private static void MagnetometerExample()
{
Console.WriteLine("\n\n");
Console.WriteLine("hmc5883l Interrupt Example.");
Console.WriteLine("--------------------------");
var hmc5883l = new HMC5883L(Device.CreateI2cBus());
// Attach an interrupt handler.
hmc5883l.FieldStrengthChanged += (s, e) =>
{
Console.WriteLine($"X: {e.CurrentValue.X}, Y: {e.CurrentValue.Y}, Z: {e.CurrentValue.Z}");
};
hmc5883l.StartInternalPolling(TimeSpan.FromMilliseconds(200));
Console.WriteLine("Running first time");
Thread.Sleep(1000);
Console.WriteLine("Stopping");
hmc5883l.StopInternalPolling();
Console.WriteLine("Waiting one second");
Thread.Sleep(1000);
Console.WriteLine("Continuing");
hmc5883l.StartInternalPolling(TimeSpan.FromMilliseconds(200));
// Put Meadow to sleep as the interrupt handler will deal
// with changes in orientation.
Thread.Sleep(Timeout.Infinite);
}
//Maximum refresh rate from the HMC3883L is 14ms in continuous measurement mode
public CompassUpdater(int delay = 50)
{
_compass = new HMC5883L(1000);
_workItem = new WorkItem(CompassUpdate, false, true, true);
_compass.Connected();
_delay = delay;
}
public WayPointNavigator(
Gps.GpsInformation gpsInformation,
HMC5883L compass,
CommandProcessor.CommandProcessor commandProcessor)
{
this.gpsInformation = gpsInformation ?? throw new ArgumentNullException(nameof(gpsInformation));
this.compass = compass ?? throw new ArgumentNullException(nameof(compass));
this.gpsInformation.DataReceivedEventHandler += this.GpsInformation_DataReceivedEventHandler;
this.commandProcessor = commandProcessor;
}
private static void Run()
{
Log.AttachLogSink(new RS232Writer()); // get this in early
Log.WriteLine("\n--- Logging Initialisation ---");
Log.AttachLogSink(new TextFileWriter("Logs", "Log"));
Log.WriteLine("\n--- AeroDataLogger: Boot Sequence Start ---");
MPU6050Device mpu6050 = new MPU6050Device(); // initalise this before the compass!
MS5611Baro baro = new MS5611Baro();
HMC5883L compass = new HMC5883L();
// Wait for user to start the recording...
var controller = new Controller();
Log.WriteLine("Initialisation successful! Waiting to begin recording...\n");
controller.NotifyReady();
while (!controller.Recording)
{
Thread.Sleep(100);
}
;
// Recording begins...
Log.WriteLine("Starting data capture.");
AccelerationAndGyroData inertialResult;
RawData rawMagnetrometry;
double temp = 0;
double pressure = 0;
using (var fileDataSink = new FileDataSink())
{
var dataSinks = new IDataSink[] { fileDataSink, new DebuggerDataSink() };
DataHandler dataHandler = new DataHandler(dataSinks);
dataHandler.WriteHeader(new[] { "Ax", "Ay", "Az", "Rx", "Ry", "Rz", "Mx", "My", "Mz", "P" });
while (controller.Recording)
{
// Gather data from sensors
inertialResult = mpu6050.GetSensorData();
baro.ReadTemperatureAndPressure(out temp, out pressure);
rawMagnetrometry = compass.Raw;
// Emit data to handlers
dataHandler.HandleData(new object[]
{
inertialResult.Ax,
inertialResult.Ay,
inertialResult.Az,
inertialResult.Rx,
inertialResult.Ry,
inertialResult.Rz,
rawMagnetrometry.X,
rawMagnetrometry.Y,
rawMagnetrometry.Z,
pressure
});
Thread.Sleep(100);
}
}
Log.WriteLine("Data capture stopped.");
Log.WriteLine("Exiting.\n\n");
Log.Close();
}
private async void MainPage_OnLoaded(object sender, RoutedEventArgs e)
{
try
{
var gpio = await GpioController.GetDefaultAsync();
if (gpio == null)
{
throw new IOException("GPIO interface not found");
}
this.UpdateControlModeonUi(null, null);
this.WriteToOutputTextBlock("Setting up distance sensor...");
