public ThorStage(ThorStageModel model)
{
stageModel = model;
factorsTable = new ThorStageFactors[(int)ThorStageModel.TOTAL_AVAILABLE];
modelIndex = (int)model;
/* Setup model factors here */
factorsTable[(int)ThorStageModel.MTS25_Z8] = new ThorStageFactors(34304, 34304, 767367.49, 261.93);
/* End model factors */
ScaleFactors = factorsTable[modelIndex];
}
public ThorController(ThorStageModel stageModel, string serialNumber)
{
stage = new ThorStage(stageModel);
UInt32 deviceCount = 0;
uint numBytesWritten = 0;
this.serialNumber = serialNumber;
deviceHandle = new FTDI();
// Determine the number of FTDI devices connected to the machine
ftStatus = deviceHandle.GetNumberOfDevices(ref deviceCount);
// Populate device list
FTDI.FT_DEVICE_INFO_NODE[] ftdiDeviceList = new FTDI.FT_DEVICE_INFO_NODE[deviceCount];
ftStatus = deviceHandle.GetDeviceList(ftdiDeviceList);
ftStatus = deviceHandle.OpenBySerialNumber(serialNumber);
if (ftStatus != FTDI.FT_STATUS.FT_OK)
{
// Wait for a key press
throw new Exception("Failed to open FTDI device " + ftStatus.ToString());
}
// Set baud rate to 115200.
ftStatus = deviceHandle.SetBaudRate(115200);
// 8 data bits, 1 stop bit, no parity
ftStatus = deviceHandle.SetDataCharacteristics(FTDI.FT_DATA_BITS.FT_BITS_8, FTDI.FT_STOP_BITS.FT_STOP_BITS_1, FTDI.FT_PARITY.FT_PARITY_NONE);
// Pre purge dwell 50ms.
Thread.Sleep(50);
// Purge the device.
ftStatus = deviceHandle.Purge(FTDI.FT_PURGE.FT_PURGE_RX | FTDI.FT_PURGE.FT_PURGE_TX);
// Post purge dwell 50ms.
Thread.Sleep(50);
// Reset device.
ftStatus = deviceHandle.ResetDevice();
// Set flow control to RTS/CTS.
ftStatus = deviceHandle.SetFlowControl(FTDI.FT_FLOW_CONTROL.FT_FLOW_RTS_CTS, 0, 0);
// Set RTS.
ftStatus = deviceHandle.SetRTS(true);
// Disable then enable channel
byte[] change_enstate = { 0x10, 0x02, 0x01, 0x02, 0x50, 0x1 };
ftStatus = deviceHandle.Write(change_enstate, 6, ref numBytesWritten);
change_enstate[3] = 0x01;
ftStatus = deviceHandle.Write(change_enstate, 6, ref numBytesWritten);
// Move home
byte[] movehome = { 0x43, 0x04, 0x01, 0x00, 0x50, 0x01 };
/*ftStatus = deviceHandle.Write(movehome, 6, ref numBytesWritten);
* Thread.Sleep(3000);
* do
* {
* statusBits = GetStatus();
* //Console.WriteLine("{0:X}", statusbits);
* } while ((statusBits & 0x400) != 0x400 || statusBits == 0);*/
}
