/// <summary>
/// Instantiates an Mcp23008 on the specified I2C bus using the appropriate
/// peripheral address based on the pin settings. Use this method if you
/// don't want to calculate the address.
/// </summary>
/// <param name="i2cBus"></param>
/// <param name="pinA0">Whether or not Address0 pin is pulled high.</param>
/// <param name="pinA1">Whether or not Address1 pin is pulled high.</param>
/// <param name="pinA2">Whether or not Address2 pin is pulled high.</param>
/// <param name="interruptPort">Optional IDigitalInputPort used to support
/// interrupts. The MCP will notify a single port for an interrupt on
/// any input configured pin. The driver takes care of looking up which
/// pin the interrupt occurred on, and will raise it on that port, if a port
/// is used.</param>
public Mcp23x08(II2cBus i2cBus, bool pinA0, bool pinA1, bool pinA2,
IDigitalInputPort interruptPort = null)
: this(i2cBus, McpAddressTable.GetAddressFromPins(pinA0, pinA1, pinA2))
{
// nothing goes here
}
public Ina260(II2cBus i2cBus, Addresses address)
: this(i2cBus, (byte)address)
{
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="bus">I2C bus</param>
/// <param name="address">I2C device address</param>
/// <param name="r">Number of text rows</param>
/// <param name="c">Number of text columns</param>
public DisplayLCD(II2cBus bus, byte address, byte r, byte c)
{
display = new I2cCharacterDisplay(bus, address, r, c);
rows = r;
columns = c;
}
/// <summary>
/// Create a new TEA5767 object using the default parameters
/// </summary>
/// <param name="address">Address of the bus on the I2C display.</param>
public Tea5767(II2cBus i2cBus, byte address = 0x60)
{
_I2cPeripheral = new I2cPeripheral(i2cBus, address);
InitTEA5767();
}
/// <summary>
/// Initializes a new instance of the <see cref="T:Meadow.Foundation.Sensors.Barometric.BME280" /> class.
/// </summary>
/// <param name="i2c">I2C Bus to use for communicating with the sensor</param>
/// <param name="busAddress">I2C address of the sensor (default = 0x77).</param>
public Bme280(II2cBus i2c, I2cAddress busAddress = I2cAddress.Adddress0x77)
{
_bme280 = new Bme280I2C(i2c, (byte)busAddress);
Init();
}
public override uint Height => 64; //?
public SSD1306OLED128x64(II2cBus i2cBus, byte address = 0x3c)
: base(i2cBus, address)
{
this.InitSSD1306();
}
/// <summary>
/// Create a new HIH6130 object using the default parameters for the component.
/// </summary>
/// <param name="address">Address of the HIH6130 (default = 0x27).</param>
/// <param name="i2cBus">I2C bus (default = 100 KHz).</param>
public Hih6130(II2cBus i2cBus, byte address = 0x27)
{
hih6130 = new I2cPeripheral(i2cBus, address);
}
public Is31fl3731(II2cBus i2cBus, byte address)
{
i2cPeripheral = new I2cPeripheral(i2cBus, address);
Frame = 0;
}
/// <summary>
/// Create a new GroveTH02 object using the default parameters for the component.
/// </summary>
/// <param name="address">Address of the Grove TH02 (default = 0x4-).</param>
/// <param name="i2cBus">I2C bus (default = 100 KHz).</param>
public GroveTh02(II2cBus i2cBus, byte address = 0x40)
{
groveTH02 = new I2cPeripheral(i2cBus, address);
}
/// <summary>
/// Create a new HT16K33 object using the default parameters
/// </summary>
/// <param name="address">Address of the bus on the I2C display.</param>
/// <param name="i2cBus">I2C bus instance</param>
public HT16K33(II2cBus i2cBus, byte address = 0x70)
{
_I2cPeripheral = new I2cPeripheral(i2cBus, address);
InitHT16K33();
}
/// <summary>
/// Create a new MAG3110 object using the default parameters for the component.
