ivyknob/bno055_stm32

BNO055 library to use with STM32 HAL

bno055_stm32's Issues

Value is jumping

Value is jumping too high sometimes.

Euler Angles Problem

When I tried to get angles as euler form just you did Euler_X is perfectly correct but euler_y and euler_z are not correct. Suddenly they jump to high degrees. What is the problem, thanks.

Delay in bno055_setOperationMode() ?

Why adding 30 ms in bno055_setOperationMode() ?
The datasheet is stating: 19 ms to BNO055_OPERATION_MODE_CONFIG and 7 ms to all others. Did you had issues with those values ?

Accelerometer scale

Hi,

There is something I do not understand. There is a scaling made here for the accelerometer but it is just a divider by 100 instead values given in the datasheet.

1 LSB = 3.91 mg (2-g range)
1 LSB = 7.81 mg (4-g range)
1 LSB = 15.63 mg (8-g range)
1 LSB = 31.25 mg (16-g range)

Is it intended ? I am in the process of implementing it for the interrupts, should I put the right scale here too ? From my point of view it will be much cleaner but it is also a breaking change.

Code malfunction

Code seems not to work, board STM32F4Discovery, BNO055 GY-955.
After initialization and reading value to a vector, vector is empty.
Is the current version operating?

Y axis is between 90 and -90

bno055_assignI2C(&hi2c2);
bno055_setup();
bno055_setOperationModeNDOF();

bno055_vector_t v = bno055_getVectorEuler();

why is v.y is just between 90 and -90?

Add examples of safe initialization and usage

Set the BNO in deep sleep and work with interrupts

I do not have time to create a proper PR for now, but if it can help someone I implemented lot of functions related to low power and deep sleep in this branch

The key for deep sleep is to set the chip in configuration mode before, which is not written in the datasheet but in the example code from Bosh

i2c.h not found

Hello,

I followed the steps in the readme, created a new project with I2C in fastmode using CubeMX and edited the code according to the readme as well.

During build, I receive the following error:

