/// <summary>
/// Class handling the Texas Instruments TMP102 Temperature Sensor, connected to an I2C bus connected to the Raspberry Pi GPIO Pin Header.
/// For more inforation, see: <see cref="http://www.ti.com.cn/cn/lit/ds/symlink/tmp102.pdf"/>
/// </summary>
/// <param name="Address">Address (0-3) of the TMP102 device on the I2C bus.</param>
/// <param name="I2CBus">I2C Bus to which the device is connected.</param>
/// <exception cref="ArgumentOutOfRangeException">Thrown if the <paramref name="Address"/> is not valid.</exception>
public TexasInstrumentsTMP102 (byte Address, I2C I2CBus)
{
if (Address > 3)
throw new ArgumentOutOfRangeException ("Address", "Valid addresses are 0-3.");
this.i2cBus = I2CBus;
this.address = (byte)(Address + 0x48);
}
/// <summary>
/// Class handling the Analog Devices 7991/7995/7999 Analog to Digital Conversion circuits.
/// For more inforation, see: <see cref="http://www.analog.com/static/imported-files/data_sheets/AD7991_7995_7999.pdf"/>
/// </summary>
/// <param name="Address">Address of the AD799x device on the I2C bus.</param>
/// <param name="I2CBus">I2C Bus to which the device is connected.</param>
/// <param name="Channel1">If Channel 1 is used and should be included in the A/D conversion.</param>
/// <param name="Channel2">If Channel 2 is used and should be included in the A/D conversion.</param>
/// <param name="Channel3">If Channel 3 is used and should be included in the A/D conversion.</param>
/// <param name="Channel4">If Channel 4 is used and should be included in the A/D conversion.</param>
/// <exception cref="ArgumentOutOfRangeException">Thrown if the <paramref name="Address"/> is not valid.</exception>
public AD799x (byte Address, bool Channel1, bool Channel2, bool Channel3, bool Channel4, I2C I2CBus)
{
if (Address > 1)
throw new ArgumentOutOfRangeException ("Address", "Valid addresses are 0-1.");
this.i2cBus = I2CBus;
this.address = (byte)(Address + 0x28);
this.channel1 = Channel1;
this.channel2 = Channel2;
this.channel3 = Channel3;
this.channel4 = Channel4;
this.CalcNrBytes ();
}
public RegisterIO_I2C(I2C i2c_port)
{
port = i2c_port;
}
/// <summary>
/// Construct a new Seeed Grove I2c Motor Driver with a given address
/// </summary>
/// <param name="i2c">I2c module to use</param>
/// <param name="address">The address to use</param>
public SeeedGroveI2cMotorDriver(I2C i2c, byte address = 0x0f)
{
dev = new SMBusDevice(address, i2c);
Frequency = PrescalerFrequency.Freq_3921Hz;
}
public static void Setup()
{
pi = new PiGpioSharp("raspi", 8888);
i2c = new I2C(pi);
}
/// <summary>
/// Construct an MCP4725
/// </summary>
/// <param name="i2c">The I2c bus this DAC is attached to</param>
/// <param name="address">The address to use</param>
/// <param name="refVoltage">The voltage of the VDD pin</param>
/// <param name="speed">The speed to use</param>
public Mcp4725(I2C i2c, byte address, double refVoltage = 3.3, int speed = 400)
{
dev = new SMBusDevice(address, i2c, speed);
ReferenceVoltage = refVoltage;
}
/// <summary>
/// Construct a new Seeed Grove I2c Motor Driver with the given address DIP switch pins
/// </summary>
/// <param name="i2c">I2c module to use</param>
/// <param name="a1">A1</param>
/// <param name="a2">A2</param>
/// <param name="a3">A3</param>
/// <param name="a4">A4</param>
public SeeedGroveI2cMotorDriver(I2C i2c, bool a1, bool a2, bool a3, bool a4) : this(i2c,
(byte)((a1 ? 1 : 0 << 3) | (a2 ? 1 : 0 << 2) | (a3 ? 1 : 0 << 1) | (a4 ? 1 : 0 << 0)))
{
}
/// <summary>
/// Constructs the AHRS class using I2C Communication
/// </summary>
/// <remarks>
/// The update rate may be between 4 Hz and 60 Hz, representing the number
/// of updates per second sent by the sensor.
/// <para/>
/// This constructor should be used if communicating via I2C.
/// <para/>
/// Note that increasing the update rate may increase the CPU utilization.
