/// <summary>
/// Raises the <see cref="Interrupt"/> event.
/// </summary>
/// <param name="sender">The <see cref="InterruptInput"/> object that raised the event.</param>
/// <param name="value"><b>true</b> if the the value received from the interrupt is greater than zero; otherwise, <b>false</b>.</param>
protected virtual void OnInterruptEvent(InterruptInput sender, bool value)
{
if (this.Interrupt == null)
{
return;
}
if (this.SynchronousUnsafeEventInvocation)
{
try
{
this.Interrupt(sender, value);
}
catch
{
}
}
else
{
if (this.onInterrupt == null)
{
this.onInterrupt = new InterruptEventHandler(this.OnInterruptEvent);
}
if (Program.CheckAndInvoke(this.Interrupt, this.onInterrupt, sender, value))
{
this.Interrupt(sender, value);
}
}
}
/// <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 = new GTI.DigitalOutput(this.socket, GT.Socket.Pin.Six, true, this);
this.Reset();
this.device = new GTI.I2CBus(this.socket, TouchC8.I2C_ADDRESS, TouchC8.I2C_CLOCK_RATE, this);
this.interrupt = new GTI.InterruptInput(socket, GT.Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
this.interrupt.Interrupt += new GTI.InterruptInput.InterruptEventHandler(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>
/// Raises the <see cref="Interrupt"/> event.
/// </summary>
/// <param name="sender">The <see cref="InterruptInput"/> object that raised the event.</param>
/// <param name="value"><b>true</b> if the the value received from the interrupt is greater than zero; otherwise, <b>false</b>.</param>
protected virtual void OnInterruptEvent(InterruptInput sender, bool value)
{
if (this.Interrupt == null)
{
return;
}
if (this.SynchronousUnsafeEventInvocation)
{
try
{
this.Interrupt(sender, value);
}
catch
{
}
}
else
{
if (this.onInterrupt == null)
{
this.onInterrupt = new InterruptEventHandler(this.OnInterruptEvent);
}
if (Program.CheckAndInvoke(this.Interrupt, this.onInterrupt, sender, value))
{
this.Interrupt(sender, value);
}
}
}
private void OnInterrupt(GTI.InterruptInput sender, bool value)
{
ArrayList interruptedPins = new ArrayList();
byte[] intPorts = this.readRegisters(IO60P16.INTERRUPT_PORT_0_REGISTER, 8);
for (byte i = 0; i < 8; i++)
{
for (int j = 1, k = 0; j <= 128; j <<= 1, k++)
{
if ((intPorts[i] & j) != 0)
{
interruptedPins.Add((i << 4) | k);
}
}
}
foreach (int pin in interruptedPins)
{
lock (this.interruptHandlers)
{
foreach (InterruptRegistraton reg in this.interruptHandlers)
{
if (reg.pin == pin)
{
bool val = this.readDigital((byte)pin);
if ((reg.mode == GTI.InterruptMode.RisingEdge && val) || (reg.mode == GTI.InterruptMode.FallingEdge && !val) || reg.mode == GTI.InterruptMode.RisingAndFallingEdge)
{
reg.handler(val);
}
}
}
}
}
}
public IO60P16(Socket socket)
{
this.io60Chip = new GTI.I2CBus(socket, 0x20, 100, null);
this.interrupt = new GTI.InterruptInput(socket, Socket.Pin.Three, GTI.GlitchFilterMode.On, GTI.ResistorMode.Disabled, GTI.InterruptMode.RisingEdge, null);
this.interrupt.Interrupt += this.OnInterrupt;
}
// 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 = new GTI.DigitalOutput(socket, Socket.Pin.Six, false, this);
this.statusInt = new GTI.InterruptInput(socket, Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, GTI.InterruptMode.RisingAndFallingEdge, this);
this.serialPort = new GTI.Serial(socket, 38400, GTI.Serial.SerialParity.None, GTI.Serial.SerialStopBits.One, 8, GTI.Serial.HardwareFlowControl.NotRequired, this);
//this.statusInt.Interrupt += new GTI.InterruptInput.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);
}
private void OnInterrupt(GTI.InterruptInput sender, bool value)
{
byte flags = this.ReadRegister(TouchL12.IRQ_SRC);
if ((flags & 0x8) != 0)
{
double SliderPosition = this.GetSliderPosition();
bool SliderTouched = this.IsSliderPressed();
Direction SliderDirection = this.GetSliderDirection();
