public MainPage()
{
AppInsights.Client.TrackPageView(nameof(MainPage));
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
this.InitializeComponent();
mDeviceClient = DeviceClient.Create(Globals.IOTHUB_URI, new DeviceAuthenticationWithRegistrySymmetricKey(GetUniqueDeviceId(), Globals.DEVICE_KEY), TransportType.Amqp);
registerKeyEvents();
var hasGpio = GpioController.GetDefault() != null;
if (hasGpio)
{
mWheels = new Wheels();
mObstacleSensors = new ObstacleSensors();
mObstacleSensors.ValueReadingChanged += MObstacleSensors_ValueReading;
mPanTiltServo = new PanTiltServo();
}
else
{
mWheels = new FakeWheels();
}
mCamera = new WebSocketCamera();
mWheels.Init();
NetworkInformation.NetworkStatusChanged += NetworkInformation_NetworkStatusChanged;
Task.Run(() =>
{
receiveC2dAsync();
});
}
private async Task ConnectToI2CDevices()
{
try {
string aqsFilter = I2cDevice.GetDeviceSelector("I2C1");
//DeviceInformationCollection collection = await DeviceInformation.FindAllAsync(aqsFilter);
//if (collection.Count == 0) {
// throw new SensorException("I2C device not found");
//}
if (LightningProvider.IsLightningEnabled)
{
// Set Lightning as the default provider
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
I2cConnectionSettings i2CSettings = new I2cConnectionSettings(_i2CAddress)
{
BusSpeed = I2cBusSpeed.FastMode
};
//_i2CDevice = await I2cDevice.FromIdAsync(collection[0].Id, i2CSettings);
I2cController controller = await I2cController.GetDefaultAsync();
if (controller == null)
{
throw new SensorException("I2C device not found");
}
_i2CDevice = controller.GetDevice(i2CSettings);
}
catch (Exception exception) {
throw new SensorException("Failed to connect to HTS221", exception);
}
}
public Led()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
}
public void Initialize(bool isEnabledByDefault)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
Gpio = GpioController.GetDefault();
if (Gpio == null)
{
return;
}
//set pins d0 and d1 as input
data0 = Gpio.OpenPin(_d0);
data0.SetDriveMode(GpioPinDriveMode.InputPullUp);
data0.DebounceTimeout = debounceTimeout;
data1 = Gpio.OpenPin(_d1);
data1.SetDriveMode(GpioPinDriveMode.InputPullUp);
data1.DebounceTimeout = debounceTimeout;
IsEnabledChanged += OnIsEnabledChanged;
IsEnabled = isEnabledByDefault;
swReadingTimer = new Stopwatch();
Debug.WriteLine("Initialized", DEBUG_CAT);
}
private void ConfigureLightningController()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
}
private MainViewModel()
{
_LastGateChange = DateTime.Now;
Windows.Storage.StorageFolder storageFolder = Windows.Storage.ApplicationData.Current.LocalFolder;
string szDataFilePath = string.Format("{0}{1}{2}", storageFolder.Path, System.IO.Path.DirectorySeparatorChar, "racedata.db3");
this.conn = new SQLite.SQLiteConnection(szDataFilePath);
this.conn.CreateTable <RaceEvent>();
this.conn.CreateTable <Racer>();
this.conn.CreateTable <RaceHeat>();
this.conn.CreateTable <HeatTime>();
this.conn.CreateTable <RaceResult>();
_mp = new MediaPlayer();
_mp.AutoPlay = false;
if (!LightningProvider.IsLightningEnabled)
{
return;
}
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
OpenPwnPin(27);
InitGPIO();
this.SetState(ApplicationState.MainMenu);
}
private void InitGPIO()
{
//LightningProviderが利用できるかどうか確認
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
var gpio = GpioController.GetDefault();
//GPIOコントローラーがない場合
if (gpio == null)
{
pin = null;
return;
}
// GPIO の 5 番ピンを開きます
pin = gpio.OpenPin(LED_PIN);
// 5番ピンを High に設定します
pin.Write(GpioPinValue.High);
// 5番ピンを出力として使うよう設定します
pin.SetDriveMode(GpioPinDriveMode.Output);
}
private async void btnInitialize_Click(object sender, RoutedEventArgs e)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
gpioController = await GpioController.GetDefaultAsync();
if (gpioController == null)
{
return;
}
pwmControllers = await PwmController.GetControllersAsync(LightningPwmProvider.GetPwmProvider());
if (pwmControllers == null)
{
return;
}
LeftMotor = new MotorControl(gpioController, pwmControllers[1]);
LeftMotor.Initialize(LEFTINA, LEFTINB, LEFTPWM);
RightMotor = new MotorControl(gpioController, pwmControllers[1]);
RightMotor.Initialize(RIGHTINA, RIGHTINB, RIGHTPWM);
}
public void Run(IBackgroundTaskInstance taskInstance)
{
// set deferral to keep the Application running at the end of the method.
