/// <summary>
/// Reads the PWM "off" (falling) value of a channel, and updates it in <see cref="Channels"/>.
/// </summary>
/// <param name="index">Zero based channel number (0-15).</param>
/// <returns>Channel value.</returns>
public int ReadChannelOff(int index)
{
// Validate
if (index < 0 | index >= ChannelCount)
{
throw new ArgumentOutOfRangeException(nameof(index));
}
// Calculate register address of second word value
var register = (byte)(GetChannelAddress(index) + sizeof(ushort));
// Read and convert value
var bytes = I2cExtensions.WriteReadBytes(_hardware, register, sizeof(ushort));
var value = BitConverter.ToUInt16(bytes, 0);
// Update channel when changed
var oldValue = _channels[index];
if (oldValue.Off != value)
{
_channels[index] = new Pca9685ChannelValue(oldValue.On, value);
}
// Return result
return(value);
}
/// <summary>
/// Writes the "on" and "off" values of a channel together, and updates it in <see cref="Channels"/>.
/// </summary>
/// <param name="index">Zero based channel number (0-15) or 16 for the "all call" channel.</param>
/// <param name="value"><see cref="Pca9685ChannelValue"/> to write.</param>
/// <returns>
/// Updated channel value or null when all channels were updated.
/// </returns>
public Pca9685ChannelValue?WriteChannel(int index, Pca9685ChannelValue value)
{
// Validate
if (index <0 | index> ChannelCount)
{
throw new ArgumentOutOfRangeException(nameof(index));
}
if (value == null)
{
throw new ArgumentNullException(nameof(value));
}
// Calculate register address
var register = GetChannelAddress(index);
// Convert and write value
var bytes = value.ToByteArray();
I2cExtensions.WriteJoinBytes(_hardware, register, bytes);
// Read and return result when single channel
if (index < ChannelCount)
{
return(ReadChannel(index));
}
// Read all channels when "all call".
ReadAllChannels();
return(null);
}
/// <summary>
/// Calculates the prescale value from the frequency (according to <see cref="ClockSpeed"/>)
/// then writes that register, then calls <see cref="ReadFrequency"/> to update properties.
/// Note the actual frequency may differ to the requested frequency due to clock scale (rounding).
/// </summary>
/// <remarks>
/// The prescale can only be set during sleep mode. This method enters <see cref="Sleep"/> if necessary,
/// then only if the device was awake before, calls <see cref="Wake"/> afterwards. It's important not to
/// start output unexpectedly to avoid damage, i.e. if the device was sleeping before, the frequency is
/// changed without starting the oscillator.
/// </remarks>
/// <param name="frequency">Desired frequency to set in Hz.</param>
/// <returns>
/// Effective frequency in Hz, read-back and recalculated after setting the desired frequency.
/// Frequency in Hz. Related properties are also updated.
/// </returns>
/// <exception cref="ArgumentOutOfRangeException">
/// Thrown when <paramref name="frequency"/> is less than <see cref="FrequencyMinimum"/> or greater than
/// <see cref="FrequencyMaximum"/>.
/// </exception>
public int WriteFrequency(int frequency)
{
// Validate
if (frequency < FrequencyMinimum || frequency > FrequencyMaximum)
{
throw new ArgumentOutOfRangeException(nameof(frequency));
}
// Calculate prescale
var prescale = CalculatePrescale(frequency, ClockSpeed);
// Enter sleep mode and record wake status
var wasAwake = Sleep();
// Write prescale
I2cExtensions.WriteJoinByte(_hardware, (byte)Pca9685Register.Prescale, prescale);
// Read result
var actual = ReadFrequency();
// Wake-up if previously running
if (wasAwake)
{
Wake();
}
// Update related properties
PwmMsMinimum = Pca9685ChannelValue.CalculateWidthMs(frequency, 0);
PwmMsMaximum = Pca9685ChannelValue.CalculateWidthMs(frequency, Pca9685ChannelValue.Maximum);
// Return actual frequency
return(actual);
}
/// <summary>
/// Reads a single byte at the "current address" (next byte after the last operation).