10:58:01 **** Incremental Build of configuration Debug for project BNO055_Test ****
make -j11 all 
arm-none-eabi-gcc "../Src/app_ble.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DDEBUG -DSTM32WB55xx -c -I../Middlewares/ST/STM32_WPAN/ble/core/template -I../tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/core -I../Utilities/lpm/tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/svc/Inc -I../Middlewares/ST/STM32_WPAN/ble -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/tl -I../Inc -I../Drivers/CMSIS/Include -I../Middlewares/ST/STM32_WPAN/ble/core/auto -I../Utilities/sequencer -I../Middlewares/ST/STM32_WPAN/ble/svc/Src -I../Drivers/STM32WBxx_HAL_Driver/Inc -I../Middlewares/ST/STM32_WPAN/utilities -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/shci -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread -I../Middlewares/ST/STM32_WPAN -I../Drivers/STM32WBxx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32WBxx/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Src/app_ble.d" -MT"Src/app_ble.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Src/app_ble.o"
arm-none-eabi-gcc "../Src/app_entry.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DDEBUG -DSTM32WB55xx -c -I../Middlewares/ST/STM32_WPAN/ble/core/template -I../tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/core -I../Utilities/lpm/tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/svc/Inc -I../Middlewares/ST/STM32_WPAN/ble -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/tl -I../Inc -I../Drivers/CMSIS/Include -I../Middlewares/ST/STM32_WPAN/ble/core/auto -I../Utilities/sequencer -I../Middlewares/ST/STM32_WPAN/ble/svc/Src -I../Drivers/STM32WBxx_HAL_Driver/Inc -I../Middlewares/ST/STM32_WPAN/utilities -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/shci -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread -I../Middlewares/ST/STM32_WPAN -I../Drivers/STM32WBxx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32WBxx/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Src/app_entry.d" -MT"Src/app_entry.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Src/app_entry.o"
arm-none-eabi-gcc "../Src/main.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DDEBUG -DSTM32WB55xx -c -I../Middlewares/ST/STM32_WPAN/ble/core/template -I../tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/core -I../Utilities/lpm/tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/svc/Inc -I../Middlewares/ST/STM32_WPAN/ble -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/tl -I../Inc -I../Drivers/CMSIS/Include -I../Middlewares/ST/STM32_WPAN/ble/core/auto -I../Utilities/sequencer -I../Middlewares/ST/STM32_WPAN/ble/svc/Src -I../Drivers/STM32WBxx_HAL_Driver/Inc -I../Middlewares/ST/STM32_WPAN/utilities -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/shci -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread -I../Middlewares/ST/STM32_WPAN -I../Drivers/STM32WBxx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32WBxx/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Src/main.d" -MT"Src/main.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Src/main.o"
arm-none-eabi-gcc "../Src/p2p_server_app.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DDEBUG -DSTM32WB55xx -c -I../Middlewares/ST/STM32_WPAN/ble/core/template -I../tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/core -I../Utilities/lpm/tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/svc/Inc -I../Middlewares/ST/STM32_WPAN/ble -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/tl -I../Inc -I../Drivers/CMSIS/Include -I../Middlewares/ST/STM32_WPAN/ble/core/auto -I../Utilities/sequencer -I../Middlewares/ST/STM32_WPAN/ble/svc/Src -I../Drivers/STM32WBxx_HAL_Driver/Inc -I../Middlewares/ST/STM32_WPAN/utilities -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/shci -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread -I../Middlewares/ST/STM32_WPAN -I../Drivers/STM32WBxx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32WBxx/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Src/p2p_server_app.d" -MT"Src/p2p_server_app.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Src/p2p_server_app.o"
arm-none-eabi-gcc "../Src/stm32wbxx_hal_msp.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DDEBUG -DSTM32WB55xx -c -I../Middlewares/ST/STM32_WPAN/ble/core/template -I../tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/core -I../Utilities/lpm/tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/svc/Inc -I../Middlewares/ST/STM32_WPAN/ble -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/tl -I../Inc -I../Drivers/CMSIS/Include -I../Middlewares/ST/STM32_WPAN/ble/core/auto -I../Utilities/sequencer -I../Middlewares/ST/STM32_WPAN/ble/svc/Src -I../Drivers/STM32WBxx_HAL_Driver/Inc -I../Middlewares/ST/STM32_WPAN/utilities -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/shci -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread -I../Middlewares/ST/STM32_WPAN -I../Drivers/STM32WBxx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32WBxx/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Src/stm32wbxx_hal_msp.d" -MT"Src/stm32wbxx_hal_msp.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Src/stm32wbxx_hal_msp.o"
arm-none-eabi-gcc "../Src/stm32wbxx_it.c" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DDEBUG -DSTM32WB55xx -c -I../Middlewares/ST/STM32_WPAN/ble/core/template -I../tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/core -I../Utilities/lpm/tiny_lpm -I../Middlewares/ST/STM32_WPAN/ble/svc/Inc -I../Middlewares/ST/STM32_WPAN/ble -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/tl -I../Inc -I../Drivers/CMSIS/Include -I../Middlewares/ST/STM32_WPAN/ble/core/auto -I../Utilities/sequencer -I../Middlewares/ST/STM32_WPAN/ble/svc/Src -I../Drivers/STM32WBxx_HAL_Driver/Inc -I../Middlewares/ST/STM32_WPAN/utilities -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread/shci -I../Middlewares/ST/STM32_WPAN/interface/patterns/ble_thread -I../Middlewares/ST/STM32_WPAN -I../Drivers/STM32WBxx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32WBxx/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Src/stm32wbxx_it.d" -MT"Src/stm32wbxx_it.o" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "Src/stm32wbxx_it.o"
In file included from ../Src/main.c:28:0:
../Inc/bno055_stm32.h:8:10: fatal error: i2c.h: No such file or directory
 #include "i2c.h"
          ^~~~~~~
compilation terminated.
make: *** [Src/subdir.mk:69: Src/main.o] Error 1
make: *** Waiting for unfinished jobs....
"make -j11 all" terminated with exit code 2. Build might be incomplete.

10:58:01 Build Failed. 3 errors, 0 warnings. (took 564ms)

Has the name of the header-file been changed lately, or do I have do add a i2c.h manually?

Thanks

Discussion

We should be able to set every mode and read every vector

Comparison of Libraries

What is the difference between this library and the one provided by BOSCH sensortec? https://github.com/BoschSensortec/BNO055_driver

Best,

Add travis CI with checks