private void _mpu6050_SensorInterruptEvent(object sender, MpuSensorEventArgs e)
{
var task = Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
_interruptCount += e.Values.Length;
float samples_per_second = (float)_interruptCount / (float)((DateTime.Now - _startTime).Seconds);
textBoxStatus.Text = String.Format("{0} {1} {2}", e.Status, e.SamplePeriod, samples_per_second);
textBoxAccel.Text = String.Format("{0}, {1}, {2}", e.Values[0].AccelerationX, e.Values[0].AccelerationY, e.Values[0].AccelerationZ);
textBoxGyro.Text = String.Format("{0}, {1}, {2}", e.Values[0].GyroX, e.Values[0].GyroY, e.Values[0].GyroZ);
});
}
private void _mpu6050_SensorInterruptEvent(object sender, MpuSensorEventArgs e)
{
var task = Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
_interruptCount += e.Values.Length;
float samples_per_second = (float)_interruptCount / (float)((DateTime.Now - _startTime).Seconds);
textBoxStatus.Text = String.Format("{0} {1} {2}", e.Status, e.SamplePeriod, samples_per_second);
textBoxAccel.Text = String.Format("{0}, {1}, {2}", e.Values[0].AccelerationX, e.Values[0].AccelerationY, e.Values[0].AccelerationZ);
textBoxGyro.Text = String.Format("{0}, {1}, {2}", e.Values[0].GyroX, e.Values[0].GyroY, e.Values[0].GyroZ);
});
}
private void Interrupt(GpioPin sender, GpioPinValueChangedEventArgs args)
{
if (_mpu6050Device != null)
{
int interrupt_status = ReadByte(INT_STATUS);
if ((interrupt_status & 0x10) != 0)
{
WriteByte(USER_CTRL, 0x44); // reset and enable fifo
}
if ((interrupt_status & 0x1) != 0)
{
MpuSensorEventArgs ea = new MpuSensorEventArgs();
ea.Status = (byte)interrupt_status;
ea.SamplePeriod = 0.02f;
List <MpuSensorValue> l = new List <MpuSensorValue>();
int count = ReadWord(FIFO_COUNT);
while (count >= SensorBytes)
{
byte[] data = ReadBytes(FIFO_R_W, (byte)SensorBytes);
count -= SensorBytes;
short xa = (short)((int)data[0] << 8 | (int)data[1]);
short ya = (short)((int)data[2] << 8 | (int)data[3]);
short za = (short)((int)data[4] << 8 | (int)data[5]);
short xg = (short)((int)data[6] << 8 | (int)data[7]);
short yg = (short)((int)data[8] << 8 | (int)data[9]);
short zg = (short)((int)data[10] << 8 | (int)data[11]);
MpuSensorValue sv = new MpuSensorValue();
sv.AccelerationX = (float)xa / (float)16384;
sv.AccelerationY = (float)ya / (float)16384;
sv.AccelerationZ = (float)za / (float)16384;
sv.GyroX = (float)xg / (float)131;
sv.GyroY = (float)yg / (float)131;
sv.GyroZ = (float)zg / (float)131;
l.Add(sv);
}
ea.Values = l.ToArray();
if (SensorInterruptEvent != null)
{
if (ea.Values.Length > 0)
{
SensorInterruptEvent(this, ea);
}
}
}
}
}
private void Interrupt(GpioPin sender, GpioPinValueChangedEventArgs args)
{
if (_mpu6050Device != null)
{
int interrupt_status = ReadByte(INT_STATUS);
if ((interrupt_status & 0x10) != 0)
{
WriteByte(USER_CTRL, 0x44); // reset and enable fifo
}
if ((interrupt_status & 0x1) != 0)
{
MpuSensorEventArgs ea = new MpuSensorEventArgs();
ea.Status = (byte)interrupt_status;
ea.SamplePeriod = 0.02f;
List<MpuSensorValue> l = new List<MpuSensorValue>();
int count = ReadWord(FIFO_COUNT);
while (count >= SensorBytes)
{
byte[] data = ReadBytes(FIFO_R_W, (byte)SensorBytes);
count -= SensorBytes;
short xa = (short)((int)data[0] << 8 | (int)data[1]);
short ya = (short)((int)data[2] << 8 | (int)data[3]);
short za = (short)((int)data[4] << 8 | (int)data[5]);
short xg = (short)((int)data[6] << 8 | (int)data[7]);
short yg = (short)((int)data[8] << 8 | (int)data[9]);
short zg = (short)((int)data[10] << 8 | (int)data[11]);
MpuSensorValue sv = new MpuSensorValue();
sv.AccelerationX = (float)xa / (float)16384;
sv.AccelerationY = (float)ya / (float)16384;
sv.AccelerationZ = (float)za / (float)16384;
sv.GyroX = (float)xg / (float)131;
sv.GyroY = (float)yg / (float)131;
sv.GyroZ = (float)zg / (float)131;
l.Add(sv);
}
ea.Values = l.ToArray();
if (SensorInterruptEvent != null)
{
if (ea.Values.Length > 0)
{
SensorInterruptEvent(this, ea);
}
}
}
}
}
