private void WriteCommand(byte command)
{
pinDC.Write(false);
spi.Write(new byte[1] {
command
});
}
/// <summary>
/// Resets the module
/// </summary>
public void Reset()
{
resetPin.Write(false);
Thread.Sleep(500);
resetPin.Write(true);
Thread.Sleep(1000);
}
private int GetDistanceHelper()
{
long start = 0;
int microseconds = 0;
long time = 0;
int distance = 0;
Trigger.Write(true);
Thread.Sleep(10);
Trigger.Write(false);
int error = 0;
while (!Echo.Read())
{
error++;
if (error > 1000)
{
break;
}
Thread.Sleep(0);
}
start = System.DateTime.Now.Ticks;
while (Echo.Read())
{
Thread.Sleep(0);
}
time = (System.DateTime.Now.Ticks - start);
microseconds = (int)time / TicksPerMicrosecond;
distance = (microseconds / 58);
distance += 2;
if (distance < MAX_DISTANCE)
{
if (distance >= MIN_DISTANCE)
{
return(distance);
}
else
{
return(MinFlag);
}
}
else
{
return(MaxFlag);
}
}
/// <summary>
/// Sets the color of the module's LED to the passed in LEDColor enum.
/// </summary>
/// <param name="color"></param>
public void SetColor(LEDColor color)
{
int r = ((int)(color) & 4);
m_RedPin.Write((((int)color & 4) != 0 ? true : false));
m_GreenPin.Write((((int)color & 2) != 0 ? true : false));
m_BluePin.Write((((int)color & 1) != 0 ? true : false));
}
private void SetSpeed(GTI.PWMOutput motor, GTI.DigitalOutput direction, int speed, bool isLeft)
{
if (speed == 0)
{
direction.Write(false);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0.01);
}
else if (speed < 0)
{
direction.Write(isLeft ? true : false);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, speed / -100.0);
}
else
{
direction.Write(isLeft ? false : true);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, speed / 100.0);
}
}
/// <summary>
/// Renders Bitmap data on the display device.
/// </summary>
/// <param name="bitmap">The <see cref="T:Microsoft.SPOT.Bitmap"/> object to render on the display.</param>
protected override void Paint(Bitmap bitmap)
{
try
{
if (Mainboard.NativeBitmapCopyToSpi != null)
{
SetClippingArea(0, 0, (uint)bitmap.Width - 1, (uint)bitmap.Height - 1);
WriteCommand(0x2C);
pinDC.Write(true);
Mainboard.NativeBitmapCopyToSpi(bitmap, netMFSpiConfig, 0, 0, bitmap.Width, bitmap.Height, GT.Mainboard.BPP.BPP16_BGR_BE);
}
else
{
Draw(bitmap);
}
}
catch
{
ErrorPrint("Painting error");
}
}
private static GTI.DigitalOutput backlightPin;// = new OutputPort(greenSocket.CpuPins[9], true);
/// <summary>
/// Sets the backlight to the passed in value.
/// </summary>
/// <param name="bOn">Backlight state.</param>
public void SetBacklight(bool bOn)
{
if (greenSocket != null)
{
backlightPin.Write(bOn);
_bBackLightOn = bOn;
}
else
{
ErrorPrint("Cannot set backlight yet. RGB sockets not yet initialized");
}
}
/// <summary>
/// Clears all relays.
/// </summary>
public void DisableAllRelays()
{
regData = 0;
ushort reg = (ushort)regData;
for (int i = 0; i < 16; i++)
{
if ((reg & 0x1) == 1)
{
data.Write(false);
}
else
{
data.Write(true);
}
clock.Write(true);
clock.Write(false);
reg >>= 1;
}
latch.Write(true);
latch.Write(false);
}
private uint ReadData()
{
int bitCount;
uint data = 0;
_cs.Write(false);
{
for (bitCount = 31; bitCount >= 0; bitCount--)
{
_clk.Write(true);
if (_miso.Read())
{
data |= (uint)(1 << bitCount);
}
_clk.Write(false);
}
}
_cs.Write(true);
return(data);
}
// This method is run when the mainboard is powered up or reset.
void ProgramStarted()
{
Debug.Print("Program Started");
_relay = extender.SetupDigitalOutput(Socket.Pin.Three, _relayState);
var timer = new GT.Timer(1000);
timer.Tick += timer1 =>
{
_relayState = !_relayState;
_relay.Write(_relayState);
};
timer.Start();
}
/// <summary>
/// Clears all registers.
/// </summary>
public void Clear()
{
if (!reSized)
{
ErrorPrint("The array has not been sixed yet. Please indicate how many modules are chained before continuing");
}
Enable.Write(true);
CLR.Write(false);
System.Threading.Thread.Sleep(10);
byte[] clear = new byte[1] {
0
};
spi.Write(clear);
CLR.Write(true);
Enable.Write(false);
for (int i = 0; i < data.Length; i++)
{
data[i] = 0x0;
}
}
/// <summary>
/// Turns on the module's LED.
/// </summary>
public void TurnLEDOn()
{
led.Write(true);
}
/// <summary>
/// Turns the heating element on or off. This may take up to 10 seconds befre a proper reading is taken.
