public void OnSensorChanged(SensorEvent e)
{
var accelerometerEvent = new AccelerometerEvent();
accelerometerEvent.XAcc = e.Values[0] / 9.81f;
accelerometerEvent.YAcc = e.Values[1] / 9.81f;
accelerometerEvent.ZAcc = e.Values[2] / 9.81f;
AccelerationChanged?.Invoke(this, accelerometerEvent);
}
public void StartListening()
{
_manager = new CMMotionManager();
_manager.StartAccelerometerUpdates(NSOperationQueue.CurrentQueue, (data, error) =>
{
AccelerometerEvent e = new AccelerometerEvent
{
XAcc = (float)data.Acceleration.X,
YAcc = (float)data.Acceleration.Y,
ZAcc = -(float)data.Acceleration.Z,
};
AccelerationChanged?.Invoke(this, e);
});
}
/// <summary>
/// Called when a variometer value is being notified
/// </summary>
/// <param name="characteristic">Characteristic which notified the value</param>
/// <param name="value">New characteristic value</param>
private void OnVariometerNotification(BleGattCharacteristic characteristic, BleValue value)
{
if (characteristic.Guid == VarioGuid)
{
VarioChanged?.Invoke(value.ToInt16());
}
else if (characteristic.Guid == AccelerationGuid)
{
AccelerationChanged?.Invoke(value.ToUInt8());
}
else
{
}
}
/// <summary>
/// Read the sensor output and convert the sensor readings into acceleration values.
/// </summary>
public async Task Update()
{
X = (await _xPort.Read() - _zeroGVoltage) / XVoltsPerG;
Y = (await _yPort.Read() - _zeroGVoltage) / YVoltsPerG;
Z = (await _zPort.Read() - _zeroGVoltage) / ZVoltsPerG;
if (_updateInterval == 0 ||
((Math.Abs(X - _lastX) > AccelerationChangeNotificationThreshold) ||
(Math.Abs(Y - _lastY) > AccelerationChangeNotificationThreshold) ||
(Math.Abs(Z - _lastZ) > AccelerationChangeNotificationThreshold)))
{
var lastNotifiedReading = new Vector(_lastX, _lastY, _lastZ);
var currentReading = new Vector(_lastX = X, _lastY = Y, _lastZ = Z);
AccelerationChanged?.Invoke(this, new SensorVectorEventArgs(lastNotifiedReading, currentReading));
}
}
/// <summary>
/// Read the six sensor bytes and set the values for the X, Y and Z acceleration.
/// </summary>
/// <remarks>
/// All six acceleration registers should be read at the same time to ensure consistency
/// of the measurements.
/// </remarks>
public void Update()
{
var data = _adxl345.ReadRegisters(Registers.X0, 6);
X = (short)(data[0] + (data[1] << 8));
Y = (short)(data[2] + (data[3] << 8));
Z = (short)(data[4] + (data[5] << 8));
if ((_updateInterval != 0) &&
((Math.Abs(X - _lastX) > AccelerationChangeNotificationThreshold) ||
(Math.Abs(Y - _lastY) > AccelerationChangeNotificationThreshold) ||
(Math.Abs(Z - _lastZ) > AccelerationChangeNotificationThreshold)))
{
Vector lastNotifiedReading = new Vector(_lastX, _lastY, _lastZ);
Vector currentReading = new Vector(X, Y, Z);
_lastX = X;
_lastY = Y;
_lastZ = Z;
AccelerationChanged?.Invoke(this, new SensorVectorEventArgs(lastNotifiedReading, currentReading));
}
}
