BNO055 I2C Example Code

Project Source Code

CMakeLists.txt

cmake_minimum_required(VERSION 3.12)

include(pico_sdk_import.cmake)

project(pico-isquaredc)

pico_sdk_init()

add_executable(isquaredc
    isquaredc.c
)

target_link_libraries(isquaredc
    pico_stdlib
    hardware_i2c
)

pico_enable_stdio_usb(isquaredc 1)
pico_enable_stdio_uart(isquaredc 0)

pico_add_extra_outputs(isquaredc)

TempSense.c

#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/i2c.h"

#define I2C_PORT i2c0

static int addr = 0x28;

// Initialise Accelerometer Function
void accel_init(void){
    // Check to see if connection is correct
    sleep_ms(1000); // Add a short delay to help BNO005 boot up
    uint8_t reg = 0x00;
    uint8_t chipID[1];
    i2c_write_blocking(I2C_PORT, addr, &reg, 1, true);
    i2c_read_blocking(I2C_PORT, addr, chipID, 1, false);

    if(chipID[0] != 0xA0){
        while(1){
            printf("Chip ID Not Correct - Check Connection!");
            sleep_ms(5000);
        }
    }

    // Use internal oscillator
    uint8_t data[2];
    data[0] = 0x3F;
    data[1] = 0x40;
    i2c_write_blocking(I2C_PORT, addr, data, 2, true);

    // Reset all interrupt status bits
    data[0] = 0x3F;
    data[1] = 0x01;
    i2c_write_blocking(I2C_PORT, addr, data, 2, true);

    // Configure Power Mode
    data[0] = 0x3E;
    data[1] = 0x00;
    i2c_write_blocking(I2C_PORT, addr, data, 2, true);
    sleep_ms(50);

    // Defaul Axis Configuration
    data[0] = 0x41;
    data[1] = 0x24;
    i2c_write_blocking(I2C_PORT, addr, data, 2, true);

    // Default Axis Signs
    data[0] = 0x42;
    data[1] = 0x00;
    i2c_write_blocking(I2C_PORT, addr, data, 2, true);

    // Set units to m/s^2
    data[0] = 0x3B;
    data[1] = 0b0001000;
    i2c_write_blocking(I2C_PORT, addr, data, 2, true);
    sleep_ms(30);

    // Set operation to acceleration only
    data[0] = 0x3D;
    data[1] = 0x0C;
    i2c_write_blocking(I2C_PORT, addr, data, 2, true);
    sleep_ms(100);
}

int main(void){
    stdio_init_all(); // Initialise STD I/O for printing over serial

    // Configure the I2C Communication
    i2c_init(I2C_PORT, 400 * 1000);
    gpio_set_function(4, GPIO_FUNC_I2C);
    gpio_set_function(5, GPIO_FUNC_I2C);
    gpio_pull_up(4);
    gpio_pull_up(5);

    // Call accelerometer initialisation function
    accel_init();

    uint8_t accel[6]; // Store data from the 6 acceleration registers
    int16_t accelX, accelY, accelZ; // Combined 3 axis data
    float f_accelX, f_accelY, f_accelZ; // Float type of acceleration data
    uint8_t val = 0x08; // Start register address

    // Infinite Loop
    while(1){
        i2c_write_blocking(I2C_PORT, addr, &val, 1, true);
        i2c_read_blocking(I2C_PORT, addr, accel, 6, false);

        accelX = ((accel[1]<<8) | accel[0]);
        accelY = ((accel[3]<<8) | accel[2]);
        accelZ = ((accel[5]<<8) | accel[4]);

        f_accelX = accelX / 100.00;
        f_accelY = accelY / 100.00;
        f_accelZ = accelZ / 100.00;

        // Print to serial monitor
        printf("X: %6.2f    Y: %6.2f    Z: %6.2f\n", f_accelX, f_accelY, f_accelZ);
        sleep_ms(300);
    }
}