deferral = taskInstance.GetDeferral();
// Set the Lightning Provider as the default if Lightning driver is enabled on the target device
// Otherwise, the inbox provider will continue to be the default
if (LightningProvider.IsLightningEnabled)
{
// Set Lightning as the default provider
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
Debug.WriteLine("GPIO Using Lightning Provider");
}
else
{
Debug.WriteLine("GPIO Using Default Provider");
}
var gpioController = GpioController.GetDefault(); /* Get the default GPIO controller on the system */
if (gpioController == null)
{
Debug.WriteLine("No GPIO Controller found!");
}
InitGPIO();
}
public MainPage()
{
InitializeComponent();
// Check if Lightning is available and use it
// The Lightning greatly speedups SPI and GPIO to use it you must enable Direct Memory Mapped driver in Device manager
// For more information see: https://developer.microsoft.com/en-us/windows/iot/docs/lightningproviders
if (LightningProvider.IsLightningEnabled)
{
Debug.WriteLine("Using Lightning");
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
//===============================================================
// Choose demo here!
// ------------------------------
//_currentDemo = OutputDemo;
//_currentDemo = InputDemo;
//_currentDemo = InputOutputDemo;
_currentDemo = KnobToScreenDemo; // <-- Requires a monitor connected to the Raspberry Pi.
//===============================================================
Task.Run(async() => await Demo()).ConfigureAwait(false);
}
/// <summary>
///
/// </summary>
private bool initializeGpio()
{
if (LightningProvider.IsLightningEnabled)
{
Windows.Devices.LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
textBlockStatus.Text = "Gpio using low level controller";
}
else
{
textBlockStatus.Text = "Gpio using default driver";
}
var gpio = GpioController.GetDefault();
if (gpio == null)
{
textBlockStatus.Text = "Gpio initialization error";
return(false);
}
testPin_ = gpio.OpenPin(27);
testPin_.SetDriveMode(GpioPinDriveMode.Output);
dht11Pin_ = gpio.OpenPin(5);
dht11Pin_.SetDriveMode(GpioPinDriveMode.Input);
textBlockStatus.Text = "Gpio initialized!";
return(true);
}
private async Task Tml_Init(int irqPinNumber, int resetPinNumber)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
GpioController gpio = GpioController.GetDefault();
pinIRQ = gpio.OpenPin(irqPinNumber);
pinRESET = gpio.OpenPin(resetPinNumber);
pinRESET.Write(GpioPinValue.High);
pinIRQ.SetDriveMode(GpioPinDriveMode.Input);
pinRESET.SetDriveMode(GpioPinDriveMode.Output);
I2cConnectionSettings settings = new I2cConnectionSettings(NXP_NCI_I2C_ADDR)
{
BusSpeed = I2cBusSpeed.FastMode,
SharingMode = I2cSharingMode.Shared
};
//string aqs = I2cDevice.GetDeviceSelector(I2C_CONTROLLER_NAME);
//DeviceInformationCollection dis = await DeviceInformation.FindAllAsync(aqs);
//i2c7120 = await I2cDevice.FromIdAsync(dis[0].Id, settings);
I2cController i2cController = await I2cController.GetDefaultAsync();
i2c7120 = i2cController.GetDevice(settings);
}
private void LoadUserCode(object sender, RoutedEventArgs e)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
else
{
return;
}
GpioController _controller = GpioController.GetDefault();
if (_controller == null)
{
return;
}
SideIR = _controller.OpenPin(21);
SideIR.Write(GpioPinValue.Low);
SideIR.SetDriveMode(GpioPinDriveMode.Input);
SideIR.ValueChanged += TriggerPin_ValueChanged;
FrontIR = _controller.OpenPin(4);
FrontIR.Write(GpioPinValue.Low);
FrontIR.SetDriveMode(GpioPinDriveMode.Input);
FrontIR.ValueChanged += OnFrontIRChange;
}
private async void OnLoaded(object sender, RoutedEventArgs routedEventArgs)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
var pwmControllers = await PwmController.GetControllersAsync(LightningPwmProvider.GetPwmProvider());
var pwmController = pwmControllers[1]; // the on-device controller
pwmController.SetDesiredFrequency(50); // try to match 50Hz
internetLed = new InternetLed();
_pin18 = pwmController.OpenPin(18);
while (true)
{
await internetLed.GetThrottleFromWeb();
double test = internetLed.getThrottle() / 100.0;
_pin18.SetActiveDutyCyclePercentage(internetLed.getThrottle() / 100.0);
_pin18.Start();
await Task.Delay(200);
}
}
}
private async void OnLoaded(object sender, RoutedEventArgs routedEventArgs)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
