BOSCH-BNO085-I2C-micropython-library

Micropython I2C library for 9 dof BOSCH BNO08X sensors

• 100% inspired by the original Adafruit Circuitpython I2C library for BNO08X
• Copyright (c) 2020 Bryan Siepert for Adafruit Industries

This library is working with:

Manufacturer	Chips	Observations
Raspberry	Pico, Pico W, Pico 2, Pico 2 W
Espressif	Esp32 S2, Esp32 S3	See Requirements

This library has been tested with BNO080, BNO085, and BNO086 sensors.

ESP32 S3 need a firmware compiled with ESP-IDF 5.3.2 (maybe 5.3.1 will also work) Firmware for Lilygo AMOLED displays

How to setup

Need to set up the I2C

#import the library
import bno08x

#setup the  I2C bus
i2c0 = I2C(0, scl=I2C0_SCL, sda=I2C0_SDA, freq=100000, timeout=200000)

#setup the BNO sensor
bno = BNO08x(i2c0)

but can be completed by optional conditions

bno = BNO08X_I2C(i2c_bus, address=None, rst_pin=14, debug=False)

Mandatory :

• i2c_bus

Optional :

• address : will find by itself, but if using 2 BNO08x you need to define it
• rst_pin : if a pin identifier (Pin number, not Pin object) is defined, will do a hard reset, otherwise, soft reset will be used
• debug : print logs from driver

Enable the sensor reports

bno.enable_feature(BNO_REPORT_ACCELEROMETER)  # for accelerometer

Available sensors reports are :

    BNO_REPORT_ACCELEROMETER
    BNO_REPORT_GYROSCOPE
    BNO_REPORT_MAGNETOMETER
    BNO_REPORT_LINEAR_ACCELERATION
    BNO_REPORT_ROTATION_VECTOR
    BNO_REPORT_GRAVITY
    BNO_REPORT_GAME_ROTATION_VECTOR
    BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR
    BNO_REPORT_PRESSURE
    BNO_REPORT_AMBIENT_LIGHT
    BNO_REPORT_HUMIDITY
    BNO_REPORT_PROXIMITY
    BNO_REPORT_TEMPERATURE
    BNO_REPORT_STEP_COUNTER
    BNO_REPORT_SHAKE_DETECTOR
    BNO_REPORT_STABILITY_CLASSIFIER
    BNO_REPORT_ACTIVITY_CLASSIFIER
    BNO_REPORT_RAW_ACCELEROMETER
    BNO_REPORT_RAW_GYROSCOPE
    BNO_REPORT_RAW_MAGNETOMETER
    BNO_REPORT_UNCALIBRATED_GYROSCOPE
    BNO_REPORT_UNCALIBRATED_MAGNETOMETER
    BNO_REPORT_ARVR_STABILIZED_ROTATION_VECTOR
    BNO_REPORT_ARVR_STABILIZED_GAME_ROTATION_VECTOR
    BNO_REPORT_GYRO_INTEGRATED_ROTATION_VECTOR

Yet unsupported sensors reports are :

    BNO_REPORT_SIGNIFICANT_MOTION
    BNO_REPORT_SAR
    BNO_REPORT_STEP_DETECTOR
    BNO_REPORT_SHAKE_DETECTOR
    BNO_REPORT_FLIP_DETECTOR
    BNO_REPORT_PICKUP_DETECTOR
    BNO_REPORT_STABILITY_DETECTOR
    BNO_REPORT_SLEEP_DETECTOR
    BNO_REPORT_TILT_DETECTOR
    BNO_REPORT_POCKET_DETECTOR
    BNO_REPORT_CIRCLE_DETECTOR
    BNO_REPORT_HEART_RATE_MONITOR

Sensors values can be reached with

accel_x, accel_y, accel_z = bno.acc

Roll Tilt and Pan can be obtained with

roll, tilt, pan = bno.euler

Examples of other sensor reports

See examples directory for sample code. The following functions use on-chip sensor fusion for accuracy.

x, y, z = bno.acc  # acceleration 3-tuple of x,y,z float returned
x, y, z = bno.acc_linear  # linear accel 3-tuple of x,y,z float returned
x, y, z = bno.gyro  # acceleration 3-tuple of x,y,z float returned
x, y, z = bno.mag  # acceleration 3-tuple of x,y,z float returned
roll, pitch, yaw = bno.euler  # rotation 3-tuple of x,y,z float returned
x, y, z = bno.gravity  # vector 3-tuple of x,y,z float returned
i, j, k, real = bno.quaternion  # rotation 4-tuple of i,j,k,real float returned
i, j, k, real = bno.geomagnetic_quat  # rotation 4-tuple of i,j,k,real float returned
i, j, k, real = bno.game_quat  # rotation 4-tuple of i,j,k,real float returned
num = bno.steps  # number of steps since initialization returned
state = bno.shaken  # boolean of state since last read returned
stability_str = bno.stability_classif  # string of stability classification returned
activity_str = bno.activity_classif  # string of activity classification returned

The following functions provide raw values directly from individual sensors:

# raw data sensor tuple of x,y,z, float and time_stamp int returned
x, y, z, usec = bno.acc_raw 
x, y, z, usec = bno.mag_raw

# raw data gyro tuple of x,y,z, celsius float, and time_stamp int returned
x, y, z, temp_c, usec = bno.gyro_raw

The following functions can be used to control and test sensor:

bno.tare  # tare the sensor

bno.calibration  # begin calibration
mag_accuracy = bno.calibration_status  # magnetic calibration status int returned
print(f"Mag Calibration: {REPORT_ACCURACY_STATUS[mag_accuracy]} = {mag_accuracy}")
bno.calibration_save  # Save calibration

status = bno.ready  # test sensor status, boolean returned