public byte[] DeviceIdentifier()
{
byte[] r1 = new byte[1];
byte[] r2 = new byte[1];
byte[] r3 = new byte[1];
_i2cBus.ReadRegister(_i2cConfig, IdentificationRegister_1, r1, I2C_TIMEOUT);
_i2cBus.ReadRegister(_i2cConfig, IdentificationRegister_2, r2, I2C_TIMEOUT);
_i2cBus.ReadRegister(_i2cConfig, IdentificationRegister_3, r3, I2C_TIMEOUT);
return(new byte[] { r1[0], r2[0], r3[0] });
}
/// <summary>
/// Turn the heater on or off.
/// </summary>
/// <param name="onOrOff">Heater status, true = turn heater on, false = turn heater off.</param>
public void Heater(bool onOrOff)
{
var register = _si7021.ReadRegister(Registers.ReadUserRegister1);
register &= 0xfd;
if (onOrOff)
{
register |= 0x02;
}
_si7021.WriteRegister(Registers.WriteUserRegister1, register);
}
public override void Update()
{
_twiBus.ReadRegister(_i2cConfiguration, 0x1D, _buffer, 100);
float pitch = (short)(_buffer[0] << 8) | _buffer[1];
float roll = (short)(_buffer[2] << 8) | _buffer[3];
float yaw = (short)(_buffer[4] << 8) | _buffer[5];
Axes.Pitch = pitch / _factor - _zeroPitch;
Axes.Roll = roll / _factor - _zeroRoll;
Axes.Yaw = yaw / _factor - _zeroYaw;
}
/// <summary>
/// Force the sensor to make a reading and update the relevanyt properties.
/// </summary>
public void Read()
{
var controlRegister = _mag3110.ReadRegister((byte)Registers.Control1);
controlRegister |= 0x02;
_mag3110.WriteRegister((byte)Registers.Control1, controlRegister);
var data = _mag3110.ReadRegisters((byte)Registers.XMSB, 6);
X = (short)((data[0] << 8) | data[1]);
Y = (short)((data[2] << 8) | data[3]);
Z = (short)((data[4] << 8) | data[5]);
}
/// <summary>
/// Create a new MAG3110 object using the default parameters for the component.
/// </summary>
/// <param name="address">Address of the MAG3110 (default = 0x0e).</param>
/// <param name="speed">Speed of the I2C bus (default = 400 KHz).</param>
/// <param name="interruptPin">Interrupt pin used to detect end of conversions.</param>
public MAG3110(byte address = 0x0e, ushort speed = 400, Cpu.Pin interruptPin = Cpu.Pin.GPIO_NONE)
{
_mag3110 = new I2CBus(address, speed);
var deviceID = _mag3110.ReadRegister((byte)Registers.WhoAmI);
if (deviceID != 0xc4)
{
throw new Exception("Unknown device ID, " + deviceID + " retruend, 0xc4 expected");
}
if (interruptPin != Cpu.Pin.GPIO_NONE)
{
_interruptPort = new InterruptPort(interruptPin, false,
Microsoft.SPOT.Hardware.Port.ResistorMode.Disabled,
Microsoft.SPOT.Hardware.Port.InterruptMode.InterruptEdgeHigh);
_interruptPort.OnInterrupt += _interruptPort_OnInterrupt;
}
Reset();
}
private byte read8(byte addr)
{
return(i2c.ReadRegister(addr));
}
public MPU6050Device()
{
int exceptionCount = 0;
while (true)
{
try
{
Log.WriteLine("Initialising the MPU-6050 accelerometer and gyro package...");
// Check connectivity
byte[] data = new byte[] { new byte() };
_I2CBus.ReadRegister(_i2cConfig, MPU6050Registers.WHO_AM_I, data, _timeout);
Debug.Assert((data[0] & 0x68) == 0x68);
// PWR_MGMT_1 = Power Management 1
// 0xF9 = 11111001: Device Reset=true, Sleep=true, Cycle=true, Temp Sensor=On, Clock Select=PLL with X axis gyroscope reference
// TODO: Given the reset, half of these values are probably ignored, and the defaults are used instead.
_I2CBus.WriteRegister(_i2cConfig, MPU6050Registers.PWR_MGMT_1, 0xF9, _timeout);
Thread.Sleep(100); // allow to reset
// Exit sleep mode (CARE! Not sure why, but this resets the device too! - only set config after this line)
// TODO: Figure out what's going on here. Perhaps the reset at the line above was taking some time, hence why the Scale settings (below) were ignored
_I2CBus.WriteRegister(_i2cConfig, MPU6050Registers.PWR_MGMT_1, 0x01, _timeout);
Thread.Sleep(100); // allow to reset
// Gyro Scale
_gyroRange = GyroConfig.Range.plusMinus0500dps;
_I2CBus.WriteRegister(_i2cConfig, MPU6050Registers.GYRO_CONFIG, GyroConfig.Build(_gyroRange), _timeout);
// Accelerometer Scale
_accelRange = AccelConfig.Range.plusMinus08G;
_I2CBus.WriteRegister(_i2cConfig, MPU6050Registers.ACCEL_CONFIG, AccelConfig.Build(_accelRange), _timeout);
// Confirm I2C_MST_EN is disabled (required to connect to the HMC5883L)
data = new byte[] { new byte() };
_I2CBus.ReadRegister(_i2cConfig, 0x6A, data, 1000);
Debug.Assert((data[0] & 0x10) == 0);
// Turn on I2C Bypass (required to connect to the HMC5883L)
_I2CBus.WriteRegister(_i2cConfig, 0x37, 0x02, 1000);
data = new byte[] { new byte() };
_I2CBus.ReadRegister(_i2cConfig, 0x37, data, 1000);
Debug.Assert((data[0] & 0x02) == 0x02);
Log.WriteLine("MPU-6050 Ready\n");
break;
}
catch (System.Exception)
{
exceptionCount++;
if (exceptionCount != 3)
{
Log.WriteLine("Exception during initialisation! Retrying...\n");
//I2CBus.DestroySingleton();
//_I2CBus = I2CBus.GetInstance();
continue;
}
Log.WriteLine("Exception during initialisation! Throwing...");
throw;
}
}
}
