public Mpu9250Device(SpiDevice device)
{
// Validate
if (device == null)
{
throw new ArgumentNullException(nameof(device));
}
// Initialize hardware
Hardware = device;
// Reset the device to default setting
this.Reset();
// Set clock source
Hardware.WriteJoinByte((byte)Mpu9250Register.PowerManagment1, 0x01);
// Set I2C master mode
Hardware.WriteJoinByte((byte)Mpu9250Register.UserControl, 0x20);
// Set I2C configureation multi-master IIC 400KHz.
Hardware.WriteJoinByte((byte)Mpu9250Register.I2cMasterControl, 0x0D);
// Set temprature bandwidth to 188Hz and gyroscope bandwidth to 184Hz.
Hardware.WriteJoinByte((byte)Mpu9250Register.Config, 0x00);
// Verify the device is connected, accessable and ready for use.
if (ChipId == 0x71 & Ak8963ChipId == 0x48)
{
IsConnected = true;
}
// Initialize sensor reading
SensorReading = new Mpu9250SensorReading();
// Initialize sensor axis offset data
AxisOffset = new Mpu9250OffsetReading()
{
MagXAxisSensitivity = 1, MagYAxisSensitivity = 1, MagZAxisSensitivity = 1
};
}
/// <summary>
/// Initializes a new instance of the <see cref="Mpu9250ReadingChangedEventArgs"/> class.
/// </summary>
/// <param name="reading">The sensor readings.</param>
public Mpu9250ReadingChangedEventArgs(Mpu9250SensorReading reading)
{
Timestamp = DateTime.UtcNow;
Reading = reading;
}
