public override bool Setup()
{
spiPort = YSpiPort.FirstSpiPort();
if (spiPort == null)
{
Console.WriteLine("No Yocto-Spi detected");
return(false);
}
YModule module = spiPort.get_module();
string errmsg = "";
string serialNumber = module.get_serialNumber();
YPowerOutput powerOutput = YPowerOutput.FindPowerOutput(serialNumber + ".powerOutput");
powerOutput.set_voltage(YPowerOutput.VOLTAGE_OUT3V3);
spiPort.set_voltageLevel(YSpiPort.VOLTAGELEVEL_TTL3V);
spiPort.set_spiMode("2000000,0,msb");
spiPort.set_protocol("Frame:1ms");
spiPort.set_ssPolarity(YSpiPort.SSPOLARITY_ACTIVE_LOW);
module.saveToFlash();
YAPI.Sleep(25, ref errmsg);
spiPort.writeHex(SET_MODE_4);
YAPI.Sleep(5, ref errmsg);
string[] commands = { READ_STATUS, READ_STATUS, READ_STATUS, READ_ID, SET_ANGLES };
Frame[] result;
if (!SendAndReceive(commands, out result))
{
Console.WriteLine("Failed to initialize SCL3300 (communication error)");
return(false);
}
if (!_chip_ready)
{
Console.WriteLine("SCL3300 startup failed (rs={4})", result[2].rs);
return(false);
}
if ((result[3].data & 0xff) != 0xc1)
{
Console.WriteLine("Unexpected SCL3300 identification (WHOAMI={0})", (result[3].data & 0xff));
return(false);
}
if (!DecodeStatus(result[2]))
{
Console.WriteLine("SCL3300 Status bad, chip reset is required");
return(false);
}
Console.WriteLine("SCL3300 is ready");
return(true);
}
public void ArrivalCallback(YModule module)
{
// Check if the device features a SPI Port
for (int i = 0; i < module.functionCount(); i++)
{
if (module.functionType(i) == "SpiPort")
{
// SPI Port found, use it
string identifier = module.get_serialNumber() + "." + module.functionId(i);
Log("Using " + identifier);
spiPort = YSpiPort.FindSpiPort(identifier);
spiPort.set_spiMode("0,0,lsb");
spiPort.reset();
}
}
}