private static void Main(string[] args)
{
RaspProc.StartInfo.UseShellExecute = false;
RaspProc.StartInfo.RedirectStandardOutput = true;
var accelerometerData = new XyzUshortS();
var magnetometerData = new XyzUshortS();
var gyroscopeData = new XyzUshortS();
// Enable bypass mode to get data from magnetometer (AK8963).
I2C.set_byte(I2C_Regs_Addrs.MPU9255.DevAddr, I2C_Regs_Addrs.MPU9255.IntBypEnAddr,
I2C_Regs_Addrs.MPU9255.BypEnBit);
// Set continuous mode of magnetometer data gathering.
I2C.set_byte(I2C_Regs_Addrs.AK8963.DevAddr, I2C_Regs_Addrs.AK8963.Cntl1Addr,
I2C_Regs_Addrs.AK8963.CntnsMode2Set);
Console.WriteLine("Setting up connection with 10DOF IMU...");
I2C.get_XYZ_data(I2C_Regs_Addrs.MPU9255.DevAddr, I2C_Regs_Addrs.MPU9255.AccAddr,
ref accelerometerData);
I2C.get_XYZ_data(I2C_Regs_Addrs.MPU9255.DevAddr, I2C_Regs_Addrs.MPU9255.GyroAddr,
ref gyroscopeData);
I2C.get_XYZ_data(I2C_Regs_Addrs.AK8963.DevAddr, I2C_Regs_Addrs.AK8963.MagnAddr,
ref magnetometerData);
Console.WriteLine(accelerometerData.ToString());
Console.WriteLine(gyroscopeData.ToString());
Console.WriteLine(magnetometerData.ToString());
}
public static void get_XYZ_data(byte devAddr, byte regAddr, ref XyzUshortS dest)
{
Program.RaspProc.StartInfo.FileName = "i2cget";
for (byte i = 0; i < 6; i++)
{
Program.RaspProc.StartInfo.Arguments = "-y 1 " + devAddr + " " + regAddr; \
Program.RaspProc.Start();
var readLine = Program.RaspProc.StandardOutput.ReadLine();
if (readLine != null)
{
dest.RcvBuf[i] = Convert.ToByte(readLine.Substring(0, 4), 16);
}
dest.assign_data();
regAddr++;
}
Program.check_procbuff_empty();
}