if (SliderTouched != this.previousSliderTouched)
{
this.OnSliderEvent(this, SliderTouched);
}
if (SliderPosition != this.previousSliderPosition || SliderDirection != this.previousSliderDirection)
{
this.OnSliderPositionEvent(this, SliderPosition, SliderDirection);
}
this.previousSliderTouched = SliderTouched;
this.previousSliderPosition = SliderPosition;
this.previousSliderDirection = SliderDirection;
}
}
private void OnInterrupt(GTI.InterruptInput sender, bool value)
{
byte flags = this.ReadRegister(TouchC8.IRQ_SRC);
if ((flags & 0x8) != 0)
{
double wheelPosition = this.GetWheelPosition();
bool wheelTouched = this.IsWheelPressed();
Direction wheelDirection = this.GetWheelDirection();
if (wheelTouched != this.previousWheelTouched)
{
this.OnWheelEvent(this, wheelTouched);
}
if (wheelPosition != this.previousWheelPosition || wheelDirection != this.previousWheelDirection)
{
this.OnWheelPositionEvent(this, wheelPosition, wheelDirection);
}
this.previousWheelTouched = wheelTouched;
this.previousWheelPosition = wheelPosition;
this.previousWheelDirection = wheelDirection;
}
if ((flags & 0x4) != 0)
{
byte cap = this.ReadRegister(TouchC8.CAP_STAT_LSB);
bool button0 = (cap & 0x1) != 0; //proximity
bool button1 = (cap & 0x2) != 0;
bool button2 = (cap & 0x4) != 0;
bool button3 = (cap & 0x8) != 0;
if (button0 != this.previousButton0Touched)
{
this.OnProximityEvent(this, button0);
}
if (button1 != this.previousButton1Touched)
{
this.OnButtonEvent(this, Buttons.Up, button1);
}
if (button2 != this.previousButton2Touched)
{
this.OnButtonEvent(this, Buttons.Middle, button2);
}
if (button3 != this.previousButton3Touched)
{
this.OnButtonEvent(this, Buttons.Down, button3);
}
this.previousButton0Touched = button0;
this.previousButton1Touched = button1;
this.previousButton2Touched = button2;
this.previousButton3Touched = button3;
}
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The mainboard socket that has the module plugged into it.</param>
public Joystick(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
this.inputX = new GTI.AnalogInput(socket, Socket.Pin.Four, this);
this.inputY = new GTI.AnalogInput(socket, Socket.Pin.Five, this);
this.input = new GTI.InterruptInput(socket, GT.Socket.Pin.Three, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.RisingAndFallingEdge, this);
this.input.Interrupt += new GTI.InterruptInput.InterruptEventHandler(this._input_Interrupt);
this.offsetX = 0;
this.offsetY = 0;
}
void _sdCardDetect_Interrupt(GTI.InterruptInput sender, bool value)
{
Thread.Sleep(500);
if (IsCardInserted)
{
MountSDCard();
}
else
{
UnmountSDCard();
}
}
// This example implements a driver in managed code for a simple Gadgeteer module. This module uses a
// single GTI.InterruptInput to interact with a button that can be in either of two states: pressed or released.
// The example code shows the recommended code pattern for exposing a property (IsPressed).
// The example also uses the recommended code pattern for exposing two events: Pressed and Released.
// The triple-slash "///" comments shown will be used in the build process to create an XML file named
// GTM.BrainardTechnologies.MAX31865. This file will provide IntelliSense and documentation for the
// interface and make it easier for developers to use the MAX31865 module.
// -- CHANGE FOR MICRO FRAMEWORK 4.2 --
// If you want to use Serial, SPI, or DaisyLink (which includes GTI.SoftwareI2C), you must do a few more steps
// since these have been moved to separate assemblies for NETMF 4.2 (to reduce the minimum memory footprint of Gadgeteer)
// 1) add a reference to the assembly (named Gadgeteer.[interfacename])
// 2) in GadgeteerHardware.xml, uncomment the lines under <Assemblies> so that end user apps using this module also add a reference.
