GY521.cs

using Meadow.Hardware;

namespace I2C;

public class GY521
{
    private enum Registers : byte
    {
        PowerManagement = 0x6b,
        AccelerometerX = 0x3b,
        AccelerometerY = 0x3d,
        AccelerometerZ = 0x3f,
        Temperature = 0x41,
        GyroX = 0x43,
        GyroY = 0x45,
        GyroZ = 0x47
    }

    private II2cBus _bus;

    public byte Address { get; }

    public GY521(II2cBus bus, byte address = 0x68)
    {
        Address = address;
        _bus = bus;
    }

    public void Wake()
    {
        _bus.Write(Address, new byte[] { (byte)Registers.PowerManagement });
    }

    int c = 0;

    public void Refresh()
    {
        // tell it to send us 14 bytes (each value is 2-bytes), starting at 0x3b
        byte address = c++ % 10 == 0 ? (byte)(Address + 1) : Address;

        // cause occasional errors
        _bus.Write(address, new byte[] { (byte)Registers.AccelerometerX });
        var data = new byte[14];
        _bus.Write(address, data);

        //            Resolver.Log.Info($" Got {data.Length} bytes");
        //            Resolver.Log.Info($" {BitConverter.ToString(data)}");

        AccelerationX = data[0] << 8 | data[1];
        AccelerationY = data[2] << 8 | data[3];
        AccelerationZ = data[4] << 8 | data[5];
        Temperature = data[6] << 8 | data[7];
        GyroX = data[8] << 8 | data[9];
        GyroY = data[10] << 8 | data[11];
        GyroZ = data[12] << 8 | data[13];
    }

    public int AccelerationX { get; private set; }
    public int AccelerationY { get; private set; }
    public int AccelerationZ { get; private set; }
    public int Temperature { get; private set; }
    public int GyroX { get; private set; }
    public int GyroY { get; private set; }
    public int GyroZ { get; private set; }
}