nbourre/bno055_stm32

BNO055 library to use with STM32 HAL

BNO055 STM32 library

WORK IN PROGRESS

There are no libraries to use BNO055 with STM32. We created one to use with STM32 HAL I2C.

It does support FreeRTOS, see bno055.h. Uncomment #define FREERTOS_ENABLED to enable FreeRTOS.

Usage

Use CubeMX to init i2c in fast mode.

Copy bno055.c, bno055.h and bno055_stm32.h to your project.

Set BNO055 i2c address in bno055.h

#define BNO055_I2C_ADDR    BNO055_I2C_ADDR_LO    // For 0x28
#define BNO055_I2C_ADDR    BNO055_I2C_ADDR_HI    // For 0x29

Include bno055_stm32.h. Pass i2c handler to bno055_assignI2C function and set work mode:

bno055_assignI2C(&hi2c1);
bno055_setup();
bno055_setOperationModeNDOF();

Then use bno055_getVectorEuler to receive euler angle data:

bno055_vector_t v = bno055_getVectorEuler();
printf("Heading: %.2f Roll: %.2f Pitch: %.2f\r\n", v.x, v.y, v.z);

Or use bno055_getVectorQuaternion to receive quaternion data:

bno055_vector_t v = bno055_getVectorQuaternion();
printf("W: %.2f X: %.2f Y: %.2f Z: %.2f\r\n", v.w, v.x, v.y, v.z);

To remap axis, use bno055_setAxisMap in config mode (refer to datasheet page 24):

bno055_axis_map_t axis = {
  .x = BNO055_AXIS_X,
  .x_sign = BNO055_AXIS_SIGN_POSITIVE,
  .y = BNO055_AXIS_Y,
  .y_sign = BNO055_AXIS_SIGN_POSITIVE,
  .z = BNO055_AXIS_Z,
  .z_sign = BNO055_AXIS_SIGN_POSITIVE
};
bno055_setAxisMap(axis);

Full example

# main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bno055_stm32.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  /* USER CODE BEGIN 2 */
  bno055_assignI2C(&hi2c1);
  bno055_setup();
  bno055_setOperationModeNDOF();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
    bno055_vector_t v = bno055_getVectorEuler();
    printf("Heading: %.2f Roll: %.2f Pitch: %.2f\r\n", v.x, v.y, v.z);
    v = bno055_getVectorQuaternion();
    printf("W: %.2f X: %.2f Y: %.2f Z: %.2f\r\n", v.w, v.x, v.y, v.z);
    HAL_Delay(1000);
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{ 
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

Output

Heading: 292.81 Roll: 50.00 Pitch: 175.62
W: 0.35 X: 0.45 Y: -0.78 Z: 0.23
Heading: 292.81 Roll: 50.00 Pitch: 175.62
W: 0.35 X: 0.45 Y: -0.78 Z: 0.23