BNO080 Library Working but a bit Quirky

Official Hardware Classic UNO R4 Minima
1

Using a Sparkfun BNO080 carrier ( SparkFun VR IMU Breakout - BNO080 (Qwiic) - SEN-14686 - SparkFun Electronics) I did manage to get it working with both the Minima and Wifi boards. However, it requires a change to the Sparkfun libarary (note does not work with the Adafruit version) and a couple of sketch changes (but had to do those with other boards as well).

I submitted a PR to sparkfun for the library update: Fix for Arduino Uno R4 minima and wifi by mjs513 · Pull Request #106 · sparkfun/SparkFun_BNO080_Arduino_Library (github.com)

As for the recommended sketch changes. Use the following to initialize the BNO080

  if (myIMU.begin() == false)
  {
    Serial.println("BNO080 not detected at default I2C address. Check your jumpers and the hookup guide. Freezing...");
   // while (1);
  }

  Wire.setClock(400000); //Increase I2C data rate to 400kHz
  myIMU.softReset();
  delay(250);

Typically, it comes back as not found but after doing the softReset after the clock change it works. Did notice that after first upload you may have to cycle the power but after that when you plug it in it starts right away.

I haven't tried the BNO055 by my guess is the same would be necessary