/// <summary>
/// Creates and initializes an instance.
/// </summary>
public NavioRCInputDevice()
{
// Initialize buffers and events
_valueBuffer = new ConcurrentQueue<PwmValue>();
_valueTrigger = new AutoResetEvent(false);
_frameBuffer = new ConcurrentQueue<PwmFrame>();
_frameTrigger = new AutoResetEvent(false);
// Configure GPIO
_inputPin = GpioController.GetDefault().OpenPin(InputPinNumber);
if (_inputPin.GetDriveMode() != GpioPinDriveMode.Input)
_inputPin.SetDriveMode(GpioPinDriveMode.Input);
_inputPin.DebounceTimeout = TimeSpan.Zero;
_inputPin.ValueChanged += OnInputPinValueChanged;
// 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.Decode(_valueBuffer, _valueTrigger, _frameBuffer, _frameTrigger, _stop.Token); });
// Create receiver thread
_receiverTask = Task.Factory.StartNew(() => { Receiver(); });
}
/// <summary>
/// Creates an instance with required mode bits set, but the device state and PWM values unchanged (supporting recovery).
/// </summary>
/// <remarks>
/// <para>
/// Initializing without restart allows the caller decide whether to recover or reset the device.
/// Before starting any output be sure to check the <see cref="NxpPca9685Device.Frequency"/>.
/// </para>
/// <para>
/// To start with new settings, call <see cref="NxpPca9685Device.Clear"/>, <seealso cref="Restart"/> then set <see cref="OutputEnabled"/>.
/// To resume, call <see cref="NxpPca9685Device.Wake"/> then set <see cref="OutputEnabled"/>.
/// </para>
/// </remarks>
public NavioPca9685Device()
: base(GetDeviceId(), I2cAddress, ExternalClockSpeed, true, true)
{
// Add PWM channel shortcuts
Pwm = new ObservableCollection<NxpPca9685Channel>();
for (var index = PwmChannelIndex; index < ChannelCount; index++)
Pwm.Add(Channels[index]);
// Initialize output pin and ensure in correct mode (but leave current state)
_outputEnablePin = GpioController.GetDefault().OpenPin(OutputEnableGpioPin);
if (_outputEnablePin.GetDriveMode() != GpioPinDriveMode.Output)
_outputEnablePin.SetDriveMode(GpioPinDriveMode.Output);
// Enable auto-increment and "all call"
Hardware.WriteBit((byte)NxpPca9685Register.Mode1, (byte)(NxpPca9685Mode1Bits.AutoIncrement | NxpPca9685Mode1Bits.AllCall), true);
// Set "all call" address
Hardware.WriteByte((byte)NxpPca9685Register.AllCall, (byte)I2cAllCallAddress);
// Update property
ReadMode1();
// Setup LED channels
var redChannel = Channels[LedRedChannelIndex];
redChannel.ValueChanged += OnLedRedChannelChanged;
_ledRed = ~redChannel.Value.Length & 0xfff;
var greenChannel = Channels[LedGreenChannelIndex];
greenChannel.ValueChanged += OnLedGreenChannelChanged;
_ledGreen = ~greenChannel.Value.Length & 0xfff;
var blueChannel = Channels[LedBlueChannelIndex];
blueChannel.ValueChanged += OnLedBlueChannelChanged;
_ledBlue = ~blueChannel.Value.Length & 0xfff;
}
/// <summary>
/// Creates and initializes an instance.
/// </summary>
public NavioRCInputDevice()
{
// Initialize
_timer = new Stopwatch();
_inputPin = GpioController.GetDefault().OpenPin(InputGpioPin);
_ppmFrame = new double[8];
_channels = new Collection<NavioRCInputChannel>();
Channels = new ReadOnlyCollection<NavioRCInputChannel>(_channels);
// PPM only in current implementation
Mode = NavioRCInputMode.PPM;
for (var index = 0; index < PpmChannelCount; index++)
_channels.Add(new NavioRCInputChannel(index));
// Configure GPIO
if (_inputPin.GetDriveMode() != GpioPinDriveMode.Input)
_inputPin.SetDriveMode(GpioPinDriveMode.Input);
_inputPin.ValueChanged += OnInputPinValueChanged;
}