/// </summary>
public byte[] ReadPage(int length)
{
// Validate
if (length < 0 || length > Size)
{
throw new ArgumentOutOfRangeException(nameof(length));
}
// Get correct I2C device for memory address and flags
var device = GetI2cDeviceForMemoryAddress(0);
// Read data with chunking when transfer size exceeds limit
var resultBuffer = new byte[length];
var remaining = length; var offset = 0;
do
{
// Check transfer size and reduce when necessary
var transferSize = remaining;
if (transferSize > I2cExtensions.MaximumTransferSize)
{
transferSize = I2cExtensions.MaximumTransferSize;
}
// Read data
var buffer = I2cExtensions.ReadBytes(device, transferSize);
Array.ConstrainedCopy(buffer, 0, resultBuffer, offset, transferSize);
// Next transfer when necessary...
remaining -= transferSize;
offset += transferSize;
}while (remaining > 0);
return(resultBuffer);
}
/// <summary>
/// Reads a single byte at the "current address" (next byte after the last operation).
/// </summary>
public byte ReadByte()
{
// Get correct I2C device for memory address and flags
var device = GetI2cDeviceForMemoryAddress(0);
// Read and return data
return(I2cExtensions.ReadByte(device));
}
public Mb85rc256vDevice(int busNumber, byte chipNumber,
I2cBusSpeed speed = I2cBusSpeed.FastMode, I2cSharingMode sharingMode = I2cSharingMode.Exclusive)
: base(chipNumber, MemorySize)
{
// Get address
var address = GetDataI2cAddress(chipNumber);
// Connect to hardware
Hardware = I2cExtensions.Connect(busNumber, address, speed, sharingMode);
}
/// <summary>
/// Reads all channels and updates <see cref="Channels"/>.
/// </summary>
public void ReadAllChannels()
{
// Read all channels as one block of data
var data = I2cExtensions.WriteReadBytes(_hardware, ChannelStartAddress, ChannelSize * ChannelCount);
// Update properties
for (var index = 0; index < ChannelCount; index++)
{
_channels[index] = Pca9685ChannelValue.FromByteArray(data, ChannelSize * index);
}
}
/// <summary>
/// Reads the current value of the <see cref="Pca9685Register.Mode2"/> register.
/// </summary>
/// <returns>Bit flags corresponding to the actual mode byte.</returns>
public Pca9685Mode2Bits ReadMode2()
{
// Read register
var value = (Pca9685Mode2Bits)I2cExtensions.WriteReadByte(_hardware, (byte)Pca9685Register.Mode2);
// Update property
Mode2Register = value;
// Return result
return(value);
}
/// <summary>
/// Reads a coefficient value from the PROM.
/// </summary>
/// <param name="index">Coefficient index (0-7).</param>
/// <param name="buffer">Target buffer.</param>
/// <param name="offset">Target offset.</param>
/// <remarks>
/// Reads <see cref="Ms5611PromData.CoefficientSize"/> bytes into the target buffer at the specified offset.
/// </remarks>
private void ReadPromCoefficient(int index, byte[] buffer, int offset)
{
// Calculate address
var coefficientOffset = (byte)(index * Ms5611PromData.CoefficientSize);
var address = (byte)(Ms5611Command.PromRead + coefficientOffset);
// Read from hardware return value
var coefficient = I2cExtensions.WriteReadBytes(_hardware, address, Ms5611PromData.CoefficientSize);
Array.ConstrainedCopy(coefficient, 0, buffer, offset, Ms5611PromData.CoefficientSize);
}
/// <summary>
/// Executes the <see cref="Ms5611Command.ConvertD2Temperature"/> command to measure
/// pressure at the specified OSR, waits then returns the result.
