private void SetMagCtrl2() { byte ctrl2; // convert FSR to uT switch (_config.MagneticFullScaleRange) { case MagneticFullScaleRange.Range4Gauss: ctrl2 = 0; _magneticFieldScale = 0.014; break; case MagneticFullScaleRange.Range8Gauss: ctrl2 = 0x20; _magneticFieldScale = 0.029; break; case MagneticFullScaleRange.Range12Gauss: ctrl2 = 0x40; _magneticFieldScale = 0.043; break; case MagneticFullScaleRange.Range16Gauss: ctrl2 = 0x60; _magneticFieldScale = 0.058; break; default: throw new SensorException($"Illegal LSM9DS1 compass FSR code {_config.MagneticFullScaleRange}"); } I2CSupport.Write(_magI2CDevice, LSM9DS1Defines.MAG_CTRL2, ctrl2, "Failed to set LSM9DS1 compass CTRL6"); }
private void SetAccelCtrl7() { byte ctrl7 = 0x00; //Bug: Bad things happen. //byte ctrl7 = 0x05; I2CSupport.Write(_accelGyroI2CDevice, LSM9DS1Defines.CTRL7, ctrl7, "Failed to set LSM9DS1 accel CTRL7"); }
private void SetMagCtrl1() { int compassSampleRateValue = (int)_config.CompassSampleRate; if ((compassSampleRateValue < 0) || (compassSampleRateValue > 7)) { throw new SensorException($"Illegal LSM9DS1 compass sample rate code {_config.CompassSampleRate}"); } byte ctrl1 = (byte)(compassSampleRateValue << 2); I2CSupport.Write(_magI2CDevice, LSM9DS1Defines.MAG_CTRL1, ctrl1, "Failed to set LSM9DS1 compass CTRL5"); }
protected override async Task <bool> InitDeviceAsync() { await ConnectToI2CDevices(); I2CSupport.Write(_i2CDevice, HTS221Defines.CTRL1, 0x87, "Failed to set HTS221 CTRL_REG_1"); I2CSupport.Write(_i2CDevice, HTS221Defines.AV_CONF, 0x1b, "Failed to set HTS221 AV_CONF"); _temperatureConversionFunc = GetTemperatureConversionFunc(); _humidityConversionFunc = GetHumidityConversionFunc(); return(true); }
protected override async Task <bool> InitDeviceAsync() { await ConnectToI2CDevices(); I2CSupport.Write(_i2CDevice, LPS25HDefines.CTRL_REG_1, 0xc4, "Failed to set LPS25H CTRL_REG_1"); I2CSupport.Write(_i2CDevice, LPS25HDefines.RES_CONF, 0x05, "Failed to set LPS25H RES_CONF"); I2CSupport.Write(_i2CDevice, LPS25HDefines.FIFO_CTRL, 0xc0, "Failed to set LPS25H FIFO_CTRL"); I2CSupport.Write(_i2CDevice, LPS25HDefines.CTRL_REG_2, 0x40, "Failed to set LPS25H CTRL_REG_2"); return(true); }
private void SetGyroCtrl3() { int gyroHighPassFilterCodeValue = (int)_config.GyroHighPassFilterCode; if ((gyroHighPassFilterCodeValue < 0) || (gyroHighPassFilterCodeValue > 9)) { throw new SensorException($"Illegal LSM9DS1 gyro high pass filter code {_config.GyroHighPassFilterCode}"); } byte ctrl3 = (byte)gyroHighPassFilterCodeValue; // Turn on hpf ctrl3 |= 0x40; I2CSupport.Write(_accelGyroI2CDevice, LSM9DS1Defines.CTRL3, ctrl3, "Failed to set LSM9DS1 gyro CTRL3"); }
