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Meadow.Foundation.Sensors.Motion.Bno055

Bno055
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Source codeGitHub
Datasheet(s)GitHub
NuGet packageNuGet Gallery for Meadow.Foundation.Sensors.Motion.Bno055

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.

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)
            {
                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

Class Bno055

Provide methods / properties to allow an application to control a BNO055 9-axis absolute orientation sensor.

Assembly: Bno055.dll​
View Source​
Declaration
public class Bno055 : ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Temperature? Temperature)>, IObservable<IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Temperature? Temperature)>>, ISamplingSensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Temperature? Temperature)>, ISensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Temperature? Temperature)>, IDisposable, IAccelerometer, ISamplingSensor<Acceleration3D>, ISensor<Acceleration3D>, IGyroscope, ISamplingSensor<AngularVelocity3D>, ISensor<AngularVelocity3D>, ITemperatureSensor, ISamplingSensor<Temperature>, ISensor<Temperature>, ISensor, ISamplingSensor, II2cPeripheral

Inheritance: System.Object -> Meadow.Foundation.ObservableBase<UNIT>

Implements:

Expand

System.IObservable<Meadow.IChangeResult<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>,System.Nullable<Meadow.Foundation.Spatial.Quaternion>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Foundation.Spatial.EulerAngles>,System.ValueTuple<System.Nullable<Meadow.Units.Temperature>>>>>, Meadow.Peripherals.Sensors.ISamplingSensor<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>,System.Nullable<Meadow.Foundation.Spatial.Quaternion>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Foundation.Spatial.EulerAngles>,System.ValueTuple<System.Nullable<Meadow.Units.Temperature>>>>, Meadow.Peripherals.Sensors.ISensor<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>,System.Nullable<Meadow.Foundation.Spatial.Quaternion>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Foundation.Spatial.EulerAngles>,System.ValueTuple<System.Nullable<Meadow.Units.Temperature>>>>, System.IDisposable, Meadow.Peripherals.Sensors.Motion.IAccelerometer, Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.Acceleration3D>, Meadow.Peripherals.Sensors.ISensor<Meadow.Units.Acceleration3D>, Meadow.Peripherals.Sensors.Motion.IGyroscope, Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.AngularVelocity3D>, Meadow.Peripherals.Sensors.ISensor<Meadow.Units.AngularVelocity3D>, Meadow.Peripherals.Sensors.ITemperatureSensor, Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.Temperature>, Meadow.Peripherals.Sensors.ISensor<Meadow.Units.Temperature>, Meadow.Peripherals.Sensors.ISensor, Meadow.Peripherals.Sensors.ISamplingSensor, Meadow.Hardware.II2cPeripheral

Properties​

DefaultI2cAddress​

The default I2C address for the peripheral

View Source​
Declaration
public byte DefaultI2cAddress { get; }

Acceleration3D​

Current Acceleration

View Source​
Declaration
public Acceleration3D? Acceleration3D { get; }

AngularVelocity3D​

Current Angular Velocity

View Source​
Declaration
public AngularVelocity3D? AngularVelocity3D { get; }

MagneticField3D​

Current Magnetic Field

View Source​
Declaration
public MagneticField3D? MagneticField3D { get; }

QuaternionOrientation​

Current Quaternion Orientation

View Source​
Declaration
public Quaternion? QuaternionOrientation { get; }

LinearAcceleration​

Current Linear Acceleration

View Source​
Declaration
public Acceleration3D? LinearAcceleration { get; }

GravityVector​

Current Gravity Vector

View Source​
Declaration
public Acceleration3D? GravityVector { get; }

EulerOrientation​

Current Euler Orientation

View Source​
Declaration
public EulerAngles? EulerOrientation { get; }

Temperature​

Current Temperature value

View Source​
Declaration
public Temperature? Temperature { get; }

TemperatureSource​

Select the source of the Temperature property

View Source​
Declaration
public Bno055.Sensor TemperatureSource { get; set; }

PowerMode​

Get or set the power mode for the sensor.

View Source​
Declaration
public byte PowerMode { get; set; }

OperatingMode​

Get / set the current operating mode for the sensor.

View Source​
Declaration
public byte OperatingMode { get; set; }

IsInFusionMode​

Check if sensor is currently working in Fusion mode.

View Source​
Declaration
public bool IsInFusionMode { get; }

IsSystemCalibrated​

Get the system calibration status.

View Source​
Declaration
public bool IsSystemCalibrated { get; }

IsAccelerometerCalibrated​

Get the accelerometer calibration status.

View Source​
Declaration
public bool IsAccelerometerCalibrated { get; }

IsGyroscopeCalibrated​

Get the gyroscope calibration status.

View Source​
Declaration
public bool IsGyroscopeCalibrated { get; }

IsMagnetometerCalibrated​

Get the magnetometer status.

View Source​
Declaration
public bool IsMagnetometerCalibrated { get; }

IsFullyCalibrated​

Is the system fully calibrated?

