/// <summary>
/// Release used resources.
/// </summary>
public void Dispose()
{
// Stop thread
if (thread != null)
{
terminated = true;
thread.Join();
thread = null;
}
// Deinit RLP driver
if (deinitProcedure != null)
{
deinitProcedure.Invoke();
deinitProcedure = null;
initProcedure = null;
queryProcedure = null;
}
}
/// <summary>
/// Release used resources.
/// </summary>
public void Dispose()
{
// Stop thread
if (thread != null)
{
terminated = true;
thread.Join();
thread = null;
}
// Deinit RLP driver
if (deinitProcedure != null)
{
deinitProcedure.Invoke();
deinitProcedure = null;
initProcedure = null;
queryProcedure = null;
}
}
public SensorPoller()
{
if (_dataProcedure == null)
{
InitRLP();
_dataProcedure = GetDataProcedure();
}
US = new IRangeFinder[USDetectorPins.Length];
for (int i = 0; i < US.Length; i++)
{
US[i] = new NativeUSSensor(USDetectorPins[i]);
}
IR = new IIntensityDetector[IRDetectorPins.Length];
for (int i = 0; i < IR.Length; i++)
{
IR[i] = new NativeIRSensor(IRDetectorPins[i]);
}
}
static void Configure()
{
try
{
LoadRLP();
// Blink board LED
RLP.Procedure PwmStop = RLP.GetProcedure(elfImage, "PwmStop");
RLP.Procedure PWMStart = RLP.GetProcedure(elfImage, "PWMRun");
PwmStop.Invoke();
if (currentEnergyMode == ScanEnergyMode.Dual)
{
Reset.Write(true);
Preset.Write(true);
}
else if (currentEnergyMode == ScanEnergyMode.High)
{
Reset.Write(true);
Preset.Write(false);
}
else
{
Reset.Write(false);
Preset.Write(true);
}
RLP.Procedure PWMBlink = RLP.GetProcedure(elfImage, "PWMBlink");
pc.Initialize(elfImage);
PWMBlink.Invoke(currentStaticPulseFreq, PulseWidthsDutyCycle[(int)currentPulseWidth - 1], 1);
PWMStart.Invoke();
}
catch { }
finally { UnloadRLP(); }
}
/// </summary>
/// <param name="elfImage">elf image library</param>
public void Initialize(byte[] elfImage)
{
// Load procedures
initProcedure = RLP.GetProcedure(elfImage, "Init");
deinitProcedure = RLP.GetProcedure(elfImage, "Deinit");
queryProcedure = RLP.GetProcedure(elfImage, "Query");
updateFreqProcedure = RLP.GetProcedure(elfImage, "PWMUpdateFreq");
updatePulseProcedure = RLP.GetProcedure(elfImage, "PWMUpdatePulse");
resetProcedure = RLP.GetProcedure(elfImage, "WDReset");
stopProcedure = RLP.GetProcedure(elfImage, "PwmStop");
startProcedure = RLP.GetProcedure(elfImage, "PWMRun");
PWMStatusProcedure = RLP.GetProcedure(elfImage, "QueryPWMStatus");
// Init RLP driver
if (initProcedure.Invoke() != 0)
{
throw new Exception("Driver initialisation failed");
}
// Start thread
thread = new Thread(ThreadProc);
thread.Start();
}
public static void Main()
{
RLP.Enable();
// Unlock RLP
RLP.Unlock("[email protected]", new byte[] { 0x60, 0xEE, 0xDB, 0x53, 0x8A, 0x31, 0x71, 0x34, 0xAE, 0xB5, 0x6A, 0x4A, 0xA8, 0x54, 0x10, 0xA4, 0x67, 0x24, 0xFA, 0x0B, 0x8A, 0x4C, 0x8A, 0x78, 0x27, 0x1F, 0xBF, 0x59, 0xC3, 0x21, 0x54, 0x1A });
Debug.EnableGCMessages(false);
Debug.GC(true);
byte[] elf_file = Resources.GetBytes(Resources.BinaryResources.RLP_test);
RLP.LoadELF(elf_file);
RLP.InitializeBSSRegion(elf_file);
rlpInit = RLP.GetProcedure(elf_file, "Init");
rlpStop = RLP.GetProcedure(elf_file, "Stop");
