protected byte Read(byte address, byte[] buffer)
{
I2CDevice.I2CWriteTransaction write = I2CDevice.CreateWriteTransaction(new Byte[] { address });
I2CDevice.I2CReadTransaction read = I2CDevice.CreateReadTransaction(buffer);
I2CDevice.I2CTransaction[] readTransaction = new I2CDevice.I2CTransaction[] { write, read };
var result = I2CBus.Execute(Config, readTransaction, 1000);
return(buffer[0]);
}
public int RequestAngularRate()
{
byte[] bufferXhi = new byte[1];
byte[] bufferYhi = new byte[1];
byte[] bufferZhi = new byte[1];
byte[] bufferXlo = new byte[1];
byte[] bufferYlo = new byte[1];
byte[] bufferZlo = new byte[1];
I2CDevice.I2CTransaction[] readTransaction = new I2CDevice.I2CTransaction[12];
I2CDevice.I2CWriteTransaction write;
I2CDevice.I2CReadTransaction read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_X_H_A });
read = I2CDevice.CreateReadTransaction(bufferXhi);
readTransaction[0] = write;
readTransaction[1] = read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_X_L_A });
read = I2CDevice.CreateReadTransaction(bufferXlo);
readTransaction[2] = write;
readTransaction[3] = read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_Y_H_A });
read = I2CDevice.CreateReadTransaction(bufferYhi);
readTransaction[4] = write;
readTransaction[5] = read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_Y_L_A });
read = I2CDevice.CreateReadTransaction(bufferYlo);
readTransaction[6] = write;
readTransaction[7] = read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_Z_H_A });
read = I2CDevice.CreateReadTransaction(bufferZhi);
readTransaction[8] = write;
readTransaction[9] = read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_Z_L_A });
read = I2CDevice.CreateReadTransaction(bufferZlo);
readTransaction[10] = write;
readTransaction[11] = read;
var result = I2CBus.Execute(Config, readTransaction, 1000);
AngularRate.X = -CombineBytes(bufferXhi[0], bufferXlo[0]) * _scale + calXoffSet;
AngularRate.Y = -CombineBytes(bufferYhi[0], bufferYlo[0]) * _scale + calYoffSet;
AngularRate.Z = CombineBytes(bufferZhi[0], bufferZlo[0]) * _scale + calZoffSet;
return(result);
}
public int RequestMagValue()
{
float x, y, z;
byte[] bufferXhi = new byte[1];
byte[] bufferYhi = new byte[1];
byte[] bufferZhi = new byte[1];
byte[] bufferXlo = new byte[1];
byte[] bufferYlo = new byte[1];
byte[] bufferZlo = new byte[1];
I2CDevice.I2CTransaction[] readTransaction = new I2CDevice.I2CTransaction[12];
I2CDevice.I2CWriteTransaction write;
I2CDevice.I2CReadTransaction read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_X_H_M });
read = I2CDevice.CreateReadTransaction(bufferXhi);
readTransaction[0] = write;
readTransaction[1] = read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_X_L_M });
read = I2CDevice.CreateReadTransaction(bufferXlo);
readTransaction[2] = write;
readTransaction[3] = read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_Y_H_M });
read = I2CDevice.CreateReadTransaction(bufferYhi);
readTransaction[4] = write;
readTransaction[5] = read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_Y_L_M });
read = I2CDevice.CreateReadTransaction(bufferYlo);
readTransaction[6] = write;
readTransaction[7] = read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_Z_H_M });
read = I2CDevice.CreateReadTransaction(bufferZhi);
readTransaction[8] = write;
readTransaction[9] = read;
write = I2CDevice.CreateWriteTransaction(new Byte[] { Register.OUT_Z_L_M });
read = I2CDevice.CreateReadTransaction(bufferZlo);
readTransaction[10] = write;
readTransaction[11] = read;
var result = I2CBus.Execute(Config, readTransaction, 1000);
x = CombineBytes(bufferXhi[0], bufferXlo[0]);
z = CombineBytes(bufferYhi[0], bufferYlo[0]); // Y <--> Z Exchanged
y = CombineBytes(bufferZhi[0], bufferZlo[0]); // Z <--> Y Exchanged
if (_calibrationmode)
{
if (x > maxX)
{
maxX = x;
}
if (x < minX)
{
minX = x;
}
if (y > maxY)
{
maxY = y;
}
if (y < minY)
{
minY = y;
}
if (z > maxZ)
{
maxZ = z;
}
if (z < minZ)
{
minZ = z;
}
}
MagValue.X = -(x - CalXoffSet) * CalXscale;
MagValue.Z = (z - CalZoffSet) * CalZscale; // Y <--> Z Exchanged
MagValue.Y = -(y - CalYoffSet) * CalYscale; // Z <--> Y Exchanged
return(result);
}