private static void Kompass()
{
int TasterPin = 26;
WirinPiWrapper wiringPiLib = new WirinPiWrapper();
wiringPiLib.WiringPiSetupGpio();
wiringPiLib.PinMode(TasterPin, PinType.INPUT); //37 liest am Taster, um die Nadel manuell zu bewegen
ISchrittmotor schrittMotor = new Schrittmotor(wiringPiLib, 19, 13, 6, 5);
schrittMotor.Run(1);
KompassHMC6343 kompass = new KompassHMC6343(wiringPiLib);
KompassDisplay display = new KompassDisplay(schrittMotor);
while (true)
{
while (wiringPiLib.DigitalRead(TasterPin) == 1)
{
Console.WriteLine("Calibrate");
display.Calibrate();
}
double heading = kompass.ReadHeading();
Console.WriteLine("Heading: " + heading);
//display.ShowClassic (heading);
display.ShowNavigation(heading);
}
}
private static void AD_MCP4921_SPI()
{
WirinPiWrapper wiringPiLib = new WirinPiWrapper();
// WiringPiWrapperLogging wiringPiLib = new WiringPiWrapperLogging ();
// wiringPiLib.SetPinName (18, "CS");
// wiringPiLib.SetPinName (23, "Clock");
// wiringPiLib.SetPinName (25, "SDI");
wiringPiLib.WiringPiSetupGpio();
DA_MCP4921_SPI ad = new DA_MCP4921_SPI(wiringPiLib, 18, 23, 25);
while (true)
{
ad.SetVoltage(0);
Thread.Sleep(50);
ad.SetVoltage(50);
Thread.Sleep(50);
ad.SetVoltage(100);
Thread.Sleep(50);
ad.SetVoltage(50);
Thread.Sleep(50);
}
}
public Servo(int pwmPin, int hertz, int pwmRange, int maximalAusschlagGrad, WirinPiWrapper wiringPiLib, int microSecLeft, int microSecRight)
{
WiringPiLib = wiringPiLib;
PwmRange = (uint)pwmRange;
//pwmFrequency in Hz = 19.2e6 Hz / pwmClock / pwmRange.
int PwmClock = 19200000 / pwmRange / hertz;
WiringPiLib.PinMode(pwmPin, PinType.PWM_OUTPUT);
WiringPiLib.PwmSetClock(PwmClock);
WiringPiLib.PwmSetMode(PwmType.PWM_MODE_MS); //Servos likes mark / Space approach
WiringPiLib.PwmSetRange(PwmRange);
PwmPin = pwmPin;
MaximalAusschlagGrad = maximalAusschlagGrad;
MicroSecLeft = microSecLeft;
MicroSecRange = microSecRight - MicroSecLeft;
PeriodeMicroSecs = 1000000 / hertz;
Position = 1;
SetPosition(0);
}
void Initializer()
{
WiringPiLib = new WirinPiWrapper();
WiringPiLib.WiringPiSetupGpio();
WiringPiLib.PinMode(SHUTDOWNPIN, PinType.INPUT);
WiringPiLib.PullUpDnControl(SHUTDOWNPIN, PullUpType.PUD_UP);
WiringPiLib.PinMode(ACTIVPIN, PinType.INPUT);
WiringPiLib.PullUpDnControl(ACTIVPIN, PullUpType.PUD_DOWN);
for (int i = 0; i < Sensors.Length; i++)
{
WiringPiLib.PinMode(Sensors [i], PinType.INPUT);
WiringPiLib.PullUpDnControl(Sensors[i], PullUpType.PUD_DOWN);
}
SleepBetweenActions = Int32.Parse(ConfigurationManager.AppSettings ["Hund_SleepBetweenActions"]);
int pwmRange = Int32.Parse(ConfigurationManager.AppSettings ["Hund_PWM_Range"]);
int servohertz = Int32.Parse(ConfigurationManager.AppSettings ["HundServohertz"]);
int servoMaximalAusschlagGrad = Int32.Parse(ConfigurationManager.AppSettings ["HundServoMaximalAusschlagGrad"]);
