Merge pull request #254 from WildernessLabs/feature/can

Feature/can

Source/Meadow.Contracts/Hardware/Bases/DigitalInterruptPortBase.cs

@@ -19,7 +19,7 @@ public abstract class DigitalInterruptPortBase : DigitalInputPortBase, IDigitalI
     /// Gets or sets a value indicating the type of interrupt monitoring this input.
     /// </summary>
     /// <value><c>true</c> if interrupt enabled; otherwise, <c>false</c>.</value>
-    public InterruptMode InterruptMode { get; protected set; }
+    public abstract InterruptMode InterruptMode { get; set; }
 
     /// <summary>
     /// Gets or sets the debounce duration for the port
@@ -35,17 +35,13 @@ public abstract class DigitalInterruptPortBase : DigitalInputPortBase, IDigitalI
     /// </summary>
     /// <param name="pin">The pin associated with the port.</param>
     /// <param name="channel">The channel information for the port.</param>
-    /// <param name="interruptMode"></param>
     /// <exception cref="ArgumentNullException">Thrown if <paramref name="pin"/> or <paramref name="channel"/> is <c>null</c>.</exception>
     protected DigitalInterruptPortBase(
         IPin pin,
-        IDigitalChannelInfo channel,
-        InterruptMode interruptMode = InterruptMode.None
+        IDigitalChannelInfo channel
         )
         : base(pin, channel)
     {
-        // TODO: check interrupt mode (i.e. if != none, make sure channel info agrees)
-        InterruptMode = interruptMode;
     }
 
     /// <summary>

Source/Meadow.Contracts/Hardware/Contracts/IOControllers/ICanController.cs

@@ -0,0 +1,15 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Contract for devices that expose `ICanBus(es)`.
+/// </summary>
+public interface ICanController
+{
+    /// <summary>
+    /// Creates a CAN bus instance for the requested bus number and bus speed
+    /// </summary>
+    /// <param name="busNumber">The bus number</param>
+    /// <param name="bitrate">The bus bit rate</param>
+    /// <returns>An instance of an <see cref="ISpiBus"/></returns>
+    ICanBus CreateCanBus(CanBitrate bitrate, int busNumber);
+}

Source/Meadow.Contracts/Hardware/Contracts/IOControllers/ISpiController.cs

@@ -1,54 +1,53 @@
-namespace Meadow.Hardware
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Contract for devices that expose `ISpiBus(es)`.
+/// </summary>
+public interface ISpiController : IDigitalOutputController
 {
     /// <summary>
-    /// Contract for devices who expose `ISpiBus(es)`.
+    /// The default SPI Bus speed, in kHz, used when speed parameters are not provided
     /// </summary>
-    public interface ISpiController : IDigitalOutputController
-    {
-        /// <summary>
-        /// The default SPI Bus speed, in kHz, used when speed parameters are not provided
-        /// </summary>
-        public static Units.Frequency DefaultSpiBusSpeed = new Units.Frequency(375, Units.Frequency.UnitType.Kilohertz);
+    public static Units.Frequency DefaultSpiBusSpeed = new Units.Frequency(375, Units.Frequency.UnitType.Kilohertz);
 
-        /// <summary>
-        /// Creates a SPI bus instance for the requested control pins and clock configuration
-        /// </summary>
-        /// <param name="clock">The IPin instance to use as the bus clock</param>
-        /// <param name="copi">The IPin instance to use for data transmit (controller out/peripheral in)</param>
-        /// <param name="cipo">The IPin instance to use for data receive (controller in/peripheral out)</param>
-        /// <param name="config">The bus clock configuration parameters</param>
-        /// <returns>An instance of an <see cref="ISpiBus"/></returns>
-        public ISpiBus CreateSpiBus(
-            IPin clock,
-            IPin copi,
-            IPin cipo,
-            SpiClockConfiguration config
-        );
+    /// <summary>
+    /// Creates a SPI bus instance for the requested control pins and clock configuration
+    /// </summary>
+    /// <param name="clock">The IPin instance to use as the bus clock</param>
+    /// <param name="copi">The IPin instance to use for data transmit (controller out/peripheral in)</param>
+    /// <param name="cipo">The IPin instance to use for data receive (controller in/peripheral out)</param>
+    /// <param name="config">The bus clock configuration parameters</param>
+    /// <returns>An instance of an <see cref="ISpiBus"/></returns>
+    public ISpiBus CreateSpiBus(
+        IPin clock,
+        IPin copi,
+        IPin cipo,
+        SpiClockConfiguration config
+    );
 
