Remarks

Mpu6050
Status
Source code	GitHub
NuGet package

Code Example

Mpu6050 sensor;

public MeadowApp()
{
    Console.WriteLine("Initializing");

    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 IObersvable 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);

    //==== one-off read
    ReadConditions().Wait();

    // start updating
    sensor.StartUpdating(TimeSpan.FromMilliseconds(500));
}

protected async Task ReadConditions()
{
    var result = await sensor.Read();
    Console.WriteLine("Initial Readings:");
    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");
}

Sample project(s) available on GitHub

Characteristic	Locus
Inheritance	System.Object ObservableBase<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<Units.Temperature>>> SensorBase<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<Units.Temperature>>> SamplingSensorBase<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<Units.Temperature>>> ByteCommsSensorBase<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<Units.Temperature>>> > Mpu6050
Implements	IDisposable IAccelerometer IGyroscope ITemperatureSensor
Inherited Members	ByteCommsSensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.Peripheral ByteCommsSensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.ReadBuffer ByteCommsSensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.WriteBuffer ByteCommsSensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.Init(Int32, Int32) ByteCommsSensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.Dispose(Boolean) ByteCommsSensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.Dispose() SamplingSensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.StartUpdating(Nullable<TimeSpan>) SamplingSensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.StopUpdating() SensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.Updated SensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.samplingLock SensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.SamplingTokenSource SensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.Conditions SensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.IsSampling SensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.UpdateInterval SensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.ReadSensor() SensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.RaiseEventsAndNotify(IChangeResult<>) SensorBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.Read() ObservableBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.observers ObservableBase<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>.NotifyObservers(IChangeResult<>) Meadow.Foundation.ObservableBase<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<Units.Temperature>>>.Subscribe(IObserver<>) Meadow.Foundation.ObservableBase<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<Units.Temperature>>>.CreateObserver(Action<>, System.Nullable<Predicate<IChangeResult<UNIT>>>)
Namespace	Meadow.Foundation.Sensors.Motion
Assembly	Mpu6050.dll

Syntax

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

Constructors

Mpu6050(II2cBus, Byte)

Declaration

public Mpu6050(II2cBus i2cBus, byte address = null)

Parameters

Type	Name	Description
II2cBus	i2cBus
System.Byte	address

Properties

Acceleration3D

Declaration

public Acceleration3D? Acceleration3D { get; }

Property Value

Type	Description
System.Nullable<Acceleration3D>

AngularVelocity3D

Declaration

public AngularVelocity3D? AngularVelocity3D { get; }

Property Value

Type	Description
System.Nullable<AngularVelocity3D>

Temperature

Declaration

public Units.Temperature? Temperature { get; }

Property Value

Type	Description
System.Nullable<Units.Temperature>

Methods

Initialize(Byte)

Declaration

protected void Initialize(byte address)

Parameters

Type	Name	Description
System.Byte	address

LoadConfiguration()

Declaration

protected void LoadConfiguration()

RaiseEventsAndNotify(IChangeResult<(Nullable<Acceleration3D> Acceleration3D, Nullable<AngularVelocity3D> AngularVelocity3D, Nullable<Units.Temperature> Temperature)>)

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

ReadSensor()

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>>>

Overrides

Meadow.Foundation.SensorBase<System.ValueTuple<System.Nullable<Acceleration3D>, System.Nullable<AngularVelocity3D>, System.Nullable<Units.Temperature>>>.ReadSensor()

Wake()

Declaration

public void Wake()

Events

Acceleration3DUpdated

Declaration

public event EventHandler<IChangeResult<Acceleration3D>> Acceleration3DUpdated

Event Type

Type	Description
EventHandler<IChangeResult<Acceleration3D>>

AngularVelocity3DUpdated

Declaration

public event EventHandler<IChangeResult<AngularVelocity3D>> AngularVelocity3DUpdated

Event Type

Type	Description
EventHandler<IChangeResult<AngularVelocity3D>>

TemperatureUpdated

Declaration

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

Event Type

Type	Description
EventHandler<IChangeResult<Units.Temperature>>