Existing Library for the BNO055

[jr2629]

Hi Kris,

I will be working on a project involving the BNO055 IMU as a device within a larger system, the main MCU for the project is a Teensy 3.5.

Thank you for the code provided here, I was wondering, before I went about making one, is there an existing library format (.cpp + .h file) for this sensor/breakout board (BNO055 + BMP280)?

If it's not something that's currently in place, I will be creating one for just the BNO055 as a stand alone chip.

Thanks, Joe

[kriswiner]

No, I don't have one. If I made one I would just be repackaging the existing functions into the "proper" cpp format. I have done this with a lot of other sensor libraries but I don't use the BNO055 much so I haven't gotten around to it yet.

I think adafruit already has an Arduino library, might want to check on that. I do have one for the BME280 I think. Also Bosch has their API but it is impenetrable.

See: https://github.com/kriswiner/BME280/tree/master/BME280_Library

Good luck,

Kris Kris

On Sat, Sep 23, 2017 at 9:03 AM, jr2629 notifications@github.com wrote:

Hi Kris,

I will be working on a project involving the BNO055 IMU as a device within a larger system, the main MCU for the project is a Teensy 3.5.

Thank you for the code provided here, I was wondering, before I went about making one, is there an existing library format (.cpp + .h file) for this sensor/breakout board (BNO055 + BMP280)?

If it's not something that's currently in place, I will be creating one for just the BNO055 as a stand alone chip.

Thanks, Joe

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[jr2629]

Thanks for the timely reply, just got round to reading through the Adafruit library.

Did you create this code before they released the library/what was the reason behind your code?

This is gonna be my first Library formatting, so I will run through with it to see how far I can get. Just out of interest which IMU do you commonly use, given that you said you don't use the BNO055?

Joe

[kriswiner]

Hi Joe,

Bosch's library is the worst kind of spaghetti code, good luck if you start with that.

I prefer this for accurate absolute orientation:

https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution/?pt=full_prod_search

Kris

On Sun, Sep 24, 2017 at 12:04 PM, jr2629 notifications@github.com wrote:

Thanks for the timely reply, just got round to reading through the Adafruit library.

Did you create this code before they released the library/what was the reason behind your code?

This is gonna be my first Library formatting, so I will run through with it to see how far I can get. Just out of interest which IMU do you commonly use, given that you said you don't use the BNO055?

Joe

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[saedelman]

Hello Kris,

I'm wondering if you have any insights into what I am seeing. I have implemented the Madwick update code and I am getting good roll and pitch angles when operating in AMG mode. There is a minimum of jitter, albeit more than what the Bosch fusion code produces in NDOF mode, but my heading indication is not right. It does not appear to be a scaling issue or offset issue. I've adapted your magcalMPU9250 code to determine the bias and scale values for the BNO055 but the heading is not correct nor stable and continues to "walk" after the device is already in a fixed position. When I turn it 90DEG, it may initially only show an increase of 30DEG and then walk back the heading. It does this whether or not I use the bias/scaling values. I'm wondering whether I am feeding the correct w,x,y,z values into the Euler conversion routine to get roll, pitch and yaw, but I am not certain that would manifest itself in this manner. Any insights would be appreciated.

Stephan.

[kriswiner]

Well, i will assume you have calibrated the sensors, then the likely problem would be the way you are feeding the sensor data into the Madgwick filter. Typical convention is to use NED in a consistent manner.

On Sat, Nov 25, 2017 at 5:00 PM, saedelman notifications@github.com wrote:

Hello Kris,

I'm wondering if you have any insights into what I am seeing. I have implemented the Madwick update code and I am getting good roll and pitch angles when operating in AMG mode. There is a minimum of jitter, albeit more than what the Bosch fusion code produces in NDOF mode, but my heading indication is not right. It does not appear to be a scaling issue or offset issue. I've adapted your magcalMPU9250 code to determine the bias and scale values for the BNO055 but the heading is not correct nor stable and continues to "walk" after the device is already in a fixed position. When I turn it 90DEG, it may initially only show an increase of 30DEG and then walk back the heading. It does this whether or not I use the bias/scaling values. I'm wondering whether I am feeding the correct w,x,y,z values into the Euler conversion routine to get roll, pitch and yaw, but I am not certain that would manifest itself in this manner. Any insights would be appreciated.

