public IndirectedPwmOutput(int channel, PCA9685 pwm)
{
this.channel = channel;
this.pwm = pwm;
}
/// <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);
}
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>
/// Releases all resources used by the libPWMdeviceControl.DeviceControl object.
/// </summary>
public void Dispose()
{
CancelPeriodicTimer();
_device?.Dispose();
_device = null;
}
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);
}
public PCA9685PWMChannel(PCA9685 pwm, int channel)
{
this.pwm = pwm;
this.channel = channel;
}
static void Main(string[] args)
{
var pca9685 = new PCA9685();
Console.WriteLine();
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine($"PCA9685 is ready on I2C bus {pca9685.BusId} with address {pca9685.Address}");
while (true)
{
Console.WriteLine();
try
{
Console.ForegroundColor = ConsoleColor.Cyan;
Console.WriteLine("Command: F {freq_hz} | P {prescale} | S {off} | S {on} {off} | S {on} {off} {channel}");
Console.ResetColor();
var command = Console.ReadLine().ToLower().Split(' ');
switch (command[0][0])
{
case 'f':
{
var freq = double.Parse(command[1]);
pca9685.SetPwmFrequency(freq);
var prescale = pca9685.GetPrescale(freq);
freq = pca9685.GetFreq(prescale);
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine($"PWM Frequency has been set to about {freq}Hz with prescale is {prescale}");
break;
}
case 'p':
{
var prescale = (byte)int.Parse(command[1]);
pca9685.SetPwmFrequency(prescale);
var freq = pca9685.GetFreq(prescale);
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine($"PWM Frequency has been set to about {freq}Hz with prescale is {prescale}");
break;
}
case 's':
{
switch (command.Length)
{
case 2:
{
var off = int.Parse(command[1]);
pca9685.SetPwm(0, off);
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine($"PWM pulse width has been set to {off}/4096");
break;
}
case 3:
{
var on = int.Parse(command[1]);
var off = int.Parse(command[2]);
pca9685.SetPwm(on, off);
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine($"PWM pulse pull up at {on} and pull down at {off}");
break;
}
case 4:
{
var on = int.Parse(command[1]);
var off = int.Parse(command[2]);
var channel = int.Parse(command[3]);
pca9685.SetPwm(on, off, channel);
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine($"PWM pulse pull up at {on} and pull down at {off} on channel {channel}");
break;
}
}
break;
}
}
}
catch (Exception ex)
{
Console.ForegroundColor = ConsoleColor.Red;
Console.WriteLine(ex.GetBaseException().Message);
Console.ResetColor();
}
}
}
