Remarks
| Mpu6050 | |
|---|---|
| Status |  |
| Source code | GitHub |
| Datasheet(s) | GitHub |
| NuGet package |  |
Code Example
Mpu6050 sensor;
public override Task Initialize()
{
Resolver.Log.Info("Initialize...");
sensor = new Mpu6050(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}," +
$"Z:{result.New.Acceleration3D?.Z.MetersPerSecondSquared:N2} (m/s^2)]");
Resolver.Log.Info($"Angular Velocity: [X:{result.New.AngularVelocity3D?.X.DegreesPerSecond:N2}," +
$"Y:{result.New.AngularVelocity3D?.Y.DegreesPerSecond:N2}," +
$"Z:{result.New.AngularVelocity3D?.Z.DegreesPerSecond:N2} (dps)]");
Resolver.Log.Info($"Temp: {result.New.Temperature?.Celsius:N2}C");
};
// Example that uses an IObservable subscription to only be notified when the filter is satisfied
var consumer = Mpu6050.CreateObserver(
handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{result.New.Acceleration3D?.X:N2}, old: X:{result.Old?.Acceleration3D?.X:N2}"),
// only notify if there's a greater than 1G change in the Z direction
filter: result => {
if (result.Old is { } old) { //c# 8 pattern match syntax. checks for !null and assigns var.
return ((result.New.Acceleration3D.Value - old.Acceleration3D.Value).Z > new Acceleration(1, AU.Gravity));
}
return false;
});
sensor.Subscribe(consumer);
return Task.CompletedTask;
}
public async override Task Run()
{
//==== one-off read
var result = await sensor.Read();
Resolver.Log.Info($"Accel: [X:{result.Acceleration3D?.X.MetersPerSecondSquared:N2}," +
$"Y:{result.Acceleration3D?.Y.MetersPerSecondSquared:N2}," +
$"Z:{result.Acceleration3D?.Z.MetersPerSecondSquared:N2} (m/s^2)]");
Resolver.Log.Info($"Angular Accel: [X:{result.AngularVelocity3D?.X.DegreesPerSecond:N2}," +
$"Y:{result.AngularVelocity3D?.Y.DegreesPerSecond:N2}," +
$"Z:{result.AngularVelocity3D?.Z.DegreesPerSecond:N2} (dps)]");
Resolver.Log.Info($"Temp: {result.Temperature?.Celsius:N2}C");
sensor.StartUpdating(TimeSpan.FromMilliseconds(500));
}
Sample project(s) available on GitHub
Syntax
public class Mpu6050 : ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Units.Temperature? Temperature)>, ISamplingSensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Units.Temperature? Temperature)>, ISamplingSensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Units.Temperature? Temperature)>, IDisposable, IAccelerometer, IGyroscope, ITemperatureSensorConstructors
Mpu6050(II2cBus, Mpu6050.Addresses)
Create a new Mpu6050 object
Declaration
public Mpu6050(II2cBus i2cBus, Mpu6050.Addresses address = default(Mpu6050.Addresses))Parameters
| Type | Name | Description |
|---|---|---|
| II2cBus | i2cBus | The I2C bus |
| Mpu6050.Addresses | address | The I2C address |
Mpu6050(II2cBus, Byte)
Create a new Mpu6050 object
Declaration
public Mpu6050(II2cBus i2cBus, byte address)Parameters
| Type | Name | Description |
|---|---|---|
| II2cBus | i2cBus | The I2C bus |
| System.Byte | address | The I2C address |
Properties
Acceleration3D
Acceleration 3D
Declaration
public Acceleration3D? Acceleration3D { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<Acceleration3D> |
AngularVelocity3D
Angualar acceleration 3D
Declaration
public AngularVelocity3D? AngularVelocity3D { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<AngularVelocity3D> |
Temperature
Current Temperature value
Declaration
public Units.Temperature? Temperature { get; }Property Value
| Type | Description |
|---|---|
| System.Nullable<Units.Temperature> |
Methods
LoadConfiguration()
Load the sensor configuration
Declaration
protected void LoadConfiguration()RaiseEventsAndNotify(IChangeResult<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>)
Raise events for subcribers and notify of value changes
Declaration
protected override void RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Units.Temperature? Temperature)> changeResult)Parameters
| Type | Name | Description |
|---|---|---|
| IChangeResult<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<Units.Temperature>>> | changeResult | The updated sensor data |
ReadSensor()
Reads data from the sensor
Declaration
protected override Task<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Units.Temperature? Temperature)> ReadSensor()Returns
| Type | Description |
|---|---|
| Task<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<Units.Temperature>>> | The latest sensor reading |
Overrides
Meadow.Foundation.SamplingSensorBase<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<Units.Temperature>>>.ReadSensor()
Wake()
Wake the sensor
Declaration
public void Wake()Events
Acceleration3DUpdated
Raised when the acceration value changes
Declaration
public event EventHandler<IChangeResult<Acceleration3D>> Acceleration3DUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<Acceleration3D>> |
AngularVelocity3DUpdated
Raised when the angular acceleration value changes
Declaration
public event EventHandler<IChangeResult<AngularVelocity3D>> AngularVelocity3DUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<AngularVelocity3D>> |
TemperatureUpdated
Raised when the temperature value changes
Declaration
public event EventHandler<IChangeResult<Units.Temperature>> TemperatureUpdatedEvent Type
| Type | Description |
|---|---|
| EventHandler<IChangeResult<Units.Temperature>> |