Fermion: BNO055 Intelligent 9-axis Sensor (Breakout) (แท้จาก DFRobot)

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Description:

BNO055 is a new sensor IC for implementing an intelligent 9-axis Absolute Orientation Sensor. It is a system in package, integrating a triaxial 14-bit accelerometer, a triaxial 16-bit gyroscope, a triaxial geomagnetic sensor and a 32-bit microcontroller. At just 5.2 x 3.8 x 1.1 mm³, it is significantly smaller than comparable discrete or system-on-board solutions and also is the sensor-hub product of the smallest size that supports Windows 8.1 at present.

BNO055 is able to provide not only single data of the three kinds of sensors (accelerometer/gyroscope/geomagnetic), but also integrated data, such as quaternions, Euler angles or vectors. Besides, the built-in MCU frees the users from the complexities of algorithm processing, which provides application support in many aspects for smart phone, wearable device and so on.

Specification:

Tutorial

Visit the I2C address of BNO055 via I2C interface to get the related position data.

Requirements

• Hardware
  • DFRduino UNO R3 (or similar) x 1
  • BNO055 Intelligent 9-axis Sensor Module x1
  • Jumper wires

• Software
  • Arduino IDE
  • Download and install the BMX160 Library (About how to install the library?)

Connection Diagram

BMX160 Tutorial

Function: read the pitch angle, roll angle and yaw angle of BNO055 sensor via I2C interface, and print out the data through the serial port. Using this demo with a small visual software Euler angle visual tool.exe we specifically designed, you can directly observe the attitude variation of 10DOF. As shown below.

/*!
* imu_show.ino
*
* Download this demo to show attitude on [imu_show](https://github.com/DFRobot/DFRobot_IMU_Show)
* Attitude will show on imu_show
*
* Product: http://www.dfrobot.com.cn/goods-1860.html
* Copyright [DFRobot](http://www.dfrobot.com), 2016
* Copyright GNU Lesser General Public License
*
* version V1.0
* date 07/03/2019
*/

#include "DFRobot_BNO055.h"
#include "Wire.h"

typedef DFRobot_BNO055_IIC BNO; // ******** use abbreviations instead of full names ********

BNO bno(&Wire, 0x28); // input TwoWire interface and IIC address

// show last sensor operate status
void printLastOperateStatus(BNO::eStatus_t eStatus)
{
switch(eStatus) {
case BNO::eStatusOK: Serial.println("everything ok"); break;
case BNO::eStatusErr: Serial.println("unknow error"); break;
case BNO::eStatusErrDeviceNotDetect: Serial.println("device not detected"); break;
case BNO::eStatusErrDeviceReadyTimeOut: Serial.println("device ready time out"); break;
case BNO::eStatusErrDeviceStatus: Serial.println("device internal status error"); break;
default: Serial.println("unknow status"); break;
}
}

void setup()
{
Serial.begin(115200);
bno.reset();
while(bno.begin() != BNO::eStatusOK) {
Serial.println("bno begin faild");
printLastOperateStatus(bno.lastOperateStatus);
delay(2000);
}
Serial.println("bno begin success");
}

void loop()
{
BNO::sEulAnalog_t sEul;
sEul = bno.getEul();
Serial.print("pitch:");
Serial.print(sEul.pitch, 3);
Serial.print(" ");
Serial.print("roll:");
Serial.print(sEul.roll, 3);
Serial.print(" ");
Serial.print("yaw:");
Serial.print(sEul.head, 3);
Serial.println(" ");
delay(80);
}

If we compare 10DOF to an airplane whose nose points at due east, the positive direction of X axis will be the direction of the nose, the positive direction of Y axis will be the direction of the left wing, which is due north. Z axis is perpendicular to the plane XOY that formed by X and Y axes. When the 10 DOF’s direction of X, Y, and Z totally coincides with the above-mentioned direction, the values of the pitch, roll and yaw angle are 0°. Here we define: pitch is the angle between the nose and XOY when the airplane noses up or down along the Y axis, and nose up is positive while nose down is negative; roll is the angle between the body and XOY when the airplane rolls along the X axis; yaw is the angle between the nose and XOZ when the airplane moves along the Z axis.

