Remarks
| Bno055 | |
|---|---|
| Status |  |
| Source code | GitHub |
| Datasheet(s) | GitHub |
| NuGet package |  |
BNO055 is a 9-axis absolute orientation sensor. The three sensors (accelerometer, gyroscope and magnetometer) are measured with a 32-bit cortex M0 microcontroller. The BNO055 is controlled via I2C.
Purchasing
Code Example
Bno055 sensor;
public override Task Initialize()
{
Resolver.Log.Info("Initialize...");
// create the sensor driver
sensor = new Bno055(Device.CreateI2cBus());
// classical .NET events can also be used:
sensor.Updated += (sender, result) =>
{
Resolver.Log.Info($"Accel: [X:{result.New.Acceleration3D?.X.MetersPerSecondSquared:N2}," +
$"Y:{result.New.Acceleration3D?.Y.MetersPerSecondSquared:N2}," +
$"Z:{result.New.Acceleration3D?.Z.MetersPerSecondSquared:N2} (m/s^2)]");
Resolver.Log.Info($"Gyro: [X:{result.New.AngularVelocity3D?.X.DegreesPerSecond:N2}," +
$"Y:{result.New.AngularVelocity3D?.Y.DegreesPerSecond:N2}," +
$"Z:{result.New.AngularVelocity3D?.Z.DegreesPerSecond:N2} (degrees/s)]");
Resolver.Log.Info($"Compass: [X:{result.New.MagneticField3D?.X.Tesla:N2}," +
$"Y:{result.New.MagneticField3D?.Y.Tesla:N2}," +
$"Z:{result.New.MagneticField3D?.Z.Tesla:N2} (Tesla)]");
Resolver.Log.Info($"Gravity: [X:{result.New.GravityVector?.X.MetersPerSecondSquared:N2}," +
$"Y:{result.New.GravityVector?.Y.MetersPerSecondSquared:N2}," +
$"Z:{result.New.GravityVector?.Z.MetersPerSecondSquared:N2} (meters/s^2)]");
Resolver.Log.Info($"Quaternion orientation: [X:{result.New.QuaternionOrientation?.X:N2}," +
$"Y:{result.New.QuaternionOrientation?.Y:N2}," +
$"Z:{result.New.QuaternionOrientation?.Z:N2}]");
Resolver.Log.Info($"Euler orientation: [heading: {result.New.EulerOrientation?.Heading:N2}," +
$"Roll: {result.New.EulerOrientation?.Roll:N2}," +
$"Pitch: {result.New.EulerOrientation?.Pitch:N2}]");
Resolver.Log.Info($"Linear Accel: [X:{result.New.LinearAcceleration?.X.MetersPerSecondSquared:N2}," +
$"Y:{result.New.LinearAcceleration?.Y.MetersPerSecondSquared:N2}," +
$"Z:{result.New.LinearAcceleration?.Z.MetersPerSecondSquared:N2} (meters/s^2)]");
Resolver.Log.Info($"Temp: {result.New.Temperature?.Celsius:N2}C");
};
// Example that uses an IObservable subscription to only be notified when the filter is satisfied
var consumer = Bno055.CreateObserver(
handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{result.New.Acceleration3D?.X.MetersPerSecondSquared:N2}, old: X:{result.Old?.Acceleration3D?.X.MetersPerSecondSquared:N2}"),
// only notify if there's a greater than 1 micro tesla on the Y axis
filter: result =>
{
if (result.Old is { } old)
{ //c# 8 pattern match syntax. checks for !null and assigns var.
return ((result.New.Acceleration3D - old.Acceleration3D)?.Y > new Acceleration(1, AU.MetersPerSecondSquared));
}
return false;
});
sensor.Subscribe(consumer);
return Task.CompletedTask;
}
public async override Task Run()
{
await ReadConditions();
sensor.StartUpdating(TimeSpan.FromMilliseconds(500));
}
protected async Task ReadConditions()
{
var result = await sensor.Read();
Resolver.Log.Info("Initial Readings:");
Resolver.Log.Info($"Accel: [X:{result.Acceleration3D?.X.MetersPerSecondSquared:N2}," +
$"Y:{result.Acceleration3D?.Y.MetersPerSecondSquared:N2}," +
$"Z:{result.Acceleration3D?.Z.MetersPerSecondSquared:N2} (m/s^2)]");
Resolver.Log.Info($"Gyro: [X:{result.AngularVelocity3D?.X.DegreesPerSecond:N2}," +
$"Y:{result.AngularVelocity3D?.Y.DegreesPerSecond:N2}," +
$"Z:{result.AngularVelocity3D?.Z.DegreesPerSecond:N2} (degrees/s)]");
Resolver.Log.Info($"Compass: [X:{result.MagneticField3D?.X.Tesla:N2}," +
$"Y:{result.MagneticField3D?.Y.Tesla:N2}," +
$"Z:{result.MagneticField3D?.Z.Tesla:N2} (Tesla)]");
Resolver.Log.Info($"Gravity: [X:{result.GravityVector?.X.MetersPerSecondSquared:N2}," +
$"Y:{result.GravityVector?.Y.MetersPerSecondSquared:N2}," +
$"Z:{result.GravityVector?.Z.MetersPerSecondSquared:N2} (meters/s^2)]");
Resolver.Log.Info($"Quaternion orientation: [X:{result.QuaternionOrientation?.X:N2}," +
$"Y:{result.QuaternionOrientation?.Y:N2}," +
$"Z:{result.QuaternionOrientation?.Z:N2}]");
Resolver.Log.Info($"Euler orientation: [heading: {result.EulerOrientation?.Heading:N2}," +
$"Roll: {result.EulerOrientation?.Roll:N2}," +
$"Pitch: {result.EulerOrientation?.Pitch:N2}]");
Resolver.Log.Info($"Linear Accel: [X:{result.LinearAcceleration?.X.MetersPerSecondSquared:N2}," +