Stephan.

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[guitchounts]

Hi Kris,

I had a few of your nano-BNO055 boards made and would like to use them with Adafruit's library. Just wiring the boards up the same way as Adafruit's, I get errors relating to the BNO being not found. Is there a workaround that would make it possible to use your board with Adafruit's BNO055 library? Thanks for any help!

[kriswiner]

Probably just need to get the pin map right.

On Wed, Feb 10, 2021 at 2:10 PM Guitchounts notifications@github.com wrote:

Hi Kris,

I had a few of your nano-BNO055 boards made and would like to use them with Adafruit's library. Just wiring the boards up the same way as Adafruit's, I get errors relating to the BNO being not found. Is there a workaround that would make it possible to use your board with Adafruit's BNO055 library? Thanks for any help!

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[guitchounts]

Sorry, I'm a newb with these things. Does pin map mean how the PCB is wired to the MCU? Or is it the register map definitions? e.g.: #define BNO055_CHIP_ID 0x00
#define BNO055_ACC_ID 0x01 etc (or something else?)

[kriswiner]

Connect MCU SDA to BNO Nano SDA pin, etc. Yes, you have to get the BNO055 I2C address right too...

On Wed, Feb 10, 2021 at 2:29 PM Guitchounts notifications@github.com wrote:

Sorry, I'm a newb with these things. Does pin map mean how the PCB is wired to the MCU? Or is it the register map definitions? e.g.:

define BNO055_CHIP_ID 0x00

define BNO055_ACC_ID 0x01

etc (or something else?)

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[guitchounts]

Here's my setup: I have the nano-BNO055's SCL pin connected to my Teensy 3.2's SCL0; the SDA to SDA0; ground to ground; 3.3V to 3.3V; and the ADR pin is grounded via a 10k resistor. I'm finding the I2C address to be 0x28 (using the i2c_scanner.ino from here)).

The examples in the Adafruit BNO055 library all start (i.e. the sensor is found) but the output doesn't have any sensor readings (e.g. Ada's rawdata_example gives all lines like X: -0.06 Y: -0.06 Z: -0.06 CALIBRATION: Sys=3 Gyro=3 Accel=3 Mag=3)

When I run your BNO_055_Nano_Basic_AHRS_t3.ino example (switching I2C address to 0x28), sensor readings appear normal...

I guess I'm wondering if there's something more fundamental about how the nano board is wired vs Adafruit's that's making their library not readily compatible with the board? Like, would I need to redefine the register maps or something like that?

Again, I really appreciate any help!!

[kriswiner]

I am sure Adafruit is making the assumption that you are using their board. So maybe theyare expecting a different I2C address or something, who knows. Please ask Adafruit how their library works...obviously not a hardware problem.

On Wed, Feb 10, 2021 at 7:57 PM Guitchounts notifications@github.com wrote:

Here's my setup: I have the nano-BNO055's SCL pin connected to my Teensy 3.2's SCL0; the SDA to SDA0; ground to ground; 3.3V to 3.3V; and the ADR pin grounded via a 10k resistor. I'm finding the I2C address to be 0x28 (using the i2c_scanner.ino from here https://gist.github.com/tfeldmann/5411375)). [image: IMG_8407] https://user-images.githubusercontent.com/2030372/107600941-3d9f3100-6bf3-11eb-9d81-f32eb5fc1e08.jpg

The examples in the Adafruit BNO055 library all start (i.e. the sensor is found) but the output doesn't have any sensor readings (e.g. Ada's rawdata_example gives all lines like X: -0.06 Y: -0.06 Z: -0.06 CALIBRATION: Sys=3 Gyro=3 Accel=3 Mag=3)

When I run your BNO_055_Nano_Basic_AHRS_t3.ino example (switching I2C address to 0x28), sensor readings appear normal...

I guess I'm wondering if there's something more fundamental how the nano board is wired vs Adafruit's that's making their library not readily compatible with the board? Like, would I need to redefine the register maps or something like that?

Again, I really appreciate any help!!

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