// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
/// <param name="baud">The baud rate to communicate with the module with.</param>
public Bluetooth(int socketNumber, long baud)
{
// This finds the Socket instance from the user-specified socket number. This will generate user-friendly error messages if the socket is invalid. If there is more than one socket on this
// module, then instead of "null" for the last parameter, put text that identifies the socket to the user (e.g. "S" if there is a socket type S)
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
this.reset = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Six, false, this);
this.statusInt = GTI.InterruptInputFactory.Create(socket, Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, GTI.InterruptMode.RisingAndFallingEdge, this);
this.serialPort = GTI.SerialFactory.Create(socket, 38400, GTI.SerialParity.None, GTI.SerialStopBits.One, 8, GTI.HardwareFlowControl.NotRequired, this);
//this.statusInt.Interrupt += GTI.InterruptInputFactory.Create.InterruptEventHandler(statusInt_Interrupt);
this.serialPort.ReadTimeout = Timeout.Infinite;
this.serialPort.Open();
Thread.Sleep(5);
this.reset.Write(true);
// Poundy added:
Thread.Sleep(5);
this.SetDeviceBaud(baud);
this.serialPort.Flush();
this.serialPort.Close();
this.serialPort.BaudRate = (int)baud;
this.serialPort.Open();
// Poundy
readerThread = new Thread(new ThreadStart(runReaderThread));
readerThread.Start();
Thread.Sleep(500);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public RadioFM1(int socketNumber)
{
this.radioTextWorkerRunning = true;
this.currentRadioText = "N/A";
this.spacingDivisor = 2;
this.baseChannel = 875;
this.registers = new ushort[16];
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'Y' }, this);
this.resetPin = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this);
this.i2cBus = new GTI.SoftwareI2CBus(socket, Socket.Pin.Eight, Socket.Pin.Nine, RadioFM1.I2C_ADDRESS, 100, this);
this.i2cBus.LengthErrorBehavior = GTI.ErrorBehavior.ThrowException;
this.InitializeDevice();
this.SetChannelConfiguration(Spacing.USAAustrailia, Band.USAEurope);
this.Channel = this.MinChannel;
this.Volume = RadioFM1.MIN_VOLUME;
this.radioTextWorkerThread = new Thread(this.RadioTextWorker);
this.radioTextWorkerThread.Start();
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public DisplayN18(int socketNumber)
: base(WpfMode.Separate)
{
this.byteArray = new byte[1];
this.shortArray = new ushort[2];
this.isBgr = true;
this.socket = Socket.GetSocket(socketNumber, true, this, null);
this.socket.EnsureTypeIsSupported('S', this);
this.resetPin = GTI.DigitalOutputFactory.Create(this.socket, Socket.Pin.Three, false, this);
this.backlightPin = GTI.DigitalOutputFactory.Create(this.socket, Socket.Pin.Four, true, this);
this.rsPin = GTI.DigitalOutputFactory.Create(this.socket, Socket.Pin.Five, false, this);
this.spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, true, 12000);
this.netMFSpiConfig = new SPI.Configuration(this.socket.CpuPins[6], this.spiConfig.IsChipSelectActiveHigh, this.spiConfig.ChipSelectSetupTime, this.spiConfig.ChipSelectHoldTime, this.spiConfig.IsClockIdleHigh, this.spiConfig.IsClockSamplingEdgeRising, this.spiConfig.ClockRateKHz, this.socket.SPIModule);
this.spi = GTI.SpiFactory.Create(this.socket, this.spiConfig, GTI.SpiSharing.Shared, this.socket, Socket.Pin.Six, this);
this.Reset();
this.ConfigureDisplay();
base.OnDisplayConnected("Display N18", 128, 160, DisplayOrientation.Normal, null);
this.Clear();
}
private void Initialize()
{
var spiSocket = GT.Socket.GetSocket(10, true, null, null);
var pwmSocket = GT.Socket.GetSocket(11, true, null, null);
var analogSocket = GT.Socket.GetSocket(12, true, null, null);
this.forwardLEDs = GTI.SpiFactory.Create(spiSocket, new GTI.SpiConfiguration(false, 0, 0, false, true, 2000), GTI.SpiSharing.Shared, spiSocket, GT.Socket.Pin.Six, null);
this.leftIRLED = GTI.DigitalOutputFactory.Create(spiSocket, GT.Socket.Pin.Three, true, null);
this.rightIRLED = GTI.DigitalOutputFactory.Create(spiSocket, GT.Socket.Pin.Four, true, null);