int hundServoMilliSecLeft = Int32.Parse(ConfigurationManager.AppSettings ["HundServoMicroSecLeft"]);
int hundServoMilliSecRight = Int32.Parse(ConfigurationManager.AppSettings ["HundServoMicroSecRight"]);
InvertSensorInput = bool.Parse(ConfigurationManager.AppSettings ["HundInvertSensorInput"]);
NonPlausibleWaitTimerMilliSec = Int32.Parse(ConfigurationManager.AppSettings ["HundNonPlausibleWaitTimerMilliSec"]);
LenkDeltaInGrad = float.Parse(ConfigurationManager.AppSettings ["HundLenkDeltainGrad"]);
LenkServo = new Servo(PWMServoPin, servohertz, pwmRange, servoMaximalAusschlagGrad, WiringPiLib, hundServoMilliSecLeft, hundServoMilliSecRight);
}
private static void Toggle()
{
//1.06MHZ
WirinPiWrapper wiringPiLib = new WirinPiWrapper();
Toggler toggler = new Toggler(wiringPiLib);
toggler.Toggle();
}
private static void Schrittmotor()
{
WirinPiWrapper wiringPiLib = new WirinPiWrapper();
wiringPiLib.WiringPiSetupGpio();
Schrittmotor schrittmotor = new Schrittmotor(wiringPiLib, 1, 2, 3, 4);
schrittmotor.Run(100);
}
private static void LCD1602_HD44780()
{
//Schieberegister ist sinnlos: Ich brauch 3 Pins fürs register und dann immer noch 3 für die LCD und habe dann nicht direkt die
//Möglichkeit, PIN 7 auf lazy abzufragen
//Zeitkritisch ist das nicht, so dass die 4Bit Variante GPIOPinverbrauch / Timing den besseren Wirkungsgrad bringen sollte!
WirinPiWrapper wiringPiLib = new WirinPiWrapper();
LCD1602_HD44780 lcd = new LCD1602_HD44780(wiringPiLib);
lcd.Init();
lcd.Display("Faxe world");
}
private static void AD_MCP4921_SPI_Toggler()
{
//Verzerrt bisschen, schafft 50 KHZ
WirinPiWrapper wiringPiLib = new WirinPiWrapper();
wiringPiLib.WiringPiSetupGpio();
DA_MCP4921_SPI ad = new DA_MCP4921_SPI(wiringPiLib, 18, 23, 25);
while (true)
{
ad.SetVoltage(0);
ad.SetVoltage(100);
}
}
public Schrittmotor(WirinPiWrapper wiringPiLib, int in1, int in2, int in3, int in4)
{
WiringPiLib = wiringPiLib;
In1 = in1;
In2 = in2;
In3 = in3;
In4 = in4;
wiringPiLib.PinMode(in1, PinType.OUTPUT);
wiringPiLib.PinMode(in2, PinType.OUTPUT);
wiringPiLib.PinMode(in3, PinType.OUTPUT);
wiringPiLib.PinMode(in4, PinType.OUTPUT);
Ausschalten();
LoadMotorstateOnRestart();
}
public KompassHMC6343(WirinPiWrapper wiringPiLib)
{
WiringPiLib = wiringPiLib;
//Wait at least 500 milli-seconds for device initialization. The HMC6343 is in the default Run Mode
Thread.Sleep(501);
fd = wiringPiLib.WiringPiI2CSetup(I2CdeviceID);
if (fd < 0)
{
Console.WriteLine("F****D UP wiringPiI2CSetup");
}
Thread.Sleep(5);
//Set Orientation
wiringPiLib.WiringPiI2CWrite(I2CdeviceID, ORIENTATION_LEVEL);
}
private static void AD_8562_Parallel()
{
WirinPiWrapper wiringPiLib = new WirinPiWrapper();
wiringPiLib.WiringPiSetupGpio();
DA_8562FPZ_Parallel da = new DA_8562FPZ_Parallel(wiringPiLib);
while (true)
{
da.SetVoltage(0);
Thread.Sleep(50);
da.SetVoltage(2047);
Thread.Sleep(50);
da.SetVoltage(4095);
Thread.Sleep(50);
}
}
