public IOHandler()
{
RaspberryPi.Initialize();
this.I2C = new I2CBusPi();
this.SPI = new SPIBusPi(0);
this.PWMGenHighFreq = new PCA9685(this.I2C, 0x4C, -1, PCA9685.OutputInvert.Inverted, PCA9685.OutputDriverMode.OpenDrain);
this.PWMGenLowFreq = new PCA9685(this.I2C, 0x74, -1, PCA9685.OutputInvert.Inverted, PCA9685.OutputDriverMode.OpenDrain);
this.PWMGenHighFreq.SetFrequency(333);
this.PWMGenLowFreq.SetFrequency(50);
this.RailController = new Rail(this.PWMGenHighFreq.Outputs[0], new DigitalInPi(11), this.SPI, new DigitalOutPi(29), this.I2C, null)
{
TraceLogging = true
};
this.DrillController = new Drill(this.PWMGenHighFreq.Outputs[1], this.PWMGenLowFreq.Outputs[0]);
this.SampleController = new Sample(this.PWMGenLowFreq.Outputs[1]);
this.LEDController = new LEDs(this.PWMGenLowFreq.Outputs, this.PWMGenHighFreq.Outputs);
this.AuxSensors = new AuxSensors(this.SPI, this.I2C)
{
TraceLogging = false
};
this.SysSensors = new SysSensors();
this.Music = new MusicPlayer();
this.InitProcedure = new ISubsystem[] { this.RailController, this.DrillController, this.LEDController, this.AuxSensors, this.SysSensors, this.Music };
this.EStopProcedure = new ISubsystem[] { this.Music, this.RailController, this.DrillController, this.LEDController, this.AuxSensors, this.SysSensors };
this.UpdateProcedure = new ISubsystem[] { this.RailController, this.DrillController, this.LEDController /*, this.AuxSensors, this.SysSensors*/ };
if (this.EStopProcedure.Length < this.InitProcedure.Length || this.EStopProcedure.Length < this.UpdateProcedure.Length)
{
throw new Exception("A system is registered for init or updates, but not for emergency stop. For safety reasons, this is not permitted.");
}
}
/// <summary> Prepares a TI TLV2544 ADC for use. </summary>
/// <remarks> If <c>ConversionClockSource.INTERNAL</c> is used, there must be at least 4us or 8us of delay between SPI transactions for short and long sampling respectively. </remarks>
/// <param name="SPIBus"> The SPI bus used to communicate with the device. </param>
/// <param name="ChipSelect"> The output used as chip select for the device. </param>
/// <param name="ExtRefVoltage"> Set this to the reference voltage only if using an external voltage reference. Expected values are between 0 and 5.5V. Leave as NaN if using internal reference, then select your desired reference via <c>Configure(...)</c>. </param>
public TLV2544(ISPIBus SPIBus, IDigitalOut ChipSelect, double ExtRefVoltage = double.NaN)
{
this.Bus = SPIBus;
this.CS = ChipSelect;
this.ExtRefVoltage = ExtRefVoltage;
this.Inputs = new AnalogueInTLV254x[4];
for (byte i = 0; i < this.Inputs.Length; i++)
{
this.Inputs[i] = new AnalogueInTLV254x(this, i);
}
}
/// <summary> WARNING: <c>BME280</c> has not been tested with SPI. </summary>
/// <param name="SPIBus"> The SPI bus used to communicate with the device. </param>
/// <param name="ChipSelect"> The output to use to signal chip select to the device. </param>
public BME280(ISPIBus SPIBus, IDigitalOut ChipSelect)
{
this.IsSPI = true;
this.SPIBus = SPIBus;
this.SPICS = ChipSelect;
}
/// <summary> Initializes the LS7366R SPI encoder counter chip. </summary>
/// <param name="SPIBus"> SPI Bus to communicate with </param>
/// <param name="ChipSelect"> Chip Select to use with SPI </param>
/// <param name="CountEnable"> Digital Out to enable the counters </param>
public LS7366R(ISPIBus SPIBus, IDigitalOut ChipSelect, IDigitalOut CountEnable = null)
{
this.ChipSelect = ChipSelect;
this.CountEnable = CountEnable;
this.SPIBus = SPIBus;
}
public MAX31855(ISPIBus Bus, IDigitalOut ChipSelect)
{
this.Bus = Bus;
this.ChipSelect = ChipSelect;
}
public AuxSensors(ISPIBus SPI, II2CBus I2C)
{
this.Timer = new Timer(this.UpdateState, null, 0, 250);
this.SPI0 = SPI;
this.I2C1 = I2C;
}