// 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 MAX31865(int socketNumber, int socketNumberTwo)
{
// 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 creates an GTI.InterruptInput interface. The interfaces under the GTI namespace provide easy ways to build common modules.
// This also generates user-friendly error messages automatically, e.g. if the user chooses a socket incompatible with an interrupt input.
this.input = new GTI.InterruptInput(socket, GT.Socket.Pin.Three, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.RisingAndFallingEdge, this);
// This registers a handler for the interrupt event of the interrupt input (which is bereleased)
this.input.Interrupt += new GTI.InterruptInput.InterruptEventHandler(this._input_Interrupt);
}
/// <summary>Constructs a new ButtonS7 instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public ButtonS7(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('Y', this);
this.buttons = new GTI.DigitalInput[6];
for (int i = 0; i < 6; i++)
{
this.buttons[i] = new GTI.DigitalInput(socket, (Socket.Pin)(i + 4), GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, this);
}
this.enter = new GTI.InterruptInput(socket, GT.Socket.Pin.Three, GTI.GlitchFilterMode.On, GTI.ResistorMode.Disabled, GTI.InterruptMode.RisingAndFallingEdge, this);
this.enter.Interrupt += this.OnInterrupt;
}
private DaisyLink(Socket socket, DaisyLinkModule module)
: base(socket, i2cDataPin, i2cClockPin, module)
{
Ready = false;
this.Socket = socket;
this.ReservedCount = 0;
this.NodeCount = 0;
// The link pin (port) is initialized as an input. It is only driven during initialization of the daisylinked modules.
// Setting the initial state to false insures that the pin will always drive low when Active is set to true.
//daisyLinkCpuPin = socket.ReservePin(daisyLinkPin, module);
daisyLinkResetPort = new GTI.DigitalIO(socket, daisyLinkPin, false, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, module);
daisyLinkInterruptPort = 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 PIR(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);
// This creates an GTI.InterruptInput interface. The interfaces under the GTI namespace provide easy ways to build common modules.
// This also generates user-friendly error messages automatically, e.g. if the user chooses a socket incompatible with an interrupt input.
this.m_motionDetect = new GTI.InterruptInput(socket, GT.Socket.Pin.Three, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.RisingAndFallingEdge, this);
// This registers a handler for the interrupt event of the interrupt input (which is below)
this.m_motionDetect.Interrupt += new GTI.InterruptInput.InterruptEventHandler(this._input_Interrupt);
}
// 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 Compass(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);
continuousTimer = new Gadgeteer.Timer(new TimeSpan(0, 0, 0, 0, 200));
continuousTimer.Tick += new Timer.TickEventHandler(continuousTimer_Tick);
i2c = new GTI.I2CBus(socket, 0x1E, 100, this);
dataReady = new GTI.InterruptInput(socket, Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullDown, GTI.InterruptMode.RisingEdge, this);
dataReady.Interrupt += new GTI.InterruptInput.InterruptEventHandler(dataReady_Interrupt);
}
private void daisyLinkInterruptPort_OnInterrupt(GTI.InterruptInput sender, bool value)
{
for (byte moduleIndex = 0; moduleIndex < NodeCount; moduleIndex++)
{
if (0 != (0x80 & ReadRegister((byte)(moduleIndex + StartAddress), (byte)DaisyLinkRegister.Config))) // If this is the interrupting module
{
byte[] data = new byte[] { (byte)DaisyLinkRegister.Config, 0 };
Write((byte)(moduleIndex + StartAddress), data); // Clear the interrupt on the module
if (socketModuleList[moduleIndex] != null)
{
socketModuleList[moduleIndex].OnDaisyLinkInterrupt(socketModuleList[moduleIndex]); // Kick off user event (if any) for this module instance
}
}
}
//daisyLinkInterruptPort.ClearInterrupt();
}
public RelayX1Plus(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'X', 'Y' }, this);
this.enable = new GTI.DigitalOutput(socket, Socket.Pin.Five, false, this);
// Plus part
this.input = new GTI.InterruptInput(socket, Socket.Pin.Three, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.RisingAndFallingEdge, null);
this.input.Interrupt +=
(i, v) =>
{
sensorState = this.input.Read();
};
sensorState = this.input.Read();
}
/// <summary>
/// Sends a reset pulse on the daisylink chain. This resets all DaisyLink nodes to INIT state, that is, waiting for a DaisyLink message.
