/// <summary>
/// Creates an instance of <see cref="Spi" /> for the given socket.
/// </summary>
/// <param name="socket">The <see cref="Socket"/> for the <see cref="Spi"/> interface.</param>
/// <param name="spiConfiguration">The <see cref="SpiConfiguration"/> object for the <see cref="Spi"/> interface.</param>
/// <param name="sharingMode">The <see cref="SpiSharing"/> mode of the <see cref="SPI"/> interface.</param>
/// <param name="chipSelectSocket">The chip select <see cref="Socket"/> of the <see cref="Spi"/> interface. Can be null if not used.</param>
/// <param name="chipSelectSocketPin">The chip select pin on <paramref name="chipSelectSocket"/>.</param>
/// <param name="busySocket">The busy <see cref="Socket"/> of the <see cref="Spi" /> interface. Can be null if not used.</param>
/// <param name="busySocketPin">The busy pin to on the <paramref name="busySocket"/>.</param>
/// <param name="module">The <see cref="Module"/> that is connected to the <see cref="Spi"/> interface.</param>
/// <returns></returns>
public static Spi Create(Socket socket, SpiConfiguration spiConfiguration, SpiSharing sharingMode, Socket chipSelectSocket, Socket.Pin chipSelectSocketPin, Socket busySocket, Socket.Pin busySocketPin, Module module)
{
socket.EnsureTypeIsSupported('S', module);
Cpu.Pin reservedSelectPin = Socket.UnspecifiedPin;
Cpu.Pin reservedBusyPin = Socket.UnspecifiedPin;
if (chipSelectSocket != null)
{
reservedSelectPin = chipSelectSocket.ReservePin(chipSelectSocketPin, module);
}
if (busySocket != null)
{
reservedBusyPin = busySocket.ReservePin(busySocketPin, module);
}
// reserved pins will be:
// UnspecifiedPin if no chip select/busy pin is used
// UnnumberedPin if a chip select/busy pin was used on an indirected (non-forwarded socket)
// a valid Cpu.Pin otherwise
if (socket.SPIModule != Socket.SocketInterfaces.SPIMissing)
{
return(new NativeSpi(socket, spiConfiguration, sharingMode, reservedSelectPin, reservedBusyPin, module, socket.SPIModule));
}
else
{
return(socket.SpiIndirector(socket, spiConfiguration, sharingMode, chipSelectSocket, chipSelectSocketPin, busySocket, busySocketPin, module));
}
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public DisplayN18(int socketNumber)
: base(WpfMode.Separate)
{
this.byteArray = new byte[1];
this.shortArray = new ushort[2];
this.isBgr = true;
this.socket = Socket.GetSocket(socketNumber, true, this, null);
this.socket.EnsureTypeIsSupported('S', this);
this.resetPin = GTI.DigitalOutputFactory.Create(this.socket, Socket.Pin.Three, false, this);
this.backlightPin = GTI.DigitalOutputFactory.Create(this.socket, Socket.Pin.Four, true, this);
this.rsPin = GTI.DigitalOutputFactory.Create(this.socket, Socket.Pin.Five, false, this);
this.spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, true, 12000);
this.netMFSpiConfig = new SPI.Configuration(this.socket.CpuPins[6], this.spiConfig.IsChipSelectActiveHigh, this.spiConfig.ChipSelectSetupTime, this.spiConfig.ChipSelectHoldTime, this.spiConfig.IsClockIdleHigh, this.spiConfig.IsClockSamplingEdgeRising, this.spiConfig.ClockRateKHz, this.socket.SPIModule);
this.spi = GTI.SpiFactory.Create(this.socket, this.spiConfig, GTI.SpiSharing.Shared, this.socket, Socket.Pin.Six, this);
this.Reset();
this.ConfigureDisplay();
base.OnDisplayConnected("Display N18", 128, 160, DisplayOrientation.Normal, null);
this.Clear();
}
public NativeSpi(Socket socket, SpiConfiguration configuration, SpiSharing sharing, Hardware.Cpu.Pin chipSelectPin, Hardware.Cpu.Pin busyPin, Module module, Hardware.SPI.SPI_module spiModule)
{
_hardwareInstance = GetAndUseInstance(socket, sharing, module, spiModule);
_chipSelectPin = chipSelectPin;
_busyPin = busyPin;
_configuration = ToNativeConfiguration(configuration, chipSelectPin, busyPin, spiModule);
