/// <summary>
/// Send commands to the display
/// </summary>
private void SendCommand(params byte[] Command)
{
foreach (var data in Command)
{
i2cDevice.WriteByte(0x80, data);
}
}
public void UpdateGyroConfig(II2CDevice device)
{
device.WriteByte(CTRL_REG1_G, this.OutputDataRate);
device.WriteByte(CTRL_REG2_G, this.HighPassFilter);
device.WriteByte(CTRL_REG3_G, this.InteruptDRDY);
device.WriteByte(CTRL_REG4_G, this.ScaleAndUpdate);
device.WriteByte(CTRL_REG5_G, this.FIFOHPFINT1);
}
public void UpdateAccelConfig(II2CDevice device)
{
/* CTRL_REG0_XM (0x1F) (Default value: 0x00)
Bits (7-0): BOOT FIFO_EN WTM_EN 0 0 HP_CLICK HPIS1 HPIS2
BOOT - Reboot memory content (0: normal, 1: reboot)
FIFO_EN - Fifo enable (0: disable, 1: enable)
WTM_EN - FIFO watermark enable (0: disable, 1: enable)
HP_CLICK - HPF enabled for click (0: filter bypassed, 1: enabled)
HPIS1 - HPF enabled for interrupt generator 1 (0: bypassed, 1: enabled)
HPIS2 - HPF enabled for interrupt generator 2 (0: bypassed, 1 enabled) */
byte reg0Config = (byte)((HPFEnabledGenerator2 ? 1 : 0) << 7 &
(HPFEnabledGenerator1 ? 1 : 0) << 6 &
(HPFEnabledForClick ? 1 : 0) << 5 &
(FifoWatermarkEnabled ? 1 : 0) << 2 &
(FifoEnabled ? 1 : 0) << 1 &
(RebootMemory ? 1 : 0));
/* CTRL_REG1_XM (0x20) (Default value: 0x07)
Bits (7-0): AODR3 AODR2 AODR1 AODR0 BDU AZEN AYEN AXEN
AODR[3:0] - select the acceleration data rate:
0000=power down, 0001=3.125Hz, 0010=6.25Hz, 0011=12.5Hz,
0100=25Hz, 0101=50Hz, 0110=100Hz, 0111=200Hz, 1000=400Hz,
1001=800Hz, 1010=1600Hz, (remaining combinations undefined).
BDU - block data update afor accel AND mag
0: Continuous update
1: Output registers aren't updated until MSB and LSB have been read.
AZEN, AYEN, and AXEN - Acceleration x/y/z-axis enabled.
0: Axis disabled, 1: Axis enabled */
byte reg1Config = (byte)((XAxisEnabled ? 1 : 0) << 7 &
(YAxisEnabled ? 1 : 0) << 6 &
(ZAxisEnabled ? 1 : 0) << 5 &
(BlockDataUpdateForAccelAndMag ? 1 : 0) << 4 &
(int) DataRate);
/* CTRL_REG2_XM (0x21) (Default value: 0x00)
Bits (7-0): ABW1 ABW0 AFS2 AFS1 AFS0 AST1 AST0 SIM
ABW[1:0] - Accelerometer anti-alias filter bandwidth
00=773Hz, 01=194Hz, 10=362Hz, 11=50Hz
AFS[2:0] - Accel full-scale selection
000=+/-2g, 001=+/-4g, 010=+/-6g, 011=+/-8g, 100=+/-16g
AST[1:0] - Accel self-test enable
00=normal (no self-test), 01=positive st, 10=negative st, 11=not allowed
SIM - SPI mode selection
0=4-wire, 1=3-wire */
byte reg2Config = (byte)((SPI3WireMode ? 1 : 0) << 7 &
(int)SelfTest << 5 &
(int)Scale << 2 &
(int)AntiAliasFilterBandwidth);
device.WriteByte(DOFConsts.CTRL_REG0_XM, reg0Config);
device.WriteByte(DOFConsts.CTRL_REG1_XM, reg1Config);
device.WriteByte(DOFConsts.CTRL_REG2_XM, reg2Config);
// NOTE: Not sure how this register should be set documentation says:
/* CTRL_REG3_XM is used to set interrupt generators on INT1_XM
Bits (7-0): P1_BOOT P1_TAP P1_INT1 P1_INT2 P1_INTM P1_DRDYA P1_DRDYM P1_EMPTY
*/
// Accelerometer data ready on INT1_XM (0x04)
device.WriteByte(DOFConsts.CTRL_REG3_XM, 0x04);
}