this.leftMotorDirection = GTI.DigitalOutputFactory.Create(pwmSocket, GT.Socket.Pin.Three, false, null);
this.rightMotorDirection = GTI.DigitalOutputFactory.Create(pwmSocket, GT.Socket.Pin.Four, false, null);
this.leftMotor = GTI.PwmOutputFactory.Create(pwmSocket, GT.Socket.Pin.Seven, false, null);
this.rightMotor = GTI.PwmOutputFactory.Create(pwmSocket, GT.Socket.Pin.Eight, false, null);
this.servo = GTI.PwmOutputFactory.Create(pwmSocket, GT.Socket.Pin.Nine, false, null);
this.buzzer = GTI.PwmOutputFactory.Create(analogSocket, GT.Socket.Pin.Seven, false, null);
this.enableFaderPin = GTI.PwmOutputFactory.Create(analogSocket, GT.Socket.Pin.Eight, true, null);
this.leftSensor = GTI.AnalogInputFactory.Create(analogSocket, GT.Socket.Pin.Three, null);
this.rightSensor = GTI.AnalogInputFactory.Create(analogSocket, GT.Socket.Pin.Four, null);
this.leftMotor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0);
this.rightMotor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0);
this.enableFaderPin.Set(2000, 1.0);
this.leftMotorInverted = false;
this.rightMotorInverted = false;
this.servoConfigured = false;
this.SetLedBitmask(0x00);
}
/// <summary>Constructs a new TouchC8 sensor.</summary>
/// <param name="socketNumber">The socket number the sensor is plugged into.</param>
public TouchC8(int socketNumber)
{
this.readBuffer = new byte[1];
this.writeBuffer = new byte[2];
this.addressBuffer = new byte[1];
this.socket = GT.Socket.GetSocket(socketNumber, false, this, "I");
this.reset = GTI.DigitalOutputFactory.Create(this.socket, GT.Socket.Pin.Six, true, this);
this.Reset();
this.device = GTI.I2CBusFactory.Create(this.socket, TouchC8.I2C_ADDRESS, TouchC8.I2C_CLOCK_RATE, this);
this.interrupt = GTI.InterruptInputFactory.Create(socket, GT.Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
this.interrupt.Interrupt += this.OnInterrupt;
this.previousWheelDirection = (Direction)(-1);
this.previousWheelPosition = 0;
this.previousWheelTouched = false;
this.previousButton1Touched = false;
this.previousButton2Touched = false;
this.previousButton3Touched = false;
Thread.Sleep(250);
this.ConfigureSPM();
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public RelayX1(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'X', 'Y' }, this);
this.enable = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public ReflectorR3(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
this.left = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Three, this);
this.center = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Four, this);
this.right = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Five, this);
this.centerSwitch = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Six, true, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public FLASH(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('S', this);
this.statusLED = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this);
this.spi = GTI.SpiFactory.Create(socket, new GTI.SpiConfiguration(false, 0, 0, false, true, 4000), GTI.SpiSharing.Shared, socket, Socket.Pin.Six, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public GasSense(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('A', this);
this.input = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Three, this);
this.enable = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this);
}
/// <summary>Constructor</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public Distance_US3(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'X', 'Y' }, this);
Echo = GTI.DigitalInputFactory.Create(socket, Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, this);
Trigger = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public LED7C(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'X', 'Y' }, this);
this.red = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this);
this.blue = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, false, this);
this.green = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public TempHumidity(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'X', 'Y' }, this);
