/// <summary>
/// Attempts auto-detection of the currently installed Navio board.
/// </summary>
public void Detect()
{
// Detect model
var model = NavioDeviceProvider.Detect();
if (model.HasValue && Board?.Model != model)
{
// Connect to hardware when found and not already connected
Board = NavioDeviceProvider.Connect(model.Value);
// Fire changed event
DoPropertyChanged(nameof(Board));
}
}
public void Run(IBackgroundTaskInstance taskInstance)
{
// Initialize task
_taskDeferral = taskInstance.GetDeferral();
taskInstance.Canceled += OnTaskCancelled;
// Connect to hardware
Debug.WriteLine("Connecting to Navio board.");
_board = NavioDeviceProvider.Connect();
Debug.WriteLine("Navio board was detected as a \"{0}\".", _board.Model);
var rcInput = _board.RCInput;
// Log start
Debug.WriteLine("Navio RC input test start.");
// Start receiving frames
Debug.WriteLine("Waiting for valid PWM frames...");
rcInput.ChannelsChanged += OnChannelsChanged;
}
/// <summary>
/// Returns the current <see cref="INavioBoard"/> or creates it the first time.
/// </summary>
/// <param name="model">Hardware model.</param>
/// <returns>Hardware interface for the requested model when successful.</returns>
/// <remarks>
/// The requested hardware model must be the same, otherwise any existing board
/// is disposed and an attempt made to create a board of the new model.
/// </remarks>
public static INavioBoard Connect(NavioHardwareModel model)
{
// Thread-safe lock
lock (_lock)
{
// Check existing board when present
if (_board != null)
{
// Return existing board when present
if (_board.Model == model)
{
return(_board);
}
// Dispose existing board when not null and different model (just in case)
_board.Dispose();
_board = null;
}
// Create new board
switch (model)
{
case NavioHardwareModel.Navio1:
return(_board = new Navio1Board());
case NavioHardwareModel.Navio1Plus:
return(_board = new Navio1PlusBoard());
case NavioHardwareModel.Navio2:
return(_board = new Navio2Board());
default:
// Invalid value or unsupported
throw new ArgumentOutOfRangeException(nameof(model));
}
}
}
/// <summary>
/// Application start-up.
/// </summary>
/// <param name="taskInstance">Task instance.</param>
public void Run(IBackgroundTaskInstance taskInstance)
{
// Initialize task
_taskDeferral = taskInstance.GetDeferral();
taskInstance.Canceled += OnTaskCancelled;
// Connect to hardware
Debug.WriteLine("Connecting to Navio board.");
_board = NavioDeviceProvider.Connect();
Debug.WriteLine("Navio board was detected as a \"{0}\".", _board.Model);
var barometer = _board.Barometer;
// Reset
Debug.WriteLine("Resetting device.");
barometer.Reset();
// Infinite update loop
Debug.WriteLine("Starting infinite update loop...");
while (true)
{
var measurement = barometer.Update();
Debug.WriteLine(measurement);
}
}
/// <summary>
/// Application start-up.
/// </summary>
/// <param name="taskInstance">Task instance.</param>
public void Run(IBackgroundTaskInstance taskInstance)
{
// Initialize task
_taskDeferral = taskInstance.GetDeferral();
taskInstance.Canceled += OnTaskCancelled;
// Connect to hardware
Debug.WriteLine("Connecting to Navio board.");
_board = NavioDeviceProvider.Connect();
Debug.WriteLine("Navio board was detected as a \"{0}\".", _board.Model);
var led = _board.Led;
// Log start
Debug.WriteLine("Navio LED test start.");
// Enable oscillator and output if necessary
if (!led.Enabled)
{
led.Enabled = true;
}
// Fade LEDs to blue
Debug.WriteLine("Fading to blue.");
var maximum = led.MaximumValue;
bool fade;
do
{
fade = false;
if (led.Red > 0)
{
led.Red--;
fade = true;
}
if (led.Green > 0)
{
led.Green--;
fade = true;
}
if (led.Blue < maximum)
{
led.Blue++;
fade = true;
}
}while (fade);
// Cycle LED in infinite loop...
Debug.WriteLine("Cycling in infinite loop...");
while (true)
{
// Red up via property...
Debug.WriteLine("Red up via property...");
while (led.Red < maximum)
{
led.Red++;
}
// Wait a bit...