var pwmControllers = await PwmController.GetControllersAsync(LightningPwmProvider.GetPwmProvider());
var pwmController = pwmControllers[1]; // the on-device controller
pwmController.SetDesiredFrequency(50); // try to match 50Hz
_pin27 = pwmController.OpenPin(27);
_pin27.SetActiveDutyCyclePercentage(0);
_pin27.Start();
}
var gpioController = await GpioController.GetDefaultAsync();
if (gpioController == null)
{
StatusMessage.Text = "There is no GPIO controller on this device.";
return;
}
_pin22 = gpioController.OpenPin(22);
_pin22.SetDriveMode(GpioPinDriveMode.Output);
_pin22.Write(GpioPinValue.Low);
}
public MainPage()
{
this.InitializeComponent();
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
System.Diagnostics.Debug.WriteLine("Lightning Success");
}
configSensors(); //Initialises the relevant sensors
//Updates Readings Every 1/2 seconds.
readPressure();
readTemperature();
//Initialising Dispatch Timer
uiTimer = new DispatcherTimer();
uiTimer.Interval = TimeSpan.FromMilliseconds(2000);
uiTimer.Tick += UiTimer_Tick;
Task.Delay(20).Wait();
uiTimer.Start();
}
private async void OnPageLoad(object sender, RoutedEventArgs e)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
var gpioController = await GpioController.GetDefaultAsync();
if (gpioController == null)
{
return;
}
var pwmControllers = await PwmController.GetControllersAsync(LightningPwmProvider.GetPwmProvider());
pwmController = pwmControllers[1]; //hard code from examples to use index 1
pwmController.SetDesiredFrequency(1000); //do *not* debug over this line, it will crash
rightDrive = pwmController.OpenPin(13);
rightDrive.SetActiveDutyCyclePercentage(0.5);
rightDrive.Start();
leftDrive = pwmController.OpenPin(12);
leftDrive.SetActiveDutyCyclePercentage(0.5);
leftDrive.Start();
}
private async void LoadUserCode(object sender, RoutedEventArgs e)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
else
{
return;
}
var controllers = await PwmController.GetControllersAsync(LightningPwmProvider.GetPwmProvider());
if (controllers.Count <= 1)
{
return;
}
driveControl = controllers[1];
if (driveControl == null)
{
return;
}
if (driveControl == null)
{
return;
}
driveControl.SetDesiredFrequency(1000);
}
private async Task InitLCD()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
var i2c = await I2cController.GetDefaultAsync();
if (i2c == null)
{
LCD = null;
return;
}
LCD = i2c.GetDevice(new I2cConnectionSettings(LCD_Addr));
//LCD初期化
await Task.Delay(50);
await WriteCmd(0x38, 1);
await WriteCmd(0x39, 1);
await WriteCmd(0x14, 1);
await WriteCmd(0x71, 1);
await WriteCmd(0x56, 1);
await WriteCmd(0x6c, 250);
await WriteCmd(0x38, 1);
await WriteCmd(0x0c, 1);
await WriteCmd(0x01, 200);
}
private void InitGPIO()
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
var gpio = GpioController.GetDefault();
if (gpio == null)
{
return;
}
pushButton = gpio.OpenPin(17);
pushButton.SetDriveMode(GpioPinDriveMode.Input); // VERY IMPORTANT. DO NOT SET OUTPUT
pushButton.ValueChanged += PushButton_ValueChanged;
FinishGates = new List <FinishGate>();
FinishGate Track1FinishGate = new FinishGate(1, gpio, 4, InHeatVM.HeatStopWatch);
Track1FinishGate.TrackCompleted += InHeatVM.TrackFinishGate_TrackCompleted;
this.FinishGates.Add(Track1FinishGate);
FinishGate Track2FinishGate = new FinishGate(2, gpio, 5, InHeatVM.HeatStopWatch);
Track2FinishGate.TrackCompleted += InHeatVM.TrackFinishGate_TrackCompleted;
this.FinishGates.Add(Track2FinishGate);
FinishGate Track3FinishGate = new FinishGate(3, gpio, 6, InHeatVM.HeatStopWatch);
Track3FinishGate.TrackCompleted += InHeatVM.TrackFinishGate_TrackCompleted;
this.FinishGates.Add(Track3FinishGate);
FinishGate Track4FinishGate = new FinishGate(4, gpio, 7, InHeatVM.HeatStopWatch);
Track4FinishGate.TrackCompleted += InHeatVM.TrackFinishGate_TrackCompleted;
this.FinishGates.Add(Track4FinishGate);
}
private void LoadUserCode(object sender, RoutedEventArgs e)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
else
{
return;
}
GpioController _controller = GpioController.GetDefault();
if (_controller == null)
{
return;
}
//TriggerPin = _controller.OpenPin(25);
//TriggerPin.Write(GpioPinValue.Low);
//TriggerPin.SetDriveMode(GpioPinDriveMode.Output);
EchoPin = _controller.OpenPin(7);
EchoPin.Write(GpioPinValue.Low);
EchoPin.SetDriveMode(GpioPinDriveMode.Input);
//disable for now...