/// </summary>
/// <param name="bOn">True to turn the element on, false to turn it off.</param>
public void SetHeatingElement(bool bOn)
{
heatingElementEnable.Write(bOn);
}
private void Reset()
{
pinReset.Write(false);
Thread.Sleep(150);
pinReset.Write(true);
}
/// <summary>
/// Used to set a motor's speed.
/// <param name="_motorSide">The motor <see cref="Motor"/> you are setting the speed for.</param>
/// <param name="_newSpeed"> The new speed that you want to set the current motor to.</param>
/// </summary>
public void MoveMotor(Motor _motorSide, int _newSpeed)
{
// Make sure the speed is within an acceptable range.
if (_newSpeed > 100 || _newSpeed < -100)
{
new ArgumentException("New motor speed outside the acceptable range (-100-100)", "_newSpeed");
}
//////////////////////////////////////////////////////////////////////////////////
// Motor1
//////////////////////////////////////////////////////////////////////////////////
if (_motorSide == Motor.Motor2)
{
// Determine the direction we are going to go.
if (_newSpeed == 0)
{
//if (m_lastSpeed1 == 0)
m_Direction1.Write(false);
m_Pwm1.Set(Frequency, 0.01);
}
else if (_newSpeed < 0)
{
// Set direction and power.
m_Direction1.Write(true);
/////////////////////////////////////////////////////////////////////////////
// Quick fix for current PWM issue
double fix = (double)((100 - System.Math.Abs(_newSpeed)) / 100.0);
if (fix >= 1.0)
{
fix = 0.99;
}
if (fix <= 0.0)
{
fix = 0.01;
}
/////////////////////////////////////////////////////////////////////////////
m_Pwm1.Set(Frequency, fix);
}
else
{
// Set direction and power.
m_Direction1.Write(false);
/////////////////////////////////////////////////////////////////////////////
// Quick fix for current PWM issue
double fix = (double)(_newSpeed / 100.0);
if (fix >= 1.0)
{
fix = 0.99;
}
if (fix <= 0.0)
{
fix = 0.01;
}
/////////////////////////////////////////////////////////////////////////////
m_Pwm1.Set(Frequency, fix);
}
// Save our speed
m_lastSpeed1 = _newSpeed;
}
//////////////////////////////////////////////////////////////////////////////////
// Motor2
//////////////////////////////////////////////////////////////////////////////////
else
{
// Determine the direction we are going to go.
if (_newSpeed == 0)
{
//if( m_lastSpeed2 == 0)
m_Direction2.Write(false);
m_Pwm2.Set(Frequency, 0.01);
}
else if (_newSpeed < 0)
{
// Set direction and power.
m_Direction2.Write(true);
/////////////////////////////////////////////////////////////////////////////
// Quick fix for current PWM issue
double fix = (double)((100 - System.Math.Abs(_newSpeed)) / 100.0);
if (fix >= 1.0)
{
fix = 0.99;
}
if (fix <= 0.0)
{
fix = 0.01;
}
/////////////////////////////////////////////////////////////////////////////
m_Pwm2.Set(Frequency, fix);
}
else
{
// Set direction and power.
m_Direction2.Write(false);
/////////////////////////////////////////////////////////////////////////////
// Quick fix for current PWM issue
double fix = (double)(_newSpeed / 100.0);
if (fix >= 1.0)
{
fix = 0.99;
}
if (fix <= 0.0)
{
fix = 0.01;
}
/////////////////////////////////////////////////////////////////////////////
m_Pwm2.Set(Frequency, fix);
}
// Save our speed
m_lastSpeed2 = _newSpeed;
}
//////////////////////////////////////////////////////////////////////////////////
}
/// <summary>
/// Enables or disables the display backlight.
/// </summary>
/// <param name="state">The state to set the backlight to.</param>
public void SetBacklight(bool state)
{
pinBacklight.Write(state);
}
/// <summary>
/// Enables the outputs to the relays.
/// </summary>
private void EnableOutputs()
{
enable.Write(false);
}
private void SoftwareSPI_WriteRead(byte[] write, byte[] read)
{
int writeLen = write.Length;
int readLen = 0;
if (read != null)
{
readLen = read.Length;
for (int i = 0; i < readLen; i++)
{
read[i] = 0;
}
}
int loopLen = (writeLen < readLen ? readLen : writeLen);
byte w = 0;
CS.Write(false);
// per byte
for (int len = 0; len < loopLen; len++)
{
if (len < writeLen)
{
w = write[len];
}
byte mask = 0x80;
// per bit
for (int i = 0; i < 8; i++)
{
CLOCK.Write(false);
if ((w & mask) == mask)
{
MOSI.Write(true);
}
else
{
MOSI.Write(false);
}
CLOCK.Write(true);
if (true == MISO.Read())
{
if (read != null)
{
read[len] |= mask;
}
}
mask >>= 1;
}
MOSI.Write(false);
CLOCK.Write(false);
}
Thread.Sleep(20);
CS.Write(true);
}
/// <summary>
/// Attempts to enable writing to the flash, and returns the result.
/// </summary>
/// <returns>True is writing is enabled, false if it is not</returns>
public bool WriteEnable()
{
ClearBuffers();
writeData[0] = CMD_WRITE_ENABLE;
statusLED.Write(true);
spi.Write(writeData);
writeData[0] = CMD_READ_STATUS;
spi.WriteRead(writeData, readData);
statusLED.Write(false);
return((readData[1] & 0x2) != 0);
}
