Remarks

Mpu6050
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Mpu6050 sensor;

public override Task Initialize()
{
    Console.WriteLine("Initialize...");

    sensor = new Mpu6050(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) => {
        Console.WriteLine($"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)]");

        Console.WriteLine($"Angular Velocity: [X:{result.New.AngularVelocity3D?.X.DegreesPerSecond:N2}," +
            $"Y:{result.New.AngularVelocity3D?.Y.DegreesPerSecond:N2}," +
            $"Z:{result.New.AngularVelocity3D?.Z.DegreesPerSecond:N2} (dps)]");

        Console.WriteLine($"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 => Console.WriteLine($"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();

    Console.WriteLine($"Accel: [X:{result.Acceleration3D?.X.MetersPerSecondSquared:N2}," +
        $"Y:{result.Acceleration3D?.Y.MetersPerSecondSquared:N2}," +
        $"Z:{result.Acceleration3D?.Z.MetersPerSecondSquared:N2} (m/s^2)]");

    Console.WriteLine($"Angular Accel: [X:{result.AngularVelocity3D?.X.DegreesPerSecond:N2}," +
        $"Y:{result.AngularVelocity3D?.Y.DegreesPerSecond:N2}," +
        $"Z:{result.AngularVelocity3D?.Z.DegreesPerSecond:N2} (dps)]");

    Console.WriteLine($"Temp: {result.Temperature?.Celsius:N2}C");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(500));
}

Sample project(s) available on GitHub

Characteristic	Locus
Inheritance	System.Object > Mpu6050
Implements	IAccelerometer IGyroscope ITemperatureSensor
Namespace	Meadow.Foundation.Sensors.Motion
Assembly	Mpu6050.dll

Syntax

public class Mpu6050 : ByteCommsSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, Units.Temperature? Temperature)>, IAccelerometer, IGyroscope, ITemperatureSensor

Constructors

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

Wake()

Wake the sensor

Declaration

public void Wake()

Events

Acceleration3DUpdated

Raised when the acceration value changes

Declaration

public event EventHandler<IChangeResult<Acceleration3D>> Acceleration3DUpdated

Event Type

Type	Description
EventHandler<IChangeResult<Acceleration3D>>

AngularVelocity3DUpdated

Raised when the angular acceleration value changes

Declaration

public event EventHandler<IChangeResult<AngularVelocity3D>> AngularVelocity3DUpdated

Event Type

Type	Description
EventHandler<IChangeResult<AngularVelocity3D>>

TemperatureUpdated

Raised when the temperature value changes

Declaration

public event EventHandler<IChangeResult<Units.Temperature>> TemperatureUpdated

Event Type

Type	Description
EventHandler<IChangeResult<Units.Temperature>>