/**************************************************************************/
/*!
* @brief Reads the sensor and returns the data as a sensors_event_t
*/
/**************************************************************************/
public void getEvent(ref sensors_event_t Event)
{
float pressure_kPa = 0;
Event.type = 6; //SENSOR_TYPE_PRESSURE;
Event.timestamp = 0;
Event.sensor_id = _sensorID;
getPressure(ref pressure_kPa);
Event.pressure = pressure_kPa / 100.0F;
}
/**************************************************************************/
/*!
* @brief Gets the most recent sensor event
*/
/**************************************************************************/
public void getEvent(ref sensors_event_t Event)
{
/* Read new data */
read();
Event.version = 1;
Event.sensor_id = _sensorID;
Event.type = 1; //SENSOR_TYPE_ACCELEROMETER;
Event.timestamp = 0;
Event.acceleration.x = _accelData.x * _lsm303Accel_MG_LSB * SENSORS_GRAVITY_STANDARD;
Event.acceleration.y = _accelData.y * _lsm303Accel_MG_LSB * SENSORS_GRAVITY_STANDARD;
Event.acceleration.z = _accelData.z * _lsm303Accel_MG_LSB * SENSORS_GRAVITY_STANDARD;
}
/**************************************************************************/
/*!
* @brief Gets the most recent sensor event
*/
/**************************************************************************/
public void getEvent(ref sensors_event_t Event)
{
bool readingValid = false;
Event.sensor_id = _sensorID;
Event.type = 4; // SENSOR_TYPE_GYROSCOPE;
while (!readingValid)
{
Event.timestamp = 0;
byte[] addr = new byte[] { (byte)((byte)gyroRegisters_t.GYRO_REGISTER_OUT_X_L | 0x80) };
byte[] data = new byte[6];
I2CDev.WriteRead(addr, data);
byte xlo = data[0];
byte xhi = data[1];
byte ylo = data[2];
byte yhi = data[3];
byte zlo = data[4];
byte zhi = data[5];
/* Shift values to create properly formed integer (low byte first) */
Event.gyro.x = (short)(xlo | (xhi << 8));
Event.gyro.y = (short)(ylo | (yhi << 8));
Event.gyro.z = (short)(zlo | (zhi << 8));
/* Make sure the sensor isn't saturating if auto-ranging is enabled */
if (!_autoRangeEnabled)
{
readingValid = true;
}
else
{
/* Check if the sensor is saturating or not */
if ((Event.gyro.x >= 32760) | (Event.gyro.x <= -32760) |
(Event.gyro.y >= 32760) | (Event.gyro.y <= -32760) |
(Event.gyro.z >= 32760) | (Event.gyro.z <= -32760))
{
/* Saturating .... increase the range if we can */
switch (_range)
{
case gyroRange_t.GYRO_RANGE_500DPS:
/* Push the range up to 2000dps */
_range = gyroRange_t.GYRO_RANGE_2000DPS;
write8((byte)gyroRegisters_t.GYRO_REGISTER_CTRL_REG1, 0x00);
write8((byte)gyroRegisters_t.GYRO_REGISTER_CTRL_REG1, 0x0F);
write8((byte)gyroRegisters_t.GYRO_REGISTER_CTRL_REG4, 0x20);
write8((byte)gyroRegisters_t.GYRO_REGISTER_CTRL_REG5, 0x80);
readingValid = false;
// Serial.println("Changing range to 2000DPS");
break;
case gyroRange_t.GYRO_RANGE_250DPS:
/* Push the range up to 500dps */
_range = gyroRange_t.GYRO_RANGE_500DPS;
write8((byte)gyroRegisters_t.GYRO_REGISTER_CTRL_REG1, 0x00);
write8((byte)gyroRegisters_t.GYRO_REGISTER_CTRL_REG1, 0x0F);
write8((byte)gyroRegisters_t.GYRO_REGISTER_CTRL_REG4, 0x10);
write8((byte)gyroRegisters_t.GYRO_REGISTER_CTRL_REG5, 0x80);
readingValid = false;
// Serial.println("Changing range to 500DPS");
break;
default:
readingValid = true;
break;
}
}
else
{
/* All values are withing range */
readingValid = true;
}
}
}
/* Compensate values depending on the resolution */
switch (_range)
{
case gyroRange_t.GYRO_RANGE_250DPS:
Event.gyro.x *= GYRO_SENSITIVITY_250DPS;
Event.gyro.y *= GYRO_SENSITIVITY_250DPS;
Event.gyro.z *= GYRO_SENSITIVITY_250DPS;
break;
case gyroRange_t.GYRO_RANGE_500DPS:
Event.gyro.x *= GYRO_SENSITIVITY_500DPS;
Event.gyro.y *= GYRO_SENSITIVITY_500DPS;
Event.gyro.z *= GYRO_SENSITIVITY_500DPS;
break;
case gyroRange_t.GYRO_RANGE_2000DPS:
Event.gyro.x *= GYRO_SENSITIVITY_2000DPS;
Event.gyro.y *= GYRO_SENSITIVITY_2000DPS;
Event.gyro.z *= GYRO_SENSITIVITY_2000DPS;
break;
}
/* Convert values to rad/s */
//Event.gyro.x *= SENSORS_DPS_TO_RADS;
//Event.gyro.y *= SENSORS_DPS_TO_RADS;
//Event.gyro.z *= SENSORS_DPS_TO_RADS;
}
/**************************************************************************/
/*!
