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)
            {
                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

Characteristic	Locus
Inheritance	object ObservableBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)> SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)> PollingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)> ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)> > Mpu6050
Implements	IObservable<IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>> ISamplingSensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)> ISensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)> IDisposable IAccelerometer ISamplingSensor<Acceleration3D> ISensor<Acceleration3D> IGyroscope ISamplingSensor<AngularVelocity3D> ISensor<AngularVelocity3D> ITemperatureSensor ISamplingSensor<Temperature> ISensor<Temperature> II2cPeripheral
Inherited Members	ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.BusComms ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.ReadBuffer ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.WriteBuffer ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.Init(int, int) ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.Dispose(bool) ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.Dispose() PollingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.StartUpdating(TimeSpan?) PollingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.StopUpdating() SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.samplingLock SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.Updated SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.SamplingTokenSource SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.Conditions SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.IsSampling SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.UpdateInterval SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.ReadSensor() SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>) SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.Read() ObservableBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.observers ObservableBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.NotifyObservers(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>) ObservableBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.Subscribe(IObserver<IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>>) ObservableBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.CreateObserver(Action<IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>>, Predicate<IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>>) 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	Mpu6050.dll

Syntax

public class Mpu6050 : ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>, IObservable<IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>>, ISamplingSensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>, ISensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>, IDisposable, IAccelerometer, ISamplingSensor<Acceleration3D>, ISensor<Acceleration3D>, IGyroscope, ISamplingSensor<AngularVelocity3D>, ISensor<AngularVelocity3D>, ITemperatureSensor, ISamplingSensor<Temperature>, ISensor<Temperature>, II2cPeripheral

Constructors

Mpu6050(II2cBus, Addresses)

Create a new Mpu6050 object

Declaration

public Mpu6050(II2cBus i2cBus, Mpu6050.Addresses address = Addresses.Address_0x68)

Parameters

Type	Name	Description
II2cBus	i2cBus	The I2C bus
Mpu6050.Addresses	address	The I2C address

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)
            {
                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

Mpu6050(II2cBus, byte)

Create a new Mpu6050 object

Declaration

public Mpu6050(II2cBus i2cBus, byte address)

Parameters

Type	Name	Description
II2cBus	i2cBus	The I2C bus
byte	address	The I2C address

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)
            {
                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

Properties

Acceleration3D

Acceleration 3D

Declaration

public Acceleration3D? Acceleration3D { get; }

Property Value

Type	Description
Acceleration3D?

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)
            {
                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

AngularVelocity3D

Angular acceleration 3D

Declaration

public AngularVelocity3D? AngularVelocity3D { get; }

Property Value

Type	Description
AngularVelocity3D?

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)
            {
                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

DefaultI2cAddress

The default I2C address for the peripheral

Declaration

public byte DefaultI2cAddress { get; }

Property Value

Type	Description
byte

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)
            {
                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

Temperature

Current Temperature value

Declaration

public Temperature? Temperature { get; }

Property Value

Type	Description
Temperature?

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)
            {
                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

Methods

LoadConfiguration()

Load the sensor configuration

Declaration

protected void LoadConfiguration()

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)
            {
                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

RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>)

Raise events for subscribers and notify of value changes

Declaration

protected override void RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)> changeResult)

Parameters

Type	Name	Description
IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>	changeResult	The updated sensor data

Overrides

SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>)

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)
            {
                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

ReadSensor()

Reads data from the sensor

Declaration

protected override Task<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)> ReadSensor()

Returns

Type	Description
Task<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>	The latest sensor reading

Overrides

SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Temperature? Temperature)>.ReadSensor()

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)
            {
                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

Wake()

Wake the sensor

Declaration

public void Wake()

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)
            {
                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

Events

Acceleration3DUpdated

Raised when the acceleration value changes

Declaration

public event EventHandler<IChangeResult<Acceleration3D>> Acceleration3DUpdated

Event Type

Type	Description
EventHandler<IChangeResult<Acceleration3D>>

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)
            {
                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

AngularVelocity3DUpdated

Raised when the angular acceleration value changes

Declaration

public event EventHandler<IChangeResult<AngularVelocity3D>> AngularVelocity3DUpdated

Event Type

Type	Description
EventHandler<IChangeResult<AngularVelocity3D>>

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)
            {
                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

TemperatureUpdated

Raised when the temperature value changes

Declaration

public event EventHandler<IChangeResult<Temperature>> TemperatureUpdated

Event Type

Type	Description
EventHandler<IChangeResult<Temperature>>

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)
            {
                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