/// </summary>
public int ConvertTemperature(Ms5611Osr rate)
{
// Send command to hardware
I2cExtensions.WriteJoinByte(_hardware, (byte)(Ms5611Command.ConvertD2Temperature + (byte)rate), 0);
// Wait for completion
WaitForConversion(rate);
// Return result
var result = I2cExtensions.WriteReadBytes(_hardware, (byte)Ms5611Command.AdcRead, 3);
return(result[0] << 16 | result[1] << 8 | result[2]);
}
/// <summary>
/// Clears all channels cleanly, then updates all <see cref="Channels"/>.
/// </summary>
/// <remarks>
/// To "cleanly" clear the channels, it is necessary to first ensure they are not disabled,
/// set them to zero, then disable them. Otherwise the ON value and the low OFF value
/// remain because writes are ignored when the OFF channel bit 12 is already set.
/// </remarks>
public void Clear()
{
// Enable all channels
I2cExtensions.WriteJoinByte(_hardware, (byte)Pca9685Register.AllChannelsOffHigh, 0x00);
// Zero all channels
I2cExtensions.WriteJoinBytes(_hardware, (byte)Pca9685Register.AllChannelsOnLow, new byte[] { 0x00, 0x00, 0x00, 0x00 });
// Disable all channels
I2cExtensions.WriteJoinByte(_hardware, (byte)Pca9685Register.AllChannelsOffHigh, 0x10);
// Update channels
ReadAllChannels();
}
/// <summary>
/// Resets the device, updates PROM data and clears current measurements.
/// </summary>
public void Reset()
{
// Send reset command
I2cExtensions.WriteJoinByte(_hardware, (byte)Ms5611Command.Reset, 0);
// Wait for completion
Task.Delay(TimeSpanExtensions.FromMicroseconds(ResetTime)).Wait();
// Update PROM values
ReadProm();
// Clear measurements
Pressure = 0;
Temperature = 0;
}
/// <summary>
/// Reads a single byte "randomly" at the specified address.
/// </summary>
public byte ReadByte(int address)
{
// Validate
if (address < 0 || address > Size - 1)
{
throw new ArgumentOutOfRangeException(nameof(address));
}
// Get correct I2C device and data for memory address and flags
var device = GetI2cDeviceForMemoryAddress(address);
var addressBytes = GetMemoryAddressBytes(address);
// Read and return data
return(I2cExtensions.WriteReadByte(device, addressBytes));
}
/// <summary>
/// Writes a single byte at the specified address.
/// </summary>
public void WriteByte(int address, byte data)
{
// Validate
if (address < 0 || address > Size - 1)
{
throw new ArgumentOutOfRangeException(nameof(address));
}
// Get correct I2C device and data for memory address and flags
var device = GetI2cDeviceForMemoryAddress(address);
var addressBytes = GetMemoryAddressBytes(address);
// Write data
I2cExtensions.WriteJoinByte(device, addressBytes, data);
}
/// <summary>
/// Writes the PWM "on" (rising) value of a channel.
/// </summary>
/// <param name="index">Zero based channel number (0-15) or 16 for the "all call" channel.</param>
/// <param name="value">12-bit channel value in the range 0-<see cref="Pca9685ChannelValue.Maximum"/>.</param>
/// <exception cref="ArgumentOutOfRangeException">Thrown when the <paramref name="value"/> is greater than <see cref="Pca9685ChannelValue.Maximum"/>.</exception>
public void WriteChannelOn(int index, int value)
{
// Validate
if (value > Pca9685ChannelValue.Maximum)
{
throw new ArgumentOutOfRangeException(nameof(value));
}
// Calculate register address
var register = GetChannelAddress(index);
// Convert and write value
var data = BitConverter.GetBytes(value);
I2cExtensions.WriteJoinBytes(_hardware, register, data);
}
/// <summary>
/// Reads the prescale register and calculates the <see cref="Frequency"/> (and related properties)
/// based on <see cref="ClockSpeed"/>.
/// </summary>
/// <returns>
/// Frequency in Hz. Related properties are also updated.
