((SensorType)mode, SensorMode.Raw)
{
address = sensorAddress;
pollTime = 0;
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.I2CSensor"/> class.
/// </summary>
/// <param name='mode'>
/// 9v or normal mode
/// </param>
/// <param name='sensorAddress'>
/// Sensor I2C address.
/// </param>
/// <param name='pollInterval'>
/// Poll interval between checking for new values. This may need some tweaking depending on the sensor
/// </param>
public I2CSensor(I2CMode mode, byte sensorAddress, int pollInterval) : base(mode, sensorAddress, pollInterval)
{
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.I2CSensor"/> class.
/// </summary>
/// <param name='mode'>
/// 9v or normal mode
/// </param>
/// <param name='sensorAddress'>
/// Sensor I2C address
/// </param>
public I2CSensor(I2CMode mode, byte sensorAddress) : base(mode, sensorAddress)
{
}
/* I2C read/write request
* -------------------------------
* 0 START_SYSEX (0xF0) (MIDI System Exclusive)
* 1 I2C_REQUEST (0x76)
* 2 slave address (LSB)
* 3 slave address (MSB) + read/write and address mode bits
{7: always 0} + {6: reserved} + {5: address mode, 1 means 10-bit mode} +
{4-3: read/write, 00 => write, 01 => read once, 10 => read continuously, 11 => stop reading} +
{2-0: slave address MSB in 10-bit mode, not used in 7-bit mode}
* 4 data 0 (LSB)
* 5 data 0 (MSB)
* 6 data 1 (LSB)
* 7 data 1 (MSB)
* ...
* n END_SYSEX (0xF7)
*/
public static byte[] I2CRequest(int slaveAddress, int[] data=null, I2CMode mode=I2CMode.READ)
{
int size = (data!=null ? data.Length : 0 ) + 1;
int[] _data = new int[size];
slaveAddress &= 0x3FFF; // Use only 14 bits
slaveAddress = (mode & I2CMode.TENBIT)>0 ? slaveAddress & 0x03FF : slaveAddress & 0x007F;
slaveAddress |= (int) mode << 7;
_data[0] = slaveAddress;
if(data!=null) {
for(int i=1; i < size; i++) {
_data[i] = data[i-1];
}
}
return SysexCommand(Command.I2C_REQUEST, _data);
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.I2CSensor"/> class.
/// </summary>
/// <param name='mode'>
/// I2C mode
/// </param>
/// <param name='sensorAddress'>
/// I2C address.
/// </param>
/// <param name='pollInterval'>
/// Poll interval between checking for new values. This may need some tweaking depending on the sensor
/// </param>
public I2CBase(I2CMode mode, byte sensorAddress, int pollInterval) : base((SensorType) mode, SensorMode.Raw) {
address = sensorAddress;
pollTime = pollInterval;
}
private const int I2CTimeOut = 500;//in MS
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.I2CSensor"/> class.
/// </summary>
/// <param name='mode'>
/// I2C mode
/// </param>
/// <param name='sensorAddress'>
/// I2C address.
/// </param>
public I2CBase(I2CMode mode, byte sensorAddress) : base((SensorType) mode, SensorMode.Raw) {
address = sensorAddress;
pollTime = 0;
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.I2CSensor"/> class.
/// </summary>
/// <param name='mode'>
/// 9v or normal mode
/// </param>
/// <param name='sensorAddress'>
/// Sensor I2C address.
/// </param>
/// <param name='pollInterval'>
/// Poll interval between checking for new values. This may need some tweaking depending on the sensor
/// </param>
public I2CSensor(I2CMode mode, byte sensorAddress, int pollInterval) : base(mode, sensorAddress,pollInterval) {
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.I2CSensor"/> class.
/// </summary>
/// <param name='mode'>
/// 9v or normal mode
/// </param>
/// <param name='sensorAddress'>
/// Sensor I2C address
/// </param>
public I2CSensor(I2CMode mode, byte sensorAddress) : base(mode, sensorAddress) {
}
public I2CRequest()
{
Mode = I2CMode.READ;
Data = new int[ Defaults.MaxDataBytes ];
Use10BitAddress = false;
}