Arduino BNO055 Library

image credit: Adafruit

PlatformIO / Arduino library designed to make it easy to use advanced features of the Bosch BNO055 IMU.

Developed by Tom Danvers

Features

• Power mode configuration
• Operation mode configuration
• Sensor reset
• Sensor self test
• Methods to read from all operation modes, converted to useful units
• Burst read of all data
• Sensor configuration (set G range, sample rate, power mode - this requires reading of the datasheet)
• View sensor calibration
• Implementation of all interrupts
  • AccelHighGInterrupt
  • AccelSlowNoMotionInterrupt
  • AccelAnyMotionInterrupt
  • GyroHighRateInterrupt
  • GyroAnyMotionInterrupt

TODO

• Sensor configuration could be improved / made more intuitive. You need to work out what value to write to the config register by reading the datasheet.
• Axis remap is not implemented (yet)
• Calibration parameters cannot yet be saved and re-applied after a sensor restart

Examples

Refer to the examples directory

To run an example (in PlatformIO), modify platformio.ini to support your board/framework, and then run the following:

pio ci "examples/accgyro.cpp" --lib "." -c "platformio.ini"

Read from accelerometer

#include <Arduino.h>
#include "BNO055.h"

const byte I2C_ADDRESS = 0x28;

BNO055 sensor(I2C_ADDRESS, &Wire);

void setup() {
    Wire.begin();
    sensor.begin();
    sensor.setOperationMode(ACCONLY);
}

void loop() {
    Vector<double> accelVector = sensor.getRawAcceleration();
    Serial.println((String)accelVector.getX() + "," + (String)accelVector.getY() + ","
                   + (String)accelVector.getZ() + ",");
}

Register Accelerometer High G interrupt

#include <Arduino.h>
#include "BNO055.h"

const byte I2C_ADDRESS = 0x28;

BNO055 sensor(I2C_ADDRESS, &Wire);

// define our callback (known as an ISR, or interrupt service routine) to be called when the interrupt is
// detected. Note that ISRs have various limitations.
void myCallback() {
    digitalWrite(3, !digitalRead(3));
}

void setup() {
    // begin I2C communication
    Wire.begin();

    // reset the sensor to remove any existing configuration
    sensor.resetSystem();

    // we need to be in configmode to set up the interrupt.
    // this is not necessary as we just called sensor#resetSystem however it is here for completeness
    sensor.setOperationMode(CONFIGMODE);

    // define the configuration of our interrupt
    BNO055::AccelHighGInterrupt interrupt(
            sensor,
            (new BNO055::Interrupt::EnabledAxes)->enableX().enableY().enableZ(),
            myCallback,
            2);

    // write the configuration to the BNO055
    interrupt.setup();

    // enable this interrupt
    interrupt.enable();

    // route this interrupt to the INT pin on the sensor
    interrupt.mask();

    // enter the ACCONLY operation mode (note that the above code must run in COMFIGMODE)
    sensor.setOperationMode(ACCONLY);
    pinMode(3, OUTPUT);
}

void loop() {
    // we constantly clear the interrupt on the sensor. Not an ideal solution and not efficient, but
    // works for this example
    sensor.clearInterrupt();
}

Documentation

Most/all methods are documented well in BNO055.h.

Refer to the examples directory and also the unit test for usage examples.

The best way of understanding how things work is to read the datasheet

Unit testing

This project contains some automated unit tests that you can run to check that everything works. You need to do this with PlatformIO.

If you aren't using a Teensy 4.1, modify the configuration in platformio.ini

To run the unit tests, run pio test