BNO055 Reuse of Calibration Profile in Arduino 9-Axis Shield
My work is now going with this 9axesmotion shield, Arduino Uno minima R4.
The basic problem is calibration, which I don't want to calibration every time of power on. the question is, the link above proposes quite look good. But I don't know the clearly step of doing/following.
Can someone else explain more how to store the calibration offset and read the offset from itself?
That is not to hard, save it in variables, or a array. That can be in EEPROM if available or I use FRAM, both will remember when the power fails. FRAM will survive thousands of times more write - read cycles then the EEPROM will. EEPROM wears on write FRAM wears on reads.
Before purchasing parts etc get a copy of the Arduino Cookbook, it has a great section on EEPROM, the FRAM works about the same but does not need delays or processing in sections.
Hi gilshultz,
Thank you for your replying. I feel relief that sound not more step to finish. I am now a bit lost, because it can not seen where I can get the Reading Calibration Profile.
From the datasheet of BNO055
on first step. >[]<)/
in the link you provided, @ispybadguys seems to provide functions to read the calibration data.
Hi Jackson,
yes, you are right. The provided code in Cpp and h file, i can understand. The point that I lost is the third part of code.... I do not know where to use(program).
what do you call the third part?
can you already write a code that reads the calibration values and print them out to the serial monitor?
Post#3 of ispybadguys
Blockquote
Functions that read and writes the Cal Registers using my new class functions is:
struct bno055_mag_offset_t mag_offset ={-53,209,-523,836}; // Offset and Radius Values
/* s_16 x; < Mag offset x data
s_16 y; < Mag offset y data
s_16 z; < Mag offset z data
s_16 r; < Mag radius x data */
struct bno055_accel_offset_t accel_offset ={-24,2,7,1000}; // Offset and Radius Values
/* s_16 x; < Accel offset x data
s_16 y; < Accel offset y data
s_16 z; < Accel offset z data
s_16 r; < Accel radius x data */
struct bno055_gyro_offset_t gyro_offset ={-1,-4,-1}; // Offset Values
/* s_16 x; < Gyro offset x data
s_16 y; < Gyro offset y data
s_16 z; < Gyro offset z data */
/* @return results of bus communication function
@retval 0 . Success
@retval 1 . Error */
// 4/3/17 ReadBNO055Calibration: readmag_offset 0 { -44,204,-515,811} readgyro_offset 0 { -1,-4,-2} readaccel_offset 0 { -21,1,11,1000}
/**********************************************************************************************************************************************************/
void ReadBNO055Calibration() //This code is executed once
/**********************************************************************************************************************************************************/
{
BNO055_RETURN_FUNCTION_TYPE readmag_offset = 1;
BNO055_RETURN_FUNCTION_TYPE readaccel_offset = 1;
BNO055_RETURN_FUNCTION_TYPE readgyro_offset = 1;
mag_offset.x = 0;
mag_offset.y = 0;
mag_offset.z = 0;
mag_offset.r = 0;
accel_offset.x = 0;
accel_offset.y = 0;
accel_offset.z = 0;
accel_offset.r = 0;
gyro_offset.x = 0;
gyro_offset.y = 0;
gyro_offset.z = 0;
//if(mySensor.readSystemCalibStatus() < 3) return; // Wait till claibrated
mySensor.setOperationMode(OPERATION_MODE_CONFIG); // Set CONFIG Mode
readmag_offset = mySensor.read_mag_offset(&mag_offset); // Read Offset and Radius
Console.print(F(" mag ")); Console.print(readmag_offset);
Console.print(" {");
Console.print(mag_offset.x); Console.print(",");
Console.print(mag_offset.y); Console.print(",");
Console.print(mag_offset.z); Console.print(",");
Console.print(mag_offset.r);
Console.print("} ");
Console.flush();
readgyro_offset = mySensor.read_gyro_offset(&gyro_offset); // Read Offset
Console.print(F("gyro ")); Console.print(readgyro_offset);
Console.print(" {");
Console.print(gyro_offset.x); Console.print(",");
Console.print(gyro_offset.y); Console.print(",");
Console.print(gyro_offset.z);
Console.print("} ");
readaccel_offset = mySensor.read_accel_offset(&accel_offset); // Read Offset and Radius
Console.print(F("accel ")); Console.print(readaccel_offset);
Console.print(" {");
Console.print(accel_offset.x); Console.print(",");
Console.print(accel_offset.y); Console.print(",");
Console.print(accel_offset.z); Console.print(",");
Console.print(accel_offset.r);
Console.println("} ");
mySensor.setOperationMode(BNO055_OPERATING_MODE); // Can be configured to other operation modes as desired mode is 9 Degrees of Freedom Sensor Fusion with fast magcal
}
/**********************************************************************************************************************************************************/
void WriteBNO055Calibration() //This code is executed once
/**********************************************************************************************************************************************************/
{
// Sensor Initialization 4/4/17 ReadBNO055Calibration: readmag_offset 0 { -83,152,152,868} readgyro_offset 0 { -1,-4,-1} readaccel_offset 0 { -25,2,9,1000}
// WiFi= 35 KBs _2017.03.23.06.57-MEGA_BNO-055 @ 4/5/2017 15:00:13 = 41861 El=ENA Az=ENA S3 G3 A1 M3 EL-Off Az-Off Az 242.95 El 54.50 C 321.15 R -0.00 N 1471 W 5.29 mag 0 {-53,209,-523,836} gyro 0 {-1,-4,-1} accel 0 {-24,2,7,1000}
// WiFi= 52 KBs _2017.03.23.06.57-MEGA_BNO-055 @ 4/5/2017 15:44:24 = 41982 El=ENA Az=ENA S0 G3 A1 M3 EL-Off Az-Off Az 49.71 El 137.94 C 49.71 R 131.25 N 137 W 5.62 mag 0 {-40,268,-452,832} gyro 0 {-1,-3,0} accel 0 {-23,2,6,1000}
struct bno055_mag_offset_t saved_mag_offset ={-53,209,-523,836}; // Offset and Radius Values
struct bno055_accel_offset_t saved_accel_offset ={-24,2,7,1000}; // Offset and Radius Values
struct bno055_gyro_offset_t saved_gyro_offset ={-1,-4,-1}; // Offset Values
mySensor.setOperationMode(OPERATION_MODE_CONFIG); // Set CONFIG Mode
mySensor.write_mag_offset(&saved_mag_offset);
mySensor.write_accel_offset(&saved_accel_offset);
mySensor.write_gyro_offset(&saved_gyro_offset);
mySensor.setOperationMode(BNO055_OPERATING_MODE); // Can be configured to other operation modes as desired mode is 9 Degrees of Freedom Sensor Fusion with fast magcal
}
so you have the code to read the configuration and write them
what's your issue? writing to EEPROM?