EchoPin.ValueChanged += OnEchoResponse;
distanceTimer = new Stopwatch();
distanceTimer.Reset();
SendTriggers = new Task(() => FakePWM());
//SendTriggers.Start();
}
/// <summary>
///
/// </summary>
private async void InitSensor()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
var i2c = await I2cController.GetDefaultAsync();
SENSOR = i2c.GetDevice(new I2cConnectionSettings(SensorAddr));
//SENSOR初期化
uint osrs_t = 3;
uint osrs_p = 3;
uint osrs_h = 3;
uint mode = 3;
uint t_sb = 5;
uint filter = 0;
uint spi3w_en = 0;
uint ctrlMeasReg = (osrs_t << 5) | (osrs_p << 2) | mode;
uint configReg = (t_sb << 5) | (filter << 2) | spi3w_en;
uint ctrlHumReg = osrs_h;
SENSOR.Write(new byte[] { 0xf2, (byte)ctrlHumReg });
SENSOR.Write(new byte[] { 0xf4, (byte)ctrlMeasReg });
SENSOR.Write(new byte[] { 0xf5, (byte)configReg });
await Task.Delay(10);
//キャリブレーションデータ読み込み
//温度
T1 = ReadUInt16((byte)Register.dig_T1);
T2 = (Int16)ReadUInt16((byte)Register.dig_T2);
T3 = (Int16)ReadUInt16((byte)Register.dig_T3);
//気圧
P1 = ReadUInt16((byte)Register.dig_P1);
P2 = (Int16)ReadUInt16((byte)Register.dig_P2);
P3 = (Int16)ReadUInt16((byte)Register.dig_P3);
P4 = (Int16)ReadUInt16((byte)Register.dig_P4);
P5 = (Int16)ReadUInt16((byte)Register.dig_P5);
P6 = (Int16)ReadUInt16((byte)Register.dig_P6);
P7 = (Int16)ReadUInt16((byte)Register.dig_P7);
P8 = (Int16)ReadUInt16((byte)Register.dig_P8);
P9 = (Int16)ReadUInt16((byte)Register.dig_P9);
//湿度
H1 = ReadByte((byte)Register.dig_H1);
H2 = (Int16)ReadUInt16((byte)Register.dig_H2);
H3 = ReadByte((byte)Register.dig_H3);
H4 = (short)(ReadByte((byte)Register.dig_H4) << 4 | ReadByte((byte)Register.dig_H4 + 1) & 0xf);
H5 = (short)(ReadByte((byte)Register.dig_H5 + 1) << 4 | ReadByte((byte)Register.dig_H5) >> 4);
H6 = (sbyte)ReadByte((byte)Register.dig_H6);
//Timerのセット（１秒毎)
periodicTimer = new Timer(this.TimerCallback, null, 0, 1000);
}
public Main() :
base("PIR")
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
}
private void InitLightningProvider()
{
// Set the Lightning Provider as the default if Lightning driver is enabled on the target device
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
}
public ServoController(int servoPin)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
ServoPin = servoPin;
}
private async Task Initialze()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
else
{
throw new Exception("Lightning drivers not enabled. Please enable Lightning drivers.");
}
_camera = new Camera();
await _camera.Initialize();
SpeedSensor.Initialize();
SpeedSensor.Start();
SpeechSynthesis.Initialze();
await AudioPlayerController.Initialize();
_accelerometerSensor = new AccelerometerGyroscopeSensor();
await _accelerometerSensor.Initialize();
_accelerometerSensor.Start();
_automaticSpeakController = new AutomaticSpeakController(_accelerometerSensor);
_motorController = new MotorController();
await _motorController.Initialize(_automaticSpeakController);
_servoController = new ServoController();
await _servoController.Initialize();
_distanceMeasurementSensor = new DistanceMeasurementSensor();
await _distanceMeasurementSensor.Initialize(I2C_ADDRESS_SERVO);
_automaticDrive = new AutomaticDrive(_motorController, _servoController, _distanceMeasurementSensor);
_speechRecognation = new SpeechRecognition();
