Bosch BNO055 Driver

This library is written based on Adafruit Unified BNO055 Driver while redundant dependency to Adafruit Unified Sensor Library is removed.

What is new in this driver

Driver is optimized for a better operation with FreeRTOS.

Moreover this library includes additional features in the page 1 in the register map as follows.

• Reading/Writting Accelerometer Range, bandwidth, Operation Mode
• Reading/Writting Gyroscope Range, bandwidth, Operation Mode
• Reading/Writting Magnetometer Power Mode, bandwidth, Operation Mode
• Reading/Writting Interrupt Mask
• Reading/Writting Interrupt Activation status
• Reading Interrupt source
• Reading/Writting Accelerometer Any Motion/No Motion Threshold
• Reading/Writting Accelerometer Interrupt Settings
• Reading/Writting Accelerometer Shock Duration/Threshold
• Reading/Writting No Motion/Slow Motion toggle switch
• Reading/Writting Accelerometer No/Slow Motion Setting
• Reading/Writting Gyroscope Interrupt Settings
• Reading/Writting Gyroscope High Rate Settings
• Reading/Writting Gyroscope High Rate Hysteresis Threshold
• Reading/Writting Gyroscope High Rate Duration/Threshold
• Reading/Writting Gyroscope Any Motion Settings
• Reading/Writting Gyroscope Any Motion Threshold
• Reading/Writting Gyroscope Any Motion Awake Duration
• Reading/Writting Gyroscope Any Motion Slope Samples

BNO055 as an AHRS

BNO055 is not just a MARG (Magnetic, Angular Rate, and Gravity) sensor equipped with a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer, but also supports an AHRS (Attitude and heading reference system) functionality.

This module is a System in Package (SiP) that can estimate the orientation of a rigid body (module itself) thanks to BSX3.0 FusionLib software. BSX3.0 FusionLib helps users to perform the most minor calibration procedure to provide reliable measurements.

The absolute and relative orientation of the module is worked out in Fusion modes. The absolute orientation is provided in COMPASS, NDOF_FMC_OFF, and NDOF modes, and relative orientation is provided in IMU & M4G modes. The orientation is provided in both Quaternion and Euler Angles.