 Please note that you need to close the serial port occupied by the printer when using the test software to observe the sensor’s movement posture.

Sample Code

Function: get the acceleration data of the sensor’s movement on X, Z and Y, and print it out through the serial port.

/*!
* read_data.ino
*
* Download this demo to test read data from bno055
* Data will print on your serial monitor
*
* Product: http://www.dfrobot.com.cn/goods-1860.html
* Copyright [DFRobot](http://www.dfrobot.com), 2016
* Copyright GNU Lesser General Public License
*
* version V1.0
* date 07/03/2019
*/

#include "DFRobot_BNO055.h"
#include "Wire.h"

typedef DFRobot_BNO055_IIC BNO; // ******** use abbreviations instead of full names ********

BNO bno(&Wire, 0x28); // input TwoWire interface and IIC address

// show last sensor operate status
void printLastOperateStatus(BNO::eStatus_t eStatus)
{
switch(eStatus) {
case BNO::eStatusOK: Serial.println("everything ok"); break;
case BNO::eStatusErr: Serial.println("unknow error"); break;
case BNO::eStatusErrDeviceNotDetect: Serial.println("device not detected"); break;
case BNO::eStatusErrDeviceReadyTimeOut: Serial.println("device ready time out"); break;
case BNO::eStatusErrDeviceStatus: Serial.println("device internal status error"); break;
default: Serial.println("unknow status"); break;
}
}

void setup()
{
Serial.begin(115200);
bno.reset();
while(bno.begin() != BNO::eStatusOK) {
Serial.println("bno begin faild");
printLastOperateStatus(bno.lastOperateStatus);
delay(2000);
}
Serial.println("bno begin success");
}

#define printAxisData(sAxis) \
Serial.print(" x: "); \
Serial.print(sAxis.x); \
Serial.print(" y: "); \
Serial.print(sAxis.y); \
Serial.print(" z: "); \
Serial.println(sAxis.z)

void loop()
{
BNO::sAxisAnalog_t sAccAnalog, sMagAnalog, sGyrAnalog, sLiaAnalog, sGrvAnalog;
BNO::sEulAnalog_t sEulAnalog;
BNO::sQuaAnalog_t sQuaAnalog;
sAccAnalog = bno.getAxis(BNO::eAxisAcc); // read acceleration
sMagAnalog = bno.getAxis(BNO::eAxisMag); // read geomagnetic
sGyrAnalog = bno.getAxis(BNO::eAxisGyr); // read gyroscope
sLiaAnalog = bno.getAxis(BNO::eAxisLia); // read linear acceleration
sGrvAnalog = bno.getAxis(BNO::eAxisGrv); // read gravity vector
sEulAnalog = bno.getEul(); // read euler angle
sQuaAnalog = bno.getQua(); // read quaternion
Serial.println();
Serial.println("======== analog data print start ========");
Serial.print("acc analog: (unit mg) "); printAxisData(sAccAnalog);
Serial.print("mag analog: (unit ut) "); printAxisData(sMagAnalog);
Serial.print("gyr analog: (unit dps) "); printAxisData(sGyrAnalog);
Serial.print("lia analog: (unit mg) "); printAxisData(sLiaAnalog);
Serial.print("grv analog: (unit mg) "); printAxisData(sGrvAnalog);
Serial.print("eul analog: (unit degree) "); Serial.print(" head: "); Serial.print(sEulAnalog.head); Serial.print(" roll: "); Serial.print(sEulAnalog.roll); Serial.print(" pitch: "); Serial.println(sEulAnalog.pitch);
Serial.print("qua analog: (no unit) "); Serial.print(" w: "); Serial.print(sQuaAnalog.w); printAxisData(sQuaAnalog);
Serial.println("======== analog data print end ========");

delay(1000);
}

Sample Code

Function: moitor the sensor interrupts, including high/low speed interrupt, and fast tilt interrupt.

