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IMU:BNO-055

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1. Intro

BNO-055 is a 9-DOF IMU that can output absolute orientation (a hard problem to solve)

  • The fusion algorithm is in the chip already
  • Can output
  • Absolute orientation (Quaterion)
  • Linear acceleration

sensors_pinout.jpg

2. Setup

Communicate with a board by I2C/IIC

  • SDA: data
  • SCL: clock

Check if the system detected

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#include <Wire.h> //include Wire.h library

void setup()
{
Wire.begin(); // Wire communication begin
Serial.begin(9600); // The baudrate of Serial monitor is set in 9600
while (!Serial); // Waiting for Serial Monitor
Serial.println("\nI2C Scanner");
}

void loop()
{
byte error, address; //variable for error and I2C address
int nDevices;

Serial.println("Scanning...");

nDevices = 0;
for (address = 1; address < 127; address++ )
{
// The i2c_scanner uses the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
Wire.beginTransmission(address);
error = Wire.endTransmission();

if (error == 0)
{
Serial.print("I2C device found at address 0x");
if (address < 16)
Serial.print("0");
Serial.print(address, HEX);
Serial.println("  !");
nDevices++;
}
else if (error == 4)
{
Serial.print("Unknown error at address 0x");
if (address < 16)
Serial.print("0");
Serial.println(address, HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");

delay(5000); // wait 5 seconds for the next I2C scan
}

The address should be 0x28

3. Code

Use Adafruit library