/**
* return magnetometer data mx,my,mz
**/
public void getMagnetometer(akCallbackData callback, int delay)
{
if (this.mpu != null && this.deviceReady == true)
{
for (;;)
{
this.setCNTL(CNTL_MODE_CONTINUE_MESURE_1);
double[] data = new double[3] {
0, 0, 0
};
byte[] ReadBuf = new byte[7];
this.mpu.WriteRead(new byte[] { HXL }, ReadBuf);
if (ReadBuf[6] != 0x08)
{
data[0] = BitConverter.ToInt16(new byte[] { ReadBuf[1], ReadBuf[0] }, 0) * mRes14bits * this.calibrationData[0];
data[1] = BitConverter.ToInt16(new byte[] { ReadBuf[3], ReadBuf[2] }, 0) * mRes14bits * this.calibrationData[1];
data[2] = BitConverter.ToInt16(new byte[] { ReadBuf[5], ReadBuf[4] }, 0) * mRes14bits * this.calibrationData[2];
callback(data);
Task.Delay(delay).Wait();
}
}
}
}
/**
* return magnetometer data mx,my,mz
**/
public void getMagnetometer(akCallbackData callback)
{
this.getMagnetometer(callback, 1000);
}