if (_hardwareInstance.Interface == null && _configuration != null)
_hardwareInstance.Interface = new Hardware.SPI(_configuration);
}
public NativeSpi(Socket socket, SpiConfiguration configuration, SpiSharing sharing, Hardware.Cpu.Pin chipSelectPin, Hardware.Cpu.Pin busyPin, Module module, Hardware.SPI.SPI_module spiModule)
{
_hardwareInstance = GetAndUseInstance(socket, sharing, module, spiModule);
_chipSelectPin = chipSelectPin;
_busyPin = busyPin;
_configuration = ToNativeConfiguration(configuration, chipSelectPin, busyPin, spiModule);
if (_hardwareInstance.Interface == null && _configuration != null)
{
_hardwareInstance.Interface = new Hardware.SPI(_configuration);
}
}
private static Microsoft.SPOT.Hardware.SPI.Configuration ToNativeConfiguration(SpiConfiguration config, Hardware.Cpu.Pin chipSelectPin, Hardware.Cpu.Pin busyPin, Hardware.SPI.SPI_module spiModule)
{
if (config == null)
return new Microsoft.SPOT.Hardware.SPI.Configuration(chipSelectPin, false, 0, 0, false, false, 0, spiModule, busyPin, false);
return new Microsoft.SPOT.Hardware.SPI.Configuration(
chipSelectPin,
config.IsChipSelectActiveHigh,
config.ChipSelectSetupTime,
config.ChipSelectHoldTime,
config.IsClockIdleHigh,
config.IsClockSamplingEdgeRising,
config.ClockRateKHz,
spiModule,
busyPin,
config.IsBusyActiveHigh);
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
/// <param name="socketNumberTwo">The second socket that this module is plugged in to.</param>
public CerbotController()
{
this.buzzer = new PWM(Cpu.PWMChannel.PWM_0, 1000, 0, false);
this.leftSensor = new AnalogInput((Cpu.AnalogChannel) 8);
this.rightSensor = new AnalogInput(Cpu.AnalogChannel.ANALOG_6);
this.leftIRLED = new OutputPort(Generic.GetPin('B', 13), true);
this.rightIRLED = new OutputPort(Generic.GetPin('B', 14), true);
this.leftInverted = false;
this.rightInverted = false;
this.leftMotor = new PWM(Cpu.PWMChannel.PWM_4, CerbotController.MOTOR_BASE_FREQUENCY, 0, false);
this.rightMotor = new PWM(Cpu.PWMChannel.PWM_5, CerbotController.MOTOR_BASE_FREQUENCY, 0, false);
this.leftMotorDirection = new OutputPort(Generic.GetPin('A', 6), false);
this.rightMotorDirection = new OutputPort(Generic.GetPin('C', 4), false);
this.servo = new PWM(Cpu.PWMChannel.PWM_1, 20000, this.servoMinPulse, PWM.ScaleFactor.Microseconds, false);
this.servoConfigured = false;
var spiSocket = GT.Socket.GetSocket(3, true, null, null);
var tempSocket = GT.Socket.SocketInterfaces.CreateNumberedSocket(10);
tempSocket.SupportedTypes = new char[] { 'S' };
tempSocket.CpuPins[3] = Generic.GetPin('B', 2);
tempSocket.CpuPins[4] = Generic.GetPin('B', 2);
tempSocket.CpuPins[5] = Generic.GetPin('B', 2);
tempSocket.CpuPins[6] = Generic.GetPin('B', 2);
tempSocket.CpuPins[7] = spiSocket.CpuPins[7];
tempSocket.CpuPins[8] = spiSocket.CpuPins[8];
tempSocket.CpuPins[9] = spiSocket.CpuPins[9];
tempSocket.SPIModule = spiSocket.SPIModule;
GT.Socket.SocketInterfaces.RegisterSocket(tempSocket);
this.spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, true, 2000);
this.forwardLEDs = GTI.SpiFactory.Create(tempSocket, this.spiConfig, GTI.SpiSharing.Shared, tempSocket, Socket.Pin.Six, null);
this.enableFaderPin = new PWM((Cpu.PWMChannel) 13, 500, 500, PWM.ScaleFactor.Microseconds, true);
this.enableFaderPin.Start();
this.SetLEDBitmask(0x0);
}
/// <summary>
/// Initializes SPI connection and control pins
/// <param name="irqPin"> IRQ pin as a Socket.Pin
/// <param name="cePin"> Chip Enable(CE) pin as a Socket.Pin
/// <param name="irqPin"> Chip Select Not(CSN or CS\) pin as a Socket.Pin
/// <param name="spiClockRateKHZ"> Clock rate in KHz (i.e. 1000 = 1MHz)
/// </summary>
public void Initialize(Socket.Pin irqPin, Socket.Pin csPin, byte config, uint spiClockRateKHZ = 1000)
{
_spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, false, spiClockRateKHZ);
// Chip Select : Active Low