/// </remarks>
/// <param name="i2CPortId">The <see cref="I2C.Port">I2C Port</see> to use.</param>
/// <param name="updateRateHz">The Update Rate (Hz) [4..60] (Default 50)</param>
public AHRS(I2C.Port i2CPortId, byte updateRateHz = NavxDefaultUpdateRateHz)
{
CommonInit(updateRateHz);
if (RobotBase.IsSimulation)
{
m_io = new SimulatorIO(updateRateHz, m_ioCompleteSink, m_boardCapabilities);
}
else
{
m_io = new RegisterIO(new RegisterIO_I2C(new I2C(i2CPortId, 0x32)), updateRateHz, m_ioCompleteSink,
m_boardCapabilities);
}
m_ioThread.Start();
}
/// <summary>
/// Construct an MCP4725
/// </summary>
/// <param name="i2c">The I2c bus this DAC is attached to</param>
/// <param name="addr">The address pin state</param>
/// <param name="refVoltage">The voltage of the VDD pin</param>
/// <param name="speed">The speed to use</param>
public Mcp4725(I2C i2c, bool addr = false, double refVoltage = 3.3, int speed = 400) : this(i2c,
(byte)(0x62 | (addr ? 1 : 0)), refVoltage, speed)
{
}
public Mcp453x(I2C i2c, bool a0 = false, bool a1 = false, bool a2 = false, int rateKhz = 100)
{
this.dev = new SMBusDevice((byte)(0x28 | (a0 ? 1 : 0) | ((a1 ? 1 : 0) << 1) | ((a2 ? 1 : 0) << 2)), i2c, rateKhz);
scale = 128;
}
public RegisterIO_I2C(I2C i2c_port)
{
port = i2c_port;
}
public I2cParallelInterface(I2C i2c)
{
dev = new SMBusDevice(0x3e, i2c);
}
public HIH613x(I2C i2c)
{
I2c = i2c;
}
public GroveI2cLcd(I2C i2c) : base(new I2cParallelInterface(i2c), 16, 2)
{
// It's undocumented, but the Grove I2C LCD uses a PCA9632 for the RGB backlight
backlight = new Pca9632(i2c);
}
/// <summary>
/// Construct a new LM75 temperature sensor
/// </summary>
/// <param name="i2c">The i2C port to use</param>
/// <param name="a0">the state of the A0 pin</param>
/// <param name="a1">the state of the A1 pin</param>
/// <param name="a2">the state of the A2 pin</param>
public Lm75(I2C i2c, bool a0 = false, bool a1 = false, bool a2 = false)
{
dev = new SMBusDevice((byte)(0x48 | (a0 ? 1 : 0) | ((a1 ? 1 : 0) << 1) | ((a2 ? 1 : 0) << 2)), i2c);
}
public Mcp455x(I2C i2c, bool a0 = false, bool a1 = false, bool a2 = false, int rateKhz = 100) : base(i2c, a0, a1, a2, rateKhz)
{
scale = 256;
}
public Bh1750(I2C i2c, bool addressPin = false, int rate = 100)
{
this.dev = new SMBusDevice((byte)(addressPin ? 0x5C : 0x23), i2c, rate);
Task.Run(() => dev.WriteByteAsync(0x07)).Wait(); // reset
Resolution = LuxResolution.High;
}
/// <summary>
/// Construct a new AMIS30624 stepper motor controller
/// </summary>
/// <param name="module">The I2c module this stepper motor is attached to</param>
/// <param name="address">The address of the module</param>
/// <param name="speed">The speed to operate this peripheral at</param>
public Amis30624(I2C module, byte address, int speed)
{
dev = new SMBusDevice(address, module, speed);
ResetToDefault().ConfigureAwait(false);
GetFullStatus().ConfigureAwait(false);
}
/// <summary>
/// Construct a new MCP23008
/// </summary>
/// <param name="i2c">The I2c bus to use</param>
/// <param name="a0">The state of the A0 pin</param>
/// <param name="a1">The state of the A1 pin</param>
/// <param name="a2">The state of the A2 pin</param>
/// <param name="speedKHz"></param>
public Mcp23008(I2C i2c, bool a0 = false, bool a1 = false, bool a2 = false, int speedKHz = 100)
: this(i2c, (byte)(0x20 | (a0 ? 1 : 0) | ((a1 ? 1 : 0) << 1) | ((a2 ? 1 : 0) << 2)), speedKHz)
{
}
/// <summary>
/// Construct a new LTC2305
/// </summary>
/// <param name="address">The address to use</param>
/// <param name="I2cModule">The I2c module this ADC is attached to</param>
public Ltc2305(byte address, I2C I2cModule)
{
dev = new SMBusDevice(address, I2cModule, 100);
}
static Accelerometer()
{
_i2c = new I2C(0x1c);
_i2c.Write(new byte[2] { 0x2a, 0x01 });
}
/// <summary>
/// Construct a new AMIS30624 stepper motor controller
/// </summary>
/// <param name="module">The I2c module this stepper motor is attached to</param>
/// <param name="addressPin">The hardwired address pin state</param>
/// <param name="speed">The speed to operate this peripheral at</param>
public Amis30624(I2C module, bool addressPin = false, int speed = 400) : this(module,
(byte)(addressPin ? 0x61 : 0x60), speed)
{
}