public override async Task Start()
{
switch (SelectedAccelerometer)
{
case "MPU-9250":
Sensor = (await Mpu6050.ProbeAsync(Board.I2c, true))[0];
break;
case "ADXL-345":
Sensor = (await Adxl345.ProbeAsync(Board.I2c))[0];
break;
case "LIS3DH":
Sensor = (await Lis3dh.ProbeAsync(Board.I2c))[0];
break;
case "BNO055":
Sensor = (await Bno055.ProbeAsync(Board.I2c))[0];
break;
case "LSM303DLHC":
var lsm303dlhc = new Lsm303dlhc(Board.I2c);
Sensor = lsm303dlhc.Accel;
break;
}
Sensor.AutoUpdateWhenPropertyRead = false;
OnPropertyChanged(nameof(Sensor));
}
public async void Run(IBackgroundTaskInstance taskInstance)
{
// If you start any asynchronous methods here, prevent the task
// from closing prematurely by using BackgroundTaskDeferral as
// described in http://aka.ms/backgroundtaskdeferral
//
BackgroundTaskDeferral deferral = taskInstance.GetDeferral();
bno055 = new Bno055();
await bno055.InitBNO055Async(Bno055.OperationMode.OPERATION_MODE_NDOF, "UART0", 18);
Bno055.SystemStatus sysStatus = bno055.GetSystemStatus(true);
System.Diagnostics.Debug.WriteLine(string.Format("System Status: Status {0}, Self-Test {1}, Error {2}", sysStatus.StatusReg, sysStatus.SelfTestResult, sysStatus.ErrorReg));
Bno055.Revisions revision = bno055.GetRevision();
System.Diagnostics.Debug.WriteLine(string.Format("Revision: Software {0}, Bootloader {1}, Accel ID {2}, Mag ID {3}, Gyro ID {4}", revision.Software, revision.Bootloader, revision.AccelID, revision.MagID, revision.GyroID));
Task.Delay(1000).Wait();
while (true)
{
Bno055.Euler euler = bno055.ReadEuler();
if (null != euler)
{
System.Diagnostics.Debug.WriteLine(string.Format("Euler: Pitch {0}, Roll {1}, Heading {2}", euler.Pitch, euler.Roll, euler.Heading));
}
Task.Delay(1000).Wait();
}
}
public GyroUpdater(Bno055 sensor) {
//assign our sensor and create our data. This only happens once.
_sensor = sensor;
_gyroData = new GyroData();
//create our work item!
_workItem = new WorkItem(UpdateGyro, true, FlightEventType.Gyro, _gyroData);
}
public GyroUpdater(Bno055 sensor)
{
//assign our sensor and create our data. This only happens once.
_sensor = sensor;
_gyroData = new GyroData();
//create our work item!
_workItem = new WorkItem(UpdateGyro, true, FlightEventType.Gyro, _gyroData);
}
public void InitHardware()
{
Console.WriteLine("Init...");
sensor = new Bno055(Device.CreateI2cBus(), 0x28);
sensor.DisplayRegisters();
sensor.PowerMode = Bno055.PowerModes.Normal;
sensor.OperatingMode = Bno055.OperatingModes.ConfigurationMode;
sensor.OperatingMode = Bno055.OperatingModes.InertialMeasurementUnit;
sensor.DisplayRegisters();
}
//private int headingCorrection = 180;
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="bus">I2C bus</param>
/// <param name="address">I2C device address</param>
public BNO055(II2cBus bus, byte address = 40)
{
sensor = new Bno055(bus, address);
sensor.OperatingMode = Bno055.OperatingModes.NINE_DEGREES_OF_FREEDOM;
bno = new I2cPeripheral(bus, address);
}
