/// <summary>
/// Main entry point
/// </summary>
public static void Main(string[] args)
{
I2cConnectionSettings mpui2CConnectionSettingmpus = new I2cConnectionSettings(1, Ak8963.DefaultI2cAddress);
var ak8963 = new Ak8963(I2cDevice.Create(mpui2CConnectionSettingmpus));
Console.WriteLine(
"Magnetometer calibration is taking couple of seconds, move your sensor in all possible directions! Make sure you don't have a magnet or phone close by.");
var mag = ak8963.CalibrateMagnetometer();
Console.WriteLine($"Bias:");
Console.WriteLine($"Mag X = {mag.X}");
Console.WriteLine($"Mag Y = {mag.Y}");
Console.WriteLine($"Mag Z = {mag.Z}");
Console.WriteLine("Press a key to continue");
var readKey = Console.ReadKey();
Console.Clear();
while (!Console.KeyAvailable)
{
var magne = ak8963.ReadMagnetometer(true, TimeSpan.FromMilliseconds(11));
Console.WriteLine($"Mag X = {magne.X,15}");
Console.WriteLine($"Mag Y = {magne.Y,15}");
Console.WriteLine($"Mag Z = {magne.Z,15}");
Thread.Sleep(200);
}
readKey = Console.ReadKey();
}
/// <summary>
/// Initialize the MPU9250
/// </summary>
/// <param name="i2cDevice">The I2C device</param>
/// <param name="autoDispose">Will automatically dispose the I2C device if true</param>
public Mpu9250(I2cDevice i2cDevice, bool autoDispose = true)
: base()
{
_i2cDevice = i2cDevice;
Reset();
PowerOn();
if (!CheckVersion())
{
throw new IOException($"This device does not contain the correct signature 0x71 for a MPU9250");
}
GyroscopeBandwidth = GyroscopeBandwidth.Bandwidth0250Hz;
GyroscopeRange = GyroscopeRange.Range0250Dps;
AccelerometerBandwidth = AccelerometerBandwidth.Bandwidth1130Hz;
AccelerometerRange = AccelerometerRange.Range02G;
// Setup I2C for the AK8963
WriteRegister(Register.USER_CTRL, (byte)UserControls.I2C_MST_EN);
// Speed of 400 kHz
WriteRegister(Register.I2C_MST_CTRL, (byte)I2cBusFrequency.Frequency400kHz);
_autoDispose = autoDispose;
_ak8963 = new Ak8963(i2cDevice, new Ak8963Attached(), false);
if (!_ak8963.IsVersionCorrect())
{
// Try to reset the device first
_ak8963.Reset();
// Wait a bit
if (!_ak8963.IsVersionCorrect())
{
// Try to reset the I2C Bus
WriteRegister(Register.USER_CTRL, (byte)UserControls.I2C_MST_RST);
Thread.Sleep(100);
// Resetup again
WriteRegister(Register.USER_CTRL, (byte)UserControls.I2C_MST_EN);
WriteRegister(Register.I2C_MST_CTRL, (byte)I2cBusFrequency.Frequency400kHz);
// Poorly documented time to wait after the I2C bus reset
// Found out that waiting a little bit is needed. Exact time may be lower
Thread.Sleep(100);
// Try one more time
if (!_ak8963.IsVersionCorrect())
{
throw new IOException($"This device does not contain the correct signature 0x48 for a AK8963 embedded into the MPU9250");
}
}
}
_ak8963.MeasurementMode = MeasurementMode.SingleMeasurement;
}
/// <summary>
/// Initialize the MPU9250
/// </summary>
/// <param name="i2cDevice">The I2C device</param>
/// <param name="autoDispose">Will automatically dispose the I2C device if true</param>
/// <param name="i2CDeviceAk8963">An I2C Device for the AK8963 when exposed and not behind the MPU9250</param>
public Mpu9250(I2cDevice i2cDevice, bool autoDispose = true, I2cDevice?i2CDeviceAk8963 = null)
: base(i2cDevice, true)
{
Reset();
PowerOn();
if (!CheckVersion())
{
throw new IOException($"This device does not contain the correct signature 0x71 for a MPU9250");
}
GyroscopeBandwidth = GyroscopeBandwidth.Bandwidth0250Hz;
GyroscopeRange = GyroscopeRange.Range0250Dps;
AccelerometerBandwidth = AccelerometerBandwidth.Bandwidth1130Hz;
AccelerometerRange = AccelerometerRange.Range02G;
// Setup I2C for the AK8963
WriteRegister(Register.USER_CTRL, (byte)UserControls.I2C_MST_EN);
// Speed of 400 kHz
WriteRegister(Register.I2C_MST_CTRL, (byte)I2cBusFrequency.Frequency400kHz);
_autoDispose = autoDispose;
// There are 2 options to setup the Ak8963. Either the I2C address is exposed, either not.
// Trying both and pick one of them
if (i2CDeviceAk8963 == null)
{
try
{
_ak8963 = new Ak8963(i2cDevice, new Ak8963Attached(), false);
}
catch (IOException ex)
{
throw new IOException($"Please try to create an I2cDevice for the AK8963, it may be exposed", ex);
}
}
else
{
_ak8963 = new Ak8963(i2CDeviceAk8963);
}
if (!_ak8963.IsVersionCorrect())
{
// Try to reset the device first
_ak8963.Reset();
// Wait a bit
if (!_ak8963.IsVersionCorrect())
{
// Try to reset the I2C Bus
WriteRegister(Register.USER_CTRL, (byte)UserControls.I2C_MST_RST);
Thread.Sleep(100);
// Resetup again
WriteRegister(Register.USER_CTRL, (byte)UserControls.I2C_MST_EN);
WriteRegister(Register.I2C_MST_CTRL, (byte)I2cBusFrequency.Frequency400kHz);
// Poorly documented time to wait after the I2C bus reset
// Found out that waiting a little bit is needed. Exact time may be lower
Thread.Sleep(100);
// Try one more time
if (!_ak8963.IsVersionCorrect())
{
throw new IOException($"This device does not contain the correct signature 0x48 for a AK8963 embedded into the MPU9250");
}
}
}
_ak8963.MeasurementMode = MeasurementMode.SingleMeasurement;
}
