Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub

Characteristic	Locus
Inheritance	object ObservableBase<Vector> SamplingSensorBase<Vector> PollingSensorBase<Vector> ByteCommsSensorBase<Vector> > Hmc5883 > Qmc5883
Implements	IObservable<IChangeResult<Vector>> ISamplingSensor<Vector> ISensor<Vector> IDisposable II2cPeripheral
Inherited Members	ByteCommsSensorBase<Vector>.BusComms ByteCommsSensorBase<Vector>.ReadBuffer ByteCommsSensorBase<Vector>.WriteBuffer ByteCommsSensorBase<Vector>.Init(int, int) ByteCommsSensorBase<Vector>.Dispose(bool) ByteCommsSensorBase<Vector>.Dispose() PollingSensorBase<Vector>.StartUpdating(TimeSpan?) PollingSensorBase<Vector>.StopUpdating() SamplingSensorBase<Vector>.samplingLock SamplingSensorBase<Vector>.Updated SamplingSensorBase<Vector>.SamplingTokenSource SamplingSensorBase<Vector>.Conditions SamplingSensorBase<Vector>.IsSampling SamplingSensorBase<Vector>.UpdateInterval SamplingSensorBase<Vector>.Read() ObservableBase<Vector>.observers ObservableBase<Vector>.NotifyObservers(IChangeResult<Vector>) ObservableBase<Vector>.Subscribe(IObserver<IChangeResult<Vector>>) ObservableBase<Vector>.CreateObserver(Action<IChangeResult<Vector>>, Predicate<IChangeResult<Vector>>) object.Equals(object) object.Equals(object, object) object.GetHashCode() object.GetType() object.MemberwiseClone() object.ReferenceEquals(object, object) object.ToString()
Namespace	Meadow.Foundation.Sensors.Motion
Assembly	Hmc5883.dll

Syntax

public class Hmc5883 : ByteCommsSensorBase<Vector>, IObservable<IChangeResult<Vector>>, ISamplingSensor<Vector>, ISensor<Vector>, IDisposable, II2cPeripheral

Constructors

Hmc5883(II2cBus, byte, GainLevels, MeasuringModes, DataOutputRates, SampleAmounts, MeasurementConfigurations)

Create a new Hmc5883 object

Declaration

public Hmc5883(II2cBus i2cBus, byte address = 30, Hmc5883.GainLevels gain = GainLevels.Gain1090, Hmc5883.MeasuringModes measuringMode = MeasuringModes.Continuous, Hmc5883.DataOutputRates outputRate = DataOutputRates.Rate15, Hmc5883.SampleAmounts sampleAmount = SampleAmounts.One, Hmc5883.MeasurementConfigurations measurementConfig = MeasurementConfigurations.Normal)

Parameters

Type	Name	Description
II2cBus	i2cBus	The I2C bus
byte	address	The I2C address
Hmc5883.GainLevels	gain	Gain
Hmc5883.MeasuringModes	measuringMode	Measuring mode
Hmc5883.DataOutputRates	outputRate	Output rate
Hmc5883.SampleAmounts	sampleAmount	Sample amount
Hmc5883.MeasurementConfigurations	measurementConfig	Measurement configuration

Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub

Properties

DefaultI2cAddress

The default I2C address for the peripheral

Declaration

public byte DefaultI2cAddress { get; }

Property Value

Type	Description
byte

Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub

DeviceStatus

HMC5883L Status

Declaration

public Hmc5883.Statuses DeviceStatus { get; }

Property Value

Type	Description
Hmc5883.Statuses

Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub

Direction

HMC5883L Direction as a Vector

Declaration

public Vector? Direction { get; }

Property Value

Type	Description
Vector?

Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub

Heading

HMC5883L Heading (DEG)

Declaration

public Azimuth? Heading { get; }

Property Value

Type	Description
Azimuth?

Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub

Methods

DirectionToHeading(Vector)

Calculate heading

Declaration

public static Azimuth DirectionToHeading(Vector direction)

Parameters

Type	Name	Description
Vector	direction	HMC5883L Direction

Returns

Type	Description
Azimuth	Heading (DEG)

Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub

Initialize()

Initialize the sensor

Declaration

protected virtual void Initialize()

Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub

RaiseEventsAndNotify(IChangeResult<Vector>)

Raise events for subscribers and notify of value changes

Declaration

protected override void RaiseEventsAndNotify(IChangeResult<Vector> changeResult)

Parameters

Type	Name	Description
IChangeResult<Vector>	changeResult	The updated sensor data

Overrides

SamplingSensorBase<Vector>.RaiseEventsAndNotify(IChangeResult<Vector>)

Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub

ReadSensor()

Reads data from the sensor

Declaration

protected override Task<Vector> ReadSensor()

Returns

Type	Description
Task<Vector>	The latest sensor reading

Overrides

SamplingSensorBase<Vector>.ReadSensor()

Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub

Events

DirectionUpdated

Event to be raised when the compass changes

Declaration

public event EventHandler<IChangeResult<Vector>> DirectionUpdated

Event Type

Type	Description
EventHandler<IChangeResult<Vector>>

Remarks

Hmc5883
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Hmc5883 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Hmc5883(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Direction: [X:{result.New.X:N2}," +
            $"Y:{result.New.Y:N2}," +
            $"Z:{result.New.Z:N2}]");

        Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result.New).DecimalDegrees:N2}] degrees");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Hmc5883.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{Hmc5883.DirectionToHeading(result.New):N2}," +
                $" old: X:{((result.Old != null) ? Hmc5883.DirectionToHeading(result.Old.Value) : "n/a"):N2} degrees"),
        // only notify if there's a greater than 5° of heading change
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return (Hmc5883.DirectionToHeading(result.New - old) > new Azimuth(5));
            }
            return false;
        });

    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    var result = await sensor.Read();
    Resolver.Log.Info("Initial Readings:");
    Resolver.Log.Info($"Direction: [X:{result.X:N2}," +
        $"Y:{result.Y:N2}," +
        $"Z:{result.Z:N2}]");

    Resolver.Log.Info($"Heading: [{Hmc5883.DirectionToHeading(result).DecimalDegrees:N2}] degrees");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(1000));
}

Sample project(s) available on GitHub