public async Task Initialize()
{
try
{
var i2Init = _i2CConnector.Initialize();
var spiInit = _spiConnector.Initialize();
await spiInit;
await i2Init;
var factory = new GeneralFactory(_i2CConnector, _spiConnector, _driverLogger);
foreach (var foundGroupId in _spiConnector.GetFoundGroupIds())
{
var board = factory.CreateNeuronBoard(foundGroupId);
if (board == null)
{
continue;
}
_driverLogger.LogInformation(this, "Found Board " + board.BoardSystemInformation?.HardwareName + " on group " + foundGroupId);
_boards.Add(board);
}
OnInitializationFinish?.Invoke();
}
catch (Exception exception)
{
_driverLogger.LogException(this, exception);
}
}
internal SpiRegisterSet GetRegisterValues(NeuronGroup neuronGroup, ushort register, byte numberOfRegisters)
{
var result = new SpiRegisterSet();
var returnMessage = new byte[0];
try
{
var bytesToSendPhaseOne = ByteArrayForReadRegisterMessagePhase1(NeuronSpiCommand.ReadRegister, register, numberOfRegisters);
var bytesToSendPhaseTwo = ByteArrayForReadRegisterMessagePhase2(NeuronSpiCommand.ReadRegister, register, numberOfRegisters);
returnMessage = TwoPhaseCommunication(neuronGroup, bytesToSendPhaseOne, bytesToSendPhaseTwo);
if (returnMessage == null)
{
return(result);
}
var firstRegister = 4;
for (ushort i = 0; i < numberOfRegisters; i++)
{
var completeRegister = new[] { returnMessage[firstRegister++], returnMessage[firstRegister++] };
var registerValue = BitConverter.ToUInt16(completeRegister, 0);
var registerNumber = Convert.ToUInt16(i + register);
result.SetRegisterWithValue(registerNumber, registerValue);
}
return(result);
}
catch (Exception e)
{
_driverLogger.LogException(this, e);
_driverLogger.LogDebug(this, "SPI Return Value:" + string.Join("-", returnMessage));
return(new SpiRegisterSet());
}
}
private void PollInformation(object state)
{
if (_pollInProgess)
{
return;
}
_pollInProgess = true;
try
{
lock (_observeLocker)
{
foreach (var keyValuePair in _registersToObserve)
{
var registerNumber = keyValuePair.Key;
var result = SpiConnector.GetSingleRegisterValue(NeuronGroup, registerNumber);
if (result == null)
{
continue;
}
if (keyValuePair.Value == null)
{
continue;
}
foreach (var observedObject in keyValuePair.Value)
{
observedObject.SetRegisterValue(registerNumber, result.Value);
}
}
}
}
catch (Exception e)
{
Logger.LogException(this, e);
}
_pollInProgess = false;
}
internal static BoardInformation GetBoardInfoFromRegisters(SpiRegisterSet registerSet, DriverLogger logger, NeuronGroup neuronGroup)
{
try
{
if (registerSet == null || registerSet.Count != 5)
{
return(null);
}
if (!registerSet.ContainsRegister(1000) ||
!registerSet.ContainsRegister(1001) ||
!registerSet.ContainsRegister(1002) ||
!registerSet.ContainsRegister(1003) ||
!registerSet.ContainsRegister(1004))
{
logger.LogError(null, "i got the wrong registerSet to create the system information!");
return(null);
}
var configRegisters = registerSet.ToRegisterValueArray();
int swSubver;
int hwVersion;
int hwSubver;
var swVersion = configRegisters[0] >> 8;
var diCount = configRegisters[1] >> 8;
var doCount = configRegisters[1] & 0xff;
var aiCount = configRegisters[2] >> 8;
var aoCount = (configRegisters[2] & 0xff) >> 4;
var uledCount = 0;
if (swVersion < 4)
{
swSubver = 0;
hwVersion = (configRegisters[0] & 0xff) >> 4;
hwSubver = configRegisters[0] & 0xf;
}
else
{
swSubver = configRegisters[0] & 0xff;
hwVersion = configRegisters[3] >> 8;
hwSubver = configRegisters[3] & 0xff;
if (hwSubver < 3)
{
}
if (hwVersion == 0)
{
if (configRegisters[0] != 0x0400)
{
uledCount = 4;
}
}
}
var firmwareVersion = new Version(swVersion, swSubver);
var digitalInputCount = diCount;
var digitalOutputCount = doCount;
var analogInputCount = aiCount;
var analogOutputCount = aoCount;
var userLedCount = uledCount;
var hardwareVersion = new Version(hwVersion, hwSubver);
