public Windows10PwmDriverChannel(WinPwm.PwmController winController, int channelIndex)
{
_winPin = winController.OpenPin(channelIndex);
if (_winPin == null)
{
throw new ArgumentOutOfRangeException($"The PWM chip is unable to open a channel at index {channelIndex}.", nameof(channelIndex));
}
}
internal PwmPin(PwmController controller, IPwmControllerProvider provider, int pinNumber)
{
m_controller = controller;
m_provider = provider;
m_pinNumber = pinNumber;
m_provider.AcquirePin(pinNumber);
}
public void Dispose()
{
_winController = null;
foreach (Windows10PwmDriverChannel channel in _channelMap.Values)
{
channel.Dispose();
}
_channelMap.Clear();
}
static void LedInit(PwmController controller)
{
Red = controller.OpenPin(LedPinRed);
Green = controller.OpenPin(LedPinGreen);
Blue = controller.OpenPin(LedPinBlue);
Red.Start();
Green.Start();
Blue.Start();
}
public static PwmController[] GetControllers(IPwmProvider provider)
{
// FUTURE: This should return "Task<IReadOnlyList<PwmController>>"
var providers = provider.GetControllers();
var controllers = new PwmController[providers.Length];
for (int i = 0; i < providers.Length; ++i)
{
controllers[i] = new PwmController(providers[i]);
}
return controllers;
}
public async void Run(IBackgroundTaskInstance taskInstance)
{
deferral = taskInstance.GetDeferral();
// pwmController = (await PwmController.GetControllersAsync(PwmPCA9685.PwmProviderPCA9685.GetPwmProvider()))[0];
pwmController = (await PwmController.GetControllersAsync(PwmSoftware.PwmProviderSoftware.GetPwmProvider()))[0];
pwmController.SetDesiredFrequency(50);
motorPin = pwmController.OpenPin(13);
motorPin.SetActiveDutyCyclePercentage(RestingPulseLegnth);
motorPin.Start();
secondMotorPin = pwmController.OpenPin(6);
secondMotorPin.SetActiveDutyCyclePercentage(RestingPulseLegnth);
secondMotorPin.Start();
timer = ThreadPoolTimer.CreatePeriodicTimer(Timer_Tick, TimeSpan.FromSeconds(2));
}
public Pwm(
ObjectEnvironment environment,
string id,
string name,
PwmController controller,
string description = null,
Object parent = null
)
: base(environment, id, name,
new ObjectType("PWM", "PWM", "Pulse width modulation"),
description, parent)
{
controller.ValidateNonNull(nameof(controller));
Controller = controller;
PinCount = new Property<int>(this, nameof(PinCount), "Pin count", Controller.PinCount);
Items.Add(PinCount);
DelegateCommand command;
command = new DelegateCommand<int>(this,
nameof(OpenPin), "Open pin",
p => OpenPin(p),
p => CanOpenPin(p),
parameters: new CommandParameterInfo<int>("Number", "Number", "Pin number")
);
Items.Add(command);
Frequency = new PhysicalProperty<double>(this,
nameof(Frequency), "Frequency", Controller.ActualFrequency, Units.Hertz);
Items.Add(Frequency);
MinFrequency = new PhysicalProperty<double>(this,
nameof(MinFrequency), "Minimum frequency", Controller.MinFrequency, Units.Hertz);
Items.Add(MinFrequency);
MaxFrequency = new PhysicalProperty<double>(this,
nameof(MaxFrequency), "Maximum frequency", Controller.MaxFrequency, Units.Hertz);
Items.Add(MaxFrequency);
command = new DelegateCommand<double>(this,
nameof(SetFrequency), "Set frequency",
p => SetFrequency(p),
p => CanSetFrequency(p),
parameters: new CommandPhysicalParameterInfo<double>(Frequency)
);
Items.Add(command);
}
public Windows10PwmDriverChip(int chipIndex)
{
// Open the Windows PWM controller for the specified PWM chip
string controllerFriendlyName = $"PWM{chipIndex}";
string deviceSelector = WinPwm.PwmController.GetDeviceSelector(controllerFriendlyName);
DeviceInformationCollection deviceInformationCollection = DeviceInformation.FindAllAsync(deviceSelector).WaitForCompletion();
if (deviceInformationCollection.Count == 0)
{
throw new ArgumentException($"No PWM device exists for PWM chip at index {chipIndex}", $"{nameof(chipIndex)}");
}
string deviceId = deviceInformationCollection[0].Id;
_winController = WinPwm.PwmController.FromIdAsync(deviceId).WaitForCompletion();
}
/// <summary>
/// Initializes a new instance of the <see cref="Windows10PwmChannel"/> class.
/// </summary>
/// <param name="chip">The PWM chip number.</param>
/// <param name="channel">The PWM channel number.</param>
/// <param name="frequency">The frequency in hertz.</param>
/// <param name="dutyCycle">The duty cycle percentage represented as a value between 0.0 and 1.0.</param>
public Windows10PwmChannel(
int chip,
int channel,
int frequency = 400,
double dutyCycle = 0.5)
{
// When running on Hummingboard we require to use the default chip.
var deviceInfo = new EasClientDeviceInformation();
bool useDefaultChip = false;
if (deviceInfo.SystemProductName.IndexOf("Hummingboard", StringComparison.OrdinalIgnoreCase) >= 0)
{
useDefaultChip = true;
}
// Open the Windows PWM controller for the specified PWM chip.
string deviceSelector = useDefaultChip ? WinPwm.PwmController.GetDeviceSelector() : WinPwm.PwmController.GetDeviceSelector($"PWM{chip}");
DeviceInformationCollection?deviceInformationCollection = DeviceInformation.FindAllAsync(deviceSelector).WaitForCompletion();
if (deviceInformationCollection is null || deviceInformationCollection.Count == 0)
{
throw new ArgumentException($"No PWM device exists for PWM chip at index {chip}.", nameof(chip));
}
string deviceId = deviceInformationCollection[0].Id;
WinPwm.PwmController?winController = WinPwm.PwmController.FromIdAsync(deviceId).WaitForCompletion();
if (winController is null)
{
throw new Exception("A PWM device could not be found.");
}
WinPwm.PwmPin?winPin = winController.OpenPin(channel);
if (winPin is null)
{
throw new ArgumentOutOfRangeException(nameof(channel), $"The PWM chip is unable to open a channel at index {channel}.");
}
_winController = winController;
_winPin = winPin;
Frequency = frequency;
DutyCycle = dutyCycle;
}
private void Dispose(bool disposing)
{
if (disposing)
{
m_provider.ReleasePin(m_pinNumber);
m_controller = null;
m_provider = null;
}
}