/// <summary>
/// Returns the parameter number for the parameter of a given servo,
/// given the corresponding parameter number for servo 0.
/// </summary>
/// <param name="p">e.g. PARAMETER_SERVO0_HOME</param>
/// <param name="servo">Channel number.</param>
uscParameter specifyServo(uscParameter p, byte servo)
{
return (uscParameter)((byte)(p) + servo * servoParameterBytes);
}
private unsafe ushort getRawParameter(uscParameter parameter)
{
Range range = Usc.getRange(parameter);
ushort value = 0;
byte[] array = new byte[range.bytes];
try
{
controlTransfer(0xC0, (byte)uscRequest.REQUEST_GET_PARAMETER, 0, (ushort)parameter, array);
}
catch (Exception e)
{
throw new Exception("There was an error getting parameter " + parameter.ToString() + " from the device.", e);
}
if (range.bytes == 1)
{
// read a single byte
fixed (byte* pointer = array)
{
value = *(byte*)pointer;
}
}
else
{
// read two bytes
fixed (byte* pointer = array)
{
value = *(ushort*)pointer;
}
}
return value;
}
private void setRawParameter(uscParameter parameter, ushort value)
{
Range range = Usc.getRange(parameter);
requireArgumentRange(value, range.minimumValue, range.maximumValue, parameter.ToString());
int bytes = range.bytes;
setRawParameterNoChecks((ushort)parameter, value, bytes);
}
protected static Range getRange(uscParameter parameterId)
{
if (parameterId == uscParameter.PARAMETER_INITIALIZED)
return Range.u8;
switch (parameterId)
{
case uscParameter.PARAMETER_SERVOS_AVAILABLE:
return Range.u8;
case uscParameter.PARAMETER_SERVO_PERIOD:
return Range.u8;
case uscParameter.PARAMETER_MINI_MAESTRO_SERVO_PERIOD_L:
return Range.u8;
case uscParameter.PARAMETER_MINI_MAESTRO_SERVO_PERIOD_HU:
return Range.u16;
case uscParameter.PARAMETER_SERVO_MULTIPLIER:
return Range.u8;
case uscParameter.PARAMETER_CHANNEL_MODES_0_3:
case uscParameter.PARAMETER_CHANNEL_MODES_4_7:
case uscParameter.PARAMETER_CHANNEL_MODES_8_11:
case uscParameter.PARAMETER_CHANNEL_MODES_12_15:
case uscParameter.PARAMETER_CHANNEL_MODES_16_19:
case uscParameter.PARAMETER_CHANNEL_MODES_20_23:
case uscParameter.PARAMETER_ENABLE_PULLUPS:
return Range.u8;
case uscParameter.PARAMETER_SERIAL_MODE:
return new Range(1, 0, 3);
case uscParameter.PARAMETER_SERIAL_BAUD_DETECT_TYPE:
return new Range(1, 0, 1);
case uscParameter.PARAMETER_SERIAL_NEVER_SUSPEND:
return Range.boolean;
case uscParameter.PARAMETER_SERIAL_TIMEOUT:
return Range.u16;
case uscParameter.PARAMETER_SERIAL_ENABLE_CRC:
return Range.boolean;
case uscParameter.PARAMETER_SERIAL_DEVICE_NUMBER:
return Range.u7;
case uscParameter.PARAMETER_SERIAL_FIXED_BAUD_RATE:
return Range.u16;
case uscParameter.PARAMETER_SERIAL_MINI_SSC_OFFSET:
return new Range(1, 0, 254);
case uscParameter.PARAMETER_SCRIPT_CRC:
return Range.u16;
case uscParameter.PARAMETER_SCRIPT_DONE:
return Range.boolean;
}
// must be one of the servo parameters
switch ((((byte)parameterId - (byte)uscParameter.PARAMETER_SERVO0_HOME) % 9) +
(byte)uscParameter.PARAMETER_SERVO0_HOME)
{
case (byte)uscParameter.PARAMETER_SERVO0_HOME:
case (byte)uscParameter.PARAMETER_SERVO0_NEUTRAL:
return new Range(2, 0, 32440); // 32640 - 200
case (byte)uscParameter.PARAMETER_SERVO0_RANGE:
return new Range(1, 1, 50); // the upper limit could be adjusted
case (byte)uscParameter.PARAMETER_SERVO0_SPEED:
case (byte)uscParameter.PARAMETER_SERVO0_MAX:
case (byte)uscParameter.PARAMETER_SERVO0_MIN:
case (byte)uscParameter.PARAMETER_SERVO0_ACCELERATION:
return Range.u8;
}
throw new ArgumentException("Invalid parameterId " + parameterId.ToString() + ", can not determine the range of this parameter.");
}