/// </returns>
public int ReadFrequency()
{
// Read prescale register
var prescale = I2cExtensions.WriteReadByte(_hardware, (byte)Pca9685Register.Prescale);
// Calculate frequency
var frequency = CalculateFrequency(prescale, ClockSpeed);
// Update related properties
Frequency = frequency;
PwmMsMinimum = Pca9685ChannelValue.CalculateWidthMs(frequency, 0);
PwmMsMaximum = Pca9685ChannelValue.CalculateWidthMs(frequency, Pca9685ChannelValue.Maximum);
// Return result
return(frequency);
}
/// <summary>
/// Writes the PWM "off" (falling) value of a channel.
/// </summary>
/// <param name="index">Zero based channel number (0-15) or 16 for the "all call" channel.</param>
/// <param name="value">12-bit channel value in the range 0-<see cref="Pca9685ChannelValue.Maximum"/>.</param>
/// <exception cref="ArgumentOutOfRangeException">Thrown when the <paramref name="value"/> is greater then <see cref="Pca9685ChannelValue.Maximum"/>.</exception>
public void WriteChannelOff(int index, int value)
{
// Validate
if (value > Pca9685ChannelValue.Maximum)
{
throw new ArgumentOutOfRangeException(nameof(value));
}
// Calculate register address of second word value
var register = (byte)(GetChannelAddress(index) + sizeof(ushort));
// Convert and write value
var bytes = BitConverter.GetBytes(value);
I2cExtensions.WriteJoinBytes(_hardware, register, bytes);
}
public Ms5611Device(int busNumber, bool csb, Ms5611Osr rate,
I2cBusSpeed speed = I2cBusSpeed.FastMode, I2cSharingMode sharingMode = I2cSharingMode.Exclusive)
{
// Get address
ChipSelectBit = csb;
Address = GetI2cAddress(csb);
// Connect to hardware
_hardware = I2cExtensions.Connect(busNumber, Address, speed, sharingMode);
// Initialize members
Prom = new Ms5611PromData();
Osr = rate;
// Read current calibration data (potentially not stable until next reset)
// We don't reset automatically so that it is possible for any ongoing tasks to complete
ReadProm();
}
/// <summary>
/// Reads a whole channel value (on and off), and updates it in <see cref="Channels"/>.
/// </summary>
/// <param name="index">Zero based channel number (0-15).</param>
/// <returns>Channel value</returns>
public Pca9685ChannelValue ReadChannel(int index)
{
// Validate
if (index < 0 | index >= ChannelCount)
{
throw new ArgumentOutOfRangeException(nameof(index));
}
// Calculate register address
var register = GetChannelAddress(index);
// Read value
var bytes = I2cExtensions.WriteReadBytes(_hardware, register, sizeof(ushort) * 2);
// Update channel property and return result
var value = Pca9685ChannelValue.FromByteArray(bytes);
return(_channels[index] = value);
}
/// <summary>
/// Writes multiple channels together (both "on" and "off" values), and updates it in <see cref="Channels"/>.
