BNO055¶

datasheet: https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST_BNO055_DS000_14.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()