await _speechRecognation.Initialze(_motorController, _servoController, _automaticDrive);
_speechRecognation.Start();
_gamepadController = new GamepadController(_motorController, _servoController, _automaticDrive, _accelerometerSensor);
_camera.Start();
_httpServerController = new HttpServerController(_motorController, _servoController, _automaticDrive, _camera);
SystemController.Initialize(_accelerometerSensor, _automaticSpeakController, _motorController, _servoController, _automaticDrive, _camera, _httpServerController, _speechRecognation, _gamepadController);
await SystemController.SetAudioRenderVolume(AUDIO_RENDER_VOLUME, true);
await SystemController.SetAudioCaptureVolume(AUDIO_CAPTURE_VOLUME, true);
await AudioPlayerController.PlayAndWaitAsync(AudioName.Welcome);
_automaticSpeakController.Start();
}
internal void InitGPIO()
{
if (!InDesing)
{
//Add support if the Controller driver is "Direct Memory Mapped Driver". See https://docs.microsoft.com/en-us/windows/iot-core/develop-your-app/lightningproviders
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
}
}
private async Task SetupPWM()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
var pwmControllers = await PwmController.GetControllersAsync(LightningPwmProvider.GetPwmProvider());
var pwmController = pwmControllers[1]; // use the on-device controller
pwmController.SetDesiredFrequency(50); // try to match 50Hz
pin = pwmController.OpenPin(21);
}
}
private void InitGPIO()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
pins.Add(createButtonPin(5, "1", 21));
pins.Add(createButtonPin(6, "2", 20));
pins.Add(createButtonPin(13, "3", 9));
pins.Add(createButtonPin(19, "4", 10));
pins.Add(createButtonPin(26, "5", 11));
}
public async void InitHardware()
{
try
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
else
{
return;
}
_ioController = GpioController.GetDefault();
_interruptPin = _ioController.OpenPin(InterruptPin);
_interruptPin.Write(GpioPinValue.Low);
_interruptPin.SetDriveMode(GpioPinDriveMode.Input);
_interruptPin.ValueChanged += Interrupt;
//var aqs = I2cDevice.GetDeviceSelector();
//var collection = await DeviceInformation.FindAllAsync(aqs);
I2cController controller = await I2cController.GetDefaultAsync();
var settings = new I2cConnectionSettings(Constants.Address)
{
BusSpeed = I2cBusSpeed.FastMode,
SharingMode = I2cSharingMode.Exclusive
};
//Mpu6050Device = await I2cDevice.FromIdAsync(collection[0].Id, settings);
Mpu6050Device = controller.GetDevice(settings);
await Task.Delay(3); // wait power up sequence
ReadWrite.WriteByte(Constants.PwrMgmt1, 0x80); // reset the device
await Task.Delay(100);
ReadWrite.WriteByte(Constants.PwrMgmt1, 0x2);
ReadWrite.WriteByte(Constants.UserCtrl, 0x04); //reset fifo
ReadWrite.WriteByte(Constants.PwrMgmt1, 1); // clock source = gyro x
ReadWrite.WriteByte(Constants.GyroConfig, 0); // +/- 250 degrees sec
ReadWrite.WriteByte(Constants.AccelConfig, 0); // +/- 2g
ReadWrite.WriteByte(Constants.Config, 1); // 184 Hz, 2ms delay
ReadWrite.WriteByte(Constants.SmplrtDiv, 19); // set rate 50Hz
ReadWrite.WriteByte(Constants.FifoEn, 0x78); // enable accel and gyro to read into fifo
ReadWrite.WriteByte(Constants.UserCtrl, 0x40); // reset and enable fifo
ReadWrite.WriteByte(Constants.IntEnable, 0x1);
}
catch (Exception ex)
{
Debug.WriteLine(ex);
}
}