/// </summary>
/// <remarks>
/// It is recommended to reboot the mainboard after calling this method because communication to the DaisyLink nodes will fail.
/// </remarks>
internal void SendResetPulse()
{
lock (portLock)
{
if (daisyLinkInterruptPort != null)
{
daisyLinkInterruptPort.Interrupt -= daisyLinkInterruptPort_OnInterrupt;
daisyLinkInterruptPort.Dispose(); // Ask hardware drivers to unreserve this pin
daisyLinkInterruptPort = null;
}
if (daisyLinkResetPort == null)
{
daisyLinkResetPort = new GTI.DigitalIO(Socket, daisyLinkPin, false, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, null);
}
daisyLinkResetPort.IOMode = GTI.DigitalIO.IOModes.Output; // Should drive the neighbor bus high
Thread.Sleep(2); // 2 milliseconds is definitely more than 1 ms
daisyLinkResetPort.IOMode = GTI.DigitalIO.IOModes.Input; // Pull-downs should take the neighbor bus back low
daisyLinkResetPort.Dispose(); // Remove this pin from the hardware's reserved pin list
daisyLinkResetPort = null;
}
}
/// <summary>
/// Raises the <see cref="Interrupt"/> event.
/// </summary>
/// <param name="sender">The <see cref="InterruptInput"/> object that raised the event.</param>
/// <param name="value"><b>true</b> if the the value received from the interrupt is greater than zero; otherwise, <b>false</b>.</param>
protected virtual void OnInterruptEvent(InterruptInput sender, bool value)
{
InterruptEventHandler handler = _interruptHandler;
if (handler == null)
{
return;
}
if (SynchronousUnsafeEventInvocation)
{
try { handler(sender, value); }
catch { }
}
else
{
if (Program.CheckAndInvoke(handler, handler, sender, value))
{
handler(sender, value);
}
}
}
private void _input_Interrupt(GTI.InterruptInput input, bool value)
{
ButtonState buttonState = input.Read() ? ButtonState.Released : ButtonState.Pressed;
switch (buttonState)
{
case ButtonState.Released:
if (LEDMode == LEDModes.OnWhilePressed)
{
TurnLEDOff();
}
else if (LEDMode == LEDModes.OnWhileReleased)
{
TurnLEDOn();
}
else if (LEDMode == LEDModes.ToggleWhenReleased)
{
ToggleLED();
}
break;
case ButtonState.Pressed:
if (LEDMode == LEDModes.OnWhilePressed)
{
TurnLEDOn();
}
else if (LEDMode == LEDModes.OnWhileReleased)
{
TurnLEDOff();
}
else if (LEDMode == LEDModes.ToggleWhenPressed)
{
ToggleLED();
}
break;
}
this.OnButtonEvent(this, buttonState);
}
// 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 Bluetooth(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);
this.reset = new GTI.DigitalOutput(socket, Socket.Pin.Six, false, this);
this.statusInt = new GTI.InterruptInput(socket, Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, GTI.InterruptMode.RisingAndFallingEdge, this);
this.serialPort = new Serial(socket, 38400, GTI.Serial.SerialParity.None, GTI.Serial.SerialStopBits.One, 8, GTI.Serial.HardwareFlowControl.NotRequired, this);
//this.statusInt.Interrupt += new GTI.InterruptInput.InterruptEventHandler(statusInt_Interrupt);
this.serialPort.ReadTimeout = Timeout.Infinite;
this.serialPort.Open();
Thread.Sleep(5);
this.reset.Write(true);
readerThread = new Thread(new ThreadStart(runReaderThread));
readerThread.Start();
Thread.Sleep(500);
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The mainboard socket that has the module plugged into it.</param>
public SDCard(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('F', this);
// add Insert/Eject events
RemovableMedia.Insert += Insert;
RemovableMedia.Eject += Eject;
IsCardMounted = false;
_sdCardDetect = new GTI.InterruptInput(socket, Socket.Pin.Three, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.RisingAndFallingEdge, this);
_sdCardDetect.Interrupt += new GTI.InterruptInput.InterruptEventHandler(_sdCardDetect_Interrupt);
try
{
