I made a custom pcb with a BNO055 IMU. When I plug it in the i2c adress gets detected, but all the vlues are 0.
Here is the schematic:
This is the code I used:
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
double xPos = 0, yPos = 0, headingVel = 0;
uint16_t BNO055_SAMPLERATE_DELAY_MS = 10; //how often to read data from the board
uint16_t PRINT_DELAY_MS = 500; // how often to print the data
uint16_t printCount = 0; //counter to avoid printing every 10MS sample
//velocity = accel*dt (dt in seconds)
//position = 0.5*accel*dt^2
double ACCEL_VEL_TRANSITION = (double)(BNO055_SAMPLERATE_DELAY_MS) / 1000.0;
double ACCEL_POS_TRANSITION = 0.5 * ACCEL_VEL_TRANSITION * ACCEL_VEL_TRANSITION;
double DEG_2_RAD = 0.01745329251; //trig functions require radians, BNO055 outputs degrees
// Check I2C device address and correct line below (by default address is 0x29 or 0x28)
// id, address
Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x29);
void setup(void)
{
Serial.begin(115200);
if (!bno.begin())
{
Serial.print("No BNO055 detected");
while (1);
}
delay(1000);
bno.setExtCrystalUse(false);
}
void loop(void)
{
//
unsigned long tStart = micros();
sensors_event_t orientationData , linearAccelData;
bno.getEvent(&orientationData, Adafruit_BNO055::VECTOR_EULER);
// bno.getEvent(&angVelData, Adafruit_BNO055::VECTOR_GYROSCOPE);
bno.getEvent(&linearAccelData, Adafruit_BNO055::VECTOR_LINEARACCEL);
xPos = xPos + ACCEL_POS_TRANSITION * linearAccelData.acceleration.x;
yPos = yPos + ACCEL_POS_TRANSITION * linearAccelData.acceleration.y;
// velocity of sensor in the direction it's facing
headingVel = ACCEL_VEL_TRANSITION * linearAccelData.acceleration.x / cos(DEG_2_RAD * orientationData.orientation.x);
if (printCount * BNO055_SAMPLERATE_DELAY_MS >= PRINT_DELAY_MS) {
//enough iterations have passed that we can print the latest data
Serial.print("Heading: ");
Serial.println(orientationData.orientation.x);
Serial.print("Position: ");
Serial.print(xPos);
Serial.print(" , ");
Serial.println(yPos);
Serial.print("Speed: ");
Serial.println(headingVel);
Serial.println("-------");
printCount = 0;
}
else {
printCount = printCount + 1;
}
while ((micros() - tStart) < (BNO055_SAMPLERATE_DELAY_MS * 1000))
{
//poll until the next sample is ready
}
}
void printEvent(sensors_event_t* event) {
Serial.println();
Serial.print(event->type);
double x = -1000000, y = -1000000 , z = -1000000; //dumb values, easy to spot problem
if (event->type == SENSOR_TYPE_ACCELEROMETER) {
x = event->acceleration.x;
y = event->acceleration.y;
z = event->acceleration.z;
}
else if (event->type == SENSOR_TYPE_ORIENTATION) {
x = event->orientation.x;
y = event->orientation.y;
z = event->orientation.z;
}
else if (event->type == SENSOR_TYPE_MAGNETIC_FIELD) {
x = event->magnetic.x;
y = event->magnetic.y;
z = event->magnetic.z;
}
else if ((event->type == SENSOR_TYPE_GYROSCOPE) || (event->type == SENSOR_TYPE_ROTATION_VECTOR)) {
x = event->gyro.x;
y = event->gyro.y;
z = event->gyro.z;
}
Serial.print(": x= ");
Serial.print(x);
Serial.print(" | y= ");
Serial.print(y);
Serial.print(" | z= ");
Serial.println(z);
}
