BNO055 Sensor API

API for the BNO055 absolute orientation sensor

Enabling this sensor code requires certain configuration values to be present in the application’s configuration json. An example is given below:

{
    "sensors": {
        "bno055": {
            "i2c_bus": "K_I2C1"
        }
    }
}

See the Kubos I2C Example for an example of how to use this sensor.

enum KUBOS_CORE_BNO055::bno055_reg_t

Register Map for BNO055 Sensor.

Values:

BNO055_PAGE_ID_ADDR = 0x07
BNO055_CHIP_ID_ADDR = 0x00
BNO055_ACCEL_REV_ID_ADDR = 0x01
BNO055_MAG_REV_ID_ADDR = 0x02
BNO055_GYRO_REV_ID_ADDR = 0x03
BNO055_SW_REV_ID_LSB_ADDR = 0x04
BNO055_SW_REV_ID_MSB_ADDR = 0x05
BNO055_BL_REV_ID_ADDR = 0x06
BNO055_ACCEL_DATA_X_LSB_ADDR = 0x08
BNO055_MAG_DATA_X_LSB_ADDR = 0x0E
BNO055_GYRO_DATA_X_LSB_ADDR = 0x14
BNO055_EULER_H_LSB_ADDR = 0x1A
BNO055_QUATERNION_DATA_W_LSB_ADDR = 0x20
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0x28
BNO055_GRAVITY_DATA_X_LSB_ADDR = 0x2E
BNO055_TEMP_ADDR = 0x34
BNO055_CALIB_STAT_ADDR = 0x35
BNO055_SELFTEST_RESULT_ADDR = 0x36
BNO055_INTR_STAT_ADDR = 0x37
BNO055_SYS_CLK_STAT_ADDR = 0x38
BNO055_SYS_STAT_ADDR = 0x39
BNO055_SYS_ERR_ADDR = 0x3A
BNO055_UNIT_SEL_ADDR = 0x3B
BNO055_DATA_SELECT_ADDR = 0x3C
BNO055_OPR_MODE_ADDR = 0x3D
BNO055_PWR_MODE_ADDR = 0x3E
BNO055_SYS_TRIGGER_ADDR = 0x3F
BNO055_TEMP_SOURCE_ADDR = 0x40
BNO055_AXIS_MAP_CONFIG_ADDR = 0x41
BNO055_AXIS_MAP_SIGN_ADDR = 0x42
ACCEL_OFFSET_X_LSB_ADDR = 0x55
ACCEL_OFFSET_X_MSB_ADDR = 0x56
ACCEL_OFFSET_Y_LSB_ADDR = 0x57
ACCEL_OFFSET_Y_MSB_ADDR = 0x58
ACCEL_OFFSET_Z_LSB_ADDR = 0x59
ACCEL_OFFSET_Z_MSB_ADDR = 0x5A
MAG_OFFSET_X_LSB_ADDR = 0x5B
MAG_OFFSET_X_MSB_ADDR = 0x5C
MAG_OFFSET_Y_LSB_ADDR = 0x5D
MAG_OFFSET_Y_MSB_ADDR = 0x5E
MAG_OFFSET_Z_LSB_ADDR = 0x5F
MAG_OFFSET_Z_MSB_ADDR = 0x60
GYRO_OFFSET_X_LSB_ADDR = 0x61
GYRO_OFFSET_X_MSB_ADDR = 0x62
GYRO_OFFSET_Y_LSB_ADDR = 0x63
GYRO_OFFSET_Y_MSB_ADDR = 0x64
GYRO_OFFSET_Z_LSB_ADDR = 0x65
GYRO_OFFSET_Z_MSB_ADDR = 0x66
ACCEL_RADIUS_LSB_ADDR = 0x67
ACCEL_RADIUS_MSB_ADDR = 0x68
MAG_RADIUS_LSB_ADDR = 0x69
MAG_RADIUS_MSB_ADDR = 0x6A
enum KUBOS_CORE_BNO055::bno055_powermode_t

Power mode values for BNO055 sensor.

Values:

POWER_MODE_NORMAL = 0x00

Sensor should operate in normal mode.

POWER_MODE_LOWPOWER = 0x01

Sensor should operate in low power mode.

POWER_MODE_SUSPEND = 0x02

Sensor should operate in suspended mode.

enum KUBOS_CORE_BNO055::bno055_opmode_t

Operation mode values for BNO055 sensor.

Values:

OPERATION_MODE_CONFIG = 0x00

Configuration mode.

Default mode after power-on or RESET. Used to to configure power mode, output units, and axis mapping.