return(new BoardInformation(firmwareVersion, hardwareVersion, digitalInputCount, digitalOutputCount, analogInputCount, analogOutputCount, userLedCount, hwVersion, neuronGroup));
}
catch (Exception e)
{
logger.LogException(null, e);
return(null);
}
}
internal INeuronGroupBoard CreateNeuronBoard(NeuronGroup neuronGroup)
{
try
{
var boardInformationRegisterSet = _spiConnector.GetRegisterValues(neuronGroup, 1000, 5);
var boardInformation = GetBoardInfoFromRegisters(boardInformationRegisterSet, _logger, neuronGroup);
if (boardInformation != null)
{
switch (boardInformation.BoardType)
{
case BoardType.UnknownBoard:
_logger.LogInformation(this, "Board " + boardInformation.BoardType + " not supported!");
break;
case BoardType.B10001:
return(new B10001GroupBoard(neuronGroup, boardInformation, _spiConnector, _i2CConnector, _logger));
case BoardType.E8Di8Ro1:
return(new UniversalNeuronGroupDiRoBoard(8, 8, neuronGroup, boardInformation, _spiConnector, _i2CConnector, _logger));
case BoardType.E14Ro1:
return(new UniversalNeuronGroupDiRoBoard(0, 16, neuronGroup, boardInformation, _spiConnector, _i2CConnector, _logger));
case BoardType.E16Di1:
return(new UniversalNeuronGroupDiRoBoard(16, 0, neuronGroup, boardInformation, _spiConnector, _i2CConnector, _logger));
case BoardType.E8Di8Ro1P11DiMb485:
_logger.LogInformation(this, "Board " + boardInformation.BoardType + " not supported!");
break;
case BoardType.E14Ro1P11DiR4851:
_logger.LogInformation(this, "Board " + boardInformation.BoardType + " not supported!");
break;
case BoardType.E16Di1P11DiR4851:
_logger.LogInformation(this, "Board " + boardInformation.BoardType + " not supported!");
break;
case BoardType.E14Ro1U14Ro1:
_logger.LogInformation(this, "Board " + boardInformation.BoardType + " not supported!");
break;
case BoardType.E16Di1U14Ro1:
return(new UniversalNeuronGroupDiRoBoard(16, 14, neuronGroup, boardInformation, _spiConnector, _i2CConnector, _logger));
case BoardType.E14Ro1U14Di1:
return(new UniversalNeuronGroupDiRoBoard(14, 14, neuronGroup, boardInformation, _spiConnector, _i2CConnector, _logger));
case BoardType.E16Di1U14Di1:
_logger.LogInformation(this, "Board " + boardInformation.BoardType + " not supported!");
break;
default:
throw new ArgumentOutOfRangeException();
}
}
}
catch (Exception e)
{
_logger.LogException(this, e);
return(null);
}
return(null);
}
internal async Task Initialize()
{
try
{
_logger.LogDebug(this, "Initializing...");
var deviceSelector = I2cDevice.GetDeviceSelector("I2C1");
if (deviceSelector == null)
{
throw new Exception("No deviceSelector for I2C found!");
}
var devices = DeviceInformation.FindAllAsync(deviceSelector);
if (devices == null)
{
throw new Exception("Find All Async failed");
}
var unipiI2CDevices = Enum.GetValues(typeof(UnipiI2CDevice));
if (unipiI2CDevices == null)
{
throw new Exception("No I2C Devices in Configuration Enumn");
}
foreach (UnipiI2CDevice unipiI2CDevice in unipiI2CDevices)
{
var found = false;
await devices;
var deviceInformationCollection = devices.GetResults();
if (deviceInformationCollection == null)
{
throw new Exception("No devices found!");
}
foreach (var deviceInformation in deviceInformationCollection.Where(deviceInformation => deviceInformation != null))
{
_logger.LogDebug(this, "searching for device " + unipiI2CDevice + " on device " + deviceInformation.Id);
var i2CSettings = new I2cConnectionSettings((int)unipiI2CDevice)
{
BusSpeed = I2cBusSpeed.FastMode
};
var device = I2cDevice.FromIdAsync(deviceInformation.Id, i2CSettings);
if (device == null)
{
throw new Exception("Find All Async failed");
}
await device;
_logger.LogDebug(this, "device " + unipiI2CDevice + " found");
lock (_busLock)
{
_devices.Add(unipiI2CDevice, device.GetResults());
}
found = true;
break;
}
if (!found)
{
_logger.LogError(this, "device " + unipiI2CDevice + " not found!");
}
}
}
catch (Exception exception)
{
_logger.LogException(this, exception);
}
}