/// </summary>
/// <param name="index">Zero based channel number (0-15) or 16 for the "all call" channel.</param>
/// <param name="values">Collection of <see cref="Pca9685ChannelValue"/>s to write.</param>
public void WriteChannels(int index, IList <Pca9685ChannelValue> values)
{
// Validate
if (index <0 | index> ChannelCount)
{
throw new ArgumentOutOfRangeException(nameof(index));
}
if (values == null || values.Count == 0)
{
throw new ArgumentNullException(nameof(values));
}
var count = values.Count;
if (index + count > ChannelCount)
{
throw new ArgumentOutOfRangeException(nameof(values));
}
// Build I2C packet
var data = new byte[1 + ChannelSize * count];
// Calculate first register address
var register = GetChannelAddress(index);
data[0] = register;
// Write channels and update properties
for (int dataIndex = 0, dataOffset = 1; dataIndex < count; dataIndex++, dataOffset += ChannelSize)
{
// Get channel data
var channelData = values[dataIndex].ToByteArray();
// Copy to buffer
Array.ConstrainedCopy(channelData, 0, data, dataOffset, ChannelSize);
// Update property
_channels[index + dataIndex] = Pca9685ChannelValue.FromByteArray(channelData);
}
// Send packet
I2cExtensions.WriteBytes(_hardware, data);
}
public static Mb85rcvDeviceId?GetDeviceId(int busNumber, byte idAddress, byte dataAddress,
I2cBusSpeed speed = I2cBusSpeed.FastMode, I2cSharingMode sharingMode = I2cSharingMode.Exclusive)
{
// Connect to ID device
using (var framIdRegister = I2cExtensions.Connect(busNumber, idAddress, speed, sharingMode))
{
// Send ID command sequence, returning device ID bytes
var dataAddress8bit = (byte)(dataAddress << 1);
var data = new byte[Mb85rcvDeviceId.Size];
var transfer = framIdRegister.WriteReadPartial(new[] { dataAddress8bit }, data);
if (transfer.Status == I2cTransferStatus.SlaveAddressNotAcknowledged) // Any other error must throw
{
// Return null when not found
return(null);
}
// Decode and return ID when found
return(new Mb85rcvDeviceId(data));
}
}
/// <summary>
/// Restarts the device with additional options specified, then updates all properties.
/// </summary>
/// <param name="options">
/// Optional mode 1 parameters to add to the final restart sequence. A logical OR is applied to this value and
/// the standard <see cref="Pca9685Mode1Bits.Restart"/>, <see cref="Pca9685Mode1Bits.ExternalClock"/> and
/// <see cref="Pca9685Mode1Bits.AutoIncrement"/> bits.
/// </param>
public void Restart(Pca9685Mode1Bits options)
{
// Configure according to external clock presence
var externalClock = ClockIsExternal;
var delay = TimeSpan.FromTicks(Convert.ToInt64(Math.Round(TimeSpan.TicksPerMillisecond * 0.5)));
// Send I2C restart sequence...
// Write first sleep
var sleep = (byte)Pca9685Mode1Bits.Sleep;
I2cExtensions.WriteJoinByte(_hardware, (byte)Pca9685Register.Mode1, sleep);
// Write sleep again with external clock option (when present)
if (externalClock)
{
sleep |= (byte)(Pca9685Mode1Bits.ExternalClock);
I2cExtensions.WriteJoinByte(_hardware, (byte)Pca9685Register.Mode1, sleep);
}
else
{
// At least 500 nanoseconds sleep required using internal clock
Task.Delay(delay).Wait();
}
// Write reset with external clock option and any additional options
var restart = (byte)(Pca9685Mode1Bits.Restart | Pca9685Mode1Bits.AutoIncrement);
if (externalClock)
{
restart |= (byte)Pca9685Mode1Bits.ExternalClock;
}
restart |= (byte)options;
I2cExtensions.WriteJoinByte(_hardware, (byte)Pca9685Register.Mode1, restart);
// At least 500 nanoseconds delay to allow oscillator to start
Task.Delay(delay).Wait();
// Update all properties
ReadAll();
}
public Pca9685Device(int busNumber, byte chipNumber, int?clockSpeed,
I2cBusSpeed speed = I2cBusSpeed.FastMode, I2cSharingMode sharingMode = I2cSharingMode.Exclusive)
{
// Validate
if (clockSpeed.HasValue && (clockSpeed == 0 || clockSpeed.Value > ClockSpeedMaximum))
{
throw new ArgumentOutOfRangeException(nameof(clockSpeed));
}
// Get address
var address = GetI2cAddress(chipNumber);
// Connect to hardware
_hardware = I2cExtensions.Connect(busNumber, address, speed, sharingMode);
// Initialize configuration
ClockIsExternal = clockSpeed.HasValue;
ClockSpeed = clockSpeed ?? InternalClockSpeed;
FrequencyDefault = CalculateFrequency(PrescaleDefault, ClockSpeed);
FrequencyMinimum = CalculateFrequency(PrescaleMaximum, ClockSpeed); // Inverse relationship (max = min)
FrequencyMaximum = CalculateFrequency(PrescaleMinimum, ClockSpeed); // Inverse relationship (min = max)
// Build channels
_channels = new Collection <Pca9685ChannelValue>();
Channels = new ReadOnlyCollection <Pca9685ChannelValue>(_channels);
for (var index = 0; index < ChannelCount; index++)
{
_channels.Add(new Pca9685ChannelValue(index));
}
// Set "all call" address
I2cExtensions.WriteJoinByte(_hardware, (byte)Pca9685Register.AllCall, I2cAllCallAddress);
// Enable auto-increment and "all call"
I2cExtensions.WriteReadWriteBit(_hardware, (byte)Pca9685Register.Mode1,
(byte)(Pca9685Mode1Bits.AutoIncrement | Pca9685Mode1Bits.AllCall), true);
// Read current values and update properties
ReadAll();
}
/// <summary>
/// Leaves sleep mode.
