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); }
static void MagnetometerCalibrationDeepDive(int calibrationCount) { var mpui2CConnectionSettingmpus = new I2cConnectionSettings(1, Mpu9250.DefaultI2cAddress); Mpu9250 mpu9250 = new Mpu9250(I2cDevice.Create(mpui2CConnectionSettingmpus)); mpu9250.MagnetometerOutputBitMode = Iot.Device.Magnetometer.OutputBitMode.Output16bit; mpu9250.MagnetometerMeasurementMode = Iot.Device.Magnetometer.MeasurementMode.ContinuousMeasurement100Hz; Console.WriteLine("Please move the magnetometer during calibration"); using (var ioWriter = new StreamWriter("mag.csv")) { // First we read the data without calibration at all Console.WriteLine("Reading magnetometer data without calibration"); ioWriter.WriteLine($"X;Y;Z"); for (int i = 0; i < calibrationCount; i++) { try { var magne = mpu9250.ReadMagnetometerWithoutCorrection(); ioWriter.WriteLine($"{magne.X};{magne.Y};{magne.Z}"); // 10 ms = 100Hz, so waiting to make sure we have new data Thread.Sleep(10); } catch (TimeoutException) { Console.WriteLine("Error reading"); } } Console.WriteLine("Performing calibration"); // then we calibrate var magnetoBias = mpu9250.CalibrateMagnetometer(calibrationCount); ioWriter.WriteLine(); ioWriter.WriteLine("Factory calibration data"); ioWriter.WriteLine($"X;Y;Z"); ioWriter.WriteLine($"{magnetoBias.X};{magnetoBias.Y};{magnetoBias.Z}"); ioWriter.WriteLine(); ioWriter.WriteLine("Magnetometer bias calibration data"); ioWriter.WriteLine($"X;Y;Z"); ioWriter.WriteLine($"{mpu9250.MagnometerBias.X};{mpu9250.MagnometerBias.Y};{mpu9250.MagnometerBias.Z}"); ioWriter.WriteLine(); // Finally we read the data again Console.WriteLine("Reading magnetometer data including calibration"); ioWriter.WriteLine($"X corr;Y corr;Z corr"); for (int i = 0; i < calibrationCount; i++) { try { var magne = mpu9250.ReadMagnetometer(); ioWriter.WriteLine($"{magne.X};{magne.Y};{magne.Z}"); // 10 ms = 100Hz, so waiting to make sure we have new data Thread.Sleep(10); } catch (TimeoutException) { Console.WriteLine("Error reading"); } } } Console.WriteLine("Calibration deep dive over, file name is mag.csv"); }
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); } }