this.sck = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this);
this.data = GTI.DigitalIOFactory.Create(socket, Socket.Pin.Three, true, GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, this);
this.running = false;
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public Thermocouple(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'X', 'Y' }, this);
_miso = GTI.DigitalInputFactory.Create(socket, Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, this);
_clk = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this);
_cs = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, true, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="rSocketNumber">The mainboard socket that has the display's R socket connected to it.</param>
/// <param name="gSocketNumber">The mainboard socket that has the display's G socket connected to it.</param>
/// <param name="bSocketNumber">The mainboard socket that has the display's B socket connected to it.</param>
public DisplayN7(int rSocketNumber, int gSocketNumber, int bSocketNumber)
: base(WpfMode.PassThrough)
{
var config = new DisplayModule.TimingRequirements()
{
UsesCommonSyncPin = true, //not the proper property, but we needed it for OutputEnableIsFixed
CommonSyncPinIsActiveHigh = true, //not the proper property, but we needed it for OutputEnablePolarity
HorizontalSyncPulseIsActiveHigh = true,
VerticalSyncPulseIsActiveHigh = true,
PixelDataIsValidOnClockRisingEdge = false,
HorizontalSyncPulseWidth = 1,
HorizontalBackPorch = 46,
HorizontalFrontPorch = 16,
VerticalSyncPulseWidth = 1,
VerticalBackPorch = 23,
VerticalFrontPorch = 7,
MaximumClockSpeed = 24000,
};
base.OnDisplayConnected("Display N7", 800, 480, DisplayOrientation.Normal, config);
var rSocket = Socket.GetSocket(rSocketNumber, true, this, null);
var gSocket = Socket.GetSocket(gSocketNumber, true, this, null);
var bSocket = Socket.GetSocket(bSocketNumber, true, this, null);
rSocket.EnsureTypeIsSupported('R', this);
gSocket.EnsureTypeIsSupported('G', this);
bSocket.EnsureTypeIsSupported('B', this);
this.backlightPin = GTI.DigitalOutputFactory.Create(gSocket, Socket.Pin.Nine, true, this);
rSocket.ReservePin(Socket.Pin.Three, this);
rSocket.ReservePin(Socket.Pin.Four, this);
rSocket.ReservePin(Socket.Pin.Five, this);
rSocket.ReservePin(Socket.Pin.Six, this);
rSocket.ReservePin(Socket.Pin.Seven, this);
rSocket.ReservePin(Socket.Pin.Eight, this);
rSocket.ReservePin(Socket.Pin.Nine, this);
gSocket.ReservePin(Socket.Pin.Three, this);
gSocket.ReservePin(Socket.Pin.Four, this);
gSocket.ReservePin(Socket.Pin.Five, this);
gSocket.ReservePin(Socket.Pin.Six, this);
gSocket.ReservePin(Socket.Pin.Seven, this);
gSocket.ReservePin(Socket.Pin.Eight, this);
bSocket.ReservePin(Socket.Pin.Three, this);
bSocket.ReservePin(Socket.Pin.Four, this);
bSocket.ReservePin(Socket.Pin.Five, this);
bSocket.ReservePin(Socket.Pin.Six, this);
bSocket.ReservePin(Socket.Pin.Seven, this);
bSocket.ReservePin(Socket.Pin.Eight, this);
bSocket.ReservePin(Socket.Pin.Nine, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public DistanceUS3(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'X', 'Y' }, this);
this.echo = GTI.DigitalInputFactory.Create(socket, Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, this);
this.trigger = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this);
this.AcceptableErrors = 10;
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public ColorSense(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'X', 'Y' }, this);
this.writeBuffer = new byte[1];
this.readBuffer = new byte[2];
this.led = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, false, this);
this.i2c = new GTI.SoftwareI2CBus(socket, Socket.Pin.Five, Socket.Pin.Four, 0x39, 100, this);
this.i2c.Write(new byte[] { 0x80, 0x03 });
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The mainboard socket that has the module plugged into it.</param>
public Button(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'X', 'Y' }, this);
this.currentMode = LedMode.Off;