/// </summary>
/// <remarks>
/// Clears the <see cref="Pca9685Register.Mode1"/> register <see cref="Pca9685Mode1Bits.Sleep"/> bit
/// then waits for <see cref="ModeSwitchDelay"/> to allow the oscillator to start.
/// </remarks>
/// <returns>
/// True when mode was changed, false when not sleeping.
/// </returns>
public bool Wake()
{
// Read sleep bit (do nothing when already sleeping)
var sleeping = I2cExtensions.WriteReadBit(_hardware, (byte)Pca9685Register.Mode1, (byte)Pca9685Mode1Bits.Sleep);
if (!sleeping)
{
return(false);
}
// Clear sleep bit
I2cExtensions.WriteReadWriteBit(_hardware, (byte)Pca9685Register.Mode1, (byte)Pca9685Mode1Bits.Sleep, false);
// Wait for completion
Task.Delay(ModeSwitchDelay).Wait();
// Update related properties
ReadMode1();
// Return changed
return(true);
}
public Mb85rc04vDevice(int busNumber, byte chipNumber,
I2cBusSpeed speed = I2cBusSpeed.FastMode, I2cSharingMode sharingMode = I2cSharingMode.Exclusive)
: base(chipNumber, MemorySize)
{
// Check device addresses
var lowerAddress = GetDataI2cAddress(chipNumber, false);
var upperAddress = GetDataI2cAddress(chipNumber, true);
// Connect to devices
try
{
Hardware = I2cExtensions.Connect(busNumber, lowerAddress, speed, sharingMode);
HardwareUpper = I2cExtensions.Connect(busNumber, upperAddress, speed, sharingMode);
}
catch
{
// Free resources on initialization error
Hardware?.Dispose();
HardwareUpper?.Dispose();
// Continue error
throw;
}
}
/// <summary>
/// Reads multiple channel values (both on and off for each), and updates it in <see cref="Channels"/>.
/// </summary>
/// <param name="index">Zero based channel number (0-15).</param>
/// <param name="count">Number of channels to read.</param>
/// <returns>Channel values</returns>
public Collection <Pca9685ChannelValue> ReadChannels(int index, int count)
{
// Validate
if (index < 0 | index >= ChannelCount)
{
throw new ArgumentOutOfRangeException(nameof(index));
}
if (count < 1 || index + count > ChannelCount)
{
throw new ArgumentOutOfRangeException(nameof(count));
}
// Calculate register address
var register = GetChannelAddress(index);
// Send I2C command to read channels in one operation
var data = I2cExtensions.WriteReadBytes(_hardware, register, ChannelSize * count);
// Update channel properties and add to results
var results = new Collection <Pca9685ChannelValue>();
for (int channelIndex = index, offset = 0; count > 0; count--, channelIndex++, offset += ChannelSize)
{
// Calculate value
var value = Pca9685ChannelValue.FromByteArray(data, offset);
// Update property
_channels[channelIndex] = value;
// Add to results
results.Add(value);
}
// Return results
return(results);
}