-        /// <summary>
-        /// Creates a SPI bus instance for the requested control pins and bus speed
-        /// </summary>
-        /// <param name="clock">The IPin instance to use as the bus clock</param>
-        /// <param name="copi">The IPin instance to use for data transmit (controller out/peripheral in)</param>
-        /// <param name="cipo">The IPin instance to use for data receive (controller in/peripheral out)</param>
-        /// <param name="speed">The bus speed</param>
-        /// <returns>An instance of an <see cref="ISpiBus"/></returns>
-        ISpiBus CreateSpiBus(
-            IPin clock,
-            IPin copi,
-            IPin cipo,
-            Units.Frequency speed
-        );
+    /// <summary>
+    /// Creates a SPI bus instance for the requested control pins and bus speed
+    /// </summary>
+    /// <param name="clock">The IPin instance to use as the bus clock</param>
+    /// <param name="copi">The IPin instance to use for data transmit (controller out/peripheral in)</param>
+    /// <param name="cipo">The IPin instance to use for data receive (controller in/peripheral out)</param>
+    /// <param name="speed">The bus speed</param>
+    /// <returns>An instance of an <see cref="ISpiBus"/></returns>
+    ISpiBus CreateSpiBus(
+        IPin clock,
+        IPin copi,
+        IPin cipo,
+        Units.Frequency speed
+    );
 
-        /// <summary>
-        /// Creates a SPI bus instance for the requested bus number and bus speed
-        /// </summary>
-        /// <param name="speed">The bus speed</param>
-        /// <param name="busNumber">The bus number</param>
-        /// <returns>An instance of an <see cref="ISpiBus"/></returns>
-        ISpiBus CreateSpiBus(
-            int busNumber,
-            Units.Frequency speed
-        );
-    }
+    /// <summary>
+    /// Creates a SPI bus instance for the requested bus number and bus speed
+    /// </summary>
+    /// <param name="speed">The bus speed</param>
+    /// <param name="busNumber">The bus number</param>
+    /// <returns>An instance of an <see cref="ISpiBus"/></returns>
+    ISpiBus CreateSpiBus(
+        int busNumber,
+        Units.Frequency speed
+    );
 }

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/ActiveErrorFrame.cs

@@ -0,0 +1,8 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents an active error frame for CAN communication.
+/// </summary>
+public class ActiveErrorFrame : Frame
+{
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/CanBitrate.cs

@@ -0,0 +1,97 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Specifies the bitrate for CAN communication.
+/// </summary>
+public enum CanBitrate
+{
+    /// <summary>
+    /// 5 kbps CAN bitrate.
+    /// </summary>
+    Can_5kbps,
+
+    /// <summary>
+    /// 10 kbps CAN bitrate.
+    /// </summary>
+    Can_10kbps,
+
+    /// <summary>
+    /// 20 kbps CAN bitrate.
+    /// </summary>
+    Can_20kbps,
+
+    /// <summary>
+    /// 33 kbps CAN bitrate.
+    /// </summary>
+    Can_33kbps,
+
+    /// <summary>
+    /// 40 kbps CAN bitrate.
+    /// </summary>
+    Can_40kbps,
+
+    /// <summary>
+    /// 47 kbps CAN bitrate.
+    /// </summary>
+    Can_47kbps,
+
+    /// <summary>
+    /// 50 kbps CAN bitrate.
+    /// </summary>
+    Can_50kbps,
+
+    /// <summary>
+    /// 80 kbps CAN bitrate.
+    /// </summary>
+    Can_80kbps,
+
+    /// <summary>
+    /// 83 kbps CAN bitrate.
+    /// </summary>
+    Can_83kbps,
+
+    /// <summary>
+    /// 95 kbps CAN bitrate.
+    /// </summary>
+    Can_95kbps,
+
+    /// <summary>
+    /// 100 kbps CAN bitrate.
+    /// </summary>
+    Can_100kbps,
+
+    /// <summary>
+    /// 125 kbps CAN bitrate.
+    /// </summary>
+    Can_125kbps,
+
+    /// <summary>
+    /// 200 kbps CAN bitrate.
+    /// </summary>
+    Can_200kbps,
+
+    /// <summary>
+    /// 250 kbps CAN bitrate.
+    /// </summary>
+    Can_250kbps,
+
+    /// <summary>
+    /// 500 kbps CAN bitrate.
+    /// </summary>
+    Can_500kbps,
+
+    /// <summary>
+    /// 800 kbps CAN bitrate.
+    /// </summary>
+    Can_800kbps,
+
+    /// <summary>
+    /// 1 Mbps CAN bitrate.
+    /// </summary>
+    Can_1Mbps,
+
+    /// <summary>
+    /// Flexible Data Rate
+    /// </summary>
+    Can_FD,
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/DataFrame.cs

