public async Task Initialize()
{
var settings = new I2cConnectionSettings(I2C_ADDRESS)
{
BusSpeed = I2cBusSpeed.FastMode, SharingMode = I2cSharingMode.Shared
};
var controller = await I2cController.GetDefaultAsync();
_accelerometer = controller.GetDevice(settings);
QueuedLock.Enter();
//Enable all axes with normal mode
_accelerometer.Write(new byte[] { REGISTER_POWER_MANAGEMENT_1, 0 }); //Wake up device
_accelerometer.Write(new byte[] { REGISTER_POWER_MANAGEMENT_1, 0x80 }); //Reset the device
QueuedLock.Exit();
await Task.Delay(20);
QueuedLock.Enter();
_accelerometer.Write(new byte[] { REGISTER_POWER_MANAGEMENT_1, 1 }); //Set clock source to gyro x
_accelerometer.Write(new byte[] { REGISTER_GYROSCOPE_CONFIG, 0 }); //+/- 250 degrees sec
_accelerometer.Write(new byte[] { REGISTER_ACCELEROMETER_CONFIG, 0 }); //+/- 2g
_accelerometer.Write(new byte[] { REGISTER_CONFIG, 1 }); //184 Hz, 2ms delay
_accelerometer.Write(new byte[] { REGISTER_SAMPLE_RATE_DIVIDER, 19 }); //Set rate 50Hz
_accelerometer.Write(new byte[] { REGISTER_POWER_MANAGEMENT_1, 0 }); //Wake up device
QueuedLock.Exit();
}
public async Task <int> ReadDistanceInCm()
{
int range = 0;
byte[] range_highLowByte = new byte[2];
QueuedLock.Enter();
//Call device measurement
_distanceMeasurementSensor.Write(new byte[] { 0x51 });
QueuedLock.Exit();
//Wait device measured
await Task.Delay(100);
QueuedLock.Enter();
//Read measurement
_distanceMeasurementSensor.WriteRead(new byte[] { 0xe1 }, range_highLowByte);
QueuedLock.Exit();
range = (range_highLowByte[0] * 256) + range_highLowByte[1];
return(range);
}
private AccelerationGyroleration ReadInternal()
{
var data = new byte[14]; //6 bytes equals 2 bytes * 3 axes
var readAddress = new byte[] { REGISTER_ACCELEROMETER_X }; //0x80 for autoincrement, read from register x all three axis
QueuedLock.Enter();
_accelerometer.WriteRead(readAddress, data);
QueuedLock.Exit();
var xa = (short)(data[0] << 8 | data[1]);
var ya = (short)(data[2] << 8 | data[3]);
var za = (short)(data[4] << 8 | data[5]);
var temperature = (short)(data[6] << 8 | data[7]);
var xg = (short)(data[8] << 8 | data[9]);
var yg = (short)(data[10] << 8 | data[11]);
var zg = (short)(data[12] << 8 | data[13]);
var acceleration = new AccelerationGyroleration
{
AccelerationX = xa / (float)16384,
AccelerationY = ya / (float)16384,
AccelerationZ = za / (float)16384,
TemperatureInC = temperature / 340.00 + 36.53,
GyroX = xg / (float)131,
GyroY = yg / (float)131,
GyroZ = zg / (float)131
};
return(acceleration);
}
public void Reset()
{
QueuedLock.Enter();
_pwmDevice.Write(new byte[] { (byte)Registers.MODE1, 0x0 }); // reset the device
QueuedLock.Exit();
SetAllPwm(4096, 0);
}
public void SetAllPwm(ushort on, ushort off)
{
QueuedLock.Enter();
_pwmDevice.Write(new byte[] { (byte)Registers.ALL_LED_ON_L, (byte)(on & 0xFF) });
_pwmDevice.Write(new byte[] { (byte)Registers.ALL_LED_ON_H, (byte)(on >> 8) });
_pwmDevice.Write(new byte[] { (byte)Registers.ALL_LED_OFF_L, (byte)(off & 0xFF) });
_pwmDevice.Write(new byte[] { (byte)Registers.ALL_LED_OFF_H, (byte)(off >> 8) });
QueuedLock.Exit();
}
/// <summary>
/// Set pwm values
/// </summary>
/// <param name="channel">The pin that should updated</param>
/// <param name="on">The tick (between 0..4095) when the signal should change from low to high</param>
/// <param name="off">the tick (between 0..4095) when the signal should change from high to low</param>
public void SetPwm(byte channel, ushort on, ushort off)
{
QueuedLock.Enter();
_pwmDevice.Write(new byte[] { (byte)(Registers.LED0_ON_L + 4 * channel), (byte)(on & 0xFF) });
_pwmDevice.Write(new byte[] { (byte)(Registers.LED0_ON_H + 4 * channel), (byte)(on >> 8) });
_pwmDevice.Write(new byte[] { (byte)(Registers.LED0_OFF_L + 4 * channel), (byte)(off & 0xFF) });
_pwmDevice.Write(new byte[] { (byte)(Registers.LED0_OFF_H + 4 * channel), (byte)(off >> 8) });
QueuedLock.Exit();
}
public void ChangeI2cAddress()
{
//Change the I2c Address of "I2CXL-MaxSonar- EZ MB1202" because his adrees is conflicting with the adress of
//"Adafruit 16-Channel PWM/Servo HAT for Raspberry Pi". The addresses of "I2CXL-MaxSonar- EZ MB1202" and
//"Adafruit 16-Channel PWM/Servo HAT for Raspberry Pi" are not the same, but it conflicting because the
//"Adafruit 16-Channel PWM/Servo HAT for Raspberry Pi" has a bug.
QueuedLock.Enter();
_distanceMeasurementSensor.Write(new byte[] { 0xe0, 0xAA, 0xA5, 0x71 }); //0x71 is the 8 bit address of the I2c device
QueuedLock.Exit();
}
/// <summary>
/// Set the frequency (defaults to 60Hz if not set). 1 Hz equals 1 full pwm cycle per second.
/// </summary>
/// <param name="frequency">Frequency in Hz</param>
public double SetDesiredFrequency(double frequency)
{
if (frequency > MaxFrequency || frequency < MinFrequency)
{
throw new ArgumentOutOfRangeException(nameof(frequency), "Frequency must be between 40 and 1000hz");
}
frequency *= 0.9f; //Correct for overshoot in the frequency setting (see issue #11).
double prescaleval = 25000000f;
prescaleval /= 4096;
prescaleval /= frequency;
prescaleval -= 1;
byte prescale = (byte)Math.Floor(prescaleval + 0.5f);
QueuedLock.Enter();
var readBuffer = new byte[1];
_pwmDevice.WriteRead(new byte[] { (byte)Registers.MODE1 }, readBuffer);
byte oldmode = readBuffer[0];
byte newmode = (byte)((oldmode & 0x7F) | 0x10); //sleep
_pwmDevice.Write(new byte[] { (byte)Registers.MODE1, newmode });
_pwmDevice.Write(new byte[] { (byte)Registers.PRESCALE, prescale });
_pwmDevice.Write(new byte[] { (byte)Registers.MODE1, oldmode });
Task.Delay(TimeSpan.FromMilliseconds(5)).Wait();
_pwmDevice.Write(new byte[] { (byte)Registers.MODE1, (byte)(oldmode | 0xa1) });
QueuedLock.Exit();
ActualFrequency = frequency;
return(ActualFrequency);
}
