/// <summary>Clears all relays.</summary>
public void DisableAllRelays()
{
regData = 0;
ushort reg = (ushort)regData;
for (int i = 0; i < 16; i++)
{
if ((reg & 0x1) == 1)
{
data.Write(false);
}
else
{
data.Write(true);
}
clock.Write(true);
clock.Write(false);
reg >>= 1;
}
latch.Write(true);
latch.Write(false);
}
private void SetSpeed(GTI.PwmOutput motor, GTI.DigitalOutput direction, int speed, bool isLeft)
{
if (speed == 0)
{
direction.Write(false);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0.01);
}
else if (speed < 0)
{
direction.Write(isLeft ? true : false);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, speed / -100.0);
}
else
{
direction.Write(isLeft ? false : true);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, speed / 100.0);
}
}
/// <summary>
/// Renders Bitmap data on the display device.
/// </summary>
/// <param name="bitmap">The <see cref="T:Microsoft.SPOT.Bitmap"/> object to render on the display.</param>
protected override void Paint(Bitmap bitmap, int x, int y, int width, int height)
{
try
{
if (Mainboard.NativeBitmapCopyToSpi != null)
{
SetClippingArea(0, 0, bitmap.Width - 1, bitmap.Height - 1);
WriteCommand(0x2C);
pinDC.Write(true);
Mainboard.NativeBitmapCopyToSpi(bitmap, netMFSpiConfig, 0, 0, bitmap.Width, bitmap.Height, GT.Mainboard.BPP.BPP16_BGR_BE);
}
else
{
Draw(bitmap);
}
}
catch
{
ErrorPrint("Painting error");
}
}
private uint ReadData()
{
int bitCount;
uint data = 0;
_cs.Write(false);
{
for (bitCount = 31; bitCount >= 0; bitCount--)
{
_clk.Write(true);
if (_miso.Read())
{
data |= (uint)(1 << bitCount);
}
_clk.Write(false);
}
}
_cs.Write(true);
return(data);
}
/// <summary>
/// Executes a command
/// </summary>
/// <param name = "command">Command</param>
/// <param name = "address">Register to write to</param>
/// <param name = "data">Data to write</param>
/// <returns>Response byte array. First byte is the status register</returns>
public byte[] WriteBlock(byte command, byte address, byte[] data)
{
CheckIsInitialized();
_csPin.Write(false);
// Create SPI Buffers with Size of Data + 1 (For Command)
var writeBuffer = new byte[data.Length + 1];
var readBuffer = new byte[data.Length + 1];
// Add command and address to SPI buffer
writeBuffer[0] = (byte)(command | address);
// Add data to SPI buffer
Array.Copy(data, 0, writeBuffer, 1, data.Length);
// Do SPI Read/Write
_spi.WriteRead(writeBuffer, readBuffer);
_csPin.Write(true);
// Return ReadBuffer
return(readBuffer);
}
private void Reset()
{
pinReset.Write(false);
Thread.Sleep(150);
pinReset.Write(true);
}
/// <summary>
/// Enables or disables the display backlight.
/// </summary>
/// <param name="state">The state to set the backlight to.</param>
public void SetBacklight(bool state)
{
pinBacklight.Write(state);
}
private void clock(bool a) {
Thread.Sleep(1);
_sck.Write(a);
}
/// <summary>
/// Turns on the module's LED.
/// </summary>
public void TurnLEDOn()
{
led.Write(true);
}
/// <summary>
/// Enables the outputs to the relays.
/// </summary>
private void EnableOutputs()
{
enable.Write(false);
}