/// <summary>
/// Initialisiert die Roboter-Konsole mit den dazugehörigen LED's und Schalter.
/// </summary>
public RobotConsole()
{
if (Constants.IsWinCE == false)
{
_digitalIn = new DigitalInSim();
_digitalOut = new DigitalOutSim();
}
else
{
_digitalIn = new DigitalInHW(Constants.IOConsoleSWITCH);
_digitalOut = new DigitalOutHW(Constants.IOConsoleLED);
}
_leds = new Led[4];
for (int i = 0; i < _leds.Length; i++)
{
_leds[i] = new Led((Leds)i, _digitalOut);
}
_switches = new Switch[4];
for (int i = 0; i < _switches.Length; i++)
{
_switches[i] = new Switch((Switches)i, _digitalIn);
}
}
/// <summary>
/// Construct a new Button attached to a DigitalIn input.
/// </summary>
/// <param name="input">The DigitalIn the button is attached to</param>
/// <param name="activeLow">Whether the button is active-low (true, default). If the button is active-high, set to false.</param>
public Button(DigitalIn input, bool activeLow = true)
{
Input = input;
this.activeLow = activeLow;
input.DigitalValueChanged += Input_DigitalValueChanged;
input.MakeDigitalInAsync();
}
public Nau7802(I2C i2c, DigitalIn drdy = null) : base(null, 24, 0)
{
parent = this;
if (drdy != null)
{
this.drdy = drdy;
drdy.MakeDigitalInAsync();
drdy.DigitalValueChanged += Drdy_DigitalValueChanged;
}
AutoUpdateWhenPropertyRead = true;
dev = new SMBusDevice(0x2A, i2c);
registers = new Nau7802Registers(new SMBusRegisterManagerAdapter(dev));
registers.puCtrl.registerReset = 1; // reset all registers
registers.puCtrl.write().Wait();
registers.puCtrl.registerReset = 0; // clear reset
registers.puCtrl.powerUpDigital = 1; // power up digital
registers.puCtrl.write().Wait();
Task.Delay(10).Wait();
if (registers.puCtrl.read().Result.powerUpReady == 0)
{
Utility.Error("Could not power up NAU7802");
return;
}
// useful defaults
registers.puCtrl.useExternalCrystal = 0;
registers.puCtrl.useInternalLdo = 1;
registers.puCtrl.powerUpDigital = 1;
registers.puCtrl.powerUpAnalog = 1;
registers.puCtrl.write().Wait();
registers.ctrl1.setVldo(Vldoes.mV_3000);
registers.ctrl1.write().Wait();
UpdateReferenceVoltage(); // set the pins up with the default gains
registers.pga.pgaBypass = 0;
registers.pga.disableChopper = 1;
registers.pga.write().Wait();
registers.adc.setRegChpFreq(RegChpFreqs.off);
registers.adc.regChp = 0;
registers.adc.write().Wait();
registers.i2cCtrl.bgpCp = 0;
registers.i2cCtrl.write().Wait();
registers.ctrl2.setConversionRate(ConversionRates.Sps_10);
registers.ctrl2.write().Wait();
registers.puCtrl.cycleStart = 1;
registers.puCtrl.write().Wait();
}
public void setup()
{
ioMock = new Mock <IOPort>();
port = 0xf0;
IOPort.set(ioMock.Object);
digitalIn = new DigitalIn(port);
}
/// <summary>
/// Initializes a new instance of the <see cref="Switch" /> class.
/// </summary>
/// <param name="swi">The swi.</param>
/// <param name="digitalIn">The digital in.</param>
/// <exception cref="System.ArgumentNullException"></exception>
public Switch(Switches swi, DigitalIn digitalIn)
{
if (digitalIn == null)
throw new ArgumentNullException("digitalIn");
_switch = swi;
_digitalIn = digitalIn;
_digitalIn.DigitalInChanged += DigitalInChanged;
_oldState = false;
}
/// <summary>
/// Construct a new RotaryEncoder from two digital inputs
/// </summary>
/// <param name="a">A channel input</param>
/// <param name="b">B channel input</param>
/// <param name="stepsPerTick">The number of steps to count as one "tick"</param>
public RotaryEncoder(DigitalIn a, DigitalIn b, int stepsPerTick = 1)
{
this.stepsPerTick = stepsPerTick;
this.a = a;
this.b = b;
a.MakeDigitalInAsync();
b.MakeDigitalInAsync();
Position = 0;
a.DigitalValueChanged += A_DigitalValueChanged;
b.DigitalValueChanged += B_DigitalValueChanged;
}
public Nrf24l01(Spi spi, SpiChipSelectPin csPin, DigitalOut cePin, DigitalIn irqPin)
{
dev = new SpiDevice(spi, csPin);
this.irqPin = irqPin;
this.cePin = cePin;
Task.Run(irqPin.MakeDigitalInAsync).Wait();
Task.Run(cePin.MakeDigitalPushPullOutAsync).Wait();
cePin.DigitalValue = false;
irqPin.DigitalValueChanged += IrqPin_DigitalValueChanged;
Task.Run(() => dev.SendReceiveAsync(new byte[] { 0x50, 0x73 })).Wait(); // enable feature register
Task.Run(() => WriteRegister((byte)Registers.Feature, 0b00000111)).Wait();
Task.Run(() => WriteRegister((byte)Registers.DynamicPayloadLength, 0b00111111)).Wait();
Task.Run(writeConfig).Wait();
for (int i = 0; i < 6; i++)
{
pipes[i] = new Pipe(i, this);
}
// set default addresses
pipes[0].address = 0xE7E7E7E7E7;
pipes[1].address = 0xC2C2C2C2C2;
pipes[2].address = 0xC2C2C2C2C3;
pipes[3].address = 0xC2C2C2C2C4;
pipes[4].address = 0xC2C2C2C2C5;
pipes[5].address = 0xC2C2C2C2C6;
// set default enable state
pipes[0].enablePipe = true;
pipes[1].enablePipe = true;
Task.Run(() => Task.Delay(5)).Wait();
Task.Run(FlushRx).Wait();
Task.Run(FlushTx).Wait();
powerUp = true;
Task.Run(writeConfig).Wait();
Task.Run(() => Task.Delay(5)).Wait();
// manually call the ISR just in case there's something pending
IrqPin_DigitalValueChanged(this, new DigitalInValueChangedEventArgs(cePin.DigitalValue));
}
/// <summary>
/// Initialisiert die Roboter-Konsole mit den dazugehörigen LED's und Schalter.
/// </summary>
public RobotConsole()
{
if (Constants.IsWinCE == false)
{
_digitalIn = new DigitalInSim();
_digitalOut = new DigitalOutSim();
} else {
_digitalIn = new DigitalInHW(Constants.IOConsoleSWITCH);
_digitalOut = new DigitalOutHW(Constants.IOConsoleLED);
}
_leds = new Led[4];
for (int i = 0; i < _leds.Length; i++)
{
_leds[i] = new Led((Leds)i, _digitalOut);
}
_switches = new Switch[4];
for (int i = 0; i < _switches.Length; i++)
{
_switches[i] = new Switch((Switches)i, _digitalIn);
}
}