this.led = GTI.DigitalOutputFactory.Create(socket, GT.Socket.Pin.Four, false, this);
this.input = GTI.InterruptInputFactory.Create(socket, GT.Socket.Pin.Three, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.RisingAndFallingEdge, this);
this.input.Interrupt += this.OnInterrupt;
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public MaxO(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('S', this);
this.spi = GTI.SpiFactory.Create(socket, new GTI.SpiConfiguration(false, 0, 0, false, true, 1000), GTI.SpiSharing.Shared, socket, Socket.Pin.Five, this);
this.enable = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, false, this);
this.clr = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, true, this);
this.boards = 0;
this.data = null;
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public KeypadKP16(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('Y', this);
this.out1 = GT.SocketInterfaces.DigitalOutputFactory.Create(socket, GT.Socket.Pin.Three, true, null);
this.out2 = GT.SocketInterfaces.DigitalOutputFactory.Create(socket, GT.Socket.Pin.Four, true, null);
this.in1 = GT.SocketInterfaces.DigitalInputFactory.Create(socket, GT.Socket.Pin.Five, GT.SocketInterfaces.GlitchFilterMode.Off, GT.SocketInterfaces.ResistorMode.PullUp, null);
this.in2 = GT.SocketInterfaces.DigitalInputFactory.Create(socket, GT.Socket.Pin.Six, GT.SocketInterfaces.GlitchFilterMode.Off, GT.SocketInterfaces.ResistorMode.PullUp, null);
this.in3 = GT.SocketInterfaces.DigitalInputFactory.Create(socket, GT.Socket.Pin.Seven, GT.SocketInterfaces.GlitchFilterMode.Off, GT.SocketInterfaces.ResistorMode.PullUp, null);
this.in4 = GT.SocketInterfaces.DigitalInputFactory.Create(socket, GT.Socket.Pin.Eight, GT.SocketInterfaces.GlitchFilterMode.Off, GT.SocketInterfaces.ResistorMode.PullUp, null);
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public TemperatureSensor(int socketNumber)
{
// This finds the Socket instance from the user-specified socket number.
// This will generate user-friendly error messages if the socket is invalid.
// If there is more than one socket on this module, then instead of "null" for the last parameter,
// put text that identifies the socket to the user (e.g. "S" if there is a socket type S)
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
_sck = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this);
_data = GTI.DigitalIOFactory.Create(socket, Socket.Pin.Three, true, GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, this);
new Thread(TakeMeasurements).Start();
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public Load(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('Y', this);
this.P1 = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, false, this);
this.P2 = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this);
this.P3 = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this);
this.P4 = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Six, false, this);
this.P5 = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Seven, false, this);
this.P6 = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Eight, false, this);
this.P7 = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Nine, false, this);
}
/// <summary>
/// Use this constructor if you are connecting XBee using Gadgteteer socket.
/// </summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
/// <remarks>
/// The function <see cref="Configure"/> can be called to configure the <see cref="SerialLine"/> before it is used.
/// If it is not called before first use, then the following defaults will be used and cannot be changed afterwards:
/// <list type="bullet">
/// <item>Baud Rate - 9600</item>
/// <item>Parity - <see cref="System.IO.Ports.Parity">Parity.None</see></item>
/// <item>Stop Bits - <see cref="System.IO.Ports.StopBits">StopBits.One</see></item>
/// <item>Data Bits - 8</item>
/// </list>
/// </remarks>
public XBee(int socketNumber)
{
_connectedToGadgeteerSocket = true;
// This finds the Socket instance from the user-specified socket number.
// This will generate user-friendly error messages if the socket is invalid.
