BNO055.BNO055 Class Reference

A BNO055 IMU driver class. More...

Public Member Functions
def	__init__ (self, i2c)
	Initializes the BNO055 IMU More...
def	mode (self, modenum)
	Sets the mode for IMU at which it will be operating in. More...
def	status (self)
	Identifies the calibration status of the IMU. More...
def	read_coef (self)
	Reads the calibration coefficients when the system is fully calibrated. More...
def	write_coef (self, cal_coefs)
	Writes existing calibration coefficients into the IMU More...
def	read_angle (self)
	Reads the euler angle data from IMU and merges MSB and LSB More...
def	read_omega (self)
	Reads the angular velocity data from IMU and merges MSB and LSB More...

Public Attributes
	i2c
	addr
	cal_coef
	calbuff
	OPR_MODE
	config_mode
	NDoF_mode
	cal_byte
	mag_stat
	acc_stat
	gyr_stat
	sys_stat
	reg_addr
	Heading
	Roll
	Pitch
	w_y
	w_x
	w_z

Detailed Description

A BNO055 IMU driver class.

Objects of this class can be used to configure the BNO055 IMU. IMU objects created from this class are able be read data from the IMU using I2C. This includes calibration data, euler angles, and angular velocity.

Constructor & Destructor Documentation

__init__()

def BNO055.BNO055.__init__	(		self,
			i2c
	)

Initializes the BNO055 IMU

Parameters

i2c	The I2C controller object that is associated with the IMU

Member Function Documentation

mode()

def BNO055.BNO055.mode	(		self,
			modenum
	)

Sets the mode for IMU at which it will be operating in.

Parameters

modenum

will be set to 0 for config mode and 1 for NDoF mode.

read_angle()

def BNO055.BNO055.read_angle

(

self

)

Reads the euler angle data from IMU and merges MSB and LSB

Returns

(self.Roll, self.Pitch, self.Heading) Tuple of Euler Angles

read_coef()

def BNO055.BNO055.read_coef

(

self

)

Reads the calibration coefficients when the system is fully calibrated.

Returns

self.cal_coef The calibration coefficients of the IMU.

read_omega()

def BNO055.BNO055.read_omega

(

self

)

Reads the angular velocity data from IMU and merges MSB and LSB

Returns

(self.w_x,self.w_y,self.w_z) Tuple of angular velocity

status()

def BNO055.BNO055.status

(

self

)

Identifies the calibration status of the IMU.

This function reads the calibration states from the IMU. It returns a 3 if the sensor is calibrated.

Returns

self.mag_stat Calibration status of magnetometer

self.acc_stat Calibration status of the accelerometer

self.gyr_stat Calibration status of the gyroscope

self.sys_stat Calibration statuse of the system

write_coef()

def BNO055.BNO055.write_coef	(		self,
			cal_coefs
	)

Writes existing calibration coefficients into the IMU

Parameters

cal_coefs

The calibration coefficients from previous calibrations

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The documentation for this class was generated from the following file:

• src/BNO055.py