using System;
using System.Threading;
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;
using GHI.OSHW.Hardware; // FEZCerberus使用のため追加、参照設定にも追加
using System.IO.Ports; // Microsoft.SPOT.Hardware.SerialPort
using System.Text; // Encoding.UTF8.GetBytes(str);
// Microsoft.SPOT.Hardware.PWMを参照設定に追加する
namespace BoeBotLib
{
public class CPU
{
public static Cpu.Pin P03 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA8;
public static Cpu.Pin P04 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA13;
public static Cpu.Pin P05 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA7;
public static Cpu.Pin P06 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA6;
public static Cpu.Pin P07 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC10;
public static Cpu.Pin P08 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA14;
public static Cpu.Pin P09 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC11;
public static Cpu.Pin P10 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB4;
public static Cpu.Pin P11 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB9;
public static Cpu.Pin P12 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB3;
public static Cpu.Pin P13 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PD2;
public static Cpu.Pin P14 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC12;
public static Cpu.Pin P16 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB8;
public static Cpu.Pin P18 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB7;
public static Cpu.Pin P19 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB6;
public static Cpu.Pin P20 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB5;
public static Cpu.Pin P22 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC0;
public static Cpu.Pin P23 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC1;
public static Cpu.Pin P24 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC2;
public static Cpu.Pin P25 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC3;
public static Cpu.Pin P26 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA0;
public static Cpu.Pin P27 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA1;
public static Cpu.Pin P28 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA2;
public static Cpu.Pin P29 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA3;
public static Cpu.Pin P30 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA4;
public static Cpu.Pin P31 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PA5;
public static Cpu.Pin P32 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB10;
public static Cpu.Pin P33 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB11;
public static Cpu.Pin P34 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB14;
public static Cpu.Pin P35 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PB15;
public static Cpu.Pin P36 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC6;
public static Cpu.Pin P37 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC7;
public static Cpu.Pin P38 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC8;
public static Cpu.Pin P39 = (Cpu.Pin)GHI.OSHW.Hardware.FEZCerberus.Pin.PC9;
// 重大エラーが起きた時にP39のLEDを光らせる
public static void PanicLED()
{
DigitalOut Panic = new DigitalOut(GHI.OSHW.Hardware.FEZCerberus.Pin.PC9, false);
for (int i = 0; i < 7; i++)
{
Panic.Write(true);
Thread.Sleep(50);
Panic.Write(false);
Thread.Sleep(50);
}
Panic.Dispose();
}
public static void delay(int n)
{
Thread.Sleep(n);
}
public static void wait_ms(int n)
{
Thread.Sleep(n);
}
public static void wait(double n)
{
Thread.Sleep((int)(n*1000));
}
static inArray[] Din = new inArray[4];// 注意
static int usePin = 0;
public static void setInput(Cpu.Pin pin)
{
InputPort port = new InputPort(pin, false, Port.ResistorMode.PullUp);
Din[usePin].inp = port;
Din[usePin++].pin = pin;
}
public static bool readPin(Cpu.Pin pin)
{
int i;
for (i = 0; i < usePin; i++)
{
if (Din[i].pin == pin) break;
}
if (i == usePin) return false;// exception
return Din[i].inp.Read();
}
static outArray[] Dout = new outArray[4];// 注意
static int usePout = 0;
public static void setOutput(Cpu.Pin pin)
{