// Clock : Active High, Data clocked in on rising edge
//_socket = GTS.GetSocket(6, false, this, null);
_spi = GTI.SpiFactory.Create(_socket, _spiConfig, GTI.SpiSharing.Shared, _socket, csPin, this);
// Initialize Chip Enable Port
_csPin = GTI.DigitalOutputFactory.Create(_socket, Socket.Pin.Four, true, this);
// _irqPin = GTI.InterruptInputFactory.Create(_socket, irqPin, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
_irqPin = GTI.InterruptInputFactory.Create(_socket, irqPin, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
_irqPin.Interrupt += _irqPin_Interrupt;
_initialized = true;
_config = config;
ResetConfig();
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
/// <param name="socketNumberTwo">The second socket that this module is plugged in to.</param>
public DisplayS22(int socketNumber)//, int socketNumberTwo)
: base(DisplayModule.WpfMode.Separate)
{
// This finds the Socket instance from the user-specified socket number.
// This will generate user-friendly error messages if the socket is invalid.
// If there is more than one socket on this module, then instead of "null" for the last parameter,
// put text that identifies the socket to the user (e.g. "S" if there is a socket type S)
socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('S', this);
socket.ReservePin(Socket.Pin.Three, this); // reset
socket.ReservePin(Socket.Pin.Four, this); // back light
socket.ReservePin(Socket.Pin.Five, this); // D/C
socket.ReservePin(Socket.Pin.Six, this); // CS
socket.ReservePin(Socket.Pin.Seven, this); // MOSI
socket.ReservePin(Socket.Pin.Eight, this); // MISO
socket.ReservePin(Socket.Pin.Nine, this); // SCK
/*
* Serial peripheral interface (SPI).
* Pin 7 is MOSI line, pin 8 is MISO line, pin 9 is SCK line.
* In addition, pins 3, 4 and 5 are general-purpose input/outputs, with pin 3 supporting interrupt capabilities.
*/
pinReset = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, false, this); // pin 3
pinBacklight = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this); // pin 4
pinDC = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this); // pin 5
spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, true, spiSpeed);
netMFSpiConfig = new SPI.Configuration(socket.CpuPins[6], spiConfig.IsChipSelectActiveHigh, spiConfig.ChipSelectSetupTime, spiConfig.ChipSelectHoldTime, spiConfig.IsClockIdleHigh, spiConfig.IsClockSamplingEdgeRising, spiConfig.ClockRateKHz, socket.SPIModule);
spi = GTI.SpiFactory.Create(socket, spiConfig, GTI.SpiSharing.Shared, socket, Socket.Pin.Six, this);
Reset();
ConfigureDisplay();
Clear();
SetBacklight(true);
}
private uint spiSpeed = 8000; // kHz
#endregion Fields
#region Constructors
//, int socketNumberTwo)
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
/// <param name="socketNumberTwo">The second socket that this module is plugged in to.</param>
public DisplayS22(int socketNumber)
: base(DisplayModule.WpfMode.Separate)
{
// This finds the Socket instance from the user-specified socket number.
// This will generate user-friendly error messages if the socket is invalid.
// If there is more than one socket on this module, then instead of "null" for the last parameter,
// put text that identifies the socket to the user (e.g. "S" if there is a socket type S)
socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('S', this);
socket.ReservePin(Socket.Pin.Three, this); // reset
socket.ReservePin(Socket.Pin.Four, this); // back light
socket.ReservePin(Socket.Pin.Five, this); // D/C
socket.ReservePin(Socket.Pin.Six, this); // CS
socket.ReservePin(Socket.Pin.Seven, this); // MOSI
socket.ReservePin(Socket.Pin.Eight, this); // MISO
socket.ReservePin(Socket.Pin.Nine, this); // SCK
/*
* Serial peripheral interface (SPI).
* Pin 7 is MOSI line, pin 8 is MISO line, pin 9 is SCK line.