/*!
* interrupt.ino
*
* Download this demo to test bno055 interrupt
* Connect bno055 int pin to arduino pin 2
* If there occurs interrupt, it will printr on you serial monitor, more detail please refer to comments
*
* Product: http://www.dfrobot.com.cn/goods-1860.html
* Copyright [DFRobot](http://www.dfrobot.com), 2016
* Copyright GNU Lesser General Public License
*
* version V1.0
* date 07/03/2019
*/

#include "DFRobot_BNO055.h"
#include "Wire.h"

typedef DFRobot_BNO055_IIC BNO; // ******** use abbreviations instead of full names ********

BNO bno(&Wire, 0x28); // input TwoWire interface and IIC address

// show last sensor operate status
void printLastOperateStatus(BNO::eStatus_t eStatus)
{
switch(eStatus) {
case BNO::eStatusOK: Serial.println("everything ok"); break;
case BNO::eStatusErr: Serial.println("unknow error"); break;
case BNO::eStatusErrDeviceNotDetect: Serial.println("device not detected"); break;
case BNO::eStatusErrDeviceReadyTimeOut: Serial.println("device ready time out"); break;
case BNO::eStatusErrDeviceStatus: Serial.println("device internal status error"); break;
default: Serial.println("unknow status"); break;
}
}

bool intFlag = false;

void intHandle()
{
intFlag = true;
}

void setup()
{
Serial.begin(115200);
bno.reset();
while(bno.begin() != BNO::eStatusOK) {
Serial.println("bno begin faild");
printLastOperateStatus(bno.lastOperateStatus);
delay(2000);
}
Serial.println("bno begin success");

bno.setOprMode(BNO::eOprModeConfig); // set to config mode

bno.setIntMaskEnable(BNO::eIntAll); // set interrupt mask enable, signal to int pin when interrupt
// bno.setIntMaskDisable(BNO::eIntAccAm | BNO::eIntAccNm); // set interrupt mask disable, no signal to int pin when interrupt

bno.setIntEnable(BNO::eIntAll); // set interrupt enable
// bno.setIntDisable(BNO::eIntAccAm | BNO::eIntAccNm); // set interrupt disable

bno.setAccIntEnable(BNO::eAccIntSetAll); // set accelerometer interrupt enable
// bno.setAccIntDisable(BNO::eAccIntSetAmnmXAxis | BNO::eAccIntSetHgXAxis); // set accelerometer interrupt disable

/* accelerometer any motion threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2g, no more than 1991
* case 4g, no more than 3985
* case 8g, no more than 7968
* case 16g, no more than 15937
* attenion: The set value will be slightly biased according to datasheet
* tips: default accelerometer range is 4g
*/
// how to trig this: still --> fast move
bno.setAccAmThres(200);
// any motion interrupt triggers if duration consecutive data points are above the any motion interrupt
// threshold define in any motion threshold
bno.setAccIntAmDur(1);
// set high-g duration, value from 2ms to 512ms
bno.setAccHighGDuration(80);
/*
* accelerometer high-g threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2g, no more than 1991
* case 4g, no more than 3985
* case 8g, no more than 7968
* case 16g, no more than 15937
* Attenion: The set value will be slightly biased according to datasheet
*/
// how to trig this: still --> (very) fast move
bno.setAccHighGThres(900);
// accelerometer (no motion) / (slow motion) settings, 2nd parameter unit seconds, no more than 344
bno.setAccNmSet(BNO::eAccNmSmnmNm, 4);
/*
* accelerometer no motion threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2g, no more than 1991
* case 4g, no more than 3985
* case 8g, no more than 7968
* case 16g, no more than 15937
* Attenion: The set value will be slightly biased according to datasheet
*/
// hot to trig this: any motion --> still --> still
bno.setAccNmThres(100);

bno.setGyrIntEnable((BNO::eGyrIntSet_t) (BNO::eGyrIntSetHrXAxis | BNO::eGyrIntSetHrYAxis | BNO::eGyrIntSetHrZAxis)); // set gyroscope interrupt enable, in most cases, this is enough.
// bno.setGyrIntEnable(BNO::eGyrIntSetAmYAxis | BNO::eGyrIntSetAmYAxis | BNO::eGyrIntSetAmZAxis); // set gyroscope interrupt enable
// bno.setGyrIntDisable(BNO::eGyrIntSetHrXAxis | BNO::eGyrIntSetAmXAxis); // set gyroscope interrupt disable

