protected async override Task Initialize(ISocket parentSocket)
{
this.analog = new ADS7830(await GNI.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
this.gpio = new CY8C9560A(await GNI.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(CY8C9560A.GetAddress(false, false, false, false, false, true, false))), null);
this.map = this.CreatePinMap();
Socket socket;
for (var i = 0; i < 8; i++)
{
socket = this.CreateSocket(i + 1);
socket.AddSupportedTypes(SocketType.Y);
if (i < 2)
{
socket.AddSupportedTypes(SocketType.A);
}
else if (i > 2)
{
socket.AddSupportedTypes(SocketType.P);
}
socket.DigitalIOCreator = (indirectedSocket, indirectedPin) => Task.FromResult <GSI.DigitalIO>(new IndirectedDigitalIO(this.GetPin(indirectedSocket, indirectedPin), this.gpio));
socket.AnalogIOCreator = (indirectedSocket, indirectedPin) => Task.FromResult <GSI.AnalogIO>(new IndirectedAnalogIO(this.GetChannel(indirectedSocket, indirectedPin), this.GetPin(indirectedSocket, indirectedPin), this.analog, this.gpio));
socket.PwmOutputCreator = (indirectedSocket, indirectedPin) => Task.FromResult <GSI.PwmOutput>(new IndirectedPwmOutput(this.GetPin(indirectedSocket, indirectedPin), this.gpio));
}
}
public IndirectedAnalogIO(byte channel, CY8C9560A.Pin pin, ADS7830 ads, CY8C9560A cy8)
{
this.ads = ads;
this.channel = channel;
this.cy8 = cy8;
this.cy8.SetInput(pin);
}
/// <summary>
/// Creates a new instance of the FEZ HAT.
/// </summary>
/// <returns>The new instance.</returns>
public static FEZHAT Create()
{
//var gpioController = GpioController.GetDefault();
//var i2cController = (await DeviceInformation.FindAllAsync(I2cDevice.GetDeviceSelector(FEZHAT.I2cDeviceName)))[0];
var hat = new FEZHAT();
if (i2cBus == null)
{
i2cBus = new Mono.Linux.I2C.I2CBus(0x01);
}
//I2CDevice i2c_accelerometer = Pi.I2C.AddDevice(MMA8453.GetAddress(false));
var i2c_accelerometer = new Mono.Linux.I2C.I2CDevice(i2cBus, MMA8453.GetAddress(false));
hat.accelerometer = new MMA8453(i2c_accelerometer);
//I2CDevice i2c_analog = Pi.I2C.AddDevice(ADS7830.GetAddress(false, false));
var i2c_analog = new Mono.Linux.I2C.I2CDevice(i2cBus, ADS7830.GetAddress(false, false));
hat.analog = new ADS7830(i2c_analog);
//I2CDevice i2c_pwm = Pi.I2C.AddDevice(PCA9685.GetAddress(true, true, true, true, true, true));
var i2c_pwm = new Mono.Linux.I2C.I2CDevice(i2cBus, PCA9685.GetAddress(true, true, true, true, true, true));
hat.pwm = new PCA9685(i2c_pwm, Pi.Gpio.Pin23);//Pi.Gpio.Pin13);x
hat.pwm.OutputEnabled = true;
hat.pwm.Frequency = 1500;
//mapping wiring pi vs gpio win iot
hat.dio16 = Pi.Gpio.Pin27; //Pi.Gpio.Pin16;x
hat.dio26 = Pi.Gpio.Pin25; //Pi.Gpio.Pin26;x
hat.dio24 = Pi.Gpio.Pin05; //Pi.Gpio.Pin24;x
hat.dio18 = Pi.Gpio.Pin01; //Pi.Gpio.Pin18;x
hat.dio22 = Pi.Gpio.Pin03; //Pi.Gpio.Pin22;x
hat.dio16.PinMode = GpioPinDriveMode.Input;
hat.dio26.PinMode = GpioPinDriveMode.Input;
hat.dio24.PinMode = GpioPinDriveMode.Output;
hat.dio18.PinMode = GpioPinDriveMode.Input;
hat.dio22.PinMode = GpioPinDriveMode.Input;
hat.motorEnable = Pi.Gpio.Pin26;//Pi.Gpio.Pin12;x
hat.motorEnable.PinMode = GpioPinDriveMode.Output;
hat.motorEnable.Write(GpioPinValue.High);
