How to use IMU Breakout (BNO055) with BeagleBone AI-64

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ss13ms110
 
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Joined: Mon Apr 24, 2023 4:36 pm

How to use IMU Breakout (BNO055) with BeagleBone AI-64

Post by ss13ms110 »

Hello Devs,

I have been using BB AI-64 for some time, integrating one sensor/module at a time.

Finally I got my hands on Adafruit IMU Breakout Board (BNO055), however I am unable to figure out how to use it.

Code: Select all

i2cdetect
detect the board at address 28, but when I do

Code: Select all

i2cdump
, I get this with lot of 'ff' values

Code: Select all

     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f    0123456789abcdef
00: a0 fb 32 0f 11 03 15 00 00 00 00 00 00 00 00 00    ??2????.........
10: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00    ................
20: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00    ................
30: 00 00 00 00 00 00 0f 00 00 00 00 80 ff 10 00 00    ......?....?.?..
40: 00 24 00 00 40 00 00 00 00 00 00 00 40 00 00 00    .$..@.......@...
50: 00 00 00 00 40 00 00 00 00 00 00 00 00 00 00 00    ....@...........
60: 00 00 00 00 00 00 00 00 00 e0 01 00 00 00 00 00    .........??.....
70: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00    ................
80: ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff    ................
90: ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff    ................
a0: ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff    ................
b0: ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff    ................
c0: ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff    ................
d0: ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff    ................
e0: ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff    ................
f0: ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff    ................
I tried using Blinka, but BB AI-64 is not supported (this has also been mentioned in viewtopic.php?p=970037 post as well).

Please help me on how can I make this sensor run on BB AI-64.

Thank you

Best
Shubham

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gammaburst
 
Posts: 1015
Joined: Thu Dec 31, 2015 12:06 pm

Re: How to use IMU Breakout (BNO055) with BeagleBone AI-64

Post by gammaburst »

I don't know anything about BeagleBone or Blinka.

Your register dump looks correct.
The BNO055 has two "pages" of registers, with 128 registers per page (although many are unused).
Read section 4 of the BNO055 datasheet to understand the pages and registers.
Many projects never need to access the second page.

Are you trying to talk to the BNO055 with your own code, without using anyone else's code or library?
If yes, then you will need the BNO055 datasheet, and some getting-started advice:
- Be sure your microcontroller supports I2C clock stretching.
- Read the BNO055's quaternion, not its broken Euler angles.
- If you see intermittent I2C failures, try adding an extra pullup resistor (2K to 3K ohms) to SDA.
- My suggested BNO055 startup procedure: viewtopic.php?f=25&t=108290&p=541754#p541754

Current BNO055 datasheet v1.8 (October 2021): https://www.bosch-sensortec.com/product ... rs/bno055/

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