DFRobot_BNO055 Intelligent 10DOF AHRS

The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer, a triaxial 16-bit gyroscope with a range of ±2000 degrees per second, a triaxial geomagnetic sensor and a 32-bit cortex M0+ microcontroller running Bosch Sensortec sensor fusion software, in a single package.

DFRobot_BNO055 Library for Arduino

Provides an Arduino library for reading and interpreting Bosch BNO055 data over I2C.Used to read the current pose and calculate the Euler angles.

Installation
Methods
Compatibility
History
Credits

Installation

To use this library download the zip file, uncompress it to a folder named DFRobot_BNO055. Download the zip file first to use this library and uncompress it to a folder named DFRobot_BNO055. If you want to see the graphical interface using DFRobot_display_dof10.ino, you can download IMU_show.exe at https://github.com/DFRobot/DFRobot_IMU_Show/releases.

Methods

/*
 * @brief init BNO055 device
 *
 * @return result
 *    ture : falid
 *    false : succussful
 */
    bool init();
/*
 * @brief set BNO055 mode
 *
 * @param  powerMode   Set power mode.
 *         dataRate    Set the data transfer rate.
 *
 */
    void setMode(eBNO055PowerModes_t powerMode, eBNO055DataRateMode_t dataRate);
/*
 * @brief  Read euler angles.
 *         The resulting data is stored in EulerAngles.
 *         For exmple: EulerAngles.x, EulerAngles.y, EulerAngles.z
 */
    void readEuler(void);
/*
 * @brief  Read angles velocity.
 *         The resulting data is stored in GyrData.
 *         For exmple: GyrData.x, GyrData.y, GyrData.z
 */
    void readAngularVelocity(void);
/*
 * @brief  Read linear acceleration.
 *         The resulting data is stored in LinAccData.
 *         For exmple: LinAccData.x, LinAccData.y, LinAccData.z
 */
    void readLinAcc(void);
/*
 * @brief  Read acceleration.
 *         The resulting data is stored in AccData.
 *         For exmple: AccData.x, AccData.y, AccData.z
 */
    void readAcc(void);
/*
 * @brief read quaternion data
 *         The resulting data is stored in QuaData.
 *         For exmple: QuaData.w, QuaData.x, QuaData.y, QuaData.z
 */
    void readQua(void);
/*
 * @brief  Uses last loaded QuaData and LinAccData.
 *         The resulting data is stored in AbsLinAccData.
 *         For exmple: AbsLinAccData.x, AbsLinAccData.y, AbsLinAccData.z
 */
    void calcAbsLinAcc(void);
    
    typedef enum
    {
        eNORMAL_POWER_MODE     = 0b00000000,
        eLOW_POWER_MODE        = 0b00000001,
        eSUSPEND_POWER_MODE    = 0b00000010,
    } eBNO055PowerModes_t;
    
    typedef enum
    {
        eFASTEST_MODE    = 0b00100000,
        eGAME_MODE       = 0b01000000,
        eUI_MODE         = 0b01100000,
        eNORMAL_MODE     = 0b10000000,
    } eBNO055DataRateMode_t;

    typedef struct BNO055EulerData_s
    {
      float x;
      float y;
      float z;
    } BNO055EulerData;

    typedef struct BNO055GyrData_s
    {
      float x;
      float y;
      float z;
    } BNO055GyrData;

    typedef struct BNO055LinAccData_s
    {
        float x;
        float y;
        float z;
    } BNO055LinAccData;
    
    typedef struct BNO055QuaData_s
    {
        float w;
        float x;
        float y;
        float z;
    } BNO055QuaData;
    
    typedef struct BNO055AbsLinAccData_s
    {
        float x;
        float y;
        float z;
    } BNO055AbsLinAccData;

    BNO055EulerData EulerAngles;
    BNO055GyrData GyrData;
    BNO055LinAccData LinAccData;
    BNO055QuaData QuaData;
    BNO055AbsLinAccData AbsLinAccData;

Compatibility

MCU	Work Well	Work Wrong	Untested	Remarks
FireBeetle-ESP32	√
FireBeetle-ESP8266	√
Arduino uno	√

History

Nov 31, 2018 - Version 0.1 released.

About this Driver

Adafruit invests time and resources providing this open source code. Please support Adafruit and open-source hardware by purchasing products from Adafruit!

Written by Kevin (KTOWN) Townsend for Adafruit Industries.

Chadizzm / DFRobot_BNO055