// Reserve the additional pins used by the SD interface (pin 3 is automatically reserved by initializing the InterruptInput)
socket.ReservePin(Socket.Pin.Four, this);
socket.ReservePin(Socket.Pin.Five, this);
socket.ReservePin(Socket.Pin.Six, this);
socket.ReservePin(Socket.Pin.Seven, this);
socket.ReservePin(Socket.Pin.Eight, this);
socket.ReservePin(Socket.Pin.Nine, this);
if (IsCardInserted)
{
MountSDCard();
}
}
catch (Exception e)
{
throw new GT.Socket.InvalidSocketException("There is an issue connecting the SD Card module to socket " + socketNumber +
". Please check that all modules are connected to the correct sockets or try connecting the SD Card to a different 'F' socket", e);
}
}
// 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 NRF24(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.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('S', this);
socket.ReservePin(Socket.Pin.Three, this); // IRQ
socket.ReservePin(Socket.Pin.Five, this); // CSN
socket.ReservePin(Socket.Pin.Six, this); // CE
socket.ReservePin(Socket.Pin.Seven, this); // MOSI
socket.ReservePin(Socket.Pin.Eight, this); // MISO
socket.ReservePin(Socket.Pin.Nine, this); // SCK
GTI.SPI.Configuration spiConfig = new GTI.SPI.Configuration(false, 0, 0, false, true, spiSpeed);
spi = new GTI.SPI(socket, spiConfig, GTI.SPI.Sharing.Shared, socket, pinCSN, this);
pinCE = new GTI.DigitalOutput(socket, Socket.Pin.Six, false, this); // pin 6
pinIRQ = new GTI.InterruptInput(socket, GT.Socket.Pin.Three, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, GTI.InterruptMode.FallingEdge, this);
pinIRQ.Interrupt += new GTI.InterruptInput.InterruptEventHandler(pinIRQ_Interrupt);
// Must allow the radio time to settle else configuration bits will not necessarily stick.
// This is actually only required following power up but some settling time also appears to
// be required after resets too. For full coverage, we'll always assume the worst.
// Enabling 16b CRC is by far the most obvious case if the wrong timing is used - or skipped.
// Technically we require 4.5ms + 14us as a worst case. We'll just call it 5ms for good measure.
// WARNING: Delay is based on P-variant whereby non-P *may* require different timing.
//Thread.Sleep(5);
Thread.Sleep(100);
IsEnabled = false;
Initialize();
}
private void _input_Interrupt(GTI.InterruptInput input, bool value)
{
JoystickState joystickState = value ? JoystickState.Released : JoystickState.Pressed;
this.OnJoystickEvent(this, joystickState);
}
private void _input_Interrupt(GTI.InterruptInput input, bool value)
{
this.OnTouchEvent(this, null);
}
private void _input_Interrupt(GTI.InterruptInput input, bool value)
{
this.OnButtonEvent(this, value ? ButtonState.Released : ButtonState.Pressed);
}
public void StopInterruptHandler(InterruptInput.InterruptEventHandler interrupthandler)
{
if (interrupt != null)
{
interrupt.Interrupt -= new InterruptInput.InterruptEventHandler(interrupthandler);
}
}
private void OnInterrupt(InterruptInput sender, bool value)
{
var time = DateTime.Now;
_beatQueue.Add(time);
OnHeartBeat(time);
}
public GroveHeartRateSensor(GT.Socket socket, int sampleSize)
{
_beatQueue = new CircularDateQueue(sampleSize);
_pin = new InterruptInput(socket, Socket.Pin.Three, GlitchFilterMode.Off, ResistorMode.Disabled, InterruptMode.RisingEdge, null);
_pin.Interrupt += OnInterrupt;
}
void int_pin_Interrupt(InterruptInput sender, bool value)
{
PulseDebugLED();
sender.Read();
iO60P16.GetStatusPort(1);
}
private DaisyLink(Socket socket, DaisyLinkModule module)
: base(socket, i2cDataPin, i2cClockPin, module)
{
Ready = false;
this.Socket = socket;
this.ReservedCount = 0;
this.NodeCount = 0;
// The link pin (port) is initialized as an input. It is only driven during initialization of the daisylinked modules.
