/// <summary>
/// Creates an initialized instance.
/// </summary>
/// <param name="frequency">
/// <see cref="NxpPca9685Device.Frequency"/> for important information.
/// Use <see cref="ServoFrequencyDefault"/> to support most analog servos.
/// </param>
/// <param name="clear">Clears all LED/PWM values.</param>
/// <param name="restart">
/// Set true to restart the device which also enables the osciallator.
/// When false, you have to call <see cref="NxpPca9685Device.Wake"/> or <see cref="Restart"/> later to enable the oscillator.
/// </param>
/// <param name="enable">
/// Set true to enable output, or false to continue with further initialization before enabling output.
/// When false, you have to set it later before any output can occur.
/// Defaults to false to prevent unexpected behaviour from damaging hardware.
/// </param>
public static NavioLedPwmDevice Initialize(float frequency,
bool clear = true, bool restart = true, bool enable = false)
{
// Connect to I2C device
var device = NavioHardwareProvider.ConnectI2c(I2cControllerIndex, I2cAddress, true, true);
if (device == null)
{
// Initialization error
throw new InvalidOperationException(string.Format(CultureInfo.CurrentCulture,
Resources.Strings.I2cErrorDeviceNotFound, I2cAddress, I2cControllerIndex));
}
// Perform device initialization sequence...
var navioDevice = new NavioLedPwmDevice(device);
navioDevice.OutputEnabled = false; // Disable output
navioDevice.WriteFrequency(frequency); // Set frequency
if (clear)
{
navioDevice.Clear(); // Clear LED/PWM values when specified
}
if (restart)
{
navioDevice.Restart(); // Restart when specified
}
if (enable)
{
navioDevice.OutputEnabled = true; // Enable output when specified
}
// Return initialized device
return(navioDevice);
}
/// <summary>
/// Creates and initializes an instance.
/// </summary>
public NavioRCInputDevice()
{
// Initialize buffers
_valueBuffer = new ConcurrentQueue <PwmValue>();
_valueTrigger = new AutoResetEvent(false);
_frameBuffer = new ConcurrentQueue <PwmFrame>();
_frameTrigger = new AutoResetEvent(false);
// Configure GPIO
_inputPin = NavioHardwareProvider.ConnectGpio(0, GpioInputPinNumber, GpioPinDriveMode.Input, exclusive: true);
if (_inputPin == null)
{
// Initialization error
throw new InvalidOperationException(string.Format(CultureInfo.CurrentCulture,
Resources.Strings.GpioErrorDeviceNotFound, GpioInputPinNumber, GpioControllerIndex));
}
if (_inputPin.DebounceTimeout != TimeSpan.Zero)
{
_inputPin.DebounceTimeout = TimeSpan.Zero;
}
// Create decoder thread (CPPM only to start with, SBus desired)
_decoder = new CppmDecoder();
_stop = new CancellationTokenSource();
_channels = new int[_decoder.MaximumChannels];
Channels = new ReadOnlyCollection <int>(_channels);
_decoderTask = Task.Factory.StartNew(() => { _decoder.DecodePulse(_valueBuffer, _valueTrigger, _frameBuffer, _frameTrigger, _stop.Token); });
// Create receiver thread
_receiverTask = Task.Factory.StartNew(() => { Receiver(); });
// Hook events
_inputPin.ValueChanged += OnInputPinValueChanged;
}
/// <summary>
/// Creates an instance of the correct type depending on the Navio model.
/// </summary>
public NavioFramDevice(NavioHardwareModel model)
{
// Connect to I2C device
var device = NavioHardwareProvider.ConnectI2c(I2cControllerIndex, I2cAddress, true, true);
if (device == null)
{
// Initialization error
throw new InvalidOperationException(string.Format(CultureInfo.CurrentCulture,
Resources.Strings.I2cErrorDeviceNotFound, I2cAddress, I2cControllerIndex));
}
// Create model specific device
switch (model)
{
case NavioHardwareModel.Navio:
// Connect to upper I2C device
var upperAddress = Mb85rc04vDevice.GetUpperI2cAddress(I2cAddress);
var upperDevice = NavioHardwareProvider.ConnectI2c(I2cControllerIndex, upperAddress, true, true);
if (device == null)
{
// Initialization error
throw new InvalidOperationException(string.Format(CultureInfo.CurrentCulture,
Resources.Strings.I2cErrorDeviceNotFound, upperAddress, I2cControllerIndex));
}
// Create 512 byte device for Navio
Hardware = new Mb85rc04vDevice(device, upperDevice);
break;
case NavioHardwareModel.NavioPlus:
// Create 32KiB device for Navio+
Hardware = new Mb85rc256vDevice(device);
break;
default:
throw new NotImplementedException();
}
}
public NavioMotionDevice()
: base(NavioHardwareProvider.ConnectSpi(SpiControllerIndex, ChipSelect, Frequency, DataLength, SpiMode.Mode3))
{
}
public NavioBarometerDevice()
: base(NavioHardwareProvider.ConnectI2c(I2cControllerIndex, I2cAddress, true, true), DefaultOsr)
{
}
public NavioPositionDevice()
: base(NavioHardwareProvider.ConnectSpi(SpiControllerIndex, ChipSelect, Frequency, DataLength, SpiMode.Mode0))
{
// Initialize message received handler
Reader.MessageReceived += OnMessageReceived;
}
