public void setup_dir_pin(PinParams pin_parameters)
{
if (pin_parameters.chip != this._mcu)
{
throw new PinsException("Stepper dir pin must be on same mcu as step pin");
}
this._dir_pin = pin_parameters.pin;
this._invert_dir = pin_parameters.invert;
}
public Mcu_adc(Mcu mcu, PinParams pin_parameters)
{
this._mcu = mcu;
this._pin = pin_parameters.pin;
this._min_sample = 0.0;
this._sample_time = 0.0;
this._sample_count = 0;
this._report_clock = 0;
this._oid = 0;
this._mcu.register_config_callback(this._build_config);
this._inv_max_adc = 0.0;
}
public Mcu_digital_out(Mcu mcu, PinParams pin_params)
{
_mcu = mcu;
_oid = 0;
_mcu.register_config_callback(_build_config);
_pin = pin_params.pin;
_invert = pin_params.invert;
_start_value = _invert;
_is_static = false;
_max_duration = 2.0;
_last_clock = 0;
}
public Mcu_endstop(Mcu mcu, PinParams pin_parameters)
{
_mcu = mcu;
_steppers = new List <Mcu_stepper>();
_pin = pin_parameters.pin;
_pullup = pin_parameters.pullup;
_invert = pin_parameters.invert;
_oid = 0;
_mcu.register_config_callback(_build_config);
_homing = false;
_min_query_time = 0.0;
_next_query_print_time = 0.0;
_last_state = new Dictionary <string, object>();
}
public Mcu_pwm(Mcu mcu, PinParams pin_params)
{
_mcu = mcu;
_hardware_pwm = false;
_cycle_time = 0.1;
_max_duration = 2.0;
_oid = 0;
_mcu.register_config_callback(this._build_config);
_pin = pin_params.pin;
_invert = pin_params.invert;
_start_value = this._shutdown_value = pin_params.invert ? 1 : 0;
_is_static = false;
_last_clock = 0;
_pwm_max = 0.0;
_set_cmd = null;
}
// Config creation helpers
public T setup_pin <T>(string pin_type, PinParams pin_params) where T : class
{
switch (pin_type)
{
case "stepper": return((T)(object)new Mcu_stepper(this, pin_params));
case "endstop": return((T)(object)new Mcu_endstop(this, pin_params));
case "digital_out": return((T)(object)new Mcu_digital_out(this, pin_params));
case "pwm": return((T)(object)new Mcu_pwm(this, pin_params));
case "adc": return((T)(object)new Mcu_adc(this, pin_params));
default:
throw new PinsException($"pin type {pin_type} not supported on mcu");
}
}
public Mcu_stepper(Mcu mcu, PinParams pin_parameters)
{
this._mcu = mcu;
this._oid = this._mcu.create_oid();
this._mcu.register_config_callback(this._build_config);
this._step_pin = pin_parameters.pin;
this._invert_step = pin_parameters.invert;
this._dir_pin = null;
this._mcu_position_offset = 0.0;
this._step_dist = 0.0;
this._min_stop_interval = 0.0;
this._reset_cmd_id = 0;
this._get_position_cmd = null;
//var _tup_1 = chelper.get_ffi();
//var ffi_main = _tup_1.Item1;
//this._ffi_lib = _tup_1.Item2;
//this._stepqueue = ffi_main.gc(this._ffi_lib.stepcompress_alloc(this._oid), this._ffi_lib.stepcompress_free);
this._stepqueue = new stepcompress((uint)this._oid);
this._mcu.register_stepqueue(this._stepqueue);
this._stepper_kinematics = null;
this.set_ignore_move(false);
}