// If there is more than one socket on this module, then instead of "null" for the last parameter,
// put text that identifies the socket to the user (e.g. "S" if there is a socket type S)
var socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new[] { 'K', 'U' }, this);
_serialPortName = socket.SerialPortName;
_gadgeteerResetPin = DigitalOutputFactory.Create(socket, Socket.Pin.Three, ResetState.NotRunning, this);
_gadgeteerSleepPin = DigitalOutputFactory.Create(socket, Socket.Pin.Eight, SleepState.Awaken, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public GPS(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('U', this);
this.lastPositionReceived = TimeSpan.MinValue;
this.LastPosition = null;
this.powerControl = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, true, this);
this.gpsExtInt = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Six, true, this);
this.serial = GTI.SerialFactory.Create(socket, 9600, GTI.SerialParity.None, GTI.SerialStopBits.One, 8, GTI.HardwareFlowControl.NotRequired, this);
this.serial.NewLine = "\r\n";
this.serial.LineReceived += this.OnLineReceived;
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public PulseCount(int socketNumber)
{
this.socket = Socket.GetSocket(socketNumber, true, this, null);
this.socket.EnsureTypeIsSupported('Y', this);
this.write1 = new byte[1];
this.write2 = new byte[2];
this.read5 = new byte[5];
this.cs = GTI.DigitalOutputFactory.Create(this.socket, Socket.Pin.Six, true, this);
this.miso = GTI.DigitalInputFactory.Create(this.socket, Socket.Pin.Eight, GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, this);
this.mosi = GTI.DigitalOutputFactory.Create(this.socket, Socket.Pin.Seven, false, this);
this.clock = GTI.DigitalOutputFactory.Create(this.socket, Socket.Pin.Nine, false, this);
this.enable = GTI.DigitalOutputFactory.Create(this.socket, Socket.Pin.Five, true, this);
this.Initialize();
}
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>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public RelayISOx16(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('Y', this);
this.data = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Seven, false, this);
this.clock = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Nine, false, this);
this.enable = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, true, this);
this.latch = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this);
this.clear = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, true, this);
this.DisableAllRelays();
this.EnableRelay(0);
this.EnableOutputs();
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public StepperL6470(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('S', this);
this.spi = GTI.SpiFactory.Create(socket, new GTI.SpiConfiguration(false, 1000, 1000, true, true, 5000), GTI.SpiSharing.Shared, socket, Socket.Pin.Six, this);
this.busyPin = GTI.DigitalInputFactory.Create(socket, Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, this);
this.resetPin = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, true, this);
this.stepClock = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this);
this.send = new byte[1];
this.receive = new byte[1];
this.InitializeChip();
this.Reset();
}
/// <summary>Determines whether or not a given key is pressed.</summary>
/// <param name="key">The key whose state we want to check.</param>
/// <returns>Whether or not the key is pressed.</returns>
public bool IsPressed(Key key)
{
bool out1 = false;
bool out2 = false;
if (key == Key.One || key == Key.Four || key == Key.Seven || key == Key.Star)
{
out1 = false; out2 = false;
}
else if (key == Key.Two || key == Key.Five || key == Key.Eight || key == Key.Zero)
{
out1 = true; out2 = false;
}
else if (key == Key.Three || key == Key.Six || key == Key.Nine || key == Key.Pound)
{
out1 = false; out2 = true;
}
else if (key == Key.A || key == Key.B || key == Key.C || key == Key.D)
{
out1 = true; out2 = true;
}
this.out1.Write(out1);
this.out2.Write(out2);
if (key == Key.One || key == Key.Two || key == Key.Three || key == Key.A)
{
return(!this.in1.Read());
}
else if (key == Key.Four || key == Key.Five || key == Key.Six || key == Key.B)
