public bool SetSignalRateLimit(float limit)
{
if (limit < 0 || limit > 511.99)
{
return(false);
}
float val = limit * (1 << 7);
byte[] bytes = BitConverter.GetBytes(limit);
i2c.WriteRegister(address, (byte)Register.FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, new byte[] { bytes[0], bytes[1] });
return(true);
}
public void Configure(MPU6050Configuration Config)
{
Bus.WriteRegister(Address, 0x19, new byte[] { Config.SampleRateDivider });
// Get Current Configs
byte ConfigRegister = Bus.ReadRegister(Address, 0x1A, 1)[0];
byte GyroConfig = Bus.ReadRegister(Address, 0x1B, 1)[0];
byte AccelConfig = Bus.ReadRegister(Address, 0x1C, 1)[0];
// Clean the configs
GyroConfig &= 0b11100111;
AccelConfig &= 0b11100111;
ConfigRegister &= 0b11111100;
// Set Config
GyroConfig |= (byte)(Config.GyroSensitivity << 3);
AccelConfig |= (byte)(Config.AccelSensitivity << 3);
ConfigRegister |= Config.DLPFSetup;
// Write the config
Bus.WriteRegister(Address, 0x1A, new byte[] { ConfigRegister });
Bus.WriteRegister(Address, 0x1B, new byte[] { GyroConfig });
Bus.WriteRegister(Address, 0x1C, new byte[] { AccelConfig });
// Ensure self test is disabled
EnableSelfTest(false);
}
/// <summary> Writes the specified byte and to the Register. </summary>
/// <param name="Register"> Register to write to. </param>
/// <param name="Data"> Byte to write.</param>
private void Write8(byte Register, byte Data) => I2C.WriteRegister(Address, Register, new byte[] { Data });
private void write8(byte addr, byte d)
{
i2c.WriteRegister(i2caddr, addr, new byte[] { d });
}