private int GetFifoCount(I2CDevice device)
{
if (!device.Write(new[] { FIFO_COUNTH }))
{
return(0);
}
byte[] buffer;
var r = device.Read(2, out buffer);
if (r)
{
return((buffer[0] << 8) | buffer[1]); //Get byte count
}
return(0);
}
internal bool WriteBit(I2CDevice device, byte regAddr, byte bitNum, byte data)
{
byte[] b;
device.Write(new[] { regAddr });
device.Read(1, out b);
if (data != 0)
{
b[0] = (byte)(1 << bitNum);
}
else
{
b[0] = (byte)(b[0] & (byte)(~(1 << bitNum)));
}
return(device.Write(new[] { regAddr, b[0] }));
}
internal async Task InitHardware()
{
try
{
_ioController = GpioController.GetDefault();
_interruptPin = _ioController.OpenPin(17);
_interruptPin.Write(GpioPinValue.Low);
_interruptPin.SetDriveMode(GpioPinDriveMode.Input);
_interruptPin.ValueChanged += _interruptPin_ValueChanged;
_mpu9150 = new I2CDevice((byte)Mpu9150Setup.Address, I2cBusSpeed.FastMode);
await _mpu9150.Open();
await Task.Delay(100); // power up
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 0x80); // reset the device
await Task.Delay(100);
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 0x2);
_mpu9150.Write((byte)Mpu9150Setup.UserCtrl, 0x04); //reset fifo
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 1); // clock source = gyro x
_mpu9150.Write((byte)Mpu9150Setup.GyroConfig, 0); // +/- 250 degrees sec, max sensitivity
_mpu9150.Write((byte)Mpu9150Setup.AccelConfig, 0); // +/- 2g, max sensitivity
_mpu9150.Write((byte)Mpu9150Setup.Config, 1); // 184 Hz, 2ms delay
_mpu9150.Write((byte)Mpu9150Setup.SampleRateDiv, 19); // set rate 50Hz
_mpu9150.Write((byte)Mpu9150Setup.FifoEnable, 0x78); // enable accel and gyro to read into fifo
_mpu9150.Write((byte)Mpu9150Setup.UserCtrl, 0x40); // reset and enable fifo
_mpu9150.Write((byte)Mpu9150Setup.InterruptEnable, 0x1);
}
catch (Exception ex)
{
Debug.WriteLine(ex);
}
}
internal async Task InitializeHardware()
{
try
{
_ioController = GpioController.GetDefault();
_interruptPin = _ioController.OpenPin(17);
_interruptPin.Write(GpioPinValue.Low);
_interruptPin.SetDriveMode(GpioPinDriveMode.Input);
_interruptPin.ValueChanged += Interrupt;
_mpu9150 = new I2CDevice((byte)Mpu9150Setup.Address, I2cBusSpeed.FastMode);
await _mpu9150.Open();
await Task.Delay(5); // power up
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 0x80);// reset the device
await Task.Delay(100);
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 0x2 );
_mpu9150.Write((byte)Mpu9150Setup.UserCtrl, 0x04);//reset fifo
_mpu9150.Write((byte)Mpu9150Setup.PowerManagement1, 1 ); // clock source = gyro x
_mpu9150.Write((byte)Mpu9150Setup.GyroConfig, 0); // +/- 250 degrees sec, max sensitivity
_mpu9150.Write((byte)Mpu9150Setup.AccelConfig, 0); // +/- 2g, max sensitivity
_mpu9150.Write((byte)Mpu9150Setup.Config, 1);// 184 Hz, 2ms delay
_mpu9150.Write((byte)Mpu9150Setup.SampleRateDiv, 19); // set rate 50Hz
_mpu9150.Write((byte)Mpu9150Setup.FifoEnable, 0x78); // enable accel and gyro to read into fifo
_mpu9150.Write((byte)Mpu9150Setup.UserCtrl, 0x40); // reset and enable fifo
_mpu9150.Write((byte)Mpu9150Setup.InterruptEnable, 0x1);
}
catch (Exception ex)
{
Debug.WriteLine(ex);
}
}
internal bool WriteBits(I2CDevice device, byte regAddr, byte bitStart, byte length, byte data)
{
// 010 value to write
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 00011100 mask byte
// 10101111 original value (sample)
// 10100011 original & ~mask
// 10101011 masked | value
byte[] b;
device.Write(new[] { regAddr });
if (device.Read(regAddr, out b))
{
var mask = (byte)(((1 << length) - 1) << (bitStart - length + 1));
data <<= (bitStart - length + 1); // shift data into correct position
data &= mask; // zero all non-important bits in data
b[0] &= (byte)(~(mask)); // zero all important bits in existing byte
b[0] |= data; // combine data with existing byte
return(device.Write(new[] { regAddr, b[0] }));
}
return(false);
}
/// <summary>
/// Adafruit 12bit, 16 channel, I2C PWM controller.
/// Adapted from the Adafruit library for the Arduino
/// </summary>
internal Pca9685()
{
_pca9685 = new I2CDevice(0x40, I2cBusSpeed.FastMode);
}
internal Ads1115()
{
_ads1115 = new I2CDevice(DefaultAddress, I2cBusSpeed.StandardMode);
}
private int GetFifoCount(I2CDevice device)
{
if (!device.Write(new[] {FIFO_COUNTH}))
return 0;
byte[] buffer;
var r = device.Read(2, out buffer);
if (r)
return (buffer[0] << 8) | buffer[1]; //Get byte count
return 0;
}
internal bool WriteBits(I2CDevice device, byte regAddr, byte bitStart, byte length, byte data)
{
// 010 value to write
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 00011100 mask byte
// 10101111 original value (sample)
// 10100011 original & ~mask
// 10101011 masked | value
byte[] b;
device.Write(new[] { regAddr });
if (device.Read(regAddr, out b))
{
var mask = (byte)(((1 << length) - 1) << (bitStart - length + 1));
data <<= (bitStart - length + 1); // shift data into correct position
data &= mask; // zero all non-important bits in data
b[0] &= (byte)(~(mask)); // zero all important bits in existing byte
b[0] |= data; // combine data with existing byte
return device.Write(new[] { regAddr, b[0] });
}
return false;
}
internal bool WriteBit(I2CDevice device, byte regAddr, byte bitNum, byte data)
{
byte[] b;
device.Write(new[] { regAddr });
device.Read(1, out b);
if (data != 0)
{
b[0] = (byte)(1 << bitNum);
}
else
{
b[0] = (byte)(b[0] & (byte)(~(1 << bitNum)));
}
return device.Write(new[] { regAddr, b[0] });
}
internal Mpr121()
{
_i2CDevice = new I2CDevice(0x5A, I2cBusSpeed.StandardMode);
Task.Delay(50).Wait();
}
internal Ads1115()
{
_ads1115 = new I2CDevice(DefaultAddress, I2cBusSpeed.StandardMode);
}
/// <summary>
/// Adafruit 12bit, 16 channel, I2C PWM controller.
/// Adapted from the Adafruit library for the Arduino
/// </summary>
internal Pca9685()
{
_pca9685 = new I2CDevice(0x40, I2cBusSpeed.FastMode);
}
