Class Bno055

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

Assembly: Bno055.dll

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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> -> Meadow.Foundation.SamplingSensorBase<UNIT> -> Meadow.Foundation.PollingSensorBase<UNIT> -> Meadow.Foundation.ByteCommsSensorBase<UNIT>

Implements:

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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

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public byte DefaultI2cAddress { get; }

Acceleration3D

Current Acceleration

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public Acceleration3D? Acceleration3D { get; }

AngularVelocity3D

Current Angular Velocity

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public AngularVelocity3D? AngularVelocity3D { get; }

MagneticField3D

Current Magnetic Field

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public MagneticField3D? MagneticField3D { get; }

QuaternionOrientation

Current Quaternion Orientation

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public Quaternion? QuaternionOrientation { get; }

LinearAcceleration

Current Linear Acceleration

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public Acceleration3D? LinearAcceleration { get; }

GravityVector

Current Gravity Vector

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public Acceleration3D? GravityVector { get; }

EulerOrientation

Current Euler Orientation

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public EulerAngles? EulerOrientation { get; }

Temperature

Current Temperature value

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public Temperature? Temperature { get; }

TemperatureSource

Select the source of the Temperature property

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public Bno055.Sensor TemperatureSource { get; set; }

PowerMode

Get or set the power mode for the sensor.

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public byte PowerMode { get; set; }

OperatingMode

Get / set the current operating mode for the sensor.

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public byte OperatingMode { get; set; }

IsInFusionMode

Check if sensor is currently working in Fusion mode.

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public bool IsInFusionMode { get; }

IsSystemCalibrated

Get the system calibration status.

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public bool IsSystemCalibrated { get; }

IsAccelerometerCalibrated

Get the accelerometer calibration status.

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public bool IsAccelerometerCalibrated { get; }

IsGyroscopeCalibrated

Get the gyroscope calibration status.

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public bool IsGyroscopeCalibrated { get; }

IsMagnetometerCalibrated

Get the magnetometer status.

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public bool IsMagnetometerCalibrated { get; }

IsFullyCalibrated

Is the system fully calibrated?

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public bool IsFullyCalibrated { get; }

Methods

StartUpdating(TimeSpan?)

Start updating

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public override void StartUpdating(TimeSpan? updateInterval = null)

Parameters

Type	Name	Description
System.Nullable<System.TimeSpan>	updateInterval	The time between updates

StopUpdating()

Stop reading data

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public override void StopUpdating()

ReadSensor()

Reads data from the sensor

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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

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protected override void RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation, Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector, EulerAngles? EulerOrientation, Temperature? Temperature)> changeResult)

Parameters

Type	Name	Description
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>>>>	changeResult	The updated sensor data

GetReadings(int, double)

Convert a section of the sensor data into a tuple

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protected (double X, double Y, double Z) GetReadings(int start, double divisor)

Returns

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

Parameters

Type	Name	Description
System.Int32	start	Start of the data in the sensorReadings member variable
System.Double	divisor	Divisor

ConvertReadingToEulerAngles(int, double)

Convert the sensor readings into an orientation in Euler angles

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protected EulerAngles ConvertReadingToEulerAngles(int start, double divisor)

Returns

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

Parameters

Type	Name	Description
System.Int32	start	First of the sensor readings to convert
System.Double	divisor	Divisor to apply to the sensor data

DisplayRegisters()

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

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public void DisplayRegisters()

Events

MagneticField3DUpdated

Raised when the magnetic field value changes

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public event EventHandler<IChangeResult<MagneticField3D>> MagneticField3DUpdated

Event Type

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

QuaternionOrientationUpdated

Raised when the quaternion orientation value changes

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public event EventHandler<IChangeResult<Quaternion>> QuaternionOrientationUpdated

Event Type

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

LinearAccelerationUpdated

Raised when the linear acceleration value changes

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public event EventHandler<IChangeResult<Acceleration3D>> LinearAccelerationUpdated

Event Type

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

GravityVectorUpdated

Raised when the gravity vector acceleration value changes

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public event EventHandler<IChangeResult<Acceleration3D>> GravityVectorUpdated

Event Type

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

EulerOrientationUpdated

Raised when the euler orientation value changes

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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