I am not so sure how it must be, I guessed I can use above code in ARDUINO IDE. When I tried, it showed error. That made me wonder where else the code need to be utilized. either another c file of BNO055 or somewhere new.
Moreover, these error happen after I run example code from Arduino_NineAxesMotion.h>Accelerometer.ino
In file included from C:\Users\Tisun\AppData\Local\Temp.arduinoIDE-unsaved2024322-13928-8khmse.86y5j\Accelerometer\Accelerometer.ino:47:0:
C:\Users\Tisun\Documents\Arduino\libraries\Arduino_NineAxesMotion\src/Arduino_NineAxesMotion.h:767:9: error: extra qualification 'NineAxesMotion::' on member 'read_mag_offset' [-fpermissive]
int8_t NineAxesMotion::read_mag_offset(struct bno055_mag_offset_t *mag_offset);
^~~~~~~~~~~~~~
C:\Users\Tisun\Documents\Arduino\libraries\Arduino_NineAxesMotion\src/Arduino_NineAxesMotion.h:775:9: error: extra qualification 'NineAxesMotion::' on member 'read_gyro_offset' [-fpermissive]
int8_t NineAxesMotion::read_gyro_offset(struct bno055_gyro_offset_t *gyro_offset);
^~~~~~~~~~~~~~
C:\Users\Tisun\Documents\Arduino\libraries\Arduino_NineAxesMotion\src/Arduino_NineAxesMotion.h:784:9: error: extra qualification 'NineAxesMotion::' on member 'read_accel_offset' [-fpermissive]
int8_t NineAxesMotion::read_accel_offset(struct bno055_accel_offset_t *accel_offset);
^~~~~~~~~~~~~~
C:\Users\Tisun\Documents\Arduino\libraries\Arduino_NineAxesMotion\src/Arduino_NineAxesMotion.h:793:9: error: extra qualification 'NineAxesMotion::' on member 'write_mag_offset' [-fpermissive]
int8_t NineAxesMotion::write_mag_offset(struct bno055_mag_offset_t *mag_offset);
^~~~~~~~~~~~~~
C:\Users\Tisun\Documents\Arduino\libraries\Arduino_NineAxesMotion\src/Arduino_NineAxesMotion.h:801:9: error: extra qualification 'NineAxesMotion::' on member 'write_gyro_offset' [-fpermissive]
int8_t NineAxesMotion::write_gyro_offset(struct bno055_gyro_offset_t *gyro_offset);
^~~~~~~~~~~~~~
C:\Users\Tisun\Documents\Arduino\libraries\Arduino_NineAxesMotion\src/Arduino_NineAxesMotion.h:810:9: error: extra qualification 'NineAxesMotion::' on member 'write_accel_offset' [-fpermissive]
int8_t NineAxesMotion::write_accel_offset(struct bno055_accel_offset_t *accel_offset);
^~~~~~~~~~~~~~
exit status 1
Compilation error: exit status 1
did you modify the Bosch library as suggested in the other thread?
Hi Jackson,
Thank you for your replying. I hope that you can kindly explain me more, because I have no clue how it must be.
From you message, I reckon that either Documents\Arduino\libraries\Arduino_NineAxesMotion\src\utility\BNO055.cpp OR \BNO055.h need to be modified. with some code from ispybadguys
I've not done it but see this post
@ispybadguys explains he added stuff in two files : NAxisMotion.h and NAxisMotion.cpp
These two files(Arduino_NineAxesMotion.cpp and Arduino_NineAxesMotion.h) are modified already, that affects above error around the added lines.
post a sample code using the modified library's features. start small to understand how to use it
Right now, I made a big mistake. the sensor cannot read any data anymore. It freezed at started point of data.....
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