@@ -0,0 +1,17 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents an abstract data frame for CAN communication, inheriting from Frame.
+/// </summary>
+public abstract class DataFrame : Frame
+{
+    /// <summary>
+    /// Gets or sets the identifier for the data frame.
+    /// </summary>
+    public int ID { get; set; }
+
+    /// <summary>
+    /// Gets or sets the payload of the data frame.
+    /// </summary>
+    public byte[] Payload { get; set; } = new byte[0];
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/ExtendedDataFrame.cs

@@ -0,0 +1,8 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents an extended data frame for CAN communication.
+/// </summary>
+public class ExtendedDataFrame : DataFrame
+{
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/ExtendedRtrFrame.cs

@@ -0,0 +1,8 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents an extended remote transfer request (RTR) frame for CAN communication.
+/// </summary>
+public class ExtendedRtrFrame : RemoteTransferRequestFrame
+{
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/Frame.cs

@@ -0,0 +1,8 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents an abstract base class for CAN (Controller Area Network) frames.
+/// </summary>
+public abstract class Frame : ICanFrame
+{
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/ICanBus.cs

@@ -0,0 +1,44 @@
+using System;
+
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents a Controller Area Network (CAN) bus interface.
+/// </summary>
+public interface ICanBus
+{
+    /// <summary>
+    /// Occurs when a CAN frame is received.
+    /// </summary>
+    event EventHandler<ICanFrame>? FrameReceived;
+
+    /// <summary>
+    /// Writes a CAN frame to the specified buffer.
+    /// </summary>
+    /// <param name="frame">The CAN frame to write.</param>
+    void WriteFrame(ICanFrame frame);
+
+    /// <summary>
+    /// Checks if a CAN frame is available to read.
+    /// </summary>
+    /// <returns><c>true</c> if a frame is available; otherwise, <c>false</c>.</returns>
+    bool IsFrameAvailable();
+
+    /// <summary>
+    /// Reads a CAN frame.
+    /// </summary>
+    /// <returns>The CAN frame if available; otherwise, <c>null</c>.</returns>
+    ICanFrame? ReadFrame();
+
+    /// <summary>
+    /// Sets the CAN filter.
+    /// </summary>
+    /// <param name="filter">The filter value.</param>
+    void SetFilter(int filter);
+
+    /// <summary>
+    /// Sets the CAN mask.
+    /// </summary>
+    /// <param name="filter">The mask value.</param>
+    void SetMask(int filter);
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/ICanFrame.cs

@@ -0,0 +1,8 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents a CAN (Controller Area Network) frame.
+/// </summary>
+public interface ICanFrame
+{
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/OverloadFrame.cs

@@ -0,0 +1,8 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents an overload frame for CAN communication.
+/// </summary>
+public class OverloadFrame : Frame
+{
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/RemoteTransferRequestFrame.cs

@@ -0,0 +1,8 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents a remote transfer request frame for CAN communication.
+/// </summary>
+public class RemoteTransferRequestFrame : DataFrame
+{
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/StandardDataFrame.cs

@@ -0,0 +1,8 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents a standard data frame for CAN communication.
+/// </summary>
+public class StandardDataFrame : DataFrame
+{
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/StandardRtrFrame.cs

@@ -0,0 +1,8 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents a standard remote transfer request frame (RTR) for CAN communication.
+/// </summary>
+public class StandardRtrFrame : RemoteTransferRequestFrame
+{
+}

Source/Meadow.Contracts/Peripherals/Sensors/Hid/IDigitalPushButtonJoystick.cs

@@ -0,0 +1,10 @@
+using Meadow.Peripherals.Sensors.Buttons;
+
+namespace Meadow.Peripherals.Sensors.Hid;
+
+/// <summary>
+/// Interface describing digital joysticks and d-pads with a center push button
+/// </summary>
+public interface IDigitalPushButtonJoystick : IDigitalJoystick, IButton
+{
+}