rlpStart = RLP.GetProcedure(elf_file, "Start");
elf_file = null;
Debug.GC(true);
//sets up all analog pins as reading, and pwm pins as pwms
for (int i = 0; i < 6; i++)
{
new AnalogIn((AnalogIn.Pin)i);
new PWM((PWM.Pin)i+1);
}
dataPort = new SerialPort("COM2", 57600, System.IO.Ports.Parity.None, 8, StopBits.One);
dataPort.Open();
dataPort.DataReceived += new SerialDataReceivedEventHandler(dataPort_DataReceived); //open before attaching the event - due to bug in framework
//found at http://tinyclr.com/forum/2/4426/
Thread.Sleep(2000); //this makes it easier to install new stuff if anything crashes
rlpInit.Invoke();
Thread.Sleep(Timeout.Infinite);
}
public static void Main()
{
RLP.Enable();
// Unlock RLP
RLP.Unlock("[email protected]", new byte[] { 0x60, 0xEE, 0xDB, 0x53, 0x8A, 0x31, 0x71, 0x34, 0xAE, 0xB5, 0x6A, 0x4A, 0xA8, 0x54, 0x10, 0xA4, 0x67, 0x24, 0xFA, 0x0B, 0x8A, 0x4C, 0x8A, 0x78, 0x27, 0x1F, 0xBF, 0x59, 0xC3, 0x21, 0x54, 0x1A });
Debug.EnableGCMessages(false);
Debug.GC(true);
byte[] elf_file = Resources.GetBytes(Resources.BinaryResources.RLP_test);
RLP.LoadELF(elf_file);
RLP.InitializeBSSRegion(elf_file);
rlpInit = RLP.GetProcedure(elf_file, "Init");
rlpStop = RLP.GetProcedure(elf_file, "Stop");
rlpStart = RLP.GetProcedure(elf_file, "Start");
elf_file = null;
Debug.GC(true);
//sets up all analog pins as reading, and pwm pins as pwms
for (int i = 0; i < 6; i++)
{
new AnalogIn((AnalogIn.Pin)i);
new PWM((PWM.Pin)i + 1);
}
dataPort = new SerialPort("COM2", 57600, System.IO.Ports.Parity.None, 8, StopBits.One);
dataPort.Open();
dataPort.DataReceived += new SerialDataReceivedEventHandler(dataPort_DataReceived); //open before attaching the event - due to bug in framework
//found at http://tinyclr.com/forum/2/4426/
Thread.Sleep(2000); //this makes it easier to install new stuff if anything crashes
rlpInit.Invoke();
Thread.Sleep(Timeout.Infinite);
}
/// </summary>
/// <param name="elfImage">elf image library</param>
public void Initialize(byte[] elfImage)
{
// Load procedures
initProcedure = RLP.GetProcedure(elfImage, "Init");
deinitProcedure = RLP.GetProcedure(elfImage, "Deinit");
queryProcedure = RLP.GetProcedure(elfImage, "Query");
updateFreqProcedure = RLP.GetProcedure(elfImage, "PWMUpdateFreq");
updatePulseProcedure = RLP.GetProcedure(elfImage, "PWMUpdatePulse");
resetProcedure = RLP.GetProcedure(elfImage, "WDReset");
stopProcedure = RLP.GetProcedure(elfImage, "PwmStop");
startProcedure = RLP.GetProcedure(elfImage, "PWMRun");
PWMStatusProcedure = RLP.GetProcedure(elfImage, "QueryPWMStatus");
// Init RLP driver
if (initProcedure.Invoke() != 0)
{
throw new Exception("Driver initialisation failed");
}
// Start thread
thread = new Thread(ThreadProc);
thread.Start();
}
public static void Init(out RLP.Procedure lcdInit, out RLP.Procedure lcdSet, byte[] loadPlugin = null)
{
if (initialized)
{
throw new Exception("Already initialized");
}
//NOTE: use your own unlock code
RLP.Unlock("[email protected]", new byte[]
{
0xFB, 0xCC, 0x7D, 0xDA, 0x8E, 0x87, 0x58, 0xAB,
0x95, 0x8E, 0x68, 0x02, 0x1F, 0xE6, 0xD6, 0x14,
0x3C, 0xBD, 0x3E, 0xD1, 0xBE, 0xF0, 0xCE, 0xFB,
0x1D, 0xD9, 0xC4, 0xEC, 0xE2, 0x2A, 0xFD, 0xCD