private void SetAccelCtrl6() { int accelSampleRateValue = (int)_config.AccelSampleRate; if ((accelSampleRateValue < 1) || (accelSampleRateValue > 6)) { throw new SensorException($"Illegal LSM9DS1 accel sample rate code {_config.AccelSampleRate}"); } int accelLowPassFilterValue = (int)_config.AccelLowPassFilter; if ((accelLowPassFilterValue < 0) || (accelLowPassFilterValue > 3)) { throw new SensorException($"Illegal LSM9DS1 accel low pass fiter code {_config.AccelLowPassFilter}"); } byte ctrl6 = (byte)(accelSampleRateValue << 5); switch (_config.AccelFullScaleRange) { case AccelFullScaleRange.Range2g: _accelerationScale = 0.000061; break; case AccelFullScaleRange.Range4g: _accelerationScale = 0.000122; break; case AccelFullScaleRange.Range8g: _accelerationScale = 0.000244; break; case AccelFullScaleRange.Range16g: _accelerationScale = 0.000732; break; default: throw new SensorException($"Illegal LSM9DS1 accel FSR code {_config.AccelFullScaleRange}"); } ctrl6 |= (byte)((accelLowPassFilterValue) | (accelSampleRateValue << 3)); I2CSupport.Write(_accelGyroI2CDevice, LSM9DS1Defines.CTRL6, ctrl6, "Failed to set LSM9DS1 accel CTRL6"); }
private void SetMagCtrl3() { I2CSupport.Write(_magI2CDevice, LSM9DS1Defines.MAG_CTRL3, 0x00, "Failed to set LSM9DS1 compass CTRL3"); }
private void SetGyroSampleRate() { byte ctrl1; switch (_config.GyroSampleRate) { case GyroSampleRate.Freq14_9Hz: ctrl1 = 0x20; SampleRate = 15; break; case GyroSampleRate.Freq59_5Hz: ctrl1 = 0x40; SampleRate = 60; break; case GyroSampleRate.Freq119Hz: ctrl1 = 0x60; SampleRate = 119; break; case GyroSampleRate.Freq238Hz: ctrl1 = 0x80; SampleRate = 238; break; case GyroSampleRate.Freq476Hz: ctrl1 = 0xa0; SampleRate = 476; break; case GyroSampleRate.Freq952Hz: ctrl1 = 0xc0; SampleRate = 952; break; default: throw new SensorException($"Illegal LSM9DS1 gyro sample rate code {_config.GyroSampleRate}"); } SampleInterval = (long)1000000 / SampleRate; switch (_config.GyroBandwidthCode) { case GyroBandwidthCode.BandwidthCode0: ctrl1 |= 0x00; break; case GyroBandwidthCode.BandwidthCode1: ctrl1 |= 0x01; break; case GyroBandwidthCode.BandwidthCode2: ctrl1 |= 0x02; break; case GyroBandwidthCode.BandwidthCode3: ctrl1 |= 0x03; break; default: throw new SensorException($"Illegal LSM9DS1 gyro BW code {_config.GyroBandwidthCode}"); } switch (_config.GyroFullScaleRange) { case GyroFullScaleRange.Range245: ctrl1 |= 0x00; _gyroScale = 0.00875 * MathSupport.DegreeToRad; break; case GyroFullScaleRange.Range500: ctrl1 |= 0x08; _gyroScale = 0.0175 * MathSupport.DegreeToRad; break; case GyroFullScaleRange.Range2000: ctrl1 |= 0x18; _gyroScale = 0.07 * MathSupport.DegreeToRad; break; default: throw new SensorException($"Illegal LSM9DS1 gyro FSR code {_config.GyroFullScaleRange}"); } I2CSupport.Write(_accelGyroI2CDevice, LSM9DS1Defines.CTRL1, ctrl1, "Failed to set LSM9DS1 gyro CTRL1"); }
private void BootDevice() { I2CSupport.Write(_accelGyroI2CDevice, LSM9DS1Defines.CTRL8, 0x81, "Failed to boot LSM9DS1"); Thread.Sleep(100); }
private async Task BootDevice() { I2CSupport.Write(_accelGyroI2CDevice, LSM9DS1Defines.CTRL8, 0x81, "Failed to boot LSM9DS1"); await Task.Delay(100); }