// Setting the initial state to false insures that the pin will always drive low when Active is set to true.
//daisyLinkCpuPin = socket.ReservePin(daisyLinkPin, module);
daisyLinkResetPort = new GTI.DigitalIO(socket, daisyLinkPin, false, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, module);
daisyLinkInterruptPort = null;
}
private void _input_Interrupt(GTI.InterruptInput input, bool value)
{
this.OnMotion_SensorEvent(this, value ? Motion_SensorState.Ready : Motion_SensorState.Busy);
}
/// <summary>
/// Initializes the DaisyLink bus, resetting all devices on it and assigning them new addresses.
/// Any existing GTM.DaisyLinkModule devices will no longer work, and they should be constructed again.
/// </summary>
internal void Initialize()
{
lock (portLock)
{
bool lastFound = false;
byte modulesFound = 0;
// Reset all modules in the chain and place the first module into Setup mode
SendResetPulse();
// For all modules in the chain
while (!lastFound)
{
if (DaisyLinkVersionImplemented != ReadRegister(defaultI2cAddress, (byte)DaisyLinkRegister.DaisyLinkVersion, LengthErrorBehavior.SuppressException))
{
lastFound = true; // If the correct version can't be read back from a device, there are no more devices in the chain
}
if (modulesFound != 0) // If a device is left in Standby mode
{
byte[] data = new byte[2] { (byte)DaisyLinkRegister.Config, (byte)(lastFound ? 1 : 0) };
Write((byte)(totalNodeCount + modulesFound), data); // Enable/disable I2C pull-ups depending on whether last in chain (place module in Active mode)
}
if (!lastFound)
{
// Next module in chain is in Setup mode so start setting it up
modulesFound++; // Increase the total number of modules found connected to this socket
byte[] data = new byte[2] { (byte)DaisyLinkRegister.Address, (byte)(totalNodeCount + modulesFound) };
Write(defaultI2cAddress, data); // Set the I2C ID of the next module in the chain (place module in Standby mode)
}
}
this.StartAddress = (byte)(totalNodeCount + 1);
this.NodeCount = modulesFound;
this.ReservedCount = 0;
totalNodeCount += modulesFound;
Ready = true;
if (modulesFound != 0)
{
socketModuleList = new DaisyLinkModule[modulesFound]; // Keep track of all DaisyLinkModules attached to this socket
try
{
daisyLinkInterruptPort = new GTI.InterruptInput(Socket, daisyLinkPin, GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, GTI.InterruptMode.FallingEdge, null);
}
catch (Exception e)
{
throw new Socket.InvalidSocketException("There is an issue connecting the DaisyLink module to socket " + Socket +
". Please check that all modules are connected to the correct sockets or try connecting the DaisyLink module to a different socket", e);
}
daisyLinkInterruptPort.Interrupt += daisyLinkInterruptPort_OnInterrupt;
//daisyLinkInterruptPort.EnableInterrupt();
}
}
}
public void StartInterruptHandler(InterruptInput.InterruptEventHandler interrupthandler)
{
interrupt = new InterruptInput(_socket, GT.Socket.Pin.Three, GlitchFilterMode.Off, ResistorMode.Disabled, InterruptMode.RisingEdge, null);
interrupt.Interrupt += new InterruptInput.InterruptEventHandler(interrupthandler);
}
/// <summary>
/// Initializes the DaisyLink bus, resetting all devices on it and assigning them new addresses.
/// Any existing GTM.DaisyLinkModule devices will no longer work, and they should be constructed again.