OPERATION_MODE_ACCONLY = 0x01

Only accelerometer data will be gathered.

OPERATION_MODE_MAGONLY = 0x02

Only magnetometer data will be gathered.

OPERATION_MODE_GYRONLY = 0x03

Only gyroscope data will be gathered.

OPERATION_MODE_ACCMAG = 0x04

Accelerometer and magnetometer data will be gathered.

OPERATION_MODE_ACCGYRO = 0x05

Accelerometer and gyroscope data will be gathered.

OPERATION_MODE_MAGGYRO = 0x06

Gyroscope and magnetometer data will be gathered.

OPERATION_MODE_AMG = 0x07

Accelerometer,gyroscope, and magnetometer data will be gathered.

OPERATION_MODE_IMUPLUS = 0x08

Relative orientation in space will be calculated using accelerometer and gyroscope (fast)

OPERATION_MODE_COMPASS = 0x09

The geographic direction of the sensor will be calculated.

OPERATION_MODE_M4G = 0x0A

Relative orientation in space will be calculated using accelerometer and magnetometer.

OPERATION_MODE_NDOF_FMC_OFF = 0x0B

NDOF without fast magnetometer calibration.

OPERATION_MODE_NDOF = 0x0C

Absolute orientation will be calculated from Accelerometer,gyroscope, and magnetometer data.

OPERATION_MODE_INVALID = 0x99

Extra value to indicate an error.

enum KUBOS_CORE_BNO055::bno055_axis_remap_config_t

Configuration values to configure sensor to new reference axis.

Default: REMAP_CONFIG_P1 (0x24)

Values:

REMAP_CONFIG_P0 = 0x21
REMAP_CONFIG_P1 = 0x24

Default configuration.

REMAP_CONFIG_P2 = 0x24
REMAP_CONFIG_P3 = 0x21
REMAP_CONFIG_P4 = 0x24
REMAP_CONFIG_P5 = 0x21
REMAP_CONFIG_P6 = 0x21
REMAP_CONFIG_P7 = 0x24
enum KUBOS_CORE_BNO055::bno055_axis_remap_sign_t

Axis signs to be used with new reference axis.

P* values should be the same when using REMAP_CONFIG_P* and REMAP_SIGN_P*.

Default: REMAP_SIGN_P1 (0x00)

Values:

REMAP_SIGN_P0 = 0x04
REMAP_SIGN_P1 = 0x00

Default signs.

REMAP_SIGN_P2 = 0x06
REMAP_SIGN_P3 = 0x02
REMAP_SIGN_P4 = 0x03
REMAP_SIGN_P5 = 0x01
REMAP_SIGN_P6 = 0x07
REMAP_SIGN_P7 = 0x05
enum KUBOS_CORE_BNO055::vector_type_t

Convenience enum to make the appropriate data addresses more readable in code.

Values:

VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR
VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR
VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR
VECTOR_EULER = BNO055_EULER_H_LSB_ADDR
VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR
VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
KSensorStatus bno055_setup(bno055_opmode_t mode)

Set up default BNO055 connection.

Starts I2C bus connection with default configuration and then calls bno055_init

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • mode: Operation mode to set sensor to after initialization completes

KSensorStatus bno055_init(bno055_opmode_t mode)

Initialize BNO055 connection.

Makes necessary writes and reads to initialize sensor and verify that it is running correctly, then sets requested operation mode.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • mode: Operation mode to set sensor to

KSensorStatus bno055_set_mode(bno055_opmode_t mode)

Set BNO055 operating mode.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • mode: Operation mode to set sensor to

KSensorStatus bno055_get_mode(uint8_t *value)

Get BNO055 operating mode.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • value: Sensor’s current operating mode

KSensorStatus bno055_get_rev_info(bno055_rev_info_t *info)

Get BNO055 system info.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • info: Sensor’s revision and chip ID information

KSensorStatus bno055_set_ext_crystal_use(int use)

Set whether BNO055 should use external crystal oscillator as its clock source.

