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");
}
private async void Selector_OnBoardConnected(object sender, Treehopper.Mvvm.BoardConnectedEventArgs e)
{
var imu = new Mpu9250(e.Board.I2c);
imu.EnableMagnetometer = false;
await imu.Calibrate();
filter = new ComplementaryFilter(imu, imu, 5, true);
filter.FilterUpdate += Filter_FilterUpdate;
}
private Mpu9250 GetOrCreateMPU9250()
{
return(_imu ??= CreateAndCalibrate());
Mpu9250 CreateAndCalibrate()
{
var device = new Mpu9250(GetOrCreateMcu().I2c);
device.CalibrateMagnetometer();
device.CalibrateGyroscopeAccelerometer();
return(device);
}
}
static async Task App()
{
var board = await ConnectionService.Instance.GetFirstDeviceAsync();
await board.ConnectAsync();
Mpu9250 imu;
while (true)
{
var imuList = await Mpu9250.ProbeAsync(board.I2c); // find the first MPU9250 attached to the bus
if (imuList.Count == 0)
{
Console.WriteLine("No MPU9250 attached (Are you sure you're not using an MPU6050?). Press any key to try again.");
Console.ReadKey();
}
else
{
imu = imuList[0];
break;
}
}
imu.AutoUpdateWhenPropertyRead = false;
while (!Console.KeyAvailable)
{
await imu.UpdateAsync().ConfigureAwait(false);
Console.WriteLine($"Temperature: {imu.Celsius:0.00} °C ({imu.Fahrenheit:0.00} °F)");
Console.WriteLine($"IMU: {imu.Accelerometer.X:0.00}, {imu.Accelerometer.Y:0.00}, {imu.Accelerometer.Z:0.00}");
Console.WriteLine($"Gyro: {imu.Gyroscope.X:0.00}, {imu.Gyroscope.Y:0.00}, {imu.Gyroscope.Z:0.00}");
Console.WriteLine($"Magnetometer: {imu.Magnetometer.X:0.00}, {imu.Magnetometer.Y:0.00}, {imu.Magnetometer.Z:0.00}");
await Task.Delay(500);
}
board.Disconnect();
}
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($"Acc Z = {acc.Z,15}");
Thread.Sleep(100);
}
}
public Result <Unit> Init()
{
_controller = new GpioController(PinNumberingScheme.Logical, new RaspberryPi3Driver());
_controller.OpenPin(Pin.HallBottom, PinMode.InputPullUp);
_controller.OpenPin(Pin.HallTop, PinMode.InputPullUp);
_controller.OpenPin(Pin.PhotoelectricBarrier, PinMode.InputPullUp);
_controller.OpenPin(Pin.MotorEnable, PinMode.Output);
_controller.OpenPin(Pin.MotorLeft, PinMode.Output);
_controller.OpenPin(Pin.MotorRight, PinMode.Output);
_controller.OpenPin(Pin.EmergencyTop, PinMode.InputPullUp);
_controller.OpenPin(Pin.DC12_1, PinMode.Output);
_controller.OpenPin(Pin.DC12_2, PinMode.Output);
//_pwmMotor = new SoftwarePwmChannel(Pin.MotorEnable, 200, 0.1);
//_pwmMotor.Start();
_controller.Write(Pin.MotorEnable, PinValue.High);
_controller.Write(Pin.MotorLeft, PinValue.Low);
_controller.Write(Pin.MotorRight, PinValue.Low);
_controller.Write(Pin.DC12_1, PinValue.Low);
_controller.Write(Pin.DC12_2, PinValue.Low);
Console.WriteLine($"Init sensor");
_bh1750Fvi = new Bh1750fvi(I2cDevice.Create(new I2cConnectionSettings(1, Bh1750fviExtenstion.DefaultI2cAddress))); // 23
_vl53L0X = new Vl53L0X(I2cDevice.Create(new I2cConnectionSettings(1, Vl53L0X.DefaultI2cAddress))); // 29
_bme280 = new Bme280(I2cDevice.Create(new I2cConnectionSettings(1, Bmx280Base.SecondaryI2cAddress))); // 76
_measurementTime = _bme280.GetMeasurementDuration();
_bme280.SetPowerMode(Bmx280PowerMode.Normal);
//Thread.Sleep(_measurementTime);
//_bme280.TryReadTemperature(out var tempValue);
//_bme280.TryReadPressure(out var preValue);
//_bme280.TryReadHumidity(out var humValue);
//_bme280.TryReadAltitude(out var altValue);
//Console.WriteLine($"Temperature: {tempValue.DegreesCelsius:0.#}\u00B0C");
//Console.WriteLine($"Pressure: {preValue.Hectopascals:#.##} hPa");
//Console.WriteLine($"Relative humidity: {humValue.Percent:#.##}%");
//Console.WriteLine($"Estimated altitude: {altValue.Meters:#} m");
_amg88xx = new Amg88xx(I2cDevice.Create(new I2cConnectionSettings(1, Amg88xx.AlternativeI2cAddress))); // 69
try
{
_mpu9250 = new Mpu9250(I2cDevice.Create(new I2cConnectionSettings(1, Mpu6500.DefaultI2cAddress))); // 68
}
catch (IOException e)
{
Console.WriteLine("AK8963 is exposed, try to connect directly.");
_mpu9250 = new Mpu9250(I2cDevice.Create(new I2cConnectionSettings(1, Mpu6500.DefaultI2cAddress)), i2CDeviceAk8963: I2cDevice.Create(new I2cConnectionSettings(1, Ak8963.DefaultI2cAddress)));
}
_mpu9250.MagnetometerMeasurementMode = MeasurementMode.ContinuousMeasurement100Hz;
Thread.Sleep(100);
Console.WriteLine($"Finished Init sensor");
Run();
Thread.Sleep(100);
Calibrate();
return(Unit.Instance);
}
