/// <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 void Update()
{
_twiBus.Read(_i2cConfiguration, _buffer, 100);
Throttle = _settings.ThrottleScale.Calculate(BitConverter.ToShort(_buffer, 0));
Axes.Pitch = _settings.AxesScale.Calculate(BitConverter.ToShort(_buffer, 2)) * _settings.RadioSensitivityFactor;
Axes.Roll = _settings.AxesScale.Calculate(BitConverter.ToShort(_buffer, 4)) * _settings.RadioSensitivityFactor;
Axes.Yaw = _settings.AxesScale.Calculate(BitConverter.ToShort(_buffer, 6)) * _settings.RadioSensitivityFactor;
Gear = BitConverter.ToShort(_buffer, 8) > 1500;
}
/// <summary>
/// Read operation from the BlinkM.
/// </summary>
/// <param name="command"></param>
/// <returns></returns>
public int Read(Command.BaseCommand command)
{
I2CBus bus = I2CBus.GetInstance();
int retValue = bus.Read(this._I2CConfig, command.GetReceiveBytes(), I2CTimeout);
if (command.WaitMillis > 0)
{
Thread.Sleep(command.WaitMillis);
}
return(retValue);
}
/// <summary>
/// Reset the DS2482 and read the status byte
/// </summary>
private void ResetDS2482()
{
try
{
commandBytes = new byte[1] {
(byte)DS2482FunctionCommands.DeviceReset
};
readBuffer = new byte[1];
i2cBus.Write(commandBytes, commTimeout);
i2cBus.Read(readBuffer, commTimeout);
// Verify that communication has occured. After reset RST bit should be 1
if ((readBuffer[0] & (byte)DS2482StatusBits.DeviceReset) != (byte)DS2482StatusBits.DeviceReset)
{
throw new Exception("DS2482 not found on I2C Bus");
}
}
catch (Exception)
{
throw;
}
}