private bool SendAndReceive(string[] commands, out Frame[] result)
{
int i;
bool success = true;
spiPort.reset();
for (i = 0; i < commands.Length; i++)
{
spiPort.writeHex(commands[i]);
}
// append an extra command to read result of the last command
spiPort.writeHex(READ_ID);
// wait for the result of all commands to come
int expectedLength = commands.Length * 4;
while (spiPort.read_avail() < expectedLength)
{
string errmsg = "";
YAPI.Sleep(3, ref errmsg);
}
string hexstr = spiPort.readHex(2 * expectedLength);
// Parse result
result = new Frame[commands.Length];
for (i = 0; i < commands.Length; i++)
{
Frame query = new Frame(commands[i]);
result[i] = new Frame(hexstr.Substring(8 + 8 * i, 8));
if (result[i].crc_error || result[i].addr != query.addr)
{
success = false;
}
_chip_ready = (result[i].rs == 1);
}
return(success);
}
public override bool Setup()
{
spiPort = YSpiPort.FirstSpiPort();
if (spiPort == null)
{
Console.WriteLine("No Yocto-Spi detected");
return(false);
}
YModule module = spiPort.get_module();
string errmsg = "";
string serialNumber = module.get_serialNumber();
YPowerOutput powerOutput = YPowerOutput.FindPowerOutput(serialNumber + ".powerOutput");
powerOutput.set_voltage(YPowerOutput.VOLTAGE_OUT3V3);
spiPort.set_voltageLevel(YSpiPort.VOLTAGELEVEL_TTL3V);
spiPort.set_spiMode("2000000,0,msb");
spiPort.set_protocol("Frame:1ms");
spiPort.set_ssPolarity(YSpiPort.SSPOLARITY_ACTIVE_LOW);
module.saveToFlash();
YAPI.Sleep(25, ref errmsg);
spiPort.writeHex(SET_MODE_4);
YAPI.Sleep(5, ref errmsg);
string[] commands = { READ_STATUS, READ_STATUS, READ_STATUS, READ_ID, SET_ANGLES };
Frame[] result;
if (!SendAndReceive(commands, out result))
{
Console.WriteLine("Failed to initialize SCL3300 (communication error)");
return(false);
}
if (!_chip_ready)
{
Console.WriteLine("SCL3300 startup failed (rs={4})", result[2].rs);
return(false);
}
if ((result[3].data & 0xff) != 0xc1)
{
Console.WriteLine("Unexpected SCL3300 identification (WHOAMI={0})", (result[3].data & 0xff));
return(false);
}
if (!DecodeStatus(result[2]))
{
Console.WriteLine("SCL3300 Status bad, chip reset is required");
return(false);
}
Console.WriteLine("SCL3300 is ready");
return(true);
}