BOSCH-BNO085-I2C-micropython-library

Micropython I2C library for 9 dof BOSCH BNO08X sensors

• 100% inspired by the original Adafruit Circuitpython I2C library for BNO08X
• Copyright (c) 2020 Bryan Siepert for Adafruit Industries

This library is working with:

Manufacturer	Chips	Observations
Raspberry	Pico, Pico W, Pico 2, Pico 2W
Espressif	Esp32 S2, Esp32 S3	See Requirements

ESP32 S3 need a firmware compiled with ESP-IDF 5.3.2 (maybe 5.3.1 will also work) Firmware for Lilygo AMOLED displays

How to setup

Need an I2C setup like

    #import the library
import bno08x

#setup the  I2C bus
i2c0 = I2C(0, scl=I2C1_SCL, sda=I2C1_SDA, freq=100000, timeout=200000 )

#setup the BNO sensor
bno = BNO08x(i2c0)

but can be completed by optinal conditions

bno = BNO08X_I2C(i2c_bus, address=None, reset_pin=None, debug=False)

Mandatory :

• i2c_bus

Optionnal :

• address : will try to find by itself, but if using 2 BNO08x you need to define it
• reset_pin : if a pin identifier is defined, will try to hard reset, otherwise, soft reset only
• debug : just in case...

Implentation of sensors is done throught

bno.enable_feature(BNO_REPORT_ACCELEROMETER)  # for accelerometer

Available sensors reports are :

    BNO_REPORT_ACCELEROMETER
    BNO_REPORT_GYROSCOPE
    BNO_REPORT_MAGNETOMETER
    BNO_REPORT_LINEAR_ACCELERATION
    BNO_REPORT_ROTATION_VECTOR
    BNO_REPORT_GRAVITY
    BNO_REPORT_GAME_ROTATION_VECTOR
    BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR
    BNO_REPORT_PRESSURE
    BNO_REPORT_AMBIENT_LIGHT
    BNO_REPORT_HUMIDITY
    BNO_REPORT_PROXIMITY
    BNO_REPORT_TEMPERATURE
    BNO_REPORT_STEP_COUNTER
    BNO_REPORT_SHAKE_DETECTOR
    BNO_REPORT_STABILITY_CLASSIFIER
    BNO_REPORT_ACTIVITY_CLASSIFIER
    BNO_REPORT_RAW_ACCELEROMETER
    BNO_REPORT_RAW_GYROSCOPE
    BNO_REPORT_RAW_MAGNETOMETER
    BNO_REPORT_UNCALIBRATED_GYROSCOPE
    BNO_REPORT_UNCALIBRATED_MAGNETOMETER
    BNO_REPORT_ARVR_STABILIZED_ROTATION_VECTOR
    BNO_REPORT_ARVR_STABILIZED_GAME_ROTATION_VECTOR
    BNO_REPORT_GYRO_INTEGRATED_ROTATION_VECTOR

Yet unsupported sensors reports are :

    BNO_REPORT_SIGNIFICANT_MOTION
    BNO_REPORT_SAR
    BNO_REPORT_STEP_DETECTOR
    BNO_REPORT_SHAKE_DETECTOR
    BNO_REPORT_FLIP_DETECTOR
    BNO_REPORT_PICKUP_DETECTOR
    BNO_REPORT_STABILITY_DETECTOR
    BNO_REPORT_SLEEP_DETECTOR
    BNO_REPORT_TILT_DETECTOR
    BNO_REPORT_POCKET_DETECTOR
    BNO_REPORT_CIRCLE_DETECTOR
    BNO_REPORT_HEART_RATE_MONITOR

Sensors values can be reached with

accel_x, accel_y, accel_z = bno.acc

Roll Tilt and Pancan be obtained with

roll, tilt, pan = bno.euler