public static void Main(string[] args)
{
I2cConnectionSettings settings = new I2cConnectionSettings(1, Hmc5883l.DefaultI2cAddress);
I2cDevice device = I2cDevice.Create(settings);
using (Hmc5883l sensor = new Hmc5883l(device))
{
while (true)
{
// read heading
Console.WriteLine($"Heading: {sensor.Heading.ToString("0.00")} °");
var status = sensor.DeviceStatus;
Console.Write("Statuses: ");
foreach (Status item in Enum.GetValues(typeof(Status)))
{
if (status.HasFlag(item))
{
Console.Write($"{item} ");
}
}
Console.WriteLine();
Console.WriteLine();
// wait for a second
Thread.Sleep(1000);
}
}
}
static void Main(string[] args)
{
I2cConnectionSettings settings = new I2cConnectionSettings(1, Hmc5883l.I2cAddress);
// get I2cDevice (in Linux)
UnixI2cDevice device = new UnixI2cDevice(settings);
// get I2cDevice (in Win10)
//Windows10I2cDevice device = new Windows10I2cDevice(settings);
using (Hmc5883l sensor = new Hmc5883l(device))
{
while (true)
{
// read direction angle
Console.WriteLine($"Direction Angle: {sensor.Heading.ToString("0.00")} °");
var status = sensor.DeviceStatus;
Console.Write("Statuses: ");
foreach (Status item in Enum.GetValues(typeof(Status)))
{
if (status.HasFlag(item))
{
Console.Write($"{item} ");
}
}
Console.WriteLine();
Console.WriteLine();
// wait for a second
Thread.Sleep(1000);
}
}
}
static async Task App()
{
board = await ConnectionService.Instance.GetFirstDeviceAsync();
await board.ConnectAsync();
Console.WriteLine("Board connected: " + board);
var mag = new Hmc5883l(board.I2c);
mag.Range = Hmc5883l.RangeSetting.GAIN_0_88;
Console.WriteLine("We'll start by doing a rudimentary magnetometer calibration. " +
"Once prompted, move the accelerometer around in all orientations to enable the software " +
"to capture the min and max values in all directions. This process will run for 10 seconds");
Console.WriteLine("Press any key to start calibration.");
Console.WriteLine();
var response = Console.ReadKey(); // wait for a key
Console.WriteLine("Now calibrating. Move magnetometer around for 10 seconds...");
min.X = float.MaxValue;
min.Y = float.MaxValue;
min.Z = float.MaxValue;
max.X = float.MinValue;
max.Y = float.MinValue;
max.Z = float.MinValue;
for (int i = 0; i < 100; i++)
{
var reading = mag.Magnetometer;
if (reading.X < min.X)
{
min.X = reading.X;
}
if (reading.Y < min.Y)
{
min.Y = reading.Y;
}
if (reading.Z < min.Z)
{
min.Z = reading.Z;
}
if (reading.X > max.X)
{
max.X = reading.X;
}
if (reading.Y > max.Y)
{
max.Y = reading.Y;
}
if (reading.Z > max.Z)
{
max.Z = reading.Z;
}
await Task.Delay(100);
}
Console.WriteLine("Calibration done.");
Console.WriteLine("Press any key to stop demo.");
Vector3 offset = (max + min) / 2f;
while (!Console.KeyAvailable)
{
var reading = mag.Magnetometer;
var normalizedX = Numbers.Map(reading.X, min.X, max.X, -1, 1);
var normalizedY = Numbers.Map(reading.Y, min.Y, max.Y, -1, 1);
var angle = Math.Atan2(normalizedY, normalizedX);
angle = angle * (180 / Math.PI);
angle -= (3.0 + (10.0 / 60.0));
Console.WriteLine($"{angle:0.00} degrees ({reading.X:0.00}, {reading.Y:0.00}, {reading.Z:0.00})");
await Task.Delay(100);
}
}