Task.Delay(TimeSpan.FromSeconds(1)).Wait();
// Blue down via property...
Debug.WriteLine("Blue down via property...");
while (led.Blue > 0)
{
led.Blue--;
}
// Wait a bit...
Task.Delay(TimeSpan.FromSeconds(1)).Wait();
// Green up via property..
Debug.WriteLine("Green up via property...");
while (led.Green < maximum)
{
led.Green++;
}
// Wait a bit...
Task.Delay(TimeSpan.FromSeconds(1)).Wait();
// Red down via set RGB method...
Debug.WriteLine("Red down via set RGB method...");
var red = maximum; var green = maximum; var blue = 0;
do
{
led.SetRgb(--red, green, blue);
} while (red > 0);
// Wait a bit...
Task.Delay(TimeSpan.FromSeconds(1)).Wait();
// Blue up via set RGB method...
Debug.WriteLine("Blue up via set RGB method...");
do
{
led.SetRgb(red, green, ++blue);
} while (blue < maximum);
// Wait a bit...
Task.Delay(TimeSpan.FromSeconds(1)).Wait();
// Green down via set RGB method...
Debug.WriteLine("Green down via set RGB method...");
do
{
led.SetRgb(red, --green, blue);
} while (green > 0);
// Wait a bit...
Task.Delay(TimeSpan.FromSeconds(1)).Wait();
}
}
/// <summary>
/// Application start-up.
/// </summary>
/// <param name="taskInstance">Task instance.</param>
public void Run(IBackgroundTaskInstance taskInstance)
{
// Initialize task
_taskDeferral = taskInstance.GetDeferral();
taskInstance.Canceled += OnTaskCancelled;
// Connect to hardware
Debug.WriteLine("Connecting to Navio board.");
_board = NavioDeviceProvider.Connect();
Debug.WriteLine("Navio board was detected as a \"{0}\".", _board.Model);
var fram = _board.Fram;
if (fram == null)
{
// No FRAM on this board!
Debug.WriteLine("This board does not have a FRAM chip!");
throw new NotSupportedException();
}
Debug.WriteLine("FRAM has {0} bytes of memory.", fram.Size);
// Log start
Debug.WriteLine("Navio FRAM memory test start.");
// Write single bytes
Debug.WriteLine("Writing single bytes (all 1s)...");
for (ushort address = 0; address < fram.Size; address++)
{
fram.WriteByte(address, 0xff);
}
// Read numbers
Debug.WriteLine("Read single bytes (all 1s)...");
for (ushort address = 0; address < fram.Size; address++)
{
var test = (address == 0) ?
fram.ReadByte(address) : // First call sets address to read from,
fram.ReadByte(); // then following calls continue forwards
if (test != 0xff)
{
// Data error!
throw new InvalidOperationException(String.Format(CultureInfo.InvariantCulture,
"Invalid data, read {0:X2} but expected FF!", test));
}
}
// Write numbers
Debug.WriteLine("Writing sequential numbers...");
for (ushort address = 0; address < fram.Size; address += 2)
{
var data = BitConverter.GetBytes(address);
fram.WritePage(address, data);
}
// Read numbers
Debug.WriteLine("Read of sequential numbers...");
for (ushort address = 0; address < fram.Size; address += 2)
{
var data = BitConverter.GetBytes(address);
var test = fram.ReadPage(address, 2);
if (test.Length != data.Length || test[0] != data[0] || test[1] != data[1])
{
// Data error!
throw new InvalidOperationException(String.Format(CultureInfo.InvariantCulture,
"Invalid data, read {0:X2}{1:X2} but expected {2:X2}{3:X2}!", test[0], test[1], data[0], data[1]));
}
}
// Block erase
Debug.WriteLine("Block erase (write pages of 0s)...");
var zeroBlock = new byte[fram.Size];
fram.WritePage(0, zeroBlock);
// Check erased
Debug.WriteLine("Checking memory has been erased...");
var testBlock = fram.ReadPage(0, zeroBlock.Length);
for (var address = 0; address < zeroBlock.Length; address++)
{
var test = testBlock[address];
if (test != 0)
{
// Data error!
throw new InvalidOperationException(String.Format(CultureInfo.InvariantCulture,
"Invalid data, read {0:X2} but expected 00!", address + address));
}
}
// End
Debug.WriteLine("Tests complete.");
_taskDeferral.Complete();
}
