nkmakes/Xbee_micropython_BNO080

Helper library for the Hillcrest Laboratories BNO080 IMU

Introduction

Helper library for the Hillcrest Laboratories BNO08x IMUs and xbee i2c capable devices

• Forked from adafruit_BNO080 for CPython by Bryan Siepert
• Port to Micropython by Niko Rodriguez

Dependencies

This driver depends on:

• Digi XBee MicroPython PyCharm IDE Plugin

Known issues

When debugging, string containing packets can overflow Only i2c implemented Not all packets can be "bridged"

Usage Example

from utime import sleep
from machine import I2C
from i2c import BNO08X_I2C
from BNO080 import (
    BNO_REPORT_ACCELEROMETER,
    BNO_REPORT_GYROSCOPE,
    BNO_REPORT_MAGNETOMETER,
    BNO_REPORT_ROTATION_VECTOR,
)

i2c_obj = I2C(1, freq=400000)
#bno = BNO08X_I2C(i2c_obj, debug=True)
bno = BNO08X_I2C(i2c_obj)


bno.enable_feature(BNO_REPORT_ACCELEROMETER)
bno.enable_feature(BNO_REPORT_GYROSCOPE)
bno.enable_feature(BNO_REPORT_MAGNETOMETER)
bno.enable_feature(BNO_REPORT_ROTATION_VECTOR)

while True:

    sleep(1)
    print("Acceleration:")
    accel_x, accel_y, accel_z = bno.acceleration  # pylint:disable=no-member
    print("X: %0.6f  Y: %0.6f Z: %0.6f  m/s^2" % (accel_x, accel_y, accel_z))
    print("")

    print("Gyro:")
    gyro_x, gyro_y, gyro_z = bno.gyro  # pylint:disable=no-member
    print("X: %0.6f  Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z))
    print("")

    print("Magnetometer:")
    mag_x, mag_y, mag_z = bno.magnetic  # pylint:disable=no-member
    print("X: %0.6f  Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z))
    print("")

    sleep(1)
    #print("Rotation Vector Quaternion:")
    quat_i, quat_j, quat_k, quat_real = bno.quaternion  # pylint:disable=no-member
    print(
        "%0.2f,%0.2f,%0.2f,%0.2f" % (quat_real,quat_i, quat_j, quat_k)
    )