$"Y:{result.LinearAcceleration?.Y.MetersPerSecondSquared:N2}," +
$"Z:{result.LinearAcceleration?.Z.MetersPerSecondSquared:N2} (meters/s^2)]");
Resolver.Log.Info($"Temp: {result.Temperature?.Celsius:N2}C");
}
Sample project(s) available on GitHub
Wiring Example
The following diagram shows the BNO055 configured for bas
Syntax
public class Bno055 : ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Units.Temperature? Temperature)>, ISamplingSensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Units.Temperature? Temperature)>, ISamplingSensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Units.Temperature? Temperature)>, IDisposable, IAccelerometer, IGyroscope, ITemperatureSensorConstructors
Bno055(II2cBus, Bno055.Addresses)
Create a new BNO055 object using the default parameters for the component.
Declaration
public Bno055(II2cBus i2cBus, Bno055.Addresses address = default(Bno055.Addresses))Parameters
| Type | Name | Description |
|---|---|---|
| II2cBus | i2cBus | I2C bus (default = 400 KHz). |
| Bno055.Addresses | address | Address of the BNO055 (default = 0x28). |
Bno055(II2cBus, Byte)
Create a new BNO055 object using the default parameters for the component.
Declaration
public Bno055(II2cBus i2cBus, byte address)Parameters
| Type | Name | Description |
|---|---|---|
| II2cBus | i2cBus | I2C bus (default = 400 KHz). |
| System.Byte | address | Address of the BNO055 (default = 0x28). |
Properties
Acceleration3D
Current Acceleration
Declaration
public Acceleration3D? Acceleration3D { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<Acceleration3D> |
AngularVelocity3D
Current Angular Velocity
Declaration
public AngularVelocity3D? AngularVelocity3D { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<AngularVelocity3D> |
EulerOrientation
Current Euler Orientation
Declaration
public EulerAngles? EulerOrientation { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<EulerAngles> |
GravityVector
Current Gravity Vector
Declaration
public Acceleration3D? GravityVector { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<Acceleration3D> |
IsAccelerometerCalibrated
Get the accelerometer calibration status.
Declaration
public bool IsAccelerometerCalibrated { get; }Property Value
| Type | Description |
|---|---|
| System.Boolean |
IsFullyCalibrated
Is the system fully calibrated?
Declaration
public bool IsFullyCalibrated { get; }Property Value
| Type | Description |
|---|---|
| System.Boolean |
Remarks
The sensor is fully calibrated if the system, accelerometer, gyroscope and megnetometer are all calibrated.
IsGyroscopeCalibrated
Get the gyroscope calibration status.
Declaration
public bool IsGyroscopeCalibrated { get; }Property Value
| Type | Description |
|---|---|
| System.Boolean |
IsInFusionMode
Check if sensor is currently working in Fusion mode.
Declaration
public bool IsInFusionMode { get; }Property Value
| Type | Description |
|---|---|
| System.Boolean |
IsMagnetometerCalibrated
Get the magnetometer status.
Declaration
public bool IsMagnetometerCalibrated { get; }Property Value
| Type | Description |
|---|---|
| System.Boolean |
IsSystemCalibrated
Get the system calibration status.
Declaration
public bool IsSystemCalibrated { get; }Property Value
| Type | Description |
|---|---|
| System.Boolean |
LinearAcceleration
Current Linear Acceleration
Declaration
public Acceleration3D? LinearAcceleration { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<Acceleration3D> |
MagneticField3D
Current Magnetic Field
Declaration
public MagneticField3D? MagneticField3D { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<MagneticField3D> |
OperatingMode
Get / set the current operating mode for the sensor.
Declaration
public byte OperatingMode { get; set; }Property Value
| Type | Description |
|---|---|
| System.Byte |
Remarks
Mode change takes 7-19 ms.
PowerMode
Get or set the power mode for the sensor.
Declaration
public byte PowerMode { get; set; }Property Value
| Type | Description |
|---|---|
| System.Byte |
QuaternionOrientation
Current Quaternion Orientation
Declaration
public Quaternion? QuaternionOrientation { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<Quaternion> |
Temperature
Current Temperature value
Declaration
public Units.Temperature? Temperature { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<Units.Temperature> |
TemperatureSource
Select the source of the Temperatute property.