* @brief Gets the most recent sensor event
*/
/**************************************************************************/
public void getEvent(ref sensors_event_t Event)
{
bool readingValid = false;
while (!readingValid)
{
/* Read new data */
read();
/* Make sure the sensor isn't saturating if auto-ranging is enabled */
if (!_autoRangeEnabled)
{
readingValid = true;
}
else
{
Debug.WriteLine(_magData.x + " " + _magData.y + " " + _magData.z + " ");
/* Check if the sensor is saturating or not */
if ((_magData.x >= 4090) | (_magData.x <= -4090) |
(_magData.y >= 4090) | (_magData.y <= -4090) |
(_magData.z >= 4090) | (_magData.z <= -4090))
{
/* Saturating .... increase the range if we can */
switch (_magGain)
{
case lsm303MagGain.LSM303_MAGGAIN_5_6:
setMagGain(lsm303MagGain.LSM303_MAGGAIN_8_1);
readingValid = false;
Debug.WriteLine("Changing range to +/- 8.1");
break;
case lsm303MagGain.LSM303_MAGGAIN_4_7:
setMagGain(lsm303MagGain.LSM303_MAGGAIN_5_6);
readingValid = false;
Debug.WriteLine("Changing range to +/- 5.6");
break;
case lsm303MagGain.LSM303_MAGGAIN_4_0:
setMagGain(lsm303MagGain.LSM303_MAGGAIN_4_7);
readingValid = false;
Debug.WriteLine("Changing range to +/- 4.7");
break;
case lsm303MagGain.LSM303_MAGGAIN_2_5:
setMagGain(lsm303MagGain.LSM303_MAGGAIN_4_0);
readingValid = false;
Debug.WriteLine("Changing range to +/- 4.0");
break;
case lsm303MagGain.LSM303_MAGGAIN_1_9:
setMagGain(lsm303MagGain.LSM303_MAGGAIN_2_5);
readingValid = false;
Debug.WriteLine("Changing range to +/- 2.5");
break;
case lsm303MagGain.LSM303_MAGGAIN_1_3:
setMagGain(lsm303MagGain.LSM303_MAGGAIN_1_9);
readingValid = false;
Debug.WriteLine("Changing range to +/- 1.9");
break;
default:
readingValid = true;
break;
}
}
else
{
/* All values are withing range */
readingValid = true;
}
}
}
Event.version = 1;
Event.sensor_id = _sensorID;
Event.type = 2; // SENSOR_TYPE_MAGNETIC_FIELD;
Event.timestamp = 0;
Event.magnetic.x = _magData.x / _lsm303Mag_Gauss_LSB_XY * SENSORS_GAUSS_TO_MICROTESLA;
Event.magnetic.y = _magData.y / _lsm303Mag_Gauss_LSB_XY * SENSORS_GAUSS_TO_MICROTESLA;
Event.magnetic.z = _magData.z / _lsm303Mag_Gauss_LSB_Z * SENSORS_GAUSS_TO_MICROTESLA;
}