View Source​
Declaration
public bool IsFullyCalibrated { get; }

Methods​

StartUpdating(TimeSpan?)​

Start updating

View Source​
Declaration
public override void StartUpdating(TimeSpan? updateInterval = null)
Parameters​
TypeNameDescription
System.Nullable<System.TimeSpan>updateIntervalThe time between updates

StopUpdating()​

Stop reading data

View Source​
Declaration
public override void StopUpdating()

ReadSensor()​

Reads data from the sensor

View Source​
Declaration
protected override Task<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Temperature? Temperature)> ReadSensor()
Returns​

System.Threading.Tasks.Task<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>,System.Nullable<Meadow.Foundation.Spatial.Quaternion>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Foundation.Spatial.EulerAngles>,System.ValueTuple<System.Nullable<Meadow.Units.Temperature>>>>: The latest sensor reading### RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Temperature? Temperature)>) Raise events for subscribers and notify of value changes

View Source​
Declaration
protected override void RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Temperature? Temperature)> changeResult)
Parameters​
TypeNameDescription
Meadow.IChangeResult<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>,System.Nullable<Meadow.Foundation.Spatial.Quaternion>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Foundation.Spatial.EulerAngles>,System.ValueTuple<System.Nullable<Meadow.Units.Temperature>>>>changeResultThe updated sensor data

GetReadings(int, double)​

Convert a section of the sensor data into a tuple

View Source​
Declaration
protected (double X, double Y, double Z) GetReadings(int start, double divisor)
Returns​

System.ValueTuple<System.Double,System.Double,System.Double>

Parameters​
TypeNameDescription
System.Int32startStart of the data in the sensorReadings member variable
System.DoubledivisorDivisor

ConvertReadingToEulerAngles(int, double)​

Convert the sensor readings into an orientation in Euler angles

View Source​
Declaration
protected EulerAngles ConvertReadingToEulerAngles(int start, double divisor)
Returns​

Meadow.Foundation.Spatial.EulerAngles: EulerAngles object containing the orientation information

Parameters​
TypeNameDescription
System.Int32startFirst of the sensor readings to convert
System.DoubledivisorDivisor to apply to the sensor data

DisplayRegisters()​

Read all of the registers and display their values on the Debug output.

View Source​
Declaration
public void DisplayRegisters()

Events​

MagneticField3DUpdated​

Raised when the magnetic field value changes

View Source​
Declaration
public event EventHandler<IChangeResult<MagneticField3D>> MagneticField3DUpdated
Event Type​

System.EventHandler<Meadow.IChangeResult<Meadow.Units.MagneticField3D>>

QuaternionOrientationUpdated​

Raised when the quaternion orientation value changes

View Source​
Declaration
public event EventHandler<IChangeResult<Quaternion>> QuaternionOrientationUpdated
Event Type​

System.EventHandler<Meadow.IChangeResult<Meadow.Foundation.Spatial.Quaternion>>

LinearAccelerationUpdated​

Raised when the linear acceleration value changes

View Source​
Declaration
public event EventHandler<IChangeResult<Acceleration3D>> LinearAccelerationUpdated
Event Type​

System.EventHandler<Meadow.IChangeResult<Meadow.Units.Acceleration3D>>

GravityVectorUpdated​

Raised when the gravity vector acceleration value changes

View Source​
Declaration
public event EventHandler<IChangeResult<Acceleration3D>> GravityVectorUpdated
Event Type​

System.EventHandler<Meadow.IChangeResult<Meadow.Units.Acceleration3D>>

EulerOrientationUpdated​

Raised when the euler orientation value changes

View Source​
Declaration
public event EventHandler<IChangeResult<EulerAngles>> EulerOrientationUpdated
Event Type​

System.EventHandler<Meadow.IChangeResult<Meadow.Foundation.Spatial.EulerAngles>>

Implements​

  • System.IObservable<Meadow.IChangeResult<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>,System.Nullable<Meadow.Foundation.Spatial.Quaternion>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Foundation.Spatial.EulerAngles>,System.ValueTuple<System.Nullable<Meadow.Units.Temperature>>>>>
  • Meadow.Peripherals.Sensors.ISamplingSensor<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>,System.Nullable<Meadow.Foundation.Spatial.Quaternion>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Foundation.Spatial.EulerAngles>,System.ValueTuple<System.Nullable<Meadow.Units.Temperature>>>>
  • Meadow.Peripherals.Sensors.ISensor<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>,System.Nullable<Meadow.Foundation.Spatial.Quaternion>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Foundation.Spatial.EulerAngles>,System.ValueTuple<System.Nullable<Meadow.Units.Temperature>>>>
  • System.IDisposable
  • Meadow.Peripherals.Sensors.Motion.IAccelerometer
  • Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.Acceleration3D>
  • Meadow.Peripherals.Sensors.ISensor<Meadow.Units.Acceleration3D>
  • Meadow.Peripherals.Sensors.Motion.IGyroscope
  • Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.AngularVelocity3D>
  • Meadow.Peripherals.Sensors.ISensor<Meadow.Units.AngularVelocity3D>
  • Meadow.Peripherals.Sensors.ITemperatureSensor
  • Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.Temperature>
  • Meadow.Peripherals.Sensors.ISensor<Meadow.Units.Temperature>
  • Meadow.Peripherals.Sensors.ISensor
  • Meadow.Peripherals.Sensors.ISamplingSensor
  • Meadow.Hardware.II2cPeripheral