/// <summary>
/// Gets the specified pin from the pin cache. If the specified pin
/// does not already exist in the cache, it will be cached first,
/// then returned to the caller.
/// </summary>
/// <param name="pin">
/// The pin to get from the cache.
/// </param>
/// <returns>
/// The cached instance of the specified pin.
/// </returns>
public IPCA9685Pin GetPin(IPCA9685Pin pin)
{
if (!this._pinCache.Contains(pin))
{
this._pinCache.Add(pin);
}
return(this._pinCache[this._pinCache.IndexOf(pin)]);
}
/// <summary>
/// Gets the PWM on/off values for the specified pin.
/// </summary>
/// <param name="pin">
/// The pin to get the on/off values for (Channel 0 .. 15).
/// </param>
/// <returns>
/// A tuple containing the on/off PWM values where Item1 contains the
/// "on" value and Item2 contains the "Off" value.
/// </returns>
public Tuple <Int32, Int32> GetPwmOnOffValues(IPCA9685Pin pin)
{
if (!this.HasPin(pin))
{
throw new ArgumentException("The specified pin does not exist in the pin cache.");
}
return(new Tuple <Int32, Int32>(
this.GetPin(pin).PwmOnValue,
this.GetPin(pin).PwmOffValue
));
}
/// <summary>
/// Initializes a new instance of the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/>
/// class with a PCA9685 GPIO provider and pin.
/// </summary>
/// <param name="provider">
/// The PCA9685 GPIO provider.
/// </param>
/// <param name="pin">
/// The PCA9685 pin (channel) the servo is attached to.
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="provider"/> cannot be null. - or -
/// <paramref name="pin"/> cannot be null.
/// </exception>
public PCA9685GpioServoDriver(PCA9685GpioProvider provider, IPCA9685Pin pin) {
if (provider == null) {
throw new ArgumentNullException("provider");
}
if (pin == null) {
throw new ArgumentNullException("pin");
}
this._provider = provider;
this._pin = pin;
this.UpdateResolution();
}
/// <summary>
/// Initializes a new instance of the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/>
/// class with a PCA9685 GPIO provider and pin.
/// </summary>
/// <param name="provider">
/// The PCA9685 GPIO provider.
/// </param>
/// <param name="pin">
/// The PCA9685 pin (channel) the servo is attached to.
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="provider"/> cannot be null. - or -
/// <paramref name="pin"/> cannot be null.
/// </exception>
public PCA9685GpioServoDriver(PCA9685GpioProvider provider, IPCA9685Pin pin)
{
if (provider == null)
{
throw new ArgumentNullException("provider");
}
if (pin == null)
{
throw new ArgumentNullException("pin");
}
this._provider = provider;
this._pin = pin;
this.UpdateResolution();
}
/// <summary>
/// Sets the always off.
/// </summary>
/// <param name="pin">
/// The pin to set always off (Channel 0 .. 15).
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="pin"/> cannot be null.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="pin"/> does not exist in the pin cache.
/// </exception>
/// <exception cref="InvalidPinModeException">
/// The specified pin is not in PWM mode.
/// </exception>
/// <exception cref="IOException">
/// Unable to write to the specified channel (pin address).
/// </exception>
public void SetAlwaysOff(IPCA9685Pin pin)
{
this.ValidatePin(pin, 1, 0);
Int32 chan = pin.Address;
try {
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_ON_L + 4 * chan), (Byte)0x00 });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_ON_H + 4 * chan), (Byte)0x00 });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_OFF_L + 4 * chan), (Byte)0x00 });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_OFF_H + 4 * chan), (Byte)0x10 });
}
catch (IOException ioEx) {
throw new IOException("Error while trying to write to channel: " + chan.ToString(), ioEx);
}
this.CachePinValues(pin, 1, 0);
}
/// <summary>
/// Validates the specified pin and throws an exception if invalid.
/// </summary>
/// <param name="pin">
/// The pin to validate.
/// </param>
/// <param name="onPosition">
/// The PWM value to be considered in an "on" state.
/// </param>
/// <param name="offPosition">
/// The PWM value to be considered in an "off" state.
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="pin"/> cannot be null.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="pin"/> does not exist in the pin cache.
/// </exception>
/// <exception cref="InvalidPinModeException">
/// The specified pin is not in PWM mode.
