void serialPort_DataReceived(GTI.Serial sender, System.IO.Ports.SerialData data)
{
byte[] readData = new byte[rs232.serialPort.BytesToRead];
rs232.serialPort.Read(readData, 0, readData.Length);
}
private void _input_Interrupt(GTI.InterruptInput input, bool value)
{
this.OnButtonEvent(this, value ? ButtonState.Released : ButtonState.Pressed);
}
void serialPort_LineReceived(GTI.Serial sender, string line)
{
byte[] readData = new byte[rs232.serialPort.BytesToRead];
rs232.serialPort.Read(readData, 0, readData.Length);
}
// instructs the sensor to take a single reading and returns the result
// this function blocks while the reading is being taken so may take up to 30-40ms to return
private int takeRange(GTI.I2CBus sensor)
{
// send a single byte to the device, telling it to start range finding
byte[] writeBuffer = new byte[1];
writeBuffer[0] = 81;
sensor.Write(writeBuffer, timeout);
// the device now doesn't answer to read requests until it's done,
// we'll know it's done once it returns something other than 0
int range = 0;
while (range == 0)
{
// output is given as a 16bit integer,
// the most significant byte comming first
byte[] readBuffer = new byte[2];
sensor.Read(readBuffer, timeout);
range = readBuffer[0] * 256 + readBuffer[1];
}
return range;
}
// This fires when new data is ready to be read
void dataReady_Interrupt(GTI.InterruptInput sender, bool value)
{
int rawX, rawY, rawZ;
// Read all the registers at once
Read(Register.DXRA, readBuffer48);
rawX = (readBuffer48[0] << 8) | readBuffer48[1];
rawZ = (readBuffer48[2] << 8) | readBuffer48[3];
rawY = (readBuffer48[4] << 8) | readBuffer48[5];
rawX = (((rawX >> 15) == 1) ? -32767 : 0) + (rawX & 0x7FFF);
rawZ = (((rawZ >> 15) == 1) ? -32767 : 0) + (rawZ & 0x7FFF);
rawY = (((rawY >> 15) == 1) ? -32767 : 0) + (rawY & 0x7FFF);
if (rawX == -4096 || rawY == -4096 || rawZ == -4096)
{
DebugPrint("Invalid data read. Measurement discarded.");
return;
}
double angle = Atan2((double)rawY, (double)rawX) * (180 / 3.14159265) + 180;
SensorData sensorData = new SensorData(angle, rawX, rawY, rawZ);
OnMeasurementCompleteEvent(this, sensorData);
}
private void pinIRQ_Interrupt(GTI.InterruptInput sender, bool value)
{
IsEnabled = false;
GetStatus();
//bool isDataReady = status.DataReady;
//bool isResendLimitReached = status.ResendLimitReached;
//bool isDataSent = status.DataSent;
SetReceiveMode();
//ResetStatus();
if (Interrupt != null)
Interrupt(status);
var payloads = new byte[3][];
byte payloadIdx = 0;
var payloadCorrupted = false;
if (status.DataReady)
{
while (!status.RxEmpty)
{
// Read payload size
var payloadLength = GetDynamicPayloadSize();
if (payloadLength > 32) // this indicates corrupted data
{
payloadCorrupted = true;
FlushRX(); // Flush anything that remains in buffer
}
else
{
// Read payload data
payloads[payloadIdx] = ReadPayload(payloadLength);
payloadIdx++;
}
GetStatus();
WriteRegisterBit(Registers.STATUS, Bits.RX_DR, true); // Clear RX_DR bit in status register
}
}
if (status.ResendLimitReached)
{
FlushTX();
WriteRegisterBit(Registers.STATUS, Bits.MAX_RT, true); // Clear MAX_RT bit in status register
}
if (status.TxFull)
FlushTX();
if (status.DataSent)
WriteRegisterBit(Registers.STATUS, Bits.TX_DS, true); // Clear TX_DS bit in status register
IsEnabled = true;
if (payloadCorrupted)
Debug.Print("Corrupted data received");
else if (payloadIdx > 0)
{
for (var i = 0; i < payloadIdx; i++)
DataReceived(payloads[i]);
}
else if (status.DataSent)
{
if (TransmitSuccess != null)
TransmitSuccess(this, EventArgs.Empty);
}
else
{
if (TransmitFailed != null)
TransmitFailed(this, EventArgs.Empty);
}
}
private void daisyLinkInterruptPort_OnInterrupt(GTI.InterruptInput sender, bool value)
{
for (byte moduleIndex = 0; moduleIndex < NodeCount; moduleIndex++)
{
if (0 != (0x80 & ReadRegister((byte)(moduleIndex + StartAddress), (byte)DaisyLinkRegister.Config))) // If this is the interrupting module
{
byte[] data = new byte[] { (byte)DaisyLinkRegister.Config, 0 };
Write((byte)(moduleIndex + StartAddress), data); // Clear the interrupt on the module
if (socketModuleList[moduleIndex] != null)
{
socketModuleList[moduleIndex].OnDaisyLinkInterrupt(socketModuleList[moduleIndex]); // Kick off user event (if any) for this module instance
}
}
}
//daisyLinkInterruptPort.ClearInterrupt();
}
private void _input_Interrupt(GTI.InterruptInput input, bool value)
{
this.OnPiezoModuleEvent(this, value ? PiezoModuleState.Low : PiezoModuleState.High);
}