OutputPort port = new OutputPort(pin, false);
Dout[usePout].outp = port;
Dout[usePout++].pin = pin;
}
public static bool writePin(Cpu.Pin pin, bool val)
{
int i;
for (i = 0; i < usePout; i++)
{
if (Dout[i].pin == pin) break;
}
if (i == usePout) return false;// exception
Dout[i].outp.Write(val);
return true;
}
}
struct inArray
{
public InputPort inp;
public Cpu.Pin pin;
}
struct outArray
{
public OutputPort outp;
public Cpu.Pin pin;
}
public class ServoMotor
{
Cpu.PWMChannel port;
PWM pwm;
uint period, high;
private static Microsoft.SPOT.Hardware.InterruptPort _interruptPort;
public static bool stopState = false;
public uint Dulation
{
get { return high; }
set
{
high = value;
pwm.Duration = value;
}
}
public double DutyCycle
{
get { return pwm.DutyCycle; }
set
{
pwm.DutyCycle = value;
}
}
public ServoMotor(Cpu.PWMChannel pin)
{
pwm = new PWM(pin, 20000, 1500, PWM.ScaleFactor.Microseconds, false);
}
public ServoMotor(Cpu.Pin pin)
{
Cpu.Pin[] PWMpin = { CPU.P36, CPU.P05, CPU.P37, CPU.P03 };
for(int i=0; i<PWMpin.Length; i++)
{
if(PWMpin[i]==pin) {
port = (Cpu.PWMChannel)i;
break;
}
}
pwm = new PWM(port, 20000, 1500, PWM.ScaleFactor.Microseconds, false);
}
static public void setInterrupt(Cpu.Pin pin)
{
_interruptPort = new InterruptPort(pin, true, Port.ResistorMode.PullUp, Port.InterruptMode.InterruptEdgeLow);
_interruptPort.OnInterrupt += new NativeEventHandler(button_OnInterrupt);
stopState = false;
}
public void SetSpeed(uint highTime)
{
pwm.Duration = highTime; // 周期:20ms
}
public void move(int speed, int forward, int center, int backward)
{
uint t = (uint)((((speed > 0) ? forward : backward) * speed) / 100 + center);
}
public void update(uint highTime, uint lowTime)
{
period = highTime + lowTime;
high = highTime;
pwm.Duration = highTime;
}
public void Start()
{
pwm.Start();
}
public void Stop()
{
pwm.Stop();
}
public void Dispose()
{
pwm.Dispose();
}
static void button_OnInterrupt(uint data1, uint data2, DateTime time)
{
stopState = true;
}
}
public class ADcon : IDisposable
{
AnalogInput adc;
public int Value {
get
{
return adc.ReadRaw();
}
}
public void Dispose()
{
adc.Dispose();
}
public ADcon(Cpu.AnalogChannel pin)
{
adc = new AnalogInput(pin);
}
public ADcon(Cpu.Pin pin)
{
Cpu.AnalogChannel port=Cpu.AnalogChannel.ANALOG_0;
Cpu.Pin[] ADpin = { CPU.P06, CPU.P28, CPU.P29, CPU.P22, CPU.P23, CPU.P30, CPU.P24, CPU.P25 };
for(int i=0; i<ADpin.Length; i++)
{
if(ADpin[i]==pin) {
port = (Cpu.AnalogChannel)i;
break;
}
}
adc = new AnalogInput(port);
}
public int GetValue()
{
return adc.ReadRaw();
}
public double Read()
{
return adc.Read();
}
}
///
/// 単位は0.1μ秒となる
///
public class Timer
{
DateTime markTime;
public Timer()
{
mark();
}
public void mark()
{
markTime = DateTime.Now;
}
public bool timeout(int hi, int lo)
{
if (hi <= (DateTime.Now - markTime).Ticks) return true;
return false;
}
public bool timeout(int hi)
{
if (hi <= (DateTime.Now - markTime).Ticks) return true;
return false;
}
public bool timeout(long hi)
{
if (hi <= (DateTime.Now - markTime).Ticks) return true;
return false;
}
public static void delay(int tm)
{
DateTime markTime = DateTime.Now;
while ((DateTime.Now - markTime).Ticks <= tm) ;
}
public long Time
{
get
{
return (DateTime.Now - markTime).Ticks;
}
}
}
// OutputPortに<<演算子オーバーライドさせ
// LED <<= 1、LED <<= 0 でON/OFFの記述ができるようにする
public class DigitalOut : OutputPort
{
public bool Value
{
get
{
return Read();
}
set
{
Write(value);
}
}
public DigitalOut(Cpu.Pin pin)
: base(pin, false)
{ }
public DigitalOut(Cpu.Pin pin, bool state)
: base(pin, state)
{ }
// glitchFilter: true if the glitch filter is enabled; otherwise, false.
// resistor : The resistor mode that establishes a default state for the output port.
public DigitalOut(Cpu.Pin pin, bool state,
bool glitchFilter, ResistorMode resistor)
: base(pin, state, glitchFilter, resistor)
{ }
public static DigitalOut operator <<(DigitalOut obj, int state)
{
obj.Write(state==0 ? false:true);
return obj;
}
}
public class DigitalIn : InputPort
{
public bool Value
{
get
{
return Read();
}
}
public DigitalIn(Cpu.Pin pin)
: base(pin, false, Port.ResistorMode.PullUp)
{ }
}
}
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