7Semi BNO055 Arduino Library

Arduino library for the Bosch BNO055 9-axis Absolute Orientation Sensor.

The library provides access to accelerometer, gyroscope, magnetometer, Euler angles, quaternions, gravity vector, linear acceleration, calibration data, power management and device configuration.

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Features

• Accelerometer
• Gyroscope
• Magnetometer
• Euler Angles
• Quaternion Output
• Linear Acceleration
• Gravity Vector
• Temperature Sensor
• Calibration Management
• Device Information
• Power Mode Control
• Interrupt Management
• Sensor Configuration
• I2C Communication
• External Crystal Support

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Supported Platforms

• AVR
• ESP8266
• ESP32
• Arduino Compatible Boards

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Dependency

This library requires:

• 7Semi_BusCore

Install the dependency before using this library.

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Installation

Arduino Library Manager

1. Open Arduino IDE.
2. Open Library Manager.
3. Search for 7Semi BNO055.
4. Click Install.

Manual Installation

1. Download this repository.

2. Install the library using:

   • Sketch
   • Include Library
   • Add ZIP Library

3. Install 7Semi_BusCore.

4. Restart Arduino IDE.

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Hardware Connections

I2C Interface

BNO055	MCU
VIN	3.3V / 5V
GND	GND
SDA	SDA
SCL	SCL
ADR	GND (0x28)
ADR	VCC (0x29)

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Quick Start

Initialize Sensor

#include <7Semi_BNO055.h>

BNO055_7Semi imu;

void setup()
{
    Serial.begin(115200);

    if (!imu.begin())
    {
        Serial.println("BNO055 not detected");

        while (1);
    }
}

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Set Operation Mode

imu.setMode(
    BNO055_OP_Mode::NDOF);

Available modes:

CONFIG
ACCONLY
MAGONLY
GYRONLY
ACCMAG
ACCGYRO
MAGGYRO
AMG
IMUPLUS
COMPASS
M4G
NDOF_FMC_OFF
NDOF

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Read Euler Angles

float heading;
float roll;
float pitch;

imu.readEuler(
    heading,
    roll,
    pitch);

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Read Quaternion

float w;
float x;
float y;
float z;

imu.readQuaternion(
    w,
    x,
    y,
    z);

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Read Accelerometer

int16_t x;
int16_t y;
int16_t z;

imu.readAccel(
    x,
    y,
    z);

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Read Gyroscope

int16_t x;
int16_t y;
int16_t z;

imu.readGyro(
    x,
    y,
    z);

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Read Magnetometer

int16_t x;
int16_t y;
int16_t z;

imu.readMag(
    x,
    y,
    z);

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Read Linear Acceleration

int16_t x;
int16_t y;
int16_t z;

imu.readLinear(
    x,
    y,
    z);

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Read Gravity Vector

int16_t x;
int16_t y;
int16_t z;

imu.readGravity(
    x,
    y,
    z);

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Read Temperature

int8_t temperature;

imu.readTemperature(
    temperature);

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Calibration

Read Calibration Status

uint8_t system;
uint8_t gyro;
uint8_t accel;
uint8_t mag;

imu.getCalibration(
    system,
    gyro,
    accel,
    mag);

Read Calibration Data

BNO055_CalibrationData data;

imu.readCalibrationData(
    data);

Write Calibration Data

BNO055_CalibrationData data;

imu.writeCalibrationData(
    data);

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Device Information

DeviceInfo info;

imu.getDeviceInfo(
    info);

Available fields:

info.chipID
info.accelID
info.magID
info.gyroID
info.swRevision
info.blRevision

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Power Modes

Set Power Mode

imu.setPowerMode(
    BNO055_Power_Mode::NORMAL);

Get Power Mode

BNO055_Power_Mode mode;

imu.getPowerMode(
    mode);

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Interrupt Management

Enable Interrupt

imu.enableInterrupt(
    BNO055_Interrupt::AccelAnyMotion);

Disable Interrupt

imu.disableInterrupt(
    BNO055_Interrupt::AccelAnyMotion);

Read Interrupt State

bool enabled;

imu.isInterruptEnabled(
    BNO055_Interrupt::AccelAnyMotion,
    enabled);

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Examples

The library includes the following examples:

• Basic
• Accelerometer
• Gyroscope
• Magnetometer
• LinearAcceleration
• Gravity
• Euler
• Quaternion

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License

MIT License

Copyright (c) 7Semi

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Links

Website

https://7semi.com

GitHub

https://github.com/7semi-solutions/7Semi_BNO055_Arduino-Library