/** ctor */
public DisplayModule(PortDefinition port, OrientationType orientation)
{
if (CTRE.Util.Contains(port.types, kModulePortType))
{
status = StatusCodes.OK;
_port = port;
Port8Definition portDef = (Port8Definition)port;
if (portDef.Pin3 != Cpu.Pin.GPIO_NONE)
{
_outReset = new OutputPort(portDef.Pin3, false);
}
if (portDef.Pin4 != Cpu.Pin.GPIO_NONE)
{
_outBackLght = new OutputPort(portDef.Pin4, true);
}
_outRs = new OutputPort(portDef.Pin5, false);
/* alloc the working arrays */
_cache_1B = new byte[1];
_cache_2W = new ushort[2];
_cache_manyBs = new byte[1024];
_cache_manyWs = new ushort[1024];
SPI.Configuration spiConfiguration = new SPI.Configuration(portDef.Pin6, false, 0, 0, false, true, 12000, SPI.SPI_module.SPI4);
_spi = new Microsoft.SPOT.Hardware.SPI(spiConfiguration);
/* reset pulse if pin is available */
if (_outReset != null)
{
_outReset.Write(false);
Thread.Sleep(150);
_outReset.Write(true);
}
/* setup registers */
ConfigureDisplay();
/* fixup orientation */
_orientation = orientation;
ApplytOrientation();
/* empty screen */
ClearScreen();
/* start rendering thread */
var th = new Thread(RenderThread);
th.Priority = ThreadPriority.Lowest;
th.Start();
}
else
{
status = StatusCodes.PORT_MODULE_TYPE_MISMATCH;
Reporting.SetError(status);
}
}
/**
* PixyCam Constructor
*
* Also Initializes OutputBuffer and Sets PixyState to FirstWord
*
* @param PortDef Port PixyCam is plugged into
* @param ClockRate Clockrate of SPI
*/
public PixyCamera(Port8Definition PortDef, UInt16 ClockRate)
{
/* Constructs PixyCam */
SPI.Configuration PixyCam_SPIConfig = new SPI.Configuration(HERO.IO.Port8.Pin6, false, 0, 100, false, true, ClockRate, SPI.SPI_module.SPI4);
PixyCam_SPI = new SPI(PixyCam_SPIConfig);
/* Initialize Output Buffer */
OutBuffer = new byte[Pixy_OUTBUFFER_SIZE];
/* Initialze Pixy Processing State */
PixyState = States.FirstWord;
}