{
return(!this.in2.Read());
}
else if (key == Key.Seven || key == Key.Eight || key == Key.Nine || key == Key.C)
{
return(!this.in3.Read());
}
else if (key == Key.Star || key == Key.Zero || key == Key.Pound || key == Key.D)
{
return(!this.in4.Read());
}
return(false);
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary>Constructor</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public RelayISOx16(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('Y', this);
//Default on-state fix submitted by community member 'Lubos'
data = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Seven, false, this);
clock = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Nine, false, this);
enable = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, true, this); //Switching lines for enable and latch prevents default on state
latch = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this);
clear = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, true, this);
DisableAllRelays();
EnableRelay(0);
EnableOutputs();
}
/// <summary>
/// Initializes SPI connection and control pins
/// <param name="irqPin"> IRQ pin as a Socket.Pin
/// <param name="cePin"> Chip Enable(CE) pin as a Socket.Pin
/// <param name="irqPin"> Chip Select Not(CSN or CS\) pin as a Socket.Pin
/// <param name="spiClockRateKHZ"> Clock rate in KHz (i.e. 1000 = 1MHz)
/// </summary>
public void Initialize(Socket.Pin irqPin, Socket.Pin csPin, byte config, uint spiClockRateKHZ = 1000)
{
_spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, false, spiClockRateKHZ);
// Chip Select : Active Low
// Clock : Active High, Data clocked in on rising edge
//_socket = GTS.GetSocket(6, false, this, null);
_spi = GTI.SpiFactory.Create(_socket, _spiConfig, GTI.SpiSharing.Shared, _socket, csPin, this);
// Initialize Chip Enable Port
_csPin = GTI.DigitalOutputFactory.Create(_socket, Socket.Pin.Four, true, this);
// _irqPin = GTI.InterruptInputFactory.Create(_socket, irqPin, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
_irqPin = GTI.InterruptInputFactory.Create(_socket, irqPin, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
_irqPin.Interrupt += _irqPin_Interrupt;
_initialized = true;
_config = config;
ResetConfig();
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public Barometer(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('I', this);
this.writeBuffer1 = new byte[1];
this.readBuffer1 = new byte[1];
this.readBuffer2 = new byte[2];
this.readBuffer18 = new byte[18];
this.coefficients = new Coefficients();
this.xclr = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, false, this);
this.i2c = GTI.I2CBusFactory.Create(socket, Barometer.EEPROM_ADDR, 100, this);
this.ReadFactoryCalibrationData();
this.i2c.Address = Barometer.ADC_ADDRESS;
this.timer = new GT.Timer(200);
this.timer.Tick += (a) => this.TakeMeasurement();
}
private uint spiSpeed = 8000; // kHz
#endregion Fields
#region Constructors
//, int socketNumberTwo)
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
/// <param name="socketNumberTwo">The second socket that this module is plugged in to.</param>
public DisplayS22(int socketNumber)
: base(DisplayModule.WpfMode.Separate)
{
// This finds the Socket instance from the user-specified socket number.
// This will generate user-friendly error messages if the socket is invalid.
// If there is more than one socket on this module, then instead of "null" for the last parameter,
// put text that identifies the socket to the user (e.g. "S" if there is a socket type S)
socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('S', this);
socket.ReservePin(Socket.Pin.Three, this); // reset
socket.ReservePin(Socket.Pin.Four, this); // back light
socket.ReservePin(Socket.Pin.Five, this); // D/C
socket.ReservePin(Socket.Pin.Six, this); // CS
socket.ReservePin(Socket.Pin.Seven, this); // MOSI
socket.ReservePin(Socket.Pin.Eight, this); // MISO
socket.ReservePin(Socket.Pin.Nine, this); // SCK
/*
* Serial peripheral interface (SPI).
* Pin 7 is MOSI line, pin 8 is MISO line, pin 9 is SCK line.
* In addition, pins 3, 4 and 5 are general-purpose input/outputs, with pin 3 supporting interrupt capabilities.