/*
* 2nd parameter, high rate threshold to set, unit degree/seconds, value is dependent on gyroscope range selected,
* case 2000, no more than 1937
* case 1000, no more than 968
* case 500, no more than 484
* case 250, no more than 242
* case 125, no more than 121
* Attenion: The set value will be slightly biased according to datasheet
* 3rd parameter, high rate duration to set, unit ms, duration from 2.5ms to 640ms
* Attenion: The set value will be slightly biased according to datasheet
*/
// how to trigger this: still --> fast tilt
bno.setGyrHrSet(BNO::eSingleAxisX, 300, 80);
bno.setGyrHrSet(BNO::eSingleAxisY, 300, 80);
bno.setGyrHrSet(BNO::eSingleAxisZ, 300, 80);
/*
* gyroscope any motion threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2000, no more than 128
* case 1000, no more than 64
* case 500, no more than 32
* case 250, no more than 16
* case 125, no more than 8
* Attenion: The set value will be slightly biased according to datasheet
* tips: default range is 2000
*/
// how to trigger this: still --> fast tilt
bno.setGyrAmThres(20);

bno.setOprMode(BNO::eOprModeNdof); // configure done

attachInterrupt(0, intHandle, RISING); // attach interrupt
bno.getIntState(); // clear unexpected interrupt
intFlag = false;
}

void loop()
{
if(intFlag) {
intFlag = false;
uint8_t intSta = bno.getIntState(); // interrupt auto clear after read

Serial.println("interrupt detected");
if(intSta & BNO::eIntAccAm)
Serial.println("accelerometer any motion detected");
if(intSta & BNO::eIntAccNm)
Serial.println("accelerometer no motion detected");
if(intSta & BNO::eIntAccHighG)
Serial.println("acceleromter high-g detected");
if(intSta & BNO::eIntGyrHighRate)
Serial.println("gyroscope high rate detected");
if(intSta & BNO::eIntGyrAm)
Serial.println("gyroscope any motion detected");
}
}

Sample Code

Function: sensor configuration.

/*!
* config.ino
*
* Download this demo to test config to bno055
* Data will print on your serial monitor
*
* Product: http://www.dfrobot.com.cn/goods-1860.html
* Copyright [DFRobot](http://www.dfrobot.com), 2016
* Copyright GNU Lesser General Public License
*
* version V1.0
* date 07/03/2019
*/

#include "DFRobot_BNO055.h"
#include "Wire.h"

typedef DFRobot_BNO055_IIC BNO; // ******** use abbreviations instead of full names ********

BNO bno(&Wire, 0x28); // input TwoWire interface and IIC address

// show last sensor operate status
void printLastOperateStatus(BNO::eStatus_t eStatus)
{
switch(eStatus) {
case BNO::eStatusOK: Serial.println("everything ok"); break;
case BNO::eStatusErr: Serial.println("unknow error"); break;
case BNO::eStatusErrDeviceNotDetect: Serial.println("device not detected"); break;
case BNO::eStatusErrDeviceReadyTimeOut: Serial.println("device ready time out"); break;
case BNO::eStatusErrDeviceStatus: Serial.println("device internal status error"); break;
default: Serial.println("unknow status"); break;
}
}

void setup()
{
Serial.begin(115200);
bno.reset();
while(bno.begin() != BNO::eStatusOK) {
Serial.println("bno begin faild");
printLastOperateStatus(bno.lastOperateStatus);
delay(2000);
}
Serial.println("bno begin success");

bno.setPowerMode(BNO::ePowerModeNormal); // set to normal power mode
bno.setOprMode(BNO::eOprModeConfig); // must set sensor to config-mode before configure
bno.setAccPowerMode(BNO::eAccPowerModeNormal); // set acc to normal power mode
bno.setGyrPowerMode(BNO::eGyrPowerModeNormal); // set gyr to normal power mode
bno.setMagPowerMode(BNO::eMagPowerModeForce); // set mag to force power mode