* In addition, pins 3, 4 and 5 are general-purpose input/outputs, with pin 3 supporting interrupt capabilities.
*/
pinReset = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, false, this); // pin 3
pinBacklight = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this); // pin 4
pinDC = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this); // pin 5
spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, true, spiSpeed);
netMFSpiConfig = new SPI.Configuration(socket.CpuPins[6], spiConfig.IsChipSelectActiveHigh, spiConfig.ChipSelectSetupTime, spiConfig.ChipSelectHoldTime, spiConfig.IsClockIdleHigh, spiConfig.IsClockSamplingEdgeRising, spiConfig.ClockRateKHz, socket.SPIModule);
spi = GTI.SpiFactory.Create(socket, spiConfig, GTI.SpiSharing.Shared, socket, Socket.Pin.Six, this);
Reset();
ConfigureDisplay();
Clear();
SetBacklight(true);
}
/// <summary>
/// Creates an instance of <see cref="Spi" /> for the given socket.
/// </summary>
/// <param name="socket">The <see cref="Socket"/> for the <see cref="Spi"/> interface.</param>
/// <param name="spiConfiguration">The <see cref="SpiConfiguration"/> object for the <see cref="Spi"/> interface.</param>
/// <param name="sharingMode">The <see cref="SpiSharing"/> mode of the <see cref="SPI"/> interface.</param>
/// <param name="chipSelectSocket">The chip select <see cref="Socket"/> of the <see cref="Spi"/> interface. Can be null if not used.</param>
/// <param name="chipSelectSocketPin">The chip select pin on <paramref name="chipSelectSocket"/>.</param>
/// <param name="busySocket">The busy <see cref="Socket"/> of the <see cref="Spi" /> interface. Can be null if not used.</param>
/// <param name="busySocketPin">The busy pin to on the <paramref name="busySocket"/>.</param>
/// <param name="module">The <see cref="Module"/> that is connected to the <see cref="Spi"/> interface.</param>
/// <returns></returns>
public static Spi Create(Socket socket, SpiConfiguration spiConfiguration, SpiSharing sharingMode, Socket chipSelectSocket, Socket.Pin chipSelectSocketPin, Socket busySocket, Socket.Pin busySocketPin, Module module)
{
socket.EnsureTypeIsSupported('S', module);
Cpu.Pin reservedSelectPin = Socket.UnspecifiedPin;
Cpu.Pin reservedBusyPin = Socket.UnspecifiedPin;
if (chipSelectSocket != null)
reservedSelectPin = chipSelectSocket.ReservePin(chipSelectSocketPin, module);
if (busySocket != null)
reservedBusyPin = busySocket.ReservePin(busySocketPin, module);
// reserved pins will be:
// UnspecifiedPin if no chip select/busy pin is used
// UnnumberedPin if a chip select/busy pin was used on an indirected (non-forwarded socket)
// a valid Cpu.Pin otherwise
if (socket.SPIModule != Socket.SocketInterfaces.SPIMissing)
return new NativeSpi(socket, spiConfiguration, sharingMode, reservedSelectPin, reservedBusyPin, module, socket.SPIModule);
else
return socket.SpiIndirector(socket, spiConfiguration, sharingMode, chipSelectSocket, chipSelectSocketPin, busySocket, busySocketPin, module);
}
private static Microsoft.SPOT.Hardware.SPI.Configuration ToNativeConfiguration(SpiConfiguration config, Hardware.Cpu.Pin chipSelectPin, Hardware.Cpu.Pin busyPin, Hardware.SPI.SPI_module spiModule)
{
if (config == null)
{
return(new Microsoft.SPOT.Hardware.SPI.Configuration(chipSelectPin, false, 0, 0, false, false, 0, spiModule, busyPin, false));
}
return(new Microsoft.SPOT.Hardware.SPI.Configuration(
chipSelectPin,
config.IsChipSelectActiveHigh,
config.ChipSelectSetupTime,
config.ChipSelectHoldTime,
config.IsClockIdleHigh,
config.IsClockSamplingEdgeRising,
config.ClockRateKHz,
spiModule,
busyPin,
config.IsBusyActiveHigh));
}
/// <summary>
/// Creates an instance of <see cref="Spi" /> for the given socket.