this.ultrasonicsensor = new HCSR04(Constants.TriggerPin, Constants.EchoPin);
this.Speak("Initializing system");
this.displayManager = new DisplayManager();
await this.displayManager.Init();
this.displayManager.AppendImage(DisplayImages.Logo_24_32, 48, 1);
await Task.Delay(500);
this.displayManager.ClearDisplay();
this.displayManager.AppendText("Initializing system...", 0, 0);
this.WriteToOutputTextBlock("Initializing Gps...");
this.InitializeGps();
this.WriteToOutputTextBlock("Initializing Compass...");
this.compass = new HMC5883L(MeasurementMode.Continuous);
await this.compass.InitializeAsync();
this.compasstimer = new DispatcherTimer();
this.compasstimer.Interval = TimeSpan.FromMilliseconds(500);
this.compasstimer.Tick += this.Compasstimer_Tick;
this.compasstimer.Start();
this.displayManager.AppendText(">Connecting slave...", 5, 1);
await this.InitializeArduinoAsync();
while (!this.isArduinoSlaveSetup)
{
this.WriteToOutputTextBlock("Searching I2C device...");
this.displayManager.AppendText(">Searching...", 10, 2);
await Task.Delay(2000);
}
this.WriteToOutputTextBlock("Connected to I2C device...");
this.displayManager.AppendText(">>Done...", 10, 2);
this.WriteToOutputTextBlock("Initializing video service...");
await this.InitializeVideoService();
this.WriteToOutputTextBlock("Initializing command processor...");
this.commandProcessor = new CommandProcessor.CommandProcessor(
this.arduino,
this.displayManager,
this.playbackService,
this.httpServer,
this.panTiltServo,
this.ultrasonicsensor);
this.commandProcessor.NotifyUIEventHandler += this.NotifyUIEventHandler;
await this.commandProcessor.InitializeAsync();
this.WriteToOutputTextBlock("Initializing Rfcomm Service...");
this.displayManager.AppendText(">Starting Rfcomm Svc...", 5, 3);
this.InitializeRfcommServerAsync();
while (!this.isRfcommSetup)
{
await Task.Delay(2000);
}
this.displayManager.AppendText(">Started Rfcomm Svc...", 5, 3);
this.WriteToOutputTextBlock("Initializing waypoint navigator...");
WayPointNavigator.WayPointNavigator wayPointNavigator = new WayPointNavigator.WayPointNavigator(this.gpsInformation, this.compass, this.commandProcessor);
wayPointNavigator.NotifyUIEventHandler += this.NotifyUIEventHandler;
this.WriteToOutputTextBlock("Initializing cloud device connection...");
var cloudDataProcessor = new CloudDataProcessor(this.commandProcessor, wayPointNavigator);
cloudDataProcessor.NotifyUIEventHandler += this.NotifyUIEventHandler;
await cloudDataProcessor.InitializeAsync();
this.displayManager.ClearDisplay();
this.displayManager.AppendText("Initialization complete!", 0, 0);
await Task.Delay(1000);
this.displayManager.ClearDisplay();
await this.panTiltServo.Center();
this.DisplayNetworkInfo();
this.displayManager.AppendImage(DisplayImages.BluetoothDisconnected, 0, 1);
cloudDataProcessor.IsTelemetryActive = true;
this.InitializeVoiceCommands();
this.WriteToOutputTextBlock("Initializing voice commands...");
this.voiceController.Initialize();
NetworkInformation.NetworkStatusChanged += this.NetworkInformation_NetworkStatusChanged;
this.WriteToOutputTextBlock("Initialization complete...");
this.Speak("Initialization complete");
}
catch (Exception ex)
{
this.WriteToOutputTextBlock("Error: " + ex.Message);
this.isSystemInitialized = false;
var msg = new MessageDialog(ex.Message);
await msg.ShowAsync(); // this will show error message(if Any)
this.displayManager.ClearDisplay();
this.displayManager.AppendImage(DisplayImages.Error, 0, 0);
this.displayManager.AppendText("Initialization error!", 15, 0);
}
}
