/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// A function to send data received from the server over to the
/// code running in the PRU
///
/// </summary>
/// <param name="scData">the server client data object</param>
/// <history>
/// 19 Nov 18 Cynic - Originally written
/// </history>
public void SetPRUSteppersFromServerClientData(ServerClientData scData)
{
// sanity check
if (scData == null)
{
LogMessage("SetPRUSteppersFromServerClientData, scData==null");
return;
}
// write the allstep_enable flag
pruDriver.WritePRUDataUInt32(scData.AllStep_Enable, ALLSTEP_ENABLE_OFFSET);
// write the STEP0 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step0_Enable, STEP0_ENABLED_OFFSET);
// write the STEP0 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step0_StepSpeed, STEP0_FULLCOUNT);
// write the STEP0 direction flag
pruDriver.WritePRUDataUInt32(scData.Step0_DirState, STEP0_DIRSTATE);
// write the STEP1 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step1_Enable, STEP1_ENABLED_OFFSET);
// write the STEP1 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step1_StepSpeed, STEP1_FULLCOUNT);
// write the STEP1 direction flag
pruDriver.WritePRUDataUInt32(scData.Step1_DirState, STEP1_DIRSTATE);
// write the STEP2 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step2_Enable, STEP2_ENABLED_OFFSET);
// write the STEP2 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step2_StepSpeed, STEP2_FULLCOUNT);
// write the STEP2 direction flag
pruDriver.WritePRUDataUInt32(scData.Step2_DirState, STEP2_DIRSTATE);
// write the STEP3 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step3_Enable, STEP3_ENABLED_OFFSET);
// write the STEP3 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step3_StepSpeed, STEP3_FULLCOUNT);
// write the STEP3 direction flag
pruDriver.WritePRUDataUInt32(scData.Step3_DirState, STEP3_DIRSTATE);
// write the STEP4 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step4_Enable, STEP4_ENABLED_OFFSET);
// write the STEP4 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step4_StepSpeed, STEP4_FULLCOUNT);
// write the STEP4 direction flag
pruDriver.WritePRUDataUInt32(scData.Step4_DirState, STEP4_DIRSTATE);
// write the STEP5 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step5_Enable, STEP5_ENABLED_OFFSET);
// write the STEP5 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step5_StepSpeed, STEP5_FULLCOUNT);
// write the STEP5 direction flag
pruDriver.WritePRUDataUInt32(scData.Step5_DirState, STEP5_DIRSTATE);
// pump the current state out to the console
Console.WriteLine(scData.GetState());
LogMessage("scData=" + scData.GetState());
// write the semaphore. This must come last, the code running in the
// PRU will see this change and set things up according to the
// other configuration items above
pruDriver.WritePRUDataUInt32(1, SEMAPHORE_OFFSET);
}