/// </exception>
private void ValidatePin(IPCA9685Pin pin, Int32 onPosition, Int32 offPosition)
{
if (pin == null)
{
throw new ArgumentNullException("pin");
}
if (!this.HasPin(pin))
{
throw new ArgumentException("The specified pin does not exist in the pin cache.");
}
if (pin.Mode != PinMode.PWM)
{
String errMsg = "Invalid pin mode [" + Enum.GetName(typeof(PinMode), pin.Mode) +
"]; Unable to set PWM value " + onPosition.ToString() + ", " +
offPosition.ToString();
throw new InvalidPinModeException(pin, errMsg);
}
}
/// <summary>
/// Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.
/// </summary>
/// <filterpriority>2</filterpriority>
/// <remarks>Call <see cref="Dispose"/> when you are finished using the
/// <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/>. The <see cref="Dispose"/> method leaves
/// the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/> in an unusable state. After calling
/// <see cref="Dispose"/>, you must release all references to the
/// <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/> so the garbage collector can reclaim the
/// memory that the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/> was occupying.</remarks>
public void Dispose()
{
if (this._isDisposed)
{
return;
}
if (this._provider != null)
{
this._provider.Dispose();
this._provider = null;
}
if (this._pin != null)
{
this._pin.Dispose();
this._pin = null;
}
this._pos = 0;
this._res = 0;
this._isDisposed = true;
}
/// <summary>
/// Sets the PWM values for the specified pin. The LEDn_ON and LEDn_OFF
/// counts can vary from 0 to 4095 max.<br/>
/// The LEDn_ON and LEDn_OFF count registers should never be programmed
/// with the same values.<br/><br/>
/// Because the loading of the LEDn_ON and LEDn_OFF registers is via I2C-bus,
/// and asynchronous to the internal oscillator, it is best to ensure that
/// there are no visual artifacts of changing the ON and OFF values. This
/// is achieved by updating the changes at the end of the LOW cycle.
/// </summary>
/// <param name="pin">
/// The pin to set the PWM values for (Channel 0 .. 15).
/// </param>
/// <param name="onPos">
/// The PWM threshold to consider the pin "on" (value between 0 and 4095).
/// </param>
/// <param name="offPos">
/// The PWM threshold to consider the pin "off" (value between 0 and 4095).
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="pin"/> cannot be null.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="pin"/> does not exist in the pin cache. - or -
/// <paramref name="onPos"/> and <paramref name="offPos"/> are equal.
/// </exception>
/// <exception cref="InvalidPinModeException">
/// The specified pin is not in PWM mode.
/// </exception>
/// <exception cref="IOException">
/// Unable to write to the specified channel (pin address).
/// </exception>
public void SetPWM(IPCA9685Pin pin, Int32 onPos, Int32 offPos)
{
this.ValidatePin(pin, onPos, offPos);
this.ValidatePwmValueInRange(onPos);
this.ValidatePwmValueInRange(offPos);
if (onPos == offPos)
{
throw new ArgumentException("ON [" + onPos.ToString() + "] and OFF [" + offPos.ToString() + "] values must be different.");
}
Int32 chan = pin.Address;
try {
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_ON_L + 4 * chan), (Byte)((Byte)onPos & 0xFF) });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_ON_H + 4 * chan), (Byte)((Byte)onPos >> 8) });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_OFF_L + 4 * chan), (Byte)((Byte)offPos & 0xFF) });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_OFF_H + 4 * chan), (Byte)((Byte)offPos >> 8) });
}
catch (IOException ioEx) {
throw new IOException("Unable to write to channel: " + chan.ToString(), ioEx);
}
this.CachePinValues(pin, onPos, offPos);
}
/// <summary>
/// Sets the always off.
/// </summary>
/// <param name="pin">
/// The pin to set always off (Channel 0 .. 15).
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="pin"/> cannot be null.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="pin"/> does not exist in the pin cache.
/// </exception>
/// <exception cref="InvalidPinModeException">
/// The specified pin is not in PWM mode.
/// </exception>
/// <exception cref="IOException">
/// Unable to write to the specified channel (pin address).
/// </exception>
public void SetAlwaysOff(IPCA9685Pin pin) {
this.ValidatePin(pin, 1, 0);
Int32 chan = pin.Address;
try {
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_ON_L + 4 * chan), (Byte)0x00 });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_ON_H + 4 * chan), (Byte)0x00 });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_OFF_L + 4 * chan), (Byte)0x00 });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_OFF_H + 4 * chan), (Byte)0x10 });
}
catch (IOException ioEx) {
throw new IOException("Error while trying to write to channel: " + chan.ToString(), ioEx);
}
this.CachePinValues(pin, 1, 0);
}
/// <summary>
/// Sets the pulse duration in microseconds.<br/>
/// Make sure duration doesn't exceed period time (1,000,000/freq)!
