/// <summary>
/// Read the sensor values from the relevant registers and parse.
/// </summary>
public AccelerationAndGyroData GetSensorData()
{
byte[] registerList = new byte[]
{
MPU6050Registers.ACCEL_XOUT_H,
MPU6050Registers.ACCEL_XOUT_L,
MPU6050Registers.ACCEL_YOUT_H,
MPU6050Registers.ACCEL_YOUT_L,
MPU6050Registers.ACCEL_ZOUT_H,
MPU6050Registers.ACCEL_ZOUT_L,
MPU6050Registers.TEMP_OUT_H,
MPU6050Registers.TEMP_OUT_L,
MPU6050Registers.GYRO_XOUT_H,
MPU6050Registers.GYRO_XOUT_L,
MPU6050Registers.GYRO_YOUT_H,
MPU6050Registers.GYRO_YOUT_L,
MPU6050Registers.GYRO_ZOUT_H,
MPU6050Registers.GYRO_ZOUT_L
};
// Funky - you need to do this, otherwise you won't get anything back. See MPU-6050 datasheet for details.
//_I2C.Write(new byte[] { MPU6050Registers.ACCEL_XOUT_H });
_I2CBus.Write(_i2cConfig, new byte[] { MPU6050Registers.ACCEL_XOUT_H }, _timeout);
//_I2C.Read(registerList);
_I2CBus.Read(_i2cConfig, registerList, _timeout);
var result = AccelerationAndGyroDataBuilder.Build(registerList, _gyroRange, _accelRange);
return(result);
}
public override string ToString()
{
var temp = AccelerationAndGyroDataBuilder.ConvertValueToString(Temp, 2, 1);
var aX = AccelerationAndGyroDataBuilder.ConvertValueToString(Ax, 1, 3);
var aY = AccelerationAndGyroDataBuilder.ConvertValueToString(Ay, 1, 3);
var aZ = AccelerationAndGyroDataBuilder.ConvertValueToString(Az, 1, 3);
var rX = AccelerationAndGyroDataBuilder.ConvertValueToString(Rx, 3, 1);
var rY = AccelerationAndGyroDataBuilder.ConvertValueToString(Ry, 3, 1);
var rZ = AccelerationAndGyroDataBuilder.ConvertValueToString(Rz, 3, 1);
return("T: " + temp + "degC" +
"\tG: " + aX + "X " + aY + "Y " + aZ + "Z" +
"\tR: " + rX + "X " + rY + "Y " + rZ + "Z");
}