/// </summary>
/// <param name="socket">The <see cref="Socket"/> for the <see cref="Spi"/> interface.</param>
/// <param name="spiConfiguration">The <see cref="SpiConfiguration"/> object for the <see cref="Spi"/> interface.</param>
/// <param name="sharingMode">The <see cref="SpiSharing"/> mode of the <see cref="SPI"/> interface.</param>
/// <param name="chipSelectSocket">The chip select <see cref="Socket"/> of the <see cref="Spi"/> interface. Can be null if not used.</param>
/// <param name="chipSelectSocketPin">The chip select pin on <paramref name="chipSelectSocket"/>.</param>
/// <param name="module">The <see cref="Module"/> that is connected to the <see cref="Spi"/> interface.</param>
/// <returns></returns>
public static Spi Create(Socket socket, SpiConfiguration spiConfiguration, SpiSharing sharingMode, Socket chipSelectSocket, Socket.Pin chipSelectSocketPin, Module module)
{
return(Create(socket, spiConfiguration, sharingMode, chipSelectSocket, chipSelectSocketPin, null, Socket.Pin.None, module));
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public LightningDetectorSPI(int socketNumber)
{
// This finds the Socket instance from the user-specified socket number.
// This will generate user-friendly error messages if the socket is invalid.
// If there is more than one socket on this module, then instead of "null" for the last parameter,
// put text that identifies the socket to the user (e.g. "S" if there is a socket type S)
var socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('S', this);
_socket = socket;
socket.ReservePin(Socket.Pin.Three, this);
socket.ReservePin(Socket.Pin.Six, this);
socket.ReservePin(Socket.Pin.Seven, this);
socket.ReservePin(Socket.Pin.Eight, this);
socket.ReservePin(Socket.Pin.Nine, this);
// from as3935 datasheet Chip Select (active low)
// data are sampled on the falling edge of SCLK (CPHA=1)
spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, false, 2000);
spi = GTI.SpiFactory.Create(socket, spiConfig, GTI.SpiSharing.Exclusive, socket, Socket.Pin.Six, this);
Initialize();
}
/// <summary>
/// Creates an instance of <see cref="Spi" /> for the given socket.
/// </summary>
/// <param name="socket">The <see cref="Socket"/> for the <see cref="Spi"/> interface.</param>
/// <param name="spiConfiguration">The <see cref="SpiConfiguration"/> object for the <see cref="Spi"/> interface.</param>
/// <param name="sharingMode">The <see cref="SpiSharing"/> mode of the <see cref="SPI"/> interface.</param>
/// <param name="chipSelectSocket">The chip select <see cref="Socket"/> of the <see cref="Spi"/> interface. Can be null if not used.</param>
/// <param name="chipSelectSocketPin">The chip select pin on <paramref name="chipSelectSocket"/>.</param>
/// <param name="module">The <see cref="Module"/> that is connected to the <see cref="Spi"/> interface.</param>
/// <returns></returns>
public static Spi Create(Socket socket, SpiConfiguration spiConfiguration, SpiSharing sharingMode, Socket chipSelectSocket, Socket.Pin chipSelectSocketPin, Module module)
{
return Create(socket, spiConfiguration, sharingMode, chipSelectSocket, chipSelectSocketPin, null, Socket.Pin.None, module);
}
/// <summary>
/// Initializes SPI connection and control pins
/// <param name="irqPin"> IRQ pin as a Socket.Pin
/// <param name="cePin"> Chip Enable(CE) pin as a Socket.Pin
/// <param name="irqPin"> Chip Select Not(CSN or CS\) pin as a Socket.Pin
/// <param name="spiClockRateKHZ"> Clock rate in KHz (i.e. 1000 = 1MHz)
/// </summary>
public void Initialize(Socket.Pin irqPin, Socket.Pin csPin, byte config, uint spiClockRateKHZ = 1000)
{
_spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, false, spiClockRateKHZ);
// Chip Select : Active Low
// Clock : Active High, Data clocked in on rising edge
//_socket = GTS.GetSocket(6, false, this, null);
_spi = GTI.SpiFactory.Create(_socket, _spiConfig, GTI.SpiSharing.Shared, _socket, csPin, this);
// Initialize Chip Enable Port
_csPin = GTI.DigitalOutputFactory.Create(_socket, Socket.Pin.Four, true, this);
// _irqPin = GTI.InterruptInputFactory.Create(_socket, irqPin, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
_irqPin = GTI.InterruptInputFactory.Create(_socket, irqPin, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
_irqPin.Interrupt += _irqPin_Interrupt;
_initialized = true;
_config = config;
ResetConfig();
}
