public Result <SensorData> ReadSensorData()
        {
            _bme280.TryReadTemperature(out var tempValue);
            _bme280.TryReadPressure(out var preValue);
            _bme280.TryReadHumidity(out var humValue);
            _bme280.TryReadAltitude(out var altValue);
            var data = new SensorData
            {
                HeatMap              = ReadHeatMap(),
                HallTop              = _controller.Read(Pin.HallTop) == PinValue.Low,
                HallBottom           = _controller.Read(Pin.HallBottom) == PinValue.Low,
                PhotoelectricBarrier = _controller.Read(Pin.PhotoelectricBarrier) == PinValue.Low,
                Taster        = _controller.Read(Pin.EmergencyTop) == PinValue.High,
                Gyroscope     = Convert(_mpu9250.GetGyroscopeReading()),
                Accelerometer = Convert(_mpu9250.GetAccelerometer()),
                Magnetometer  = Convert(_mpu9250.ReadMagnetometer(true)),
                Distance      = _vl53L0X.Distance,
                Illuminance   = _bh1750Fvi.Illuminance.Lux,
                Temperature   = tempValue.DegreesCelsius,
                Pressure      = preValue.Hectopascals,
                Humidity      = humValue.Percent,
                Altitude      = altValue.Centimeters
            };

            RecordData(data);

            Console.WriteLine("Read sensor data finished");

            return(data);
        }
Exemple #2
0
        public static void MainTest()
        {
            var     mpui2CConnectionSettingmpus = new I2cConnectionSettings(1, Mpu9250.DefaultI2cAddress);
            Mpu9250 mpu9250 = new Mpu9250(I2cDevice.Create(mpui2CConnectionSettingmpus));

            Console.WriteLine($"Check version magnetometer: {mpu9250.GetMagnetometerVersion()}");
            Console.WriteLine(
                "Magnetometer calibration is taking couple of seconds, please be patient! Please make sure you are not close to any magnetic field like magnet or phone.");
            Console.WriteLine(
                "Please move your sensor as much as possible in all direction in space to get as many points in space as possible");
            var mag = mpu9250.CalibrateMagnetometer();

            Console.WriteLine($"Hardware bias multiplicative:");
            Console.WriteLine($"Mag X = {mag.X}");
            Console.WriteLine($"Mag Y = {mag.Y}");
            Console.WriteLine($"Mag Z = {mag.Z}");
            Console.WriteLine($"Calculated corrected bias:");
            Console.WriteLine($"Mag X = {mpu9250.MagnometerBias.X}");
            Console.WriteLine($"Mag Y = {mpu9250.MagnometerBias.Y}");
            Console.WriteLine($"Mag Z = {mpu9250.MagnometerBias.Z}");

            var resSelfTest = mpu9250.RunGyroscopeAccelerometerSelfTest();

            Console.WriteLine($"Self test:");
            Console.WriteLine($"Gyro X = {resSelfTest.Item1.X} vs >0.005");
            Console.WriteLine($"Gyro Y = {resSelfTest.Item1.Y} vs >0.005");
            Console.WriteLine($"Gyro Z = {resSelfTest.Item1.Z} vs >0.005");
            Console.WriteLine($"Acc X = {resSelfTest.Item2.X} vs >0.005 & <0.015");
            Console.WriteLine($"Acc Y = {resSelfTest.Item2.Y} vs >0.005 & <0.015");
            Console.WriteLine($"Acc Z = {resSelfTest.Item2.Z} vs >0.005 & <0.015");
            Console.WriteLine("Running Gyroscope and Accelerometer calibration");
            mpu9250.CalibrateGyroscopeAccelerometer();
            Console.WriteLine("Calibration results:");
            Console.WriteLine($"Gyro X bias = {mpu9250.GyroscopeBias.X}");
            Console.WriteLine($"Gyro Y bias = {mpu9250.GyroscopeBias.Y}");
            Console.WriteLine($"Gyro Z bias = {mpu9250.GyroscopeBias.Z}");
            Console.WriteLine($"Acc X bias = {mpu9250.AccelerometerBias.X}");
            Console.WriteLine($"Acc Y bias = {mpu9250.AccelerometerBias.Y}");
            Console.WriteLine($"Acc Z bias = {mpu9250.AccelerometerBias.Z}");
            Console.WriteLine("Press a key to continue");
            var readKey = Console.ReadKey();

            mpu9250.GyroscopeBandwidth     = GyroscopeBandwidth.Bandwidth0250Hz;
            mpu9250.AccelerometerBandwidth = AccelerometerBandwidth.Bandwidth0460Hz;
            Console.Clear();

            while (!Console.KeyAvailable)
            {
                Console.CursorTop = 0;
                var gyro = mpu9250.GetGyroscopeReading();
                Console.WriteLine($"Gyro X = {gyro.X,15}");
                Console.WriteLine($"Gyro Y = {gyro.Y,15}");
                Console.WriteLine($"Gyro Z = {gyro.Z,15}");
                var acc = mpu9250.GetAccelerometer();
                Console.WriteLine($"Acc X = {acc.X,15}");
                Console.WriteLine($"Acc Y = {acc.Y,15}");
                Console.WriteLine($"Acc Z = {acc.Z,15}");
                Console.WriteLine($"Temp = {mpu9250.GetTemperature().Celsius.ToString("0.00")} °C");
                var magne = mpu9250.ReadMagnetometer();
                Console.WriteLine($"Mag X = {magne.X,15}");
                Console.WriteLine($"Mag Y = {magne.Y,15}");
                Console.WriteLine($"Mag Z = {magne.Z,15}");
                Thread.Sleep(100);
            }

            readKey = Console.ReadKey();
            // SetWakeOnMotion
            mpu9250.SetWakeOnMotion(300, AccelerometerLowPowerFrequency.Frequency0Dot24Hz);
            // You'll need to attach the INT pin to a GPIO and read the level. Once going up, you have
            // some data and the sensor is awake
            // In order to simulate this without a GPIO pin, you will see that the refresh rate is very low
            // Setup here at 0.24Hz which means, about every 4 seconds
            Console.Clear();

            while (!Console.KeyAvailable)
            {
                Console.CursorTop = 0;
                var acc = mpu9250.GetAccelerometer();
                Console.WriteLine($"Acc X = {acc.X,15}");
                Console.WriteLine($"Acc Y = {acc.Y,15}");
                Console.WriteLine($"Acc Z = {acc.Z,15}");
                Thread.Sleep(100);
            }
        }