/// </summary>
/// <param name="device">IO Device.</param>
/// <param name="interruptPin">Interrupt pin used to detect end of conversions.</param>
/// <param name="address">Address of the MAG3110 (default = 0x0e).</param>
/// <param name="speed">Speed of the I2C bus (default = 400 KHz).</param>
public MAG3110(IIODevice device, II2cBus i2cBus, IPin interruptPin = null, byte address = 0x0e, ushort speed = 400) :
this(i2cBus, device.CreateDigitalInputPort(interruptPin, InterruptMode.EdgeRising, ResistorMode.Disabled), address)
{
}
/// <summary>
/// Initializes all hardware and software classes
/// </summary>
void Initialize()
{
Console.WriteLine("Initialize hardware...");
onboardLed = new RgbPwmLed(device: Device,
redPwmPin: Device.Pins.OnboardLedRed,
greenPwmPin: Device.Pins.OnboardLedGreen,
bluePwmPin: Device.Pins.OnboardLedBlue,
3.3f, 3.3f, 3.3f,
Meadow.Peripherals.Leds.IRgbLed.CommonType.CommonAnode);
#if DEBUG
Console.WriteLine("Initializing bus");
#endif
bus = Device.CreateI2cBus(400000);
#if DEBUG
Console.WriteLine("Initializing display 1");
#endif
displaySmall = new DisplayLCD(bus, 0x27, 2, 16);
displaySmall.Write("I'm alive!");
#if DEBUG
Console.WriteLine("Initializing display 2");
#endif
displayBig = new DisplayLCD(bus, 0x23, 4, 20);
displayBig.Write("I'm alive!");
#if DEBUG
Console.WriteLine("Initializing hc12");
#endif
displaySmall.Write("Initializing radio");
serialCom = new HC12Communication(Device.CreateSerialMessagePort(Device.SerialPortNames.Com4,
suffixDelimiter: new byte[] { 10 },
preserveDelimiter: true, 115200, 8, Parity.None,
StopBits.One));
com = new CommunicationWrapper(serialCom);
#if DEBUG
Console.WriteLine("Initializing WiFi");
#endif
displaySmall.Write("Initializing WiFi");
ipCom = new WifiUdpCommunication(Device.WiFiAdapter, new Action <string>[] { com.SendMessage, displaySmall.Write });
//Trying to connect at startup to speed process up, but router might be still booting so in that case will try again when requested
Task.Run(() =>
{
try
{
ConnectToWiFi("");
}
catch (Exception e)
{
com.SendMessage(ReturnCommandList.exception + e.Message + ReturnCommandList.exceptionTrace + e.StackTrace);
#if DEBUG
Console.WriteLine(e.Message + "/n/n" + e.StackTrace);
#endif
}
});
#if DEBUG
Console.WriteLine("Initializing RTC");
#endif
displaySmall.Write("Initializing RTC");
clock = new Rtc(bus, com.SendMessage, SetClock);
clock.SetClockFromRtc();
#if DEBUG
Console.WriteLine("Initializing watchdog");
#endif
displaySmall.Write("Initializing watchdog");
watchdog = new Watchdog(Watchdog.Type.SerialPort);
//serialCom.RegisterWatchdog(watchdog.MessageReceived);
//ipCom.RegisterWatchdog(watchdog.MessageReceived);
watchdog.RegisterSender(com.SendMessage);
watchdog.RegisterBlockAction(EmergencyDisable);
watchdog.RegisterSwitchToSerial(SwitchToSerial);
dict = new MethodsDictionary();
queue = new MethodsQueue(com, dict);
ipCom.SubscribeToMessages(queue.MessageReceived);
ipCom.SubscribeToMessages(watchdog.MessageReceived);
serialCom.SubscribeToMessages(queue.MessageReceived);
serialCom.SubscribeToMessages(watchdog.MessageReceived);
#if DEBUG
Console.WriteLine("Initializing pca @1600Hz");
#endif
displaySmall.Write("Initializing PWM @1600Hz");
pwm1600 = new Pca9685(bus, 0x61, 1600);
pwm1600.Initialize();
#if DEBUG
Console.WriteLine("Initializing pca @50Hz");
#endif