hat.MotorA = new Motor(hat.pwm, 14, Pi.Gpio.Pin02, Pi.Gpio.Pin04); //Pi.Gpio.Pin27, Pi.Gpio.Pin23);x
hat.MotorB = new Motor(hat.pwm, 13, Pi.Gpio.Pin22, Pi.Gpio.Pin21); //Pi.Gpio.Pin06, Pi.Gpio.Pin05);x
hat.D2 = new RgbLed(hat.pwm, 1, 0, 2);
hat.D3 = new RgbLed(hat.pwm, 4, 3, 15);
hat.S1 = new Servo(hat.pwm, 9);
hat.S2 = new Servo(hat.pwm, 10);
return(hat);
}
/// <summary>Constructs a new HubAP5 module.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public HubAP5(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('I', this);
this.io60 = new IO60P16(socket);
this.ads = new ADS7830(socket);
this.socketMap = new Hashtable();
this.typeMap = new string[8] {
"AY", "AY", "Y", "PY", "PY", "PY", "PY", "PY"
};
this.pinMap = new byte[56] {
0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, //Socket 1
0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, //Socket 2
0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, //Socket 3
0x20, 0x21, 0x22, 0x23, 0x74, 0x75, 0x76, //Socket 4
0x14, 0x15, 0x16, 0x17, 0x71, 0x72, 0x73, //Socket 5
0x10, 0x11, 0x12, 0x13, 0x66, 0x67, 0x70, //Socket 6
0x04, 0x05, 0x06, 0x07, 0x63, 0x64, 0x65, //Socket 7
0x00, 0x01, 0x02, 0x03, 0x60, 0x61, 0x62 //Socket 8
};
for (int i = 0; i < 8; i++)
{
this.sockets[i] = Socket.SocketInterfaces.CreateUnnumberedSocket("Hub AP5 " + (i + 1).ToString());
this.sockets[i].SupportedTypes = this.typeMap[i].ToCharArray();
for (int j = 3; j <= 9; j++)
{
this.sockets[i].CpuPins[j] = Socket.UnnumberedPin;
}
this.socketMap[this.sockets[i].SocketNumber] = i;
this.sockets[i].DigitalInputIndirector = (indirectedSocket, indirectedPin, glitchFilterMode, resistorMode, module) => new DigitalInputImplementation(this.GetPin(indirectedSocket, indirectedPin), glitchFilterMode, resistorMode, this.io60);
this.sockets[i].DigitalOutputIndirector = (indirectedSocket, indirectedPin, initialState, module) => new DigitalOutputImplementation(this.GetPin(indirectedSocket, indirectedPin), initialState, this.io60);
this.sockets[i].DigitalIOIndirector = (indirectedSocket, indirectedPin, initialState, glitchFilterMode, resistorMode, module) => new DigitalIOImplementation(this.GetPin(indirectedSocket, indirectedPin), initialState, glitchFilterMode, resistorMode, this.io60);
this.sockets[i].AnalogInputIndirector = (indirectedSocket, indirectedPin, module) => new AnalogInputImplementation(this.GetPin(indirectedSocket, indirectedPin), this.ads, this.io60);
this.sockets[i].PwmOutputIndirector = (indirectedSocket, indirectedPin, invert, module) => new PwmOutputImplementation(this.GetPin(indirectedSocket, indirectedPin), invert, this.io60);
this.sockets[i].InterruptIndirector = (indirectedSocket, indirectedPin, glitchFilterMode, resistorMode, interruptMode, module) => new InterruptInputImplementation(this.GetPin(indirectedSocket, indirectedPin), glitchFilterMode, resistorMode, interruptMode, this.io60);
Socket.SocketInterfaces.RegisterSocket(this.sockets[i]);
}
}
public AnalogInputImplementation(byte pin, ADS7830 ads, IO60P16 io60)
{
this.ads = ads;
this.io60 = io60;
this.pin = pin;
this.active = false;
var channels = new byte[12] {
0x50, 0, 0x51, 1, 0x52, 2, 0x40, 3, 0x41, 4, 0x42, 5
};
for (int i = 0; i < 12; i += 2)
{
