C＃シリアルポートBNO055センサー通信

Question

ラズベリーパイのIMUセンサー（BNO055）と通信するのにC＃とモノを使用しようとしています。私が何をしていても、私はセンサーに読み書きできません。より多くの経験を持つ人が、これを行う適切な方法は何かを教えてくれますか？ありがとう。

初期化：

private void ConnectToBNO055() 
    { 
     GPIO.Write(ResetPin, true); 
     Task.Delay(650).Wait(); 

     Port    = new SerialPort(); 
     Port.PortName  = PortName; 
     Port.BaudRate  = 115200; 
     Port.Parity   = Parity.None; 
     Port.DataBits  = 8; 
     Port.StopBits  = StopBits.One; 
     Port.Handshake  = Handshake.None; 
     Port.ReadTimeout = 5000; 
     Port.WriteTimeout = 5000; 

     try 
     { 
      Port.Open(); 

      while (!Port.IsOpen) { Task.Delay(1).Wait(); } 

      SetMode(OperationMode.OPERATION_MODE_CONFIG); 

      WriteRegister((byte)PageIDRegisterDefinition.BNO055_PAGE_ID_ADDR, 0, false); 

      byte chipID = ReadRegister((byte)PageRegisterDefinitionStart.BNO055_CHIP_ID_ADDR); 

      if ((byte)I2CAddress.BNO055_ID == chipID) 
      { 
       Reset(); 

       WriteRegister((byte)ModeRegisters.BNO055_PWR_MODE_ADDR, (byte)PowerMode.POWER_MODE_NORMAL); 

       WriteRegister((byte)ModeRegisters.BNO055_SYS_TRIGGER_ADDR, 0x0); 

       SetMode(OperationMode.OPERATION_MODE_NDOF); 

       Connected = true; 
       Console.WriteLine("Connected to IMU."); 

       Console.WriteLine("Calibrating IMU. . ."); 

       BNO055.CalibrationStatus lastCal; 
       BNO055.CalibrationStatus cal = GetCalibrationStatus(); 

       Console.WriteLine("System: " + cal.System.ToString() + ", Magnometer: " + cal.Mag.ToString() + ", Gyroscope: " + cal.Gyro.ToString() + ", Accelerometer: " + cal.Accel.ToString()); 
       while (cal.System != 3 || cal.Mag != 3 || cal.Gyro != 3 || cal.Accel != 3) 
       { 
        Task.Delay(250).Wait(); 

        lastCal = cal; 
        cal = GetCalibrationStatus(); 

        if (cal.Accel != lastCal.Accel || cal.Gyro != lastCal.Gyro || cal.Mag != lastCal.Mag || cal.System != lastCal.System) 
        { 
         Console.WriteLine("System: " + cal.System.ToString() + ", Magnometer: " + cal.Mag.ToString() + ", Gyroscope: " + cal.Gyro.ToString() + ", Accelerometer: " + cal.Accel.ToString()); 
        } 
       } 

       Calibrated = true; 
       Console.WriteLine("IMU Calibrated."); 
      } 
      else 
      { 
       Console.WriteLine("Unable to connect to IMU."); 
      } 
     } 
     catch (Exception) 
     { 
      Console.WriteLine("Unable to connect to IMU."); 
     } 
    } 

IO方法：

private void WriteRegister(byte address, byte data, bool ack = true) 
    { 
     byte[] writeBuffer = new byte[] { 0xAA, 0x00, address, 1, data }; 
     byte[] response; 
     try 
     { 
      response = WriteData(writeBuffer, ack); 
      if (ack) 
      { 
       if (0xEE01 != (response[0] << 8 | response[1])) 
        throw new Exception(string.Format("WriteRegister returned 0x{0:x2},0x{1:x2}", response[0], response[1])); 
      } 
     } 
     catch (Exception ex) 
     { 
      Console.WriteLine(string.Format("WriteRegister error: {0}", ex.Message)); 
     } 
    } 

    private byte ReadRegister(byte register) 
    { 
     byte[] commandBuffer = new byte[] { 0xAA, 0x01, register, 1 }; 
     byte[] readBuffer = new byte[1]; 
     try 
     { 
      readBuffer = ReadData(commandBuffer, 1); 
     } 
     catch (Exception ex) 
     { 
      Console.WriteLine(string.Format("ReadRegister error: {0}", ex.Message)); 
     } 
     return readBuffer[0]; 
    } 

    private byte[] WriteData(byte[] command, bool ack = true, int retries = 5) 
    { 
     byte[] ackBuffer = new byte[2]; 
     bool done = false; 

     while ((!done) && (retries-- > 0)) 
     { 
      Port.Write(command, 0, command.Length); 

      if (ack) 
      { 
       while (Port.BytesToRead != 2) { Task.Delay(1).Wait(); } 
       Port.Read(ackBuffer, 0, 2); 

       done = 0xEE07 != (ackBuffer[0] << 8 | ackBuffer[1]); 
      } 
      else 
       done = true; 
     } 

     if (!done) 
      throw new Exception("WriteData retries exceeded"); 
     return ackBuffer; 
    } 

    private byte[] ReadData(byte[] command, int readLength) 
    { 
     byte[] headerBuffer = new byte[2]; 
     byte[] returnBuffer = new byte[readLength]; 

     Port.Write(command, 0, command.Length); 

     while (Port.BytesToRead != 2) { Task.Delay(1).Wait(); } 
     Port.Read(headerBuffer, 0, 2); 

     if (headerBuffer[0] != 0xBB) 
      throw new Exception(string.Format("ReadData error 0x{0:x2}{1:x2}", headerBuffer[0], headerBuffer[1])); 
     if (headerBuffer[1] != readLength) 
      throw new Exception(string.Format("ReadData error: failed to read {0} bytes. Read {1}", readLength, headerBuffer[1])); 

     while (Port.BytesToRead != readLength) { Task.Delay(1).Wait(); } 
     Port.Read(returnBuffer, 0, readLength); 

     return returnBuffer; 
    } 

Answer 1

問題ここでは、私はすぐにデータを書き込んだ後、センサーからの応答を読みしようとしていたということでした。この問題を解決するには、BytesToReadプロパティが要求されたレスポンスの長さに等しくなるのを待つループを追加して読み取ります。