/// <summary>
/// Reset the sensor.
/// </summary>
public void Reset()
{
Standby = true;
_mag3110.WriteRegister((byte)Registers.Control1, 0x00);
_mag3110.WriteRegister((byte)Registers.Control2, 0x80);
_mag3110.WriteRegisters((byte)Registers.XOffsetMSB, new byte[] { 0, 0, 0, 0, 0, 0 });
}
/// <summary>
/// Turn the heater on or off.
/// </summary>
/// <param name="onOrOff">Heater status, true = turn heater on, false = turn heater off.</param>
public void Heater(bool onOrOff)
{
var register = _si7021.ReadRegister(Registers.ReadUserRegister1);
register &= 0xfd;
if (onOrOff)
{
register |= 0x02;
}
_si7021.WriteRegister(Registers.WriteUserRegister1, register);
}
private void write8(byte addr, byte d)
{
i2c.WriteRegister(addr, d);
}
public MPU6050Device()
{
int exceptionCount = 0;
while (true)
{
try
{
Log.WriteLine("Initialising the MPU-6050 accelerometer and gyro package...");
// Check connectivity
byte[] data = new byte[] { new byte() };
_I2CBus.ReadRegister(_i2cConfig, MPU6050Registers.WHO_AM_I, data, _timeout);
Debug.Assert((data[0] & 0x68) == 0x68);
// PWR_MGMT_1 = Power Management 1
// 0xF9 = 11111001: Device Reset=true, Sleep=true, Cycle=true, Temp Sensor=On, Clock Select=PLL with X axis gyroscope reference
// TODO: Given the reset, half of these values are probably ignored, and the defaults are used instead.
_I2CBus.WriteRegister(_i2cConfig, MPU6050Registers.PWR_MGMT_1, 0xF9, _timeout);
Thread.Sleep(100); // allow to reset
// Exit sleep mode (CARE! Not sure why, but this resets the device too! - only set config after this line)
// TODO: Figure out what's going on here. Perhaps the reset at the line above was taking some time, hence why the Scale settings (below) were ignored
_I2CBus.WriteRegister(_i2cConfig, MPU6050Registers.PWR_MGMT_1, 0x01, _timeout);
Thread.Sleep(100); // allow to reset
// Gyro Scale
_gyroRange = GyroConfig.Range.plusMinus0500dps;
_I2CBus.WriteRegister(_i2cConfig, MPU6050Registers.GYRO_CONFIG, GyroConfig.Build(_gyroRange), _timeout);
// Accelerometer Scale
_accelRange = AccelConfig.Range.plusMinus08G;
_I2CBus.WriteRegister(_i2cConfig, MPU6050Registers.ACCEL_CONFIG, AccelConfig.Build(_accelRange), _timeout);
// Confirm I2C_MST_EN is disabled (required to connect to the HMC5883L)
data = new byte[] { new byte() };
_I2CBus.ReadRegister(_i2cConfig, 0x6A, data, 1000);
Debug.Assert((data[0] & 0x10) == 0);
// Turn on I2C Bypass (required to connect to the HMC5883L)
_I2CBus.WriteRegister(_i2cConfig, 0x37, 0x02, 1000);
data = new byte[] { new byte() };
_I2CBus.ReadRegister(_i2cConfig, 0x37, data, 1000);
Debug.Assert((data[0] & 0x02) == 0x02);
Log.WriteLine("MPU-6050 Ready\n");
break;
}
catch (System.Exception)
{
exceptionCount++;
if (exceptionCount != 3)
{
Log.WriteLine("Exception during initialisation! Retrying...\n");
//I2CBus.DestroySingleton();
//_I2CBus = I2CBus.GetInstance();
continue;
}
Log.WriteLine("Exception during initialisation! Throwing...");
throw;
}
}
}
public void SetContinuous()
{
_i2cBus.WriteRegister(_i2cConfig, MeasurementRateRegister, CONTINUOUS_MEASUREMENT, I2C_TIMEOUT);
}
