I try to connect a gyro (or TempHumid SI70) on Cerberus on Socket 1 (or 2 same result). I can’t talk with it with TinyClr 1.0.0.preview1.
If I try same app with FEZ Spider all is working.
Maybe a bug (only Cerberus or STM32 …) ?
App code:
using System;
using System.Diagnostics;
using System.Threading;
using Bauland.Gadgeteer;
using GHIElectronics.TinyCLR.Pins;
// ReSharper disable FunctionNeverReturns
namespace TestGyro
{
static class Program
{
private static Gyro _gyro;
static void Main()
{
// Gyro connected on Socket 2 (Type I) of FEZ Cerberus mainboard.
// _gyro = new Gyro(FEZCerberus.I2cBus.Socket2);
_gyro=new Gyro(FEZSpider.I2cBus.Socket3);
Debug.WriteLine("Don't move sensor");
_gyro.Calibrate();
Thread.Sleep(1000);
Debug.WriteLine("You can move sensor");
_gyro.MeasurementComplete += Gyro_MeasurementComplete;
_gyro.MeasurementInterval = TimeSpan.FromSeconds(1);
_gyro.StartTakingMeasurements();
while (true)
{
Thread.Sleep(20);
}
}
private static void Gyro_MeasurementComplete(Gyro sender, Gyro.MeasurementCompleteEventArgs e)
{
Debug.WriteLine("Results: Temp.: " + e.Temperature.ToString("F1") + "°C, X: " + e.X.ToString("F1") + ",Y: " + e.Y.ToString("F1") + ",Z: " + e.Z.ToString("F1"));
}
}
}
Module code:
using System;
using System.Diagnostics;
using GHIElectronics.TinyCLR.Devices.I2c;
// ReSharper disable MemberCanBePrivate.Global
// ReSharper disable UnusedMember.Global
// ReSharper disable EventNeverSubscribedTo.Global
namespace Bauland.Gadgeteer
{
/// <summary>
/// Wrapper class for Gyro Gadgeteer Module
/// </summary>
public class Gyro
{
private readonly Timer _timer;
private readonly I2cDevice _i2CDevice;
private readonly byte[] _readBuffer1;
private readonly byte[] _writeBuffer1;
private readonly byte[] _writeBuffer2;
private readonly byte[] _readBuffer8;
private double _offsetX;
private double _offsetY;
private double _offsetZ;
private MeasurementCompleteEventHandler _onMeasurementComplete;
/// <summary>Represents the delegate used for the MeasurementComplete event.</summary>
/// <param name="sender">The object that raised the event.</param>
/// <param name="e">The event arguments.</param>
public delegate void MeasurementCompleteEventHandler(Gyro sender, MeasurementCompleteEventArgs e);
/// <summary>Raised when a measurement reading is complete.</summary>
public event MeasurementCompleteEventHandler MeasurementComplete;
/// <summary>
/// The low pass filter configuration. Note that setting the low pass filter to 256Hz results in a maximum internal sample rate of 8kHz. Any other setting results in a maximum sample rate of
/// 1kHz. The sample rate can be further divided by using SampleRateDivider.
/// </summary>
public Bandwidth LowPassFilter
{
get => (Bandwidth)(Read(Register.Scale) & 0x7);
set => Write(Register.Scale, (byte)((byte)value | 0x18));
}
/// <summary>
/// the internal sample rate divider. The gyro outputs are sampled internally at either 8kHz (if the LowPassFilter is set to 256Hz) or 1kHz for any other LowPassFilter settings. This setting
/// can be used to further divide the sample rate.
/// </summary>
public byte SampleRateDivider
{
get => Read(Register.SampleRateDivider);
set => Write(Register.SampleRateDivider, value);
}
/// <summary>The interval at which measurements are taken.</summary>
public TimeSpan MeasurementInterval
{
get => _timer.Interval;
set
{
var wasRunning = _timer.IsRunning;
_timer.Stop();
_timer.Interval = value;
if (wasRunning)
_timer.Start();
}
}
/// <summary>Whether or not the driver is currently taking measurements.</summary>
public bool IsTakingMeasurements => _timer.IsRunning;
/// <summary>Available low pass filter bandwidth settings.</summary>
public enum Bandwidth
{
/// <summary>256Hz</summary>
Hertz256 = 0,
/// <summary>188Hz</summary>
Hertz188 = 1,
/// <summary>98Hz</summary>
Hertz98 = 2,
/// <summary>42Hz</summary>
Hertz42 = 3,
/// <summary>20Hz</summary>
Hertz20 = 4,
/// <summary>10Hz</summary>
Hertz10 = 5,
/// <summary>5Hz</summary>
Hertz5 = 6
}
private enum Register : byte
{
SampleRateDivider = 0x15,
Scale = 0x16,
TemperatureOutHigh = 0x1B,
}
/// <summary>
/// Constructor of Gyro
/// </summary>
/// <param name="deviceId">string of i2c bus of I Socket</param>
public Gyro(string deviceId)
{
//Socket socket = Socket.GetSocket(socketNumber, true, this, null);