// accelerometer normal configure
bno.setAccRange(BNO::eAccRange_4G); // set range to 4g
bno.setAccBandWidth(BNO::eAccBandWidth_62_5); // set band width 62.5HZ
bno.setAccPowerMode(BNO::eAccPowerModeNormal); // set accelerometer power mode

// magnetometer normal configure
bno.setMagDataRate(BNO::eMagDataRate_20); // set output data rate 20HZ
bno.setMagPowerMode(BNO::eMagPowerModeForce); // set power mode
bno.setMagOprMode(BNO::eMagOprModeRegular); // set operate mode

// gyroscope normal configure
bno.setGyrRange(BNO::eGyrRange_2000); // set range
bno.setGyrBandWidth(BNO::eGyrBandWidth_32); // set band width
bno.setGyrPowerMode(BNO::eGyrPowerModeNormal); // set power mode

BNO::sAxisAnalog_t sOffsetAcc; // unit mg, members can't out of acc range
BNO::sAxisAnalog_t sOffsetMag; // unit ut, members can't out of mag range
BNO::sAxisAnalog_t sOffsetGyr; // unit dps, members can't out of gyr range
sOffsetAcc.x = 1;
sOffsetAcc.y = 1;
sOffsetAcc.z = 1;
sOffsetMag.x = 1;
sOffsetMag.y = 1;
sOffsetMag.z = 1;
sOffsetGyr.x = 1;
sOffsetGyr.y = 1;
sOffsetGyr.z = 1;
bno.setAxisOffset(BNO::eAxisAcc, sOffsetAcc); // set offset
bno.setAxisOffset(BNO::eAxisMag, sOffsetMag);
bno.setAxisOffset(BNO::eAxisGyr, sOffsetGyr);

bno.setOprMode(BNO::eOprModeNdof); // shift to other operate mode, reference datasheet for more detail
}

#define printAxisData(sAxis) \
Serial.print(" x: "); \
Serial.print(sAxis.x); \
Serial.print(" y: "); \
Serial.print(sAxis.y); \
Serial.print(" z: "); \
Serial.println(sAxis.z)

void loop()
{
BNO::sAxisAnalog_t sAccAnalog, sMagAnalog, sGyrAnalog, sLiaAnalog, sGrvAnalog;
BNO::sEulAnalog_t sEulAnalog;
BNO::sQuaAnalog_t sQuaAnalog;
sAccAnalog = bno.getAxis(BNO::eAxisAcc);
sMagAnalog = bno.getAxis(BNO::eAxisMag);
sGyrAnalog = bno.getAxis(BNO::eAxisGyr);
sLiaAnalog = bno.getAxis(BNO::eAxisLia);
sGrvAnalog = bno.getAxis(BNO::eAxisGrv);
sEulAnalog = bno.getEul();
sQuaAnalog = bno.getQua();
Serial.println();
Serial.println("======== analog data print start ========");
Serial.print("acc analog: (unit mg) "); printAxisData(sAccAnalog);
Serial.print("mag analog: (unit ut) "); printAxisData(sMagAnalog);
Serial.print("gyr analog: (unit dps) "); printAxisData(sGyrAnalog);
Serial.print("lia analog: (unit mg) "); printAxisData(sLiaAnalog);
Serial.print("grv analog: (unit mg) "); printAxisData(sGrvAnalog);
Serial.print("eul analog: (unit degree) "); Serial.print(" head: "); Serial.print(sEulAnalog.head); Serial.print(" roll: "); Serial.print(sEulAnalog.roll); Serial.print(" pitch: "); Serial.println(sEulAnalog.pitch);
Serial.print("qua analog: (no unit) "); Serial.print(" w: "); Serial.print(sQuaAnalog.w); printAxisData(sQuaAnalog);
Serial.println("======== analog data print end ========");

delay(1000);
}

Expected Results