/// <summary>
/// Reads raw sensor data from the device then updates <see cref="AxisOffset"/> property.
/// </summary>
public virtual Mpu9250OffsetReading ReadOffset()
{
Mpu9250OffsetReading axisOffset = new Mpu9250OffsetReading();
// Read the data out registers
var accelBytes = Hardware.WriteReadBytes((byte)Mpu9250Register.OffsetXAHigh, 6);
axisOffset.AccelXAxisOffset = (short)(accelBytes[1] << 8 | accelBytes[0]);
axisOffset.AccelYAxisOffset = (short)(accelBytes[3] << 8 | accelBytes[2]);
axisOffset.AccelZAxisOffset = (short)(accelBytes[5] << 8 | accelBytes[4]);
// Read the data out registers
var gyroBytes = Hardware.WriteReadBytes((byte)Mpu9250Register.OffsetXGHigh, 6);
axisOffset.GyroXAxisOffset = (short)(gyroBytes[1] << 8 | gyroBytes[0]);
axisOffset.GyroYAxisOffset = (short)(gyroBytes[3] << 8 | gyroBytes[2]);
axisOffset.GyroZAxisOffset = (short)(gyroBytes[5] << 8 | gyroBytes[4]);
// Read the data out registers
var magBytes = ReadMagSensitivity();
axisOffset.MagXAxisSensitivity = magBytes[0];
axisOffset.MagYAxisSensitivity = magBytes[1];
axisOffset.MagZAxisSensitivity = magBytes[2];
_axisOffset = axisOffset;
// Return results
return(axisOffset);
}
public Mpu9250Device(SpiDevice device)
{
// Validate
if (device == null)
{
throw new ArgumentNullException(nameof(device));
}
// Initialize hardware
Hardware = device;
// Reset the device to default setting
this.Reset();
// Set clock source
Hardware.WriteJoinByte((byte)Mpu9250Register.PowerManagment1, 0x01);
// Set I2C master mode
Hardware.WriteJoinByte((byte)Mpu9250Register.UserControl, 0x20);
// Set I2C configureation multi-master IIC 400KHz.
Hardware.WriteJoinByte((byte)Mpu9250Register.I2cMasterControl, 0x0D);
// Set temprature bandwidth to 188Hz and gyroscope bandwidth to 184Hz.
Hardware.WriteJoinByte((byte)Mpu9250Register.Config, 0x00);
// Verify the device is connected, accessable and ready for use.
if (ChipId == 0x71 & Ak8963ChipId == 0x48)
{
IsConnected = true;
}
// Initialize sensor reading
SensorReading = new Mpu9250SensorReading();
// Initialize sensor axis offset data
AxisOffset = new Mpu9250OffsetReading()
{
MagXAxisSensitivity = 1, MagYAxisSensitivity = 1, MagZAxisSensitivity = 1
};
}