});
byte[] elf_file = Extension.GetBytes(Extension.BinaryResources.Extension);
RLP.LoadELF(elf_file);
RLP.InitializeBSSRegion(elf_file);
RLP.Procedure VsInit = RLP.GetProcedure(elf_file, "VsInit");
vsStreamData = RLP.GetProcedure(elf_file, "VsStreamData");
vsNoMoreData = RLP.GetProcedure(elf_file, "VsNoMoreData");
vsLoadPlugin = RLP.GetProcedure(elf_file, "VsLoadPluginFromArray");
vsSetVolume = RLP.GetProcedure(elf_file, "VsSetVolume");
vsSetBassAndTreble = RLP.GetProcedure(elf_file, "VsSetBassAndTreble");
lcdInit = RLP.GetProcedure(elf_file, "LcdInit");
lcdSet = RLP.GetProcedure(elf_file, "LcdSetLevel");
elf_file = null;
int result;
if ((result = loadPlugin == null ? VsInit.Invoke() : VsInit.InvokeEx(loadPlugin, loadPlugin.Length)) != 0)
{
throw new Exception("Could not init VS Driver. Reason " + result.ToString());
}
loadedPlugin = loadPlugin;
RLP.RLPEvent += (data, time) =>
{
switch (data)
{
case 0x01:
//data was streamed
wait.Set(); //notify any waiter
break;
case 0x02:
//error when closing stream
//this means the VS was reseted,
//reload plugin, set volume, bass and treble
if (loadedPlugin != null)
{
vsLoadPlugin.InvokeEx(loadedPlugin, loadedPlugin.Length);
}
RaiseException("Error closing stream!");
break;
}
};
initialized = true;
balanceGeneral = 0;
Volume = 255; //max volume
trebleGeneral = 0;
bassGeneral = 0;
}
public static void Init(out RLP.Procedure lcdInit, out RLP.Procedure lcdSet, byte[] loadPlugin = null)
{
if (initialized) throw new Exception("Already initialized");
//NOTE: use your own unlock code
RLP.Unlock("[email protected]", new byte[]
{
0xFB, 0xCC, 0x7D, 0xDA, 0x8E, 0x87, 0x58, 0xAB,
0x95, 0x8E, 0x68, 0x02, 0x1F, 0xE6, 0xD6, 0x14,
0x3C, 0xBD, 0x3E, 0xD1, 0xBE, 0xF0, 0xCE, 0xFB,
0x1D, 0xD9, 0xC4, 0xEC, 0xE2, 0x2A, 0xFD, 0xCD
});
byte[] elf_file = Extension.GetBytes(Extension.BinaryResources.Extension);
RLP.LoadELF(elf_file);
RLP.InitializeBSSRegion(elf_file);
RLP.Procedure VsInit = RLP.GetProcedure(elf_file, "VsInit");
vsStreamData = RLP.GetProcedure(elf_file, "VsStreamData");
vsNoMoreData = RLP.GetProcedure(elf_file, "VsNoMoreData");
vsLoadPlugin = RLP.GetProcedure(elf_file, "VsLoadPluginFromArray");
vsSetVolume = RLP.GetProcedure(elf_file, "VsSetVolume");
vsSetBassAndTreble = RLP.GetProcedure(elf_file, "VsSetBassAndTreble");
lcdInit = RLP.GetProcedure(elf_file, "LcdInit");
lcdSet = RLP.GetProcedure(elf_file, "LcdSetLevel");
elf_file = null;
int result;
if ((result = loadPlugin == null ? VsInit.Invoke() : VsInit.InvokeEx(loadPlugin, loadPlugin.Length)) != 0)
throw new Exception("Could not init VS Driver. Reason " + result.ToString());
loadedPlugin = loadPlugin;
RLP.RLPEvent += (data, time) =>
{
switch (data)
{
case 0x01:
//data was streamed
wait.Set(); //notify any waiter
break;
case 0x02:
//error when closing stream
//this means the VS was reseted,
//reload plugin, set volume, bass and treble
if (loadedPlugin != null) vsLoadPlugin.InvokeEx(loadedPlugin, loadedPlugin.Length);
RaiseException("Error closing stream!");
break;
}
};
initialized = true;
balanceGeneral = 0;
Volume = 255; //max volume
trebleGeneral = 0;
bassGeneral = 0;
}