if (channels[i] == this.pin)
{
this.channel = channels[i + 1];
}
}
}
public IndirectedAnalogIO(int channel, ADS7830 analog)
{
this.channel = channel;
this.analog = analog;
}
protected async override Task Initialize()
{
this.gpioMap = FEZCream.CreateGpioMap();
this.analogMap = FEZCream.CreateAnalogMap();
this.pwmMap = FEZCream.CreatePwmMap();
this.analogSharedMap = FEZCream.CreateAnalogSharedMap();
this.pwmSharedMap = FEZCream.CreatePwmSharedMap();
this.analog = new ADS7830(await GNI.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
this.pwm = new PCA9685(await GNI.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(PCA9685.GetAddress(true, true, true, true, true, true))));
this.gpios = new PCA9535[2];
this.gpios[0] = new PCA9535(await GNI.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(PCA9535.GetAddress(true, true, false))), await GNI.DigitalIO.CreateInterfaceAsync(22));
this.gpios[1] = new PCA9535(await GNI.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(PCA9535.GetAddress(true, false, true))), await GNI.DigitalIO.CreateInterfaceAsync(26));
for (var i = 2; i <= 7; i++)
{
this.gpios[0].SetDriveMode(i, GpioPinDriveMode.Output);
this.gpios[0].Write(i, true);
}
Socket socket;
socket = this.CreateSocket(1);
socket.AddSupportedTypes(SocketType.I);
socket.SetNativePin(SocketPinNumber.Three, 18);
socket.NativeI2cDeviceId = "I2C1";
socket.DigitalIOCreator = this.DigitalIOCreator;
socket = this.CreateSocket(2);
socket.AddSupportedTypes(SocketType.U);
socket.NativeSerialDeviceId = "COM1";
socket.DigitalIOCreator = this.DigitalIOCreator;
socket = this.CreateSocket(3);
socket.AddSupportedTypes(SocketType.S, SocketType.X);
socket.SetNativePin(SocketPinNumber.Three, 24);
socket.SetNativePin(SocketPinNumber.Four, 25);
socket.SetNativePin(SocketPinNumber.Five, 13);
socket.NativeSpiDeviceId = "SPI0";
socket.NativeSpiChipSelectPin = 0;
socket = this.CreateSocket(4);
socket.AddSupportedTypes(SocketType.Y);
socket.SetNativePin(SocketPinNumber.Three, 6);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket = this.CreateSocket(5);
socket.AddSupportedTypes(SocketType.A);
socket.SetNativePin(SocketPinNumber.Three, 12);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.AnalogIOCreator = this.AnalogIOCreator;
socket = this.CreateSocket(6);
socket.AddSupportedTypes(SocketType.A);
socket.SetNativePin(SocketPinNumber.Three, 16);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.AnalogIOCreator = this.AnalogIOCreator;
socket = this.CreateSocket(7);
socket.AddSupportedTypes(SocketType.P, SocketType.Y);
socket.SetNativePin(SocketPinNumber.Three, 5);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.PwmOutputCreator = this.PwmOutputCreator;
socket = this.CreateSocket(8);
socket.AddSupportedTypes(SocketType.P, SocketType.Y);
socket.SetNativePin(SocketPinNumber.Three, 27);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.PwmOutputCreator = this.PwmOutputCreator;
socket = this.CreateSocket(9);
socket.AddSupportedTypes(SocketType.I);
socket.SetNativePin(SocketPinNumber.Three, 23);
socket.NativeI2cDeviceId = "I2C1";
socket.DigitalIOCreator = this.DigitalIOCreator;
}
/// <summary>
/// Creates a new instance of the FEZ HAT.