/// </summary>
internal void Initialize()
{
lock (portLock)
{
bool lastFound = false;
byte modulesFound = 0;
// Reset all modules in the chain and place the first module into Setup mode
SendResetPulse();
// For all modules in the chain
while (!lastFound)
{
if (DaisyLinkVersionImplemented != ReadRegister(defaultI2cAddress, (byte)DaisyLinkRegister.DaisyLinkVersion, LengthErrorBehavior.SuppressException))
{
lastFound = true; // If the correct version can't be read back from a device, there are no more devices in the chain
}
if (modulesFound != 0) // If a device is left in Standby mode
{
byte[] data = new byte[2] {
(byte)DaisyLinkRegister.Config, (byte)(lastFound ? 1 : 0)
};
Write((byte)(totalNodeCount + modulesFound), data); // Enable/disable I2C pull-ups depending on whether last in chain (place module in Active mode)
}
if (!lastFound)
{
// Next module in chain is in Setup mode so start setting it up
modulesFound++; // Increase the total number of modules found connected to this socket
byte[] data = new byte[2] {
(byte)DaisyLinkRegister.Address, (byte)(totalNodeCount + modulesFound)
};
Write(defaultI2cAddress, data); // Set the I2C ID of the next module in the chain (place module in Standby mode)
}
}
this.StartAddress = (byte)(totalNodeCount + 1);
this.NodeCount = modulesFound;
this.ReservedCount = 0;
totalNodeCount += modulesFound;
Ready = true;
if (modulesFound != 0)
{
socketModuleList = new DaisyLinkModule[modulesFound]; // Keep track of all DaisyLinkModules attached to this socket
try
{
daisyLinkInterruptPort = new GTI.InterruptInput(Socket, daisyLinkPin, GTI.GlitchFilterMode.Off, GTI.ResistorMode.Disabled, GTI.InterruptMode.FallingEdge, null);
}
catch (Exception e)
{
throw new Socket.InvalidSocketException("There is an issue connecting the DaisyLink module to socket " + Socket +
". Please check that all modules are connected to the correct sockets or try connecting the DaisyLink module to a different socket", e);
}
daisyLinkInterruptPort.Interrupt += daisyLinkInterruptPort_OnInterrupt;
//daisyLinkInterruptPort.EnableInterrupt();
}
}
}
//#region Overtemperature handling
private void overTemperatureInterrupt(GTI.InterruptInput input, bool value)
{
this.OnOverTemperatureEvent(this, value ? LimitState.FallenBelow : LimitState.Exceeded);
}
private void OnInterrupt(GTI.InterruptInput input, bool value)
{
this.OnEnterEvent(this, value ? EnterStates.Released : EnterStates.Pressed);
}
/// <summary>
/// Sends a reset pulse on the daisylink chain. This resets all DaisyLink nodes to INIT state, that is, waiting for a DaisyLink message.
/// </summary>
/// <remarks>
/// It is recommended to reboot the mainboard after calling this method because communication to the DaisyLink nodes will fail.
/// </remarks>
internal void SendResetPulse()
{
lock (portLock)
{
if (daisyLinkInterruptPort != null)
{
daisyLinkInterruptPort.Interrupt -= daisyLinkInterruptPort_OnInterrupt;
daisyLinkInterruptPort.Dispose(); // Ask hardware drivers to unreserve this pin
daisyLinkInterruptPort = null;
}
if (daisyLinkResetPort == null)
{
daisyLinkResetPort = new GTI.DigitalIO(Socket, daisyLinkPin, false, GTI.GlitchFilterMode.Off, GTI.ResistorMode.PullUp, null);
}
daisyLinkResetPort.IOMode = GTI.DigitalIO.IOModes.Output; // Should drive the neighbor bus high
Thread.Sleep(2); // 2 milliseconds is definitely more than 1 ms
daisyLinkResetPort.IOMode = GTI.DigitalIO.IOModes.Input; // Pull-downs should take the neighbor bus back low
daisyLinkResetPort.Dispose(); // Remove this pin from the hardware's reserved pin list
daisyLinkResetPort = null;
}
}
/// <summary>
/// Raises the <see cref="Interrupt"/> event.
/// </summary>
/// <param name="sender">The <see cref="InterruptInput"/> object that raised the event.</param>
/// <param name="value"><b>true</b> if the the value received from the interrupt is greater than zero; otherwise, <b>false</b>.</param>
protected virtual void OnInterruptEvent(InterruptInput sender, bool value)
{
InterruptEventHandler handler = _interruptHandler;
if (handler == null)
return;
if (SynchronousUnsafeEventInvocation)
{
try { handler(sender, value); }
catch { }
}
else
{
if (Program.CheckAndInvoke(handler, handler, sender, value))
handler(sender, value);
}
}