displaySmall.Write("Initializing PWM @50Hz");
pwm50 = new Pca9685(bus, 0x60, 50);
pwm50.Initialize();
#if DEBUG
Console.WriteLine("Initializing expander 1");
#endif
displaySmall.Write("Initializing expander 1");
expander1 = new Mcp23x08(bus, 0x20, Device.CreateDigitalInputPort(Device.Pins.D02, InterruptMode.EdgeBoth));
#if DEBUG
Console.WriteLine("Initializing expander 2");
#endif
displaySmall.Write("Initializing expander 2");
expander2 = new Mcp23x08(bus, 0x21, Device.CreateDigitalInputPort(Device.Pins.D06, InterruptMode.EdgeBoth));
#if DEBUG
Console.WriteLine("Initializing fans");
#endif
displaySmall.Write("Initializing fans");
LEDsFans = new Fan(expander2.CreateDigitalOutputPort(expander2.Pins.GP4), "LEDs' fans");
motorsFans = new Fan(expander2.CreateDigitalOutputPort(expander2.Pins.GP5), "Motors' fans");
inasFan = new Fan(expander2.CreateDigitalOutputPort(expander2.Pins.GP6), "INAs fan");
#if DEBUG
Console.WriteLine("Initializing buzzer");
#endif
displaySmall.Write("Initializing buzzer");
buzzer = new Buzzer(expander2.CreateDigitalOutputPort(expander2.Pins.GP3, false, OutputType.OpenDrain));
watchdog.RegisterBuzzer(buzzer.Buzz);
#pragma warning disable CS4014 // To wywołanie nie jest oczekiwane, dlatego wykonywanie bieżącej metody będzie kontynuowane do czasu ukończenia wywołania
buzzer.Buzz();
#pragma warning restore CS4014 // To wywołanie nie jest oczekiwane, dlatego wykonywanie bieżącej metody będzie kontynuowane do czasu ukończenia wywołania
#if DEBUG
Console.WriteLine("Initializing power sensors");
#endif
displaySmall.Write("Initializing power sensors");
INA219.INA219Configuration config = new INA219.INA219Configuration(INA219.BusVoltageRangeSettings.range32v,
INA219.PGASettings.Gain320mV,
INA219.ADCsettings.Samples128,
INA219.ADCsettings.Samples128,
INA219.ModeSettings.ShuntBusContinuous);
ina219s = new INA219Array(new INA219[]
{
new INA219(3.2f, 0.1f, 1, bus, 0x41, config, "C"),
new INA219(10f, 0.01f, 1, bus, 0x44, config, "L"),
new INA219(10f, 0.01f, 1, bus, 0x45, config, "R")
}, buzzer, displayBig, EmergencyDisable);
ina219s.RegisterSender(com.SendMessage);
ina219s.RegisterFan(inasFan.SetState);
ina219s.RegisterFan(motorsFans.SetState);
ina219s.StartMonitoringVoltage();
//com = new ComCommunication(Device.CreateSerialMessagePort(Device.SerialPortNames.Com4, suffixDelimiter: new byte[] { 10 }, preserveDelimiter: true, 921600, 8, Parity.None, StopBits.One));
#if DEBUG
Console.WriteLine("Initializing temperature sensor");
#endif
displaySmall.Write("Initializing temperature sensor");
tempPresSensor = new TempPressureSensor(bus);
tempPresSensor.RegisterSender(com.SendMessage);
#if DEBUG
Console.WriteLine("Initializing position sensor");
#endif
displaySmall.Write("Initializing position sensor");
positionSensor = new BNO055(bus, 0x28);
positionSensor.RegisterSender(com.SendMessage);
positionSensor.RegisterScreen(displaySmall.Write);
#if DEBUG
Console.WriteLine("Initializing motor controller");
#endif
displaySmall.Write("Initializing motor controller");
motor = new MotorController(pwm1600.CreatePwmPort(3, 0),
pwm1600.CreatePwmPort(2, 0),
pwm1600.CreatePwmPort(1, 0),
pwm1600.CreatePwmPort(0, 0),
pwm50.CreatePwmPort(0),
Device.CreateDigitalInputPort(Device.Pins.D03, InterruptMode.EdgeRising, ResistorMode.InternalPullDown, 20, 20),
