/// <summary>
/// Creates and initializes an instance.
/// </summary>
public Navio2RcioDevice()
{
try
{
// Create device
_chip = new Px4ioDevice(SpiBusNumber, SpiChipSelectLine, SpiOperationMode, SpiBitsPerWord, SpiFrequency, SpiSharingMode.Exclusive);
_swdPort = new GpioSwdPort(GpioBusNumber, GpioSwdClockPinNumber, GpioSwdIoPinNumber);
_interruptPin = GpioExtensions.Connect(GpioBusNumber, GpioInterruptPinNumber, GpioPinDriveMode.Input, GpioSharingMode.Exclusive);
_interruptPin.ValueChanged += OnInterruptPinValueChanged;
// Initialize members
_channels = new int[_chip.Configuration.RCInputCount];
_channelsReadOnly = new ReadOnlyCollection <int>(_channels);
}
catch
{
// Close devices in case partially initialized
_interruptPin?.Dispose();
_swdPort?.Dispose();
_chip?.Dispose();
// Continue error
throw;
}
}
/// <summary>
/// Creates an instance and reads current values.
/// </summary>
/// <remarks>
/// <para>
/// The required mode bits are set, but the device state and PWM values unchanged (supporting recovery).
/// Initializing without restart allows the caller decide whether to recover or reset the device.
/// Before starting any output be sure to check the <see cref="INavioPwmDevice.Frequency"/>.
/// </para>
/// <para>
/// To start with new settings, call <see cref="Reset"/> then set <see cref="Enabled"/>.
/// </para>
/// </remarks>
public Navio1LedPwmDevice()
{
try
{
// Initialize members
_pwmChannels = new PwmPulse[PwmChannelCount];
_pwmChannelsReadOnly = new ReadOnlyCollection <PwmPulse>(_pwmChannels);
// Connect to hardware
_device = new Pca9685Device(I2cControllerIndex, ChipNumber, ExternalClockSpeed);
_enablePin = GpioExtensions.Connect(GpioControllerIndex, OutputEnableGpioPin,
GpioPinDriveMode.Output, GpioSharingMode.Exclusive);
// Read properties
Read();
}
catch
{
// Close devices in case partially initialized
_device?.Dispose();
_enablePin?.Dispose();
// Continue error
throw;
}
}
/// <summary>
/// Creates and initializes an instance.
/// </summary>
public Navio1RCInputDevice()
{
try
{
// Initialize buffers
_pulseBuffer = new ConcurrentQueue <PpmPulse>();
_pulseTrigger = new AutoResetEvent(false);
_frameBuffer = new ConcurrentQueue <PpmFrame>();
_frameTrigger = new AutoResetEvent(false);
// Configure GPIO
_inputPin = GpioExtensions.Connect(GpioControllerIndex, GpioInputPinNumber, GpioPinDriveMode.Input, GpioSharingMode.Exclusive);
if (_inputPin == null)
{
// Initialization error
throw new InvalidOperationException(string.Format(CultureInfo.CurrentCulture,
Resources.Strings.GpioErrorDeviceNotFound, GpioInputPinNumber, GpioControllerIndex));
}
if (_inputPin.DebounceTimeout != TimeSpan.Zero)
{
_inputPin.DebounceTimeout = TimeSpan.Zero;
}
// Create decoder thread (CPPM only to start with, SBus desired)
_decoder = new CppmDecoder();
_stop = new CancellationTokenSource();
_channels = new int[_decoder.MaximumChannels];
Channels = new ReadOnlyCollection <int>(_channels);
_decoderTask = Task.Factory.StartNew(() => { _decoder.DecodePulse(_pulseBuffer, _pulseTrigger, _frameBuffer, _frameTrigger, _stop.Token); });
// Create receiver thread
_receiverTask = Task.Factory.StartNew(() => { Receiver(); });
// Hook events
_inputPin.ValueChanged += OnInputPinValueChanged;
// Start buffered event handling
// TODO: Support buffered GPIO when possible
//_inputPin.CreateInterruptBuffer();
//_inputPin.StartInterruptBuffer();
//_inputPin.StopInterruptCount();
}
catch
{
// Close device in case partially initialized
_inputPin?.Dispose();
// Continue error
throw;
}
}
/// <summary>
/// Creates an instance and read current values.
/// </summary>
public Navio2LedDevice()
{
try
{
// Open pins
_redPin = GpioExtensions.Connect(GpioControllerIndex, 4, GpioPinDriveMode.Output, GpioSharingMode.Exclusive);
_greenPin = GpioExtensions.Connect(GpioControllerIndex, 27, GpioPinDriveMode.Output, GpioSharingMode.Exclusive);
_bluePin = GpioExtensions.Connect(GpioControllerIndex, 6, GpioPinDriveMode.Output, GpioSharingMode.Exclusive);
// Read current values
Read();
}
catch
{
// Close devices in case partially intialized
_redPin?.Dispose();
_greenPin?.Dispose();
_bluePin?.Dispose();
// Continue error
throw;
}
}