/// </summary>
/// <returns>The new instance.</returns>
public static async Task <FEZHAT> CreateAsync()
{
var gpioController = GpioController.GetDefault();
var i2cController = (await DeviceInformation.FindAllAsync(I2cDevice.GetDeviceSelector(FEZHAT.I2cDeviceName)))[0];
var hat = new FEZHAT();
hat.accelerometer = new MMA8453(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(MMA8453.GetAddress(false))));
hat.analog = new ADS7830(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
hat.pwm = new PCA9685(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9685.GetAddress(true, true, true, true, true, true))), gpioController.OpenPin(13));
hat.pwm.OutputEnabled = true;
hat.pwm.Frequency = 1500;
hat.dio16 = gpioController.OpenPin(16);
hat.dio26 = gpioController.OpenPin(26);
hat.dio24 = gpioController.OpenPin(24);
hat.dio18 = gpioController.OpenPin(18);
hat.dio22 = gpioController.OpenPin(22);
hat.dio16.SetDriveMode(GpioPinDriveMode.Input);
hat.dio26.SetDriveMode(GpioPinDriveMode.Input);
hat.dio24.SetDriveMode(GpioPinDriveMode.Output);
hat.dio18.SetDriveMode(GpioPinDriveMode.Input);
hat.dio22.SetDriveMode(GpioPinDriveMode.Input);
hat.motorEnable = gpioController.OpenPin(12);
hat.motorEnable.SetDriveMode(GpioPinDriveMode.Output);
hat.motorEnable.Write(GpioPinValue.High);
hat.MotorA = new Motor(hat.pwm, 14, 27, 23);
hat.MotorB = new Motor(hat.pwm, 13, 6, 5);
hat.D2 = new RgbLed(hat.pwm, 1, 0, 2);
hat.D3 = new RgbLed(hat.pwm, 4, 3, 15);
hat.S1 = new Servo(hat.pwm, 9);
hat.S2 = new Servo(hat.pwm, 10);
return(hat);
}
public static async Task <FEZUtilityShield> CreateAsync()
{
if (null == instance)
{
GpioController gpioController;
instance = new FEZUtilityShield();
gpioController = await GpioController.GetDefaultAsync().AsTask().ConfigureAwait(false);
DeviceInformation i2cController;
i2cController = (await DeviceInformation.FindAllAsync(I2cDevice.GetDeviceSelector("I2C1")).AsTask().ConfigureAwait(false))[0];
instance.analog = new ADS7830(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
instance.pwm = new PCA9685(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9685.GetAddress(true, true, true, true, true, true))));
instance.gpio = new PCA9535(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9535.GetAddress(true, true, false))), gpioController.OpenPin(22));
}
return(instance);
}
/// <summary>
/// Creates a new instance of the FEZ Utility.
/// </summary>
/// <returns>The new instance.</returns>
public static async Task <FEZUtility> CreateAsync()
{
var gpioController = GpioController.GetDefault();
var i2cController = (await DeviceInformation.FindAllAsync(I2cDevice.GetDeviceSelector("I2C1")))[0];
var hat = new FEZUtility();
hat.analog = new ADS7830(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
hat.pwm = new PCA9685(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9685.GetAddress(true, true, true, true, true, true))));
hat.gpio = new PCA9535(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9535.GetAddress(true, true, false))), gpioController.OpenPin(22));
hat.gpio.Write((int)Led.Led1, false);
hat.gpio.Write((int)Led.Led2, false);
hat.gpio.SetDriveMode((int)Led.Led1, GpioPinDriveMode.Output);
hat.gpio.SetDriveMode((int)Led.Led2, GpioPinDriveMode.Output);
return(hat);
}
