private void Initialize()
{
//Initialize the gyro
_twiBus.Write(_i2cConfiguration, new byte[] { 0x3E, 0x80 }, 100); // send a reset to the device
_twiBus.Write(_i2cConfiguration, new byte[] { 0x15, 0x00 }, 100); // 1kHz sample rate
_twiBus.Write(_i2cConfiguration, new byte[] { 0x16, 0x1D }, 100); // 10Hz low pass filter
_twiBus.Write(_i2cConfiguration, new byte[] { 0x17, 0x05 }, 100); // enable send raw values
_twiBus.Write(_i2cConfiguration, new byte[] { 0x3E, 0x01 }, 100); // use internal oscillator
Zero();
}
/// <summary>
/// Read the sensor values from the relevant registers and parse.
/// </summary>
public AccelerationAndGyroData GetSensorData()
{
byte[] registerList = new byte[]
{
MPU6050Registers.ACCEL_XOUT_H,
MPU6050Registers.ACCEL_XOUT_L,
MPU6050Registers.ACCEL_YOUT_H,
MPU6050Registers.ACCEL_YOUT_L,
MPU6050Registers.ACCEL_ZOUT_H,
MPU6050Registers.ACCEL_ZOUT_L,
MPU6050Registers.TEMP_OUT_H,
MPU6050Registers.TEMP_OUT_L,
MPU6050Registers.GYRO_XOUT_H,
MPU6050Registers.GYRO_XOUT_L,
MPU6050Registers.GYRO_YOUT_H,
MPU6050Registers.GYRO_YOUT_L,
MPU6050Registers.GYRO_ZOUT_H,
MPU6050Registers.GYRO_ZOUT_L
};
// Funky - you need to do this, otherwise you won't get anything back. See MPU-6050 datasheet for details.
//_I2C.Write(new byte[] { MPU6050Registers.ACCEL_XOUT_H });
_I2CBus.Write(_i2cConfig, new byte[] { MPU6050Registers.ACCEL_XOUT_H }, _timeout);
//_I2C.Read(registerList);
_I2CBus.Read(_i2cConfig, registerList, _timeout);
var result = AccelerationAndGyroDataBuilder.Build(registerList, _gyroRange, _accelRange);
return(result);
}
/// <summary>
/// Write operation to the BlinkM.
/// </summary>
/// <param name="command"></param>
/// <returns></returns>
public int Write(Command.BaseCommand command)
{
I2CBus bus = I2CBus.GetInstance();
int retValue = bus.Write(this._I2CConfig, command.GetSendBytes(), I2CTimeout);
if (command.WaitMillis > 0)
{
Thread.Sleep(command.WaitMillis);
}
return(retValue);
}
///<Summary>
/// Inizilizza in sensore
///</Summary>
public bool setup()
{
i2cs = Gadgeteer.SocketInterfaces.I2CBusFactory.Create(Socket.GetSocket(4, false, null, null), I2C_ADDRESS, 400, null);
byte[] outBuffer = new byte[2] {
CONFIGURATION_REGISTER, CONFIGURATION_WORD
};
if (i2cs.Write(outBuffer) == 1)
{
return(true);
}
return(false);
}
///<Summary>
/// Ritorna un oggetto Temperatura
///</Summary>
public Temperatura getTemp()
{
Temperatura t = new Temperatura();
byte[] RegisterNum = new byte[1] {
TEMPERATURE_REGISTER
};
byte[] RegisterValue = new byte[2];
i2cs.WriteRead(RegisterNum, RegisterValue);
Debug.Print("MSB: " + RegisterValue[0] + " LSB: " + RegisterValue[1]);
t.setMSB(RegisterValue[0]); //Primo Byte MSB1
t.setLSB(RegisterValue[1]); //Secondo Byte LSB
byte[] ResetValue = new byte[1] {
RESET_WORD
};
i2cs.Write(ResetValue);
return(t);
}
/// <summary>
/// Reset the DS2482 and read the status byte
/// </summary>
private void ResetDS2482()
{
try
{
commandBytes = new byte[1] {
(byte)DS2482FunctionCommands.DeviceReset
};
readBuffer = new byte[1];
i2cBus.Write(commandBytes, commTimeout);
i2cBus.Read(readBuffer, commTimeout);
// Verify that communication has occured. After reset RST bit should be 1
if ((readBuffer[0] & (byte)DS2482StatusBits.DeviceReset) != (byte)DS2482StatusBits.DeviceReset)
{
throw new Exception("DS2482 not found on I2C Bus");
}
}
catch (Exception)
{
throw;
}
}