private static void TestI2c()
{
var ftI2c = new Ft4222I2c(new I2cConnectionSettings(0, Bno055Sensor.DefaultI2cAddress));
var bno055Sensor = new Bno055Sensor(ftI2c);
Console.WriteLine($"Id: {bno055Sensor.Info.ChipId}, AccId: {bno055Sensor.Info.AcceleratorId}, GyroId: {bno055Sensor.Info.GyroscopeId}, MagId: {bno055Sensor.Info.MagnetometerId}");
Console.WriteLine($"Firmware version: {bno055Sensor.Info.FirmwareVersion}, Bootloader: {bno055Sensor.Info.BootloaderVersion}");
Console.WriteLine($"Temperature source: {bno055Sensor.TemperatureSource}, Operation mode: {bno055Sensor.OperationMode}, Units: {bno055Sensor.Units}");
Console.WriteLine($"Powermode: {bno055Sensor.PowerMode}");
}
/// <summary>
/// Entry point for example program
/// </summary>
/// <param name="args">Command line arguments</param>
public static void Main(string[] args)
{
Console.WriteLine("Hello BNO055!");
I2cDevice i2cDevice = I2cDevice.Create(new I2cConnectionSettings(1, Bno055Sensor.DefaultI2cAddress));
Bno055Sensor bno055Sensor = new Bno055Sensor(i2cDevice);
Console.WriteLine(
$"Id: {bno055Sensor.Info.ChipId}, AccId: {bno055Sensor.Info.AcceleratorId}, GyroId: {bno055Sensor.Info.GyroscopeId}, MagId: {bno055Sensor.Info.MagnetometerId}");
Console.WriteLine(
$"Firmware version: {bno055Sensor.Info.FirmwareVersion}, Bootloader: {bno055Sensor.Info.BootloaderVersion}");
Console.WriteLine(
$"Temperature source: {bno055Sensor.TemperatureSource}, Operation mode: {bno055Sensor.OperationMode}, Units: {bno055Sensor.Units}");
Console.WriteLine($"Powermode: {bno055Sensor.PowerMode}");
Console.WriteLine(
"Checking the magnetometer calibration, move the sensor up to the calibration will be complete if needed");
var calibrationStatus = bno055Sensor.GetCalibrationStatus();
while ((calibrationStatus & CalibrationStatus.MagnetometerSuccess) !=
(CalibrationStatus.MagnetometerSuccess))
{
Console.Write($".");
calibrationStatus = bno055Sensor.GetCalibrationStatus();
Thread.Sleep(200);
}
Console.WriteLine();
Console.WriteLine("Calibration completed");
while (!Console.KeyAvailable)
{
Console.Clear();
var magneto = bno055Sensor.Magnetometer;
Console.WriteLine($"Magnetomer X: {magneto.X} Y: {magneto.Y} Z: {magneto.Z}");
var gyro = bno055Sensor.Gyroscope;
Console.WriteLine($"Gyroscope X: {gyro.X} Y: {gyro.Y} Z: {gyro.Z}");
var accele = bno055Sensor.Accelerometer;
Console.WriteLine($"Acceleration X: {accele.X} Y: {accele.Y} Z: {accele.Z}");
var orien = bno055Sensor.Orientation;
Console.WriteLine($"Orientation Heading: {orien.X} Roll: {orien.Y} Pitch: {orien.Z}");
var line = bno055Sensor.LinearAcceleration;
Console.WriteLine($"Linear acceleration X: {line.X} Y: {line.Y} Z: {line.Z}");
var gravity = bno055Sensor.Gravity;
Console.WriteLine($"Gravity X: {gravity.X} Y: {gravity.Y} Z: {gravity.Z}");
var qua = bno055Sensor.Quaternion;
Console.WriteLine($"Quaternion X: {qua.X} Y: {qua.Y} Z: {qua.Z} W: {qua.W}");
var temp = bno055Sensor.Temperature.DegreesCelsius;
Console.WriteLine($"Temperature: {temp} °C");
Thread.Sleep(100);
}
}