//socket.EnsureTypeIsSupported('I', this);
_readBuffer1 = new byte[1];
_writeBuffer1 = new byte[1];
_writeBuffer2 = new byte[2];
_readBuffer8 = new byte[8];
_offsetX = 0;
_offsetY = 0;
_offsetZ = 0;
// _i2CDevice = GTI.I2CBusFactory.Create(socket, 0x68, 100, this);
_i2CDevice = I2cController.FromName(deviceId).GetDevice(new I2cConnectionSettings(0x68) { BusSpeed = I2cBusSpeed.FastMode });
SetFullScaleRange();
_timer = new Timer(TimeSpan.FromMilliseconds(200));
_timer.Tick += TakeMeasurement;
}
/// <summary>Calibrates the gyro values. Ensure that the sensor is not moving when calling this method.</summary>
public void Calibrate()
{
Read(Register.TemperatureOutHigh, _readBuffer8);
int rawX = (_readBuffer8[2] << 8) | _readBuffer8[3];
int rawY = (_readBuffer8[4] << 8) | _readBuffer8[5];
int rawZ = (_readBuffer8[6] << 8) | _readBuffer8[7];
rawX = (rawX >> 15 == 1 ? -32767 : 0) + (rawX & 0x7FFF);
rawY = (rawY >> 15 == 1 ? -32767 : 0) + (rawY & 0x7FFF);
rawZ = (rawZ >> 15 == 1 ? -32767 : 0) + (rawZ & 0x7FFF);
_offsetX = rawX / -14.375;
_offsetY = rawY / -14.375;
_offsetZ = rawZ / -14.375;
}
/// <summary>Obtains a single measurement and raises the event when complete.</summary>
public void RequestSingleMeasurement()
{
if (IsTakingMeasurements) throw new InvalidOperationException("You cannot request a single measurement while continuous measurements are being taken.");
_timer.Behavior = Timer.BehaviorType.RunOnce;
_timer.Start();
}
/// <summary>Starts taking measurements and fires MeasurementComplete when a new measurement is available.</summary>
public void StartTakingMeasurements()
{
_timer.Behavior = Timer.BehaviorType.RunContinuously;
_timer.Start();
}
/// <summary>Stops taking measurements.</summary>
public void StopTakingMeasurements()
{
_timer.Stop();
}
private void SetFullScaleRange()
{
Write(Register.Scale, (byte)(Read(Register.Scale) | 0x18));
}
private byte Read(Register register)
{
_writeBuffer1[0] = (byte)register;
_i2CDevice.WriteRead(_writeBuffer1, _readBuffer1);
return _readBuffer1[0];
}
private void Read(Register register, byte[] readBuffer)
{
_writeBuffer1[0] = (byte)register;
_i2CDevice.WriteRead(_writeBuffer1, readBuffer);
}
private void Write(Register register, byte value)
{
_writeBuffer2[0] = (byte)register;
_writeBuffer2[1] = value;
_i2CDevice.Write(_writeBuffer2);
}
private void TakeMeasurement(object sender, EventHandlerArgs args)
{
Read(Register.TemperatureOutHigh, _readBuffer8);
int rawT = (_readBuffer8[0] << 8) | _readBuffer8[1];
int rawX = (_readBuffer8[2] << 8) | _readBuffer8[3];
int rawY = (_readBuffer8[4] << 8) | _readBuffer8[5];
int rawZ = (_readBuffer8[6] << 8) | _readBuffer8[7];
rawT = (rawT >> 15 == 1 ? -32767 : 0) + (rawT & 0x7FFF);
rawX = (rawX >> 15 == 1 ? -32767 : 0) + (rawX & 0x7FFF);
rawY = (rawY >> 15 == 1 ? -32767 : 0) + (rawY & 0x7FFF);
rawZ = (rawZ >> 15 == 1 ? -32767 : 0) + (rawZ & 0x7FFF);
double x = rawX / 14.375 + _offsetX;
double y = rawY / 14.375 + _offsetY;
double z = rawZ / 14.375 + _offsetZ;
double t = (rawT + 13200) / 280.0 + 35;
OnMeasurementComplete(this, new MeasurementCompleteEventArgs(x, y, z, t));
}
private void OnMeasurementComplete(Gyro sender, MeasurementCompleteEventArgs e)
{
if (_onMeasurementComplete == null)
_onMeasurementComplete = OnMeasurementComplete;
MeasurementComplete?.Invoke(sender, e);
}
/// <summary>Event arguments for the MeasurementComplete event.</summary>
public class MeasurementCompleteEventArgs : EventArgs
{
/// <summary>Angular rate around the X axis (roll) in degree per second.</summary>
public double X { get; }
/// <summary>Angular rate around the Y axis (pitch) in degree per second.</summary>
public double Y { get; }
/// <summary>Angular rate around the Z axis (yaw) in degree per second.</summary>
public double Z { get; }
/// <summary>Temperature in degree celsius.</summary>
public double Temperature { get; }
internal MeasurementCompleteEventArgs(double x, double y, double z, double temperature)
{
X = x;
Y = y;
Z = z;
Temperature = temperature;
}
/// <summary>Provides a string representation of the instance.</summary>
/// <returns>A string describing the values contained in the object.</returns>
public override string ToString()
{
return "X: " + X.ToString("f2") + " Y: " + Y.ToString("f2") + " Z: " + Z.ToString("f2") + " Temperature: " + Temperature.ToString("f2");
}
}
}
}
