Reset Cruizcore Sensor

[jabrena]

I need to find a solution to Reset the sensor using a I2C Block. Exist a solution for Arduino and to reading I2C registers but I am not sure if exist a solution to write.

I2C Registers:
XGL_PORT = 1; // Physical port in the EV3 block can be 1 to 4
XGL_ADDR = 0x02; // XG1300L device I2C address, this cannot be changed
XGL_RESET_REG = 0x60; // XG1300L reset register
message = {XGL_ADDR, XGL_RESET};
// I2Cwrite(port, return_len, buffer)
I2Cwrite(XGL_PORT, 0, message);

Arduino I2C Block:
http://www.dexterindustries.com/howto/connecting-ev3-arduino/
https://engmuhannadalkhudari.wordpress.com/2016/02/11/nxtev3-arduino-i2c-ultimate-guide/

EV3 Read I2C Block:
http://www.mindsensors.com/blog/how-to/check-basic-information-of-your-i2c-sensors

LeJOS Driver:
http://www.lejos.org/ev3/docs/lejos/hardware/sensor/CruizcoreGyro.html
https://sourceforge.net/p/lejos/ev3/code/ci/master/tree/ev3classes/src/lejos/hardware/sensor/CruizcoreGyro.java

NXT I2C Blocks:
http://www.teamhassenplug.org/NXT/NXTGAdditions.html

[jabrena]

I receive and answer from Minfinity but using a Textual programming language:

The XG1300L device resets the angle value every time it is restarted.
The EV3G block that we provide resets the device every time you start
your program, but it does not provide the functionality to do so after
the program has started. Nevertheless our EV3 Block [1] is open source
and could be modified to add these function using a free version of
Labview [2].

The second alternative that you propose is valid. The way it works is
by addressing the RESET register. This is done by writing to the
XG1300L I2C address (0x2) the character 0x60 (reset register) without
expecting any return value. The following c-like pseudocode show the
process:
XGL_PORT = 1; // Physical port in the EV3 block can be 1 to 4
XGL_ADDR = 0x02; // XG1300L device I2C address, this cannot be changed
XGL_RESET_REG = 0x60; // XG1300L reset register
message = {XGL_ADDR, XGL_RESET};
// I2Cwrite(port, return_len, buffer)
I2Cwrite(XGL_PORT, 0, message);

I need to find a solution using EV3G

[jabrena]

I have written to Minfinity to know if with the Dexter I2C block is possible to send to the address 0x02 the register 0x60 to the sensor, in order to reset the sensor.

Besides, I have just sent a request to Dexter about the usage of the I2C Block in the forum.
http://forum.dexterindustries.com/t/doubt-with-the-i2c-block/2017

I think that the idea is right, re-reading this article from dexter:
http://www.dexterindustries.com/howto/connecting-ev3-arduino/

"For a 1 byte write, change the function to Write 1 Byte and enter the byte that you want to send to the Arduino. When you start the program, the EV3 will send the data to the Arduino and the Arduino will display the data on the Serial Terminal."

Another interesting article about the usage of I2C Block from Dexter is:
https://engmuhannadalkhudari.wordpress.com/2016/02/11/nxtev3-arduino-i2c-ultimate-guide/

[jabrena]

I am using this 7 bits table:
http://www.neurophys.wisc.edu/comp/docs/ascii/

[jabrena]

An interesting doc from EV3Dev:
http://www.ev3dev.org/docs/sensors/i2c-sensor-addressing/

[jabrena]

""

[jabrena]

It is possible to read the values from I2C Registers:
http://www.neurophys.wisc.edu/comp/docs/ascii/ (This link help in the process to convert HEX to Decimal)

[jabrena]

Now, it is necessary to discover the calculus for the 5 outputs of the block.
Many thanks @DexterInd for the technical support and excellent EV3G I2C Block:
http://forum.dexterindustries.com/t/doubt-with-the-i2c-block/2017

[jabrena]

https://www.youtube.com/watch?v=6IAkYpmA1DQ
https://www.youtube.com/watch?v=eqZgxR6eRjo

[jabrena]

https://youtu.be/5BWerr7rJmU

[jabrena]

The key point:

The inertial sensors in the CruizCore XG1300L are factory calibrated and the measurements provided in the form of signed short integers (16 bits or two bytes). The two bytes represent the sensor reading multiplied by a scale factor of 100.

The block used only read the first byte.

[jabrena]

New question on Dexter forum:
http://forum.dexterindustries.com/t/how-to-read-a-short-integer-stored-in-2-bytes-with-the-block-i2c-read-8-bytes/2072

[jabrena]

New answer from Minfinity:

I am glad you were able to read data using the I2C module directly.
You can access a total of 10 registers starting in address 66 (decimal). And your description in the comments section of your program is correct.
Angle = (LSB_66 + MSB_67 * 256) / 100; // (deg)
Rate = (LSB_67 + MSB_68 * 256) / 100; // (deg / sec)
AccX = (LSB_69 + MSB_70 * 256) / ACC_RANGE / 2; // (m / sec^2)
AccY = (LSB_71 + MSB_72 * 256) / ACC_RANGE / 2; // (m / sec^2)
AccZ = (LSB_73 + MSB_73 * 256) / ACC_RANGE / 2; // (m / sec^2)

ACC_RANGE can be 2, 4, or 8

You should also be able to reset the Angle value to zero by writing to the address 96 (decimal).

The Rate information can be integrated over time to compute angle as follows:
Angle_from_rate = 0 ; // Only during the initialization

Angle_from_rate = Angle_from_rate + Rate * PERIOD

However, this only works if PERIOD is constant or variable but known (not sure if this can be done in the EV3 dev environment).

A work around is to use the Angle value to compute the Angle difference and avoid having to deal with the PERIOD as follows
Angle_diff = 0 ; // Only during the initialization
Last_Angf = Angle ; // You must read at least once the angle to initialize

Angle_diff = Last_Angle - Angle;
Last_Angle = Angle;
Angle_from_diff = Angle_from_diff + Angle_diff;

[jabrena]

Pending doubt:

The inertial sensors in the CruizCore XG1300L are factory calibrated and the measurements provided in the form of signed short integers (16 bits or two bytes). The two bytes represent the sensor reading multiplied by a scale factor of 100.