Hi all, I am trying to connect 3 BNO08X gyroscopes to an Arduino Uno R4. I so far have gotten 2 connected and can read their addresses, but the issue is that on the gyros I got, the AD0 pin is stuck up, so I have to ground them to get 0x4A instead of 0x4B. Using I2C Scanner, I can see both addresses, but my attempt at manipulating some example code is not working and only can find the first gyro it initializes (As you can see I swapped the code around and it still does it.)
So I guess I would break my problems into two.
- What am I doing wrong with my code for just 2 gyros?
- What can I do to get 3 gyros connected given the high AD0 pin?
#include <Arduino.h>
// This demo explores two reports (SH2_ARVR_STABILIZED_RV and SH2_GYRO_INTEGRATED_RV) both can be used to give
// quartenion and euler (yaw, pitch roll) angles. Toggle the FAST_MODE define to see other report.
// Note sensorValue.status gives calibration accuracy (which improves over time)
#include <Adafruit_BNO08x.h>
// For SPI mode, we need a CS pin
#define BNO08X_CS 10
#define BNO08X_INT 9
// #define FAST_MODE
// For SPI mode, we also need a RESET
//#define BNO08X_RESET 5
// but not for I2C or UART
#define BNO08X1_RESET -1
#define BNO08X2_RESET -1
struct euler_t {
float yaw;
float pitch;
float roll;
} ypr;
Adafruit_BNO08x bno08x1(BNO08X1_RESET);
Adafruit_BNO08x bno08x2(BNO08X2_RESET);
sh2_SensorValue_t sensorValue1;
sh2_SensorValue_t sensorValue2;
#ifdef FAST_MODE
// Top frequency is reported to be 1000Hz (but freq is somewhat variable)
sh2_SensorId_t reportType = SH2_GYRO_INTEGRATED_RV;
long reportIntervalUs = 2000;
#else
// Top frequency is about 250Hz but this report is more accurate
sh2_SensorId_t reportType = SH2_ARVR_STABILIZED_RV;
long reportIntervalUs = 5000;
#endif
void setReports(sh2_SensorId_t reportType, long report_interval) {
Serial.println("Setting desired reports");
if (! bno08x1.enableReport(reportType, report_interval)) {
Serial.println("Could not enable stabilized remote vector 1");
}
if (! bno08x2.enableReport(reportType, report_interval)) {
Serial.println("Could not enable stabilized remote vector 1");
}
}
void setup(void) {
Serial.begin(115200);
while (!Serial) delay(10); // will pause Zero, Leonardo, etc until serial console opens
Serial.println("Adafruit BNO08x test!");
// Try to initialize!
if (!bno08x2.begin_I2C(0x4A, &Wire, 0)) {
//if (!bno08x.begin_UART(&Serial1)) { // Requires a device with > 300 byte UART buffer!
//if (!bno08x.begin_SPI(BNO08X_CS, BNO08X_INT)) {
Serial.println("Failed to find BNO08x2 chip");
while (1) { delay(10); }
}
Serial.println("BNO08x2 Found!");
// Try to initialize!
if (!bno08x1.begin_I2C()) {
//if (!bno08x.begin_UART(&Serial1)) { // Requires a device with > 300 byte UART buffer!
//if (!bno08x.begin_SPI(BNO08X_CS, BNO08X_INT)) {
Serial.println("Failed to find BNO08x1 chip");
while (1) { delay(10); }
}
Serial.println("BNO08x1 Found!");
setReports(reportType, reportIntervalUs);
Serial.println("Reading events");
delay(100);
}
void quaternionToEuler(float qr, float qi, float qj, float qk, euler_t* ypr, bool degrees = false) {
float sqr = sq(qr);
float sqi = sq(qi);
float sqj = sq(qj);
float sqk = sq(qk);
ypr->yaw = atan2(2.0 * (qi * qj + qk * qr), (sqi - sqj - sqk + sqr));
ypr->pitch = asin(-2.0 * (qi * qk - qj * qr) / (sqi + sqj + sqk + sqr));
ypr->roll = atan2(2.0 * (qj * qk + qi * qr), (-sqi - sqj + sqk + sqr));
if (degrees) {
ypr->yaw *= RAD_TO_DEG;
ypr->pitch *= RAD_TO_DEG;
ypr->roll *= RAD_TO_DEG;
}
}
void quaternionToEulerRV(sh2_RotationVectorWAcc_t* rotational_vector, euler_t* ypr, bool degrees = false) {
quaternionToEuler(rotational_vector->real, rotational_vector->i, rotational_vector->j, rotational_vector->k, ypr, degrees);
}
void quaternionToEulerGI(sh2_GyroIntegratedRV_t* rotational_vector, euler_t* ypr, bool degrees = false) {
quaternionToEuler(rotational_vector->real, rotational_vector->i, rotational_vector->j, rotational_vector->k, ypr, degrees);
}
void loop() {
if (bno08x1.wasReset()) {
Serial.print("sensor was reset ");
setReports(reportType, reportIntervalUs);
}
if (bno08x1.getSensorEvent(&sensorValue1)) {
// in this demo only one report type will be received depending on FAST_MODE define (above)
switch (sensorValue1.sensorId) {
case SH2_ARVR_STABILIZED_RV:
quaternionToEulerRV(&sensorValue1.un.arvrStabilizedRV, &ypr, true);
case SH2_GYRO_INTEGRATED_RV:
// faster (more noise?)
quaternionToEulerGI(&sensorValue1.un.gyroIntegratedRV, &ypr, true);
break;
}
static long last = 0;
long now = micros();
Serial.print(now - last); Serial.print("\t");
last = now;
Serial.print(sensorValue1.status); Serial.print("\t"); // This is accuracy in the range of 0 to 3
Serial.print(ypr.yaw); Serial.print("\t");
Serial.print(ypr.pitch); Serial.print("\t");
Serial.println(ypr.roll);
}
if (bno08x1.wasReset()) {
Serial.print("sensor was reset ");
setReports(reportType, reportIntervalUs);
}
if (bno08x2.getSensorEvent(&sensorValue2)) {
// in this demo only one report type will be received depending on FAST_MODE define (above)
switch (sensorValue2.sensorId) {
case SH2_ARVR_STABILIZED_RV:
quaternionToEulerRV(&sensorValue2.un.arvrStabilizedRV, &ypr, true);
case SH2_GYRO_INTEGRATED_RV:
// faster (more noise?)
quaternionToEulerGI(&sensorValue2.un.gyroIntegratedRV, &ypr, true);
break;
}
static long last = 0;
long now = micros();
Serial.print(now - last); Serial.print("\t");
last = now;
Serial.print(sensorValue2.status); Serial.print("\t"); // This is accuracy in the range of 0 to 3
Serial.print(ypr.yaw); Serial.print("\t");
Serial.print(ypr.pitch); Serial.print("\t");
Serial.println(ypr.roll);
}
}