Declaration
public Bno055.Sensor TemperatureSource { get; set; }Property Value
| Type | Description |
|---|---|
| Bno055.Sensor |
Methods
ConvertReadingToEulerAngles(Int32, Double)
Convert the sensor readings into an orientation in Euler angles
Declaration
protected EulerAngles ConvertReadingToEulerAngles(int start, double divisor)Parameters
| Type | Name | Description |
|---|---|---|
| System.Int32 | start | First of the sensor readings to convert |
| System.Double | divisor | Divisor to apply to the sensor data |
Returns
| Type | Description |
|---|---|
| EulerAngles | EulerAngles object containing the orientation informaiton |
DisplayRegisters()
Read all of the registers and display their values on the Debug output.
Declaration
public void DisplayRegisters()GetReadings(Int32, Double)
Convert a section of the sensor data into a tuple
Declaration
protected (double X, double Y, double Z) GetReadings(int start, double divisor)Parameters
| Type | Name | Description |
|---|---|---|
| System.Int32 | start | Start of the data in the sensorReadings member variable |
| System.Double | divisor | Divisor |
Returns
| Type | Description |
|---|---|
| System.ValueTuple<System.Double, System.Double, System.Double> |
RaiseEventsAndNotify(IChangeResult<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<MagneticField3D> MagneticField3D, Nullable<Quaternion> QuaternionOrientation, Nullable<Acceleration3D> LinearAcceleration, Nullable<Acceleration3D> GravityVector, Nullable<EulerAngles> EulerOrientation, Nullable<Units.Temperature> Temperature)>)
Raise events for subcribers and notify of value changes
Declaration
protected override void RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Units.Temperature? Temperature)> changeResult)Parameters
| Type | Name | Description |
|---|---|---|
| IChangeResult<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<MagneticField3D>, System.Nullable<Quaternion>, System.Nullable<Acceleration3D>, System.Nullable<Acceleration3D>, System.Nullable<EulerAngles>, System.ValueTuple<System.Nullable<Units.Temperature>>>> | changeResult | The updated sensor data |
ReadSensor()
Reads data from the sensor
Declaration
protected override Task<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Units.Temperature? Temperature)> ReadSensor()Returns
| Type | Description |
|---|---|
| Task<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<MagneticField3D>, System.Nullable<Quaternion>, System.Nullable<Acceleration3D>, System.Nullable<Acceleration3D>, System.Nullable<EulerAngles>, System.ValueTuple<System.Nullable<Units.Temperature>>>> | The latest sensor reading |
Overrides
Meadow.Foundation.SamplingSensorBase<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<MagneticField3D>, System.Nullable<Meadow.Foundation.Spatial.Quaternion>, System.Nullable<Acceleration3D>, System.Nullable<Acceleration3D>, System.Nullable<Meadow.Foundation.Spatial.EulerAngles>, System.ValueTuple<System.Nullable<Units.Temperature>>>>.ReadSensor()
StartUpdating(Nullable<TimeSpan>)
Start updating
Declaration
public override void StartUpdating(TimeSpan? updateInterval = null)Parameters
| Type | Name | Description |
|---|---|---|
| System.Nullable<TimeSpan> | updateInterval | The time between updates |
StopUpdating()
Stop reading data
Declaration
public override void StopUpdating()Overrides
Meadow.Foundation.PollingSensorBase<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<MagneticField3D>, System.Nullable<Meadow.Foundation.Spatial.Quaternion>, System.Nullable<Acceleration3D>, System.Nullable<Acceleration3D>, System.Nullable<Meadow.Foundation.Spatial.EulerAngles>, System.ValueTuple<System.Nullable<Units.Temperature>>>>.StopUpdating()
Events
Acceleration3DUpdated
Raised when the acceleration value changes
Declaration
public event EventHandler<IChangeResult<Acceleration3D>> Acceleration3DUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<Acceleration3D>> |
AngularVelocity3DUpdated
Raised when the angular velocity value changes
Declaration
public event EventHandler<IChangeResult<AngularVelocity3D>> AngularVelocity3DUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<AngularVelocity3D>> |
EulerOrientationUpdated
Raised when the euler orientation value changes
Declaration
public event EventHandler<IChangeResult<EulerAngles>> EulerOrientationUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<EulerAngles>> |
GravityVectorUpdated
Raised when the gravity vector acceleration value changes
Declaration
public event EventHandler<IChangeResult<Acceleration3D>> GravityVectorUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<Acceleration3D>> |
LinearAccelerationUpdated
Raised when the linear acceleration value changes
Declaration
public event EventHandler<IChangeResult<Acceleration3D>> LinearAccelerationUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<Acceleration3D>> |
MagneticField3DUpdated
Raised when the magetic field value changes
Declaration
public event EventHandler<IChangeResult<MagneticField3D>> MagneticField3DUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<MagneticField3D>> |
QuaternionOrientationUpdated
Raised when the quaernion orientation value changes
Declaration
public event EventHandler<IChangeResult<Quaternion>> QuaternionOrientationUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<Quaternion>> |
TemperatureUpdated
Raised when the temperature value changes
Declaration
public event EventHandler<IChangeResult<Units.Temperature>> TemperatureUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<Units.Temperature>> |