Device.CreateDigitalInputPort(Device.Pins.D04, InterruptMode.EdgeRising, ResistorMode.InternalPullDown, 20, 20),
positionSensor, gimbal, queue.ClearQueue);
#if DEBUG
Console.WriteLine("Initializing gimbal");
#endif
displaySmall.Write("Initializing camera gimbal");
gimbal = new CameraGimbal(pwm50.CreatePwmPort(2), pwm50.CreatePwmPort(1), positionSensor);
#if DEBUG
Console.WriteLine("Initializing proximity sensors");
#endif
displaySmall.Write("Initializing proximity sensors");
proxSensors = new ProximitySensorsArray(new ProximitySensor[]
{
new ProximitySensor(expander1.CreateDigitalInputPort(expander1.Pins.GP0, InterruptMode.EdgeRising, ResistorMode.InternalPullUp, 500, 500), Direction.Forward, StopBehavior.Stop, "Front, right", queue, motor),
new ProximitySensor(expander1.CreateDigitalInputPort(expander1.Pins.GP1, InterruptMode.EdgeRising, ResistorMode.InternalPullUp, 500, 500), Direction.Forward, StopBehavior.Stop, "Front, left", queue, motor),
new ProximitySensor(expander1.CreateDigitalInputPort(expander1.Pins.GP2, InterruptMode.EdgeRising, ResistorMode.InternalPullUp, 500, 500), Direction.Forward, StopBehavior.Stop, "Front, center", queue, motor),
new ProximitySensor(expander1.CreateDigitalInputPort(expander1.Pins.GP3, InterruptMode.EdgeRising, ResistorMode.InternalPullUp, 500, 500), Direction.Backward, StopBehavior.Stop, "Back, center", queue, motor)
});
proxSensors.Register(com.SendMessage);
//proxSensors.Register(displaySmall.Write);
#if DEBUG
Console.WriteLine("Initializing lamps");
#endif
displaySmall.Write("Initializing lamps");
narrowLed = new LedLamp(pwm1600.CreatePwmPort(4, 0), LEDsFans, "Front, narrow");
wideLed = new LedLamp(pwm1600.CreatePwmPort(5, 0), LEDsFans, "Front, wide");
#if DEBUG
Console.WriteLine("Initializing cameras");
#endif
displaySmall.Write("Initializing cameras");
camera = new Camera(expander2.CreateDigitalOutputPort(expander2.Pins.GP7));
camera.SetCamera(true);
#if DEBUG
Console.WriteLine("Finishing initialization");
#endif
displaySmall.Write("Finishing initialization");
RegisterMethods();
//watchdog.StartCheckingMessages();
#if DEBUG
Console.WriteLine("All hardware initialized!");
#endif
displaySmall.Clear();
displaySmall.Write("Ready!");
com.SendMessage("Ready!");
#pragma warning disable CS4014 // To wywołanie nie jest oczekiwane, dlatego wykonywanie bieżącej metody będzie kontynuowane do czasu ukończenia wywołania
buzzer.BuzzPulse(100, 100, 3);
#pragma warning restore CS4014 // To wywołanie nie jest oczekiwane, dlatego wykonywanie bieżącej metody będzie kontynuowane do czasu ukończenia wywołania
}
public Tsl2591(II2cBus bus, byte address = (byte)Addresses.Default)
{
i2cBus = bus;
Address = address;
}
public GY521(II2cBus bus, byte address = 0x68)
{
Address = address;
_bus = bus;
}
/// <summary>
/// Create a new TEA5767 object using the default parameters
/// </summary>
/// <param name="address">Address of the bus on the I2C display.</param>
public Tea5767(II2cBus i2cBus, byte address = TEA5767_ADDRESS)
{
i2cPeripheral = new I2cPeripheral(i2cBus, address);
InitTEA5767();
}
public Vl53l0x(II2cBus i2cBus, byte address = 0x29, UnitType units = UnitType.mm) : this(i2cBus, null, address, units)
{
}
/// <summary>
/// Create a new SSD1309 object using the default parameters for
/// </summary>
/// <remarks>
/// Note that by default, any pixels out of bounds will throw and exception.