Note: If turned on, an external oscillator must be connected to pins XIN32 and XOUT32

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • use: 1 if external oscillator should be used, 0 if not

KSensorStatus bno055_get_system_status(bno055_system_status_t *status)

Get BNO055 system status.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • status: Sensor’s current status, self-test results, and error state

KSensorStatus bno055_get_calibration(bno055_calibration_data_t *data)

Get BNO055 calibration status.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • data: Sensor’s current calibration status

KSensorStatus bno055_get_single_data(bno055_reg_t reg, uint8_t *value)

Get value from specific BNO055 register.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • reg: Register to read from
  • value: Pointer to data byte to read to

KSensorStatus bno055_get_data_vector(vector_type_t type, bno055_vector_data_t *vector)

Get BNO055 vector data.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • type: Specifies which vector should be returned
  • vector: Pointer to vector structure to read to

KSensorStatus bno055_get_position(bno055_quat_data_t *quat)

Get BNO055 quaternion data.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • quat: Pointer to quaternion structure to read to

KSensorStatus bno055_get_temperature(int8_t *temp)

Get BNO055 temperature data.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • temp: Pointer to data byte to read to

KSensorStatus bno055_get_sensor_offset_struct(bno055_offsets_t *offsets_type)

Get current BNO055 calibration offsets.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • offsets_type: Pointer to offsets structure to read to

KSensorStatus bno055_set_sensor_offset_struct(const bno055_offsets_t offsets_type)

Set BNO055 calibration offsets.

The BNO055’s calibration offsets can be set, if desired, removing the need to physically calibrate it.

Note: This does not ensure full calibration. Some minimal physical calibration might still be required. However, the amount of time required to calibrate the sensor will be greatly reduced.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • offsets_type: Offset values to set

KSensorStatus bno055_check_calibration(uint8_t *count, uint8_t limit, bno055_offsets_t *calib)

Check BNO055 calibration status.

Gets the sensor’s current calibration status.

If fully calibrated, the current calibration offsets are read.

If not, the passed counter is increased. If the counter is greater than the passed limit, then the counter is reset to zero. This allows the caller to retry system calibration completely if too long has passed without the sensor becoming fully calibrated.

Return
KSensorStatus SENSOR_OK if successful, otherwise indicates appropriate error
Parameters
  • count: Pointer to counter
  • limit: Maximum counter value
  • calib: Pointer to offset structure to read to

struct bno055_rev_info_t
#include <bno055.h>

Storage structure for system ID values.

Public Members

uint8_t accel_rev

Accelerometer chip ID.

uint8_t mag_rev

Magnetometer chip ID.

uint8_t gyro_rev

Gyroscope chip ID.

uint16_t sw_rev

Software revision ID.

uint8_t bl_rev

Bootloader version.

struct bno055_offsets_t
#include <bno055.h>

Storage structure for calibration values.

Public Members

uint16_t accel_offset_x

Accelerometer x-axis offset.

uint16_t accel_offset_y

Accelerometer y-axis offset.

uint16_t accel_offset_z

Accelerometer z-axis offset.

uint16_t gyro_offset_x

Gyroscope x-axis offset.

uint16_t gyro_offset_y

Gyroscope y-axis offset.

uint16_t gyro_offset_z

Gyroscope z-axis offset.

uint16_t mag_offset_x

Magnetometer x-axis offset.

uint16_t mag_offset_y

Magnetometer y-axis offset.

uint16_t mag_offset_z

Magnetometer z-axis offset.

uint16_t accel_radius

Accelerometer radius.

uint16_t mag_radius

Magnetometer radius.

struct bno055_quat_data_t
#include <bno055.h>

Storage structure for calculated quaternion values.

struct bno055_vector_data_t
#include <bno055.h>

Storage structure for calculated vector values.

struct bno055_system_status_t
#include <bno055.h>

Storage structure for system status values.

Public Members

uint8_t status

System Status (see section 4.3.58) 

0 = Idle
1 = System Error
2 = Initializing Peripherals
3 = System Iniitalization
4 = Executing Self-Test
5 = Sensor fusio algorithm running
6 = System running without fusion algorithms

uint8_t self_test

Self Test Results. 

1 = test passed, 0 = test failed

Bit 0 = Accelerometer self test
Bit 1 = Magnetometer self test
Bit 2 = Gyroscope self test
Bit 3 = MCU self test

0x0F = all good!

uint8_t error

System Error Status. 

0 = No error
1 = Peripheral initialization error
2 = System initialization error
3 = Self test result failed
4 = Register map value out of range
5 = Register map address out of range
6 = Register map write error
7 = BNO low power mode not available for selected operat ion mode
8 = Accelerometer power mode not available
9 = Fusion algorithm configuration error
A = Sensor configuration error

struct bno055_calibration_data_t
#include <bno055.h>

Storage structure for sensor calibration values.

For each component:

  • 3 - Fully calibrated
  • 1,2 - Partially calibrated
  • 0 - Not calibrated

Public Members

uint8_t sys

Overall system calibration status.

uint8_t gyro

Gyroscope calibration status.

uint8_t accel

Accelerometer calibration status.

uint8_t mag

Accelerometer calibration status.