/// </summary>
/// <param name="pin">
/// The pin to set the pulse duration for (Channel 0 .. 15).
/// </param>
/// <param name="duration">
/// Pulse duration in microseconds.
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="pin"/> cannot be null.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="pin"/> does not exist in the pin cache.
/// </exception>
/// <exception cref="InvalidPinModeException">
/// The specified pin is not in PWM mode.
/// </exception>
/// <exception cref="IOException">
/// Unable to write to the specified channel (pin address).
/// </exception>
public void SetPWM(IPCA9685Pin pin, Int32 duration)
{
Int32 offPos = this.CalcOffPosForPulseDuration(duration);
this.SetPWM(pin, duration);
}
/// <summary>
/// Caches the pin values.
/// </summary>
/// <param name="pin">
/// The pin to cache the on/off values for.
/// </param>
/// <param name="onPosition">
/// The PWM threshold to consider the pin "on".
/// </param>
/// <param name="offPosition">
/// The PWM threshold to consider the pin "off".
/// </param>
private void CachePinValues(IPCA9685Pin pin, Int32 onPosition, Int32 offPosition)
{
this.GetPin(pin).PwmOnValue = onPosition;
this.GetPin(pin).PwmOffValue = offPosition;
}
/// <summary>
/// Determines whether this instance has pin the specified pin
/// in the internal pin cache.
/// </summary>
/// <param name="pin">
/// The pin to check for.
/// </param>
/// <returns>
/// <c>true</c> if this instance has pin the specified pin; otherwise, <c>false</c>.
/// </returns>
public Boolean HasPin(IPCA9685Pin pin)
{
return(this._pinCache.Contains(pin));
}
/// <summary>
/// Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.
/// </summary>
/// <filterpriority>2</filterpriority>
/// <remarks>Call <see cref="Dispose"/> when you are finished using the
/// <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/>. The <see cref="Dispose"/> method leaves
/// the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/> in an unusable state. After calling
/// <see cref="Dispose"/>, you must release all references to the
/// <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/> so the garbage collector can reclaim the
/// memory that the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/> was occupying.</remarks>
public void Dispose() {
if (this._isDisposed) {
return;
}
if (this._provider != null) {
this._provider.Dispose();
this._provider = null;
}
if (this._pin != null) {
this._pin.Dispose();
this._pin = null;
}
this._pos = 0;
this._res = 0;
this._isDisposed = true;
}
/// <summary>
/// Gets the PWM on/off values for the specified pin.
/// </summary>
/// <param name="pin">
/// The pin to get the on/off values for (Channel 0 .. 15).
/// </param>
/// <returns>
/// A tuple containing the on/off PWM values where Item1 contains the
/// "on" value and Item2 contains the "Off" value.
/// </returns>
public Tuple<Int32, Int32> GetPwmOnOffValues(IPCA9685Pin pin) {
if (!this.HasPin(pin)) {
throw new ArgumentException("The specified pin does not exist in the pin cache.");
}
return new Tuple<Int32, Int32>(
this.GetPin(pin).PwmOnValue,
this.GetPin(pin).PwmOffValue
);
}
/// <summary>
/// Sets the pulse duration in microseconds.<br/>
/// Make sure duration doesn't exceed period time (1,000,000/freq)!
/// </summary>
/// <param name="pin">
/// The pin to set the pulse duration for (Channel 0 .. 15).
/// </param>
/// <param name="duration">
/// Pulse duration in microseconds.
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="pin"/> cannot be null.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="pin"/> does not exist in the pin cache.
/// </exception>
/// <exception cref="InvalidPinModeException">
/// The specified pin is not in PWM mode.
/// </exception>
/// <exception cref="IOException">
/// Unable to write to the specified channel (pin address).
/// </exception>
public void SetPWM(IPCA9685Pin pin, Int32 duration) {
Int32 offPos = this.CalcOffPosForPulseDuration(duration);
this.SetPWM(pin, duration);
}
/// <summary>
/// Sets the PWM values for the specified pin. The LEDn_ON and LEDn_OFF
/// counts can vary from 0 to 4095 max.<br/>
/// The LEDn_ON and LEDn_OFF count registers should never be programmed
/// with the same values.<br/><br/>
/// Because the loading of the LEDn_ON and LEDn_OFF registers is via I2C-bus,
/// and asynchronous to the internal oscillator, it is best to ensure that
/// there are no visual artifacts of changing the ON and OFF values. This
/// is achieved by updating the changes at the end of the LOW cycle.
