BNO055

Datasheet PDF

This module contains the driver for BOSCH BNO055 9-axis Absolute Orientation Sensor. 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.

class BNO055

BNO055(i2cdrv, addr=0x28, clk=400000)

Creates an intance of a new BNO055.

• i2cdrv: I2C Bus used '( I2C0, ... )'.
• addr: Slave address, default 0x28.
• clk: Clock speed, default 400kHz.

method init

init(mode=None)

Initialize the BNO055 setting the mode value.

• mode: Mode value selectable from Mode table (see set_mode), if None then "ndof" is used.

method set_mode

set_mode(mode)

Sets the Mode value of the BNO055.

• mode: Mode value. The BNO055 provides a variety of output signals, which can be chosen by selecting the appropriate operation mode. The table below lists the different modes and the available sensor signals.

  mode	Name	get_acc()	get_magn()	get_gyro()	get_euler()
  "acc"	ACCONLY	Yes	No	No	No
  "magn"	MAGONLY	No	Yes	No	No
  "gyro"	GYROONLY	No	No	Yes	No
  "accmag"	ACCMAG	Yes	Yes	No	No
  "accgyro"	ACCGYRO	Yes	No	Yes	No
  "maggyro"	MAGGYRO	No	Yes	Yes	No
  "amg"	AMG	No	Yes	Yes	No
  "imu"	IMU	Yes	No	Yes	Yes
  "comp"	COMPASS	Yes	Yes	No	Yes
  "m4g"	M4G	Yes	Yes	Yes	Yes
  "ndof_off"	NDOF_FMC_OFF	No	Yes	Yes	Yes
  "ndof"	NDOF	Yes	Yes	Yes	Yes

method get_calibration_status

get_calibration_status()

Retrieves the current calibration status of the BNO055 main components:

• System

• Accelerometer

• Gyroscope

• Magnetometer

  note Read: 3 indicates fully calibrated; 0 indicates not calibrated.

Returns [sys_cal_sts, acc_cal_sts, gyro_cal_sts, magn_cal_sts]

method get_calibration

get_calibration(raw=False)

Retrieves the calibration values of the BMO055 main components (list of 11 elements).

• raw: if set to True, returns a list of 22 raw bytes.

Returns [list of calibration values]

note: List of params:

1. Accelerometer Offset for X, Y, Z axes (values in m/s²) - list elements 0,1,2;
2. Magnetometer Offset for X, Y, Z axes (values in uT) - list elements 3,4,5;
3. Gyroscope Offset for X, Y, Z axes (values in Dps) - list elements 6,7,8;
4. Accelerometer Radius - list element 9;
5. Magnetometer Radius - list element 10.

method set_calibration

set_calibration(data, raw=False)

Sets the calibration values of the BNO055 main components.

• data: List of values (11 elements) representing the sensors offsets and radius. Data list must follow this order:

  1. Accelerometer Offset for X, Y, Z axes (values in m/s²) - list elements 0,1,2;
  2. Magnetometer Offset for X, Y, Z axes (values in uT) - list elements 3,4,5;
  3. Gyroscope Offset for X, Y, Z axes (values in Dps) - list elements 6,7,8;
  4. Accelerometer Radius - list element 9;
  5. Magnetometer Radius - list element 10.

• raw: If set to True, following rules are required:

  1. data list must have 22 elements;
  2. each element must be a byte (value 0 to 255);
  3. data list must be a sequence of [lsb1, msb1, lsb2, msb2, ..., ...];
  4. data list order is the same described above (elem0 and elem1 of data list are respectively lsb and msb of accelerometer offset in x axis).

method get_acc

get_acc()

Retrieves the current absolute acceleration as a list of X, Y, Z values in m/s²

Returns [acc_x, acc_y, acc_z]

method get_gyro

get_gyro()

Retrieves the current gyroscope data reading as a list of X, Y, Z values in degrees per second

Returns [gyro_x, gyro_y, gyro_z]

method get_magn

get_magn()

Retrieves the current magnetometer reading as a list of X, Y, Z values in micro-Teslas.

Returns [value_magn_x, value_magn_y, value_magn_z]

method get_euler

get_euler()

Retrieves the current orientation as a list of heading, roll, and pitch euler angles in degrees.

Returns [abs_or_h, abs_or_r, abs_or_p]

method get_lin_acc

get_lin_acc()

Retrieves the current linear acceleration (acceleration from movement, not from gravity) as a list of X, Y, Z values in m/s²

Returns [lin_acc_x, lin_acc_y, lin_acc_z]

method get_grav

get_grav()

Retrieves the current gravity acceleration as a list of X, Y, Z values in m/s²

Returns [grav_x, grav_y, grav_z]

method get_quaternion

get_quaternion()

Retrieves the current orientation as a list of X, Y, Z, W quaternion values.

Returns [w, x, y, z]

method get_temp

get_temp()

Retrieves the current temperature in Celtius.

Returns temp

Example:

from components.bno055 import bno055

...

bno = bno055.BNO055(I2C0)

bno.init()
abs_orientation = bno.get_euler()