*/
pinReset = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, false, this); // pin 3
pinBacklight = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this); // pin 4
pinDC = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this); // pin 5
spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, true, spiSpeed);
netMFSpiConfig = new SPI.Configuration(socket.CpuPins[6], spiConfig.IsChipSelectActiveHigh, spiConfig.ChipSelectSetupTime, spiConfig.ChipSelectHoldTime, spiConfig.IsClockIdleHigh, spiConfig.IsClockSamplingEdgeRising, spiConfig.ClockRateKHz, socket.SPIModule);
spi = GTI.SpiFactory.Create(socket, spiConfig, GTI.SpiSharing.Shared, socket, Socket.Pin.Six, this);
Reset();
ConfigureDisplay();
Clear();
SetBacklight(true);
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
/// <param name="socketNumberTwo">The second socket that this module is plugged in to.</param>
public DisplayS22(int socketNumber)//, int socketNumberTwo)
: base(DisplayModule.WpfMode.Separate)
{
// This finds the Socket instance from the user-specified socket number.
// This will generate user-friendly error messages if the socket is invalid.
// If there is more than one socket on this module, then instead of "null" for the last parameter,
// put text that identifies the socket to the user (e.g. "S" if there is a socket type S)
socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('S', this);
socket.ReservePin(Socket.Pin.Three, this); // reset
socket.ReservePin(Socket.Pin.Four, this); // back light
socket.ReservePin(Socket.Pin.Five, this); // D/C
socket.ReservePin(Socket.Pin.Six, this); // CS
socket.ReservePin(Socket.Pin.Seven, this); // MOSI
socket.ReservePin(Socket.Pin.Eight, this); // MISO
socket.ReservePin(Socket.Pin.Nine, this); // SCK
/*
* Serial peripheral interface (SPI).
* Pin 7 is MOSI line, pin 8 is MISO line, pin 9 is SCK line.
* In addition, pins 3, 4 and 5 are general-purpose input/outputs, with pin 3 supporting interrupt capabilities.
*/
pinReset = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Three, false, this); // pin 3
pinBacklight = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this); // pin 4
pinDC = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Five, false, this); // pin 5
spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, true, spiSpeed);
netMFSpiConfig = new SPI.Configuration(socket.CpuPins[6], spiConfig.IsChipSelectActiveHigh, spiConfig.ChipSelectSetupTime, spiConfig.ChipSelectHoldTime, spiConfig.IsClockIdleHigh, spiConfig.IsClockSamplingEdgeRising, spiConfig.ClockRateKHz, socket.SPIModule);
spi = GTI.SpiFactory.Create(socket, spiConfig, GTI.SpiSharing.Shared, socket, Socket.Pin.Six, this);
Reset();
ConfigureDisplay();
Clear();
SetBacklight(true);
}
/// <summary>
/// Initializes SPI connection and control pins
/// <param name="irqPin"> IRQ pin as a Socket.Pin
/// <param name="cePin"> Chip Enable(CE) pin as a Socket.Pin
/// <param name="irqPin"> Chip Select Not(CSN or CS\) pin as a Socket.Pin
/// <param name="spiClockRateKHZ"> Clock rate in KHz (i.e. 1000 = 1MHz)
/// </summary>
public void Initialize(Socket.Pin irqPin, Socket.Pin csPin, byte config, uint spiClockRateKHZ = 1000)
{
_spiConfig = new GTI.SpiConfiguration(false, 0, 0, false, false, spiClockRateKHZ);
// Chip Select : Active Low
// Clock : Active High, Data clocked in on rising edge
//_socket = GTS.GetSocket(6, false, this, null);
_spi = GTI.SpiFactory.Create(_socket, _spiConfig, GTI.SpiSharing.Shared, _socket, csPin, this);
// Initialize Chip Enable Port
_csPin = GTI.DigitalOutputFactory.Create(_socket, Socket.Pin.Four, true, this);
// _irqPin = GTI.InterruptInputFactory.Create(_socket, irqPin, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
_irqPin = GTI.InterruptInputFactory.Create(_socket, irqPin, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
_irqPin.Interrupt += _irqPin_Interrupt;
_initialized = true;
_config = config;
ResetConfig();
}
public LedDigital(DigitalOutput outputPort)
{
_outputPort = outputPort;
}
