/// <summary>
/// Lsm9Ds1 - Accelerometer and Gyroscope bus
/// </summary>
public Lsm9Ds1AccelerometerAndGyroscope(
I2cDevice i2cDevice,
AccelerationScale accelerationScale = AccelerationScale.Scale02G,
AngularRateScale angularRateScale = AngularRateScale.Scale0245Dps)
{
if (i2cDevice == null)
{
throw new ArgumentNullException(nameof(i2cDevice));
}
_i2c = i2cDevice;
_accelerometerScale = accelerationScale;
_angularRateScale = angularRateScale;
byte accelerometerOutputDataRate = 0b011; // 119Hz, we cannot measure time accurate enough to use higher frequency
WriteByte(RegisterAG.AccelerometerControl6, (byte)((accelerometerOutputDataRate << 5) | ((byte)accelerationScale << 3)));
// enable all 3 axis of gyroscope
WriteByte(RegisterAG.Control4, 0b0011_1000);
byte angularRateOutputDataRate = 0b011; // 119Hz
WriteByte(RegisterAG.AngularRateControl1, (byte)((angularRateOutputDataRate << 5) | ((byte)angularRateScale << 3)));
}
public SenseHatAccelerometerAndGyroscope(
I2cDevice i2cDevice = null,
AccelerationScale accelerationScale = AccelerationScale.Scale02G,
AngularRateScale angularRateScale = AngularRateScale.Scale0245Dps)
: base(i2cDevice ?? CreateDefaultI2cDevice(), accelerationScale, angularRateScale)
{
}
