Accelerometer Gyroscope Compass BNO055 (I2C)

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File:TArduinoBNO055AccelerometerGyroscopeCompass I2C.png

Summary

Bosch BNO055 9-axis absolute orientation sensor with I²C interface combining accelerometer, gyroscope, magnetometer, and sensor fusion.

Description

The **BNO055 IMU** combines a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer with integrated sensor fusion for absolute orientation measurement. It provides raw sensor data, fused orientation data, quaternion output, and Euler angles with configurable operation modes, calibration, and power settings.

Diagram:

Properties

  • Enabled – Enables or disables the sensor.
  • Address – I²C device address.
  • Name – Component identifier name.
  • External Oscillator – Uses external oscillator (Default: False).
  • Operation Mode – Sensor operation mode (Default: Regular).
  • Power Mode – Power mode setting (Default: Normal).
  • Accelerometer – Accelerometer configuration:
    • Bandwidth – Accelerometer bandwidth in Hz (Default: 52.5).
    • Enabled – Enables accelerometer (Default: True).
    • Mode – Accelerometer mode (Default: Normal).
    • Offsets – Acceleration offsets:
      • X – X-axis offset (Default: 0).
      • Y – Y-axis offset (Default: 0).
      • Z – Z-axis offset (Default: 0).
    • Range – Acceleration measurement range in G (Default: 4).
  • Compass – Magnetometer configuration:
    • Enabled – Enables magnetometer (Default: True).
    • Offsets – Magnetic field offsets:
      • X – X-axis offset (Default: 0).
      • Y – Y-axis offset (Default: 0).
      • Z – Z-axis offset (Default: 0).
    • Rate – Magnetometer sample rate in Hz (Default: 20).
  • Fused – Sensor fusion configuration:
    • Calibration – Calibration settings:
      • Enabled – Enables calibration (Default: True).
    • Enabled – Enables sensor fusion (Default: True).
  • Gyroscope – Gyroscope configuration:
    • Bandwidth – Gyroscope bandwidth in Hz (Default: 32).
    • Enabled – Enables gyroscope (Default: True).
    • Mode – Gyroscope mode (Default: Normal).
    • Offsets – Gyroscope offsets:
      • X – X-axis offset (Default: 0).
      • Y – Y-axis offset (Default: 0).
      • Z – Z-axis offset (Default: 0).
    • Range – Gyroscope measurement range in dps (Default: 2000).
  • Orientation – Orientation configuration:
    • Invert Z – Inverts Z-axis (Default: False).
    • X – X-axis orientation setting.
    • Y – Y-axis orientation setting.
  • Rotation – Rotation output configuration:
    • Enabled – Enables rotation output (Default: True).
    • Positive Only – Positive only units (Default: True).
    • Units – Rotation units (Default: aubegree).
  • Thermometer – Thermometer configuration:
    • Enabled – Enables thermometer (Default: True).
    • From Gyroscope – Uses gyroscope temperature (Default: False).
    • In Fahrenheit – Temperature in Fahrenheit when True, Celsius when False (Default: False).

Pins

Input Pins

  • Clock – Sensor clock input.

Output Pins

  • Thermometer: Out (analog) – Temperature measurement output.
  • Accelerometer: X (analog) – X-axis acceleration output.
  • Accelerometer: Y (analog) – Y-axis acceleration output.
  • Accelerometer: Z (analog) – Z-axis acceleration output.
  • Gyroscope: X (analog) – X-axis angular rate output.
  • Gyroscope: Y (analog) – Y-axis angular rate output.
  • Gyroscope: Z (analog) – Z-axis angular rate output.
  • Compass: X (analog) – X-axis magnetic field output.
  • Compass: Y (analog) – Y-axis magnetic field output.
  • Compass: Z (analog) – Z-axis magnetic field output.
  • Fused: X (analog) – X-axis fused orientation output.
  • Fused: Y (analog) – Y-axis fused orientation output.
  • Fused: Z (analog) – Z-axis fused orientation output.
  • Rotation: Quaternion Out (analog) – Quaternion output.
  • Rotation: X Roll (analog) – Roll angle output.
  • Rotation: Y Pitch (analog) – Pitch angle output.
  • Rotation: Z Yaw (analog) – Yaw angle output.
  • Interface (i2c) – I²C communication interface.

Categories

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