/// This can be changed by setting the <seealso cref="IgnoreOutOfBoundsPixels" />
/// property to true.
/// </remarks>
/// <param name="address">Address of the bus on the I2C display.</param>
public Ssd1309(II2cBus i2cBus, byte address = 0x3c) : base(i2cBus, address, DisplayType.OLED128x64)
{
}
/// <summary>
/// Create a new MAG3110 object using the default parameters for the component.
/// </summary>
/// <param name="device"></param>
/// <param name="interruptPin">Digital pin connected to the alarm interrupt pin on the RTC.</param>
public Ds3231(IIODevice device, II2cBus i2cBus, IPin interruptPin) :
this(i2cBus, device.CreateDigitalInputPort(interruptPin))
{
}
public LedMatrix8x16Wing(II2cBus i2cBus, byte address = 0x70)
{
ht16k33 = new Ht16K33(i2cBus, address);
}
//private int headingCorrection = 180;
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="bus">I2C bus</param>
/// <param name="address">I2C device address</param>
public BNO055(II2cBus bus, byte address = 40)
{
sensor = new Bno055(bus, address);
sensor.OperatingMode = Bno055.OperatingModes.NINE_DEGREES_OF_FREEDOM;
bno = new I2cPeripheral(bus, address);
}
/// <summary>
/// Create a new Htu21d temperature and humidity sensor.
/// </summary>
/// <param name="address">Sensor address (default to 0x40).</param>
/// <param name="i2cBus">I2CBus (default to 100 KHz).</param>
public Htu21d(II2cBus i2cBus, byte address = 0x40)
{
htu21d = new I2cPeripheral(i2cBus, address);
Initialize();
}
/// <summary>
/// Constructor with sender action added
/// </summary>
/// <param name="sender">Method to send data to control app</param>
/// <param name="bus">I2C bus</param>
/// <param name="address">I2C device address</param>
public BNO055(Action <string> sender, II2cBus bus, byte address = 40) : this(bus, address)
{
sendMessage += sender;
}
public Mpu6050(II2cBus bus, byte address = 0x68)
{
Address = address;
_bus = bus;
}
/// <summary>
/// Basic constructor creating Bme280 object
/// </summary>
/// <param name="bus">I2C bus</param>
/// <param name="address">I2C device address</param>
public TempPressureSensor(II2cBus bus, byte address = 118)
{
sensor = new Bme280(bus, address);
}
/// <summary>
/// Create a new Dht10 object.
/// </summary>
/// <param name="address">Address of the Dht12 (default = 0x27).</param>
/// <param name="i2cBus">I2C bus (default = 100 KHz).</param>
public Dht10(II2cBus i2cBus, byte address = 0x5C) : base(i2cBus, address)
{
_sensor.WriteByte(CMD_SOFTRESET);
Thread.Sleep(20);
_sensor.WriteByte(CMD_INIT);
}
/// <summary>
/// Constructor creating Bme280 object and assigning communication method
/// </summary>
/// <param name="bus">I2C bus</param>
/// <param name="address">I2C device address</param>
/// <param name="send">Communication method for sending data to controll app</param>
public TempPressureSensor(II2cBus bus, Action <string> send, byte address = 118) : this(bus, address)
{
sendMessage = send;
}
internal Ms5611I2c(II2cBus i2c, byte address, Ms5611.Resolution resolution)
: base(resolution)
{
_i2c = i2c;
_address = address;
}
public VEML7700(II2cBus bus)
{
Device = bus;
Initialize((byte)Addresses.Default);
}
/// <summary>
/// Create a new SI7021 temperature and humidity sensor.
/// </summary>
/// <param name="address">Sensor address (default to 0x40).</param>
/// <param name="i2cBus">I2CBus (default to 100 KHz).</param>
public Si70xx(II2cBus i2cBus, byte address = 0x40)
{
si7021 = new I2cPeripheral(i2cBus, address);
Initialize();
}
public I2cMcpDeviceComms(II2cBus bus, byte peripheralAddress)
: base(bus, peripheralAddress)
{
}