/// </summary>
/// <param name="pin">
/// The pin to set the PWM values for (Channel 0 .. 15).
/// </param>
/// <param name="onPos">
/// The PWM threshold to consider the pin "on" (value between 0 and 4095).
/// </param>
/// <param name="offPos">
/// The PWM threshold to consider the pin "off" (value between 0 and 4095).
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="pin"/> cannot be null.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="pin"/> does not exist in the pin cache. - or -
/// <paramref name="onPos"/> and <paramref name="offPos"/> are equal.
/// </exception>
/// <exception cref="InvalidPinModeException">
/// The specified pin is not in PWM mode.
/// </exception>
/// <exception cref="IOException">
/// Unable to write to the specified channel (pin address).
/// </exception>
public void SetPWM(IPCA9685Pin pin, Int32 onPos, Int32 offPos) {
this.ValidatePin(pin, onPos, offPos);
this.ValidatePwmValueInRange(onPos);
this.ValidatePwmValueInRange(offPos);
if (onPos == offPos) {
throw new ArgumentException("ON [" + onPos.ToString() + "] and OFF [" + offPos.ToString() + "] values must be different.");
}
Int32 chan = pin.Address;
try {
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_ON_L + 4 * chan), (Byte)((Byte)onPos & 0xFF) });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_ON_H + 4 * chan), (Byte)((Byte)onPos >> 8) });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_OFF_L + 4 * chan), (Byte)((Byte)offPos & 0xFF) });
this._busDevice.WriteBytes(this._busAddr, new Byte[] { (Byte)(PCA9685_LED0_OFF_H + 4 * chan), (Byte)((Byte)offPos >> 8) });
}
catch (IOException ioEx) {
throw new IOException("Unable to write to channel: " + chan.ToString(), ioEx);
}
this.CachePinValues(pin, onPos, offPos);
}
/// <summary>
/// Caches the pin values.
/// </summary>
/// <param name="pin">
/// The pin to cache the on/off values for.
/// </param>
/// <param name="onPosition">
/// The PWM threshold to consider the pin "on".
/// </param>
/// <param name="offPosition">
/// The PWM threshold to consider the pin "off".
/// </param>
private void CachePinValues(IPCA9685Pin pin, Int32 onPosition, Int32 offPosition) {
this.GetPin(pin).PwmOnValue = onPosition;
this.GetPin(pin).PwmOffValue = offPosition;
}
/// <summary>
/// Validates the specified pin and throws an exception if invalid.
/// </summary>
/// <param name="pin">
/// The pin to validate.
/// </param>
/// <param name="onPosition">
/// The PWM value to be considered in an "on" state.
/// </param>
/// <param name="offPosition">
/// The PWM value to be considered in an "off" state.
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="pin"/> cannot be null.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="pin"/> does not exist in the pin cache.
/// </exception>
/// <exception cref="InvalidPinModeException">
/// The specified pin is not in PWM mode.
/// </exception>
private void ValidatePin(IPCA9685Pin pin, Int32 onPosition, Int32 offPosition) {
if (pin == null) {
throw new ArgumentNullException("pin");
}
if (!this.HasPin(pin)) {
throw new ArgumentException("The specified pin does not exist in the pin cache.");
}
if (pin.Mode != PinMode.PWM) {
String errMsg = "Invalid pin mode [" + Enum.GetName(typeof(PinMode), pin.Mode) +
"]; Unable to set PWM value " + onPosition.ToString() + ", " +
offPosition.ToString();
throw new InvalidPinModeException(pin, errMsg);
}
}
/// <summary>
/// Determines whether this instance has pin the specified pin
/// in the internal pin cache.
/// </summary>
/// <param name="pin">
/// The pin to check for.
/// </param>
/// <returns>
/// <c>true</c> if this instance has pin the specified pin; otherwise, <c>false</c>.
/// </returns>
public Boolean HasPin(IPCA9685Pin pin) {
return this._pinCache.Contains(pin);
}
/// <summary>
/// Gets the specified pin from the pin cache. If the specified pin
/// does not already exist in the cache, it will be cached first,
/// then returned to the caller.
/// </summary>
/// <param name="pin">
/// The pin to get from the cache.
/// </param>
/// <returns>
/// The cached instance of the specified pin.
/// </returns>
public IPCA9685Pin GetPin(IPCA9685Pin pin) {
if (!this._pinCache.Contains(pin)) {
this._pinCache.Add(pin);
}
return this._pinCache[this._pinCache.IndexOf(pin)];
}
