internal async Task Start()
{
if (await _pca9685.Open())
{
Reset();
}
else
{
Debug.WriteLine("Could not find Pca9685");
return;
}
//Self test
for (byte pwmnum = 0; pwmnum < 16; pwmnum++)
{
for (ushort i = 4096; i > 0; i -= 4)
{
SetPin(pwmnum, i);
}
}
SetAllPwm(4096, 0);
}
internal async Task InitHardware()
{
try
{
_ioController = GpioController.GetDefault();
_interruptPin = _ioController.OpenPin(17);
_interruptPin.Write(GpioPinValue.Low);
_interruptPin.SetDriveMode(GpioPinDriveMode.Input);
_interruptPin.ValueChanged += _interruptPin_ValueChanged;
_mpu9150 = new I2CDevice((byte)Mpu9150Setup.Address, I2cBusSpeed.FastMode);
await _mpu9150.Open();
await Task.Delay(100); // power up
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 0x80); // reset the device
await Task.Delay(100);
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 0x2);
_mpu9150.Write((byte)Mpu9150Setup.UserCtrl, 0x04); //reset fifo
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 1); // clock source = gyro x
_mpu9150.Write((byte)Mpu9150Setup.GyroConfig, 0); // +/- 250 degrees sec, max sensitivity
_mpu9150.Write((byte)Mpu9150Setup.AccelConfig, 0); // +/- 2g, max sensitivity
_mpu9150.Write((byte)Mpu9150Setup.Config, 1); // 184 Hz, 2ms delay
_mpu9150.Write((byte)Mpu9150Setup.SampleRateDiv, 19); // set rate 50Hz
_mpu9150.Write((byte)Mpu9150Setup.FifoEnable, 0x78); // enable accel and gyro to read into fifo
_mpu9150.Write((byte)Mpu9150Setup.UserCtrl, 0x40); // reset and enable fifo
_mpu9150.Write((byte)Mpu9150Setup.InterruptEnable, 0x1);
}
catch (Exception ex)
{
Debug.WriteLine(ex);
}
}
internal async Task InitializeHardware()
{
try
{
_ioController = GpioController.GetDefault();
_interruptPin = _ioController.OpenPin(17);
_interruptPin.Write(GpioPinValue.Low);
_interruptPin.SetDriveMode(GpioPinDriveMode.Input);
_interruptPin.ValueChanged += Interrupt;
_mpu9150 = new I2CDevice((byte)Mpu9150Setup.Address, I2cBusSpeed.FastMode);
await _mpu9150.Open();
await Task.Delay(5); // power up
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 0x80);// reset the device
await Task.Delay(100);
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 0x2 );
_mpu9150.Write((byte)Mpu9150Setup.UserCtrl, 0x04);//reset fifo
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 1 ); // clock source = gyro x
_mpu9150.Write((byte)Mpu9150Setup.GyroConfig, 0); // +/- 250 degrees sec, max sensitivity
_mpu9150.Write((byte)Mpu9150Setup.AccelConfig, 0); // +/- 2g, max sensitivity
_mpu9150.Write((byte)Mpu9150Setup.Config, 1);// 184 Hz, 2ms delay
_mpu9150.Write((byte)Mpu9150Setup.SampleRateDiv, 19); // set rate 50Hz
_mpu9150.Write((byte)Mpu9150Setup.FifoEnable, 0x78); // enable accel and gyro to read into fifo
_mpu9150.Write((byte)Mpu9150Setup.UserCtrl, 0x40); // reset and enable fifo
_mpu9150.Write((byte)Mpu9150Setup.InterruptEnable, 0x1);
}
catch (Exception ex)
{
Debug.WriteLine(ex);
}
}
