BNO055 Example

This example shows how to use the espp::Bno055 component to initialize a BNO055 9-axis absolute orientation IMU over I2C and print its outputs.

It puts the BNO055 in IMU fusion mode (accelerometer + gyroscope, heading relative to power-on), reads all outputs at 100 Hz in one I2C burst per sample, and prints one CSV row per sample: acceleration, angular rate, Euler angles, the orientation quaternion, temperature, and calibration status. The header line starts with % so the output can be pasted straight into a plotter.

How to use example

Hardware Required

This example runs on any ESP32 series device with a BNO055 breakout connected over I2C. The defaults are SDA=GPIO7 and SCL=GPIO8 on the ESP32-P4 (the internal I2C bus pins on the espp esp32-p4-eth board) and SDA=GPIO21, SCL=GPIO22 on other targets. Change the pins and the I2C address (0x28 or 0x29) with idf.py menuconfig under Example Configuration.

Build and Flash

Build the project and flash it to the board, then run monitor tool to view serial output:

idf.py -p PORT flash monitor

(Replace PORT with the name of the serial port to use.)

(To exit the serial monitor, type Ctrl-].)

See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.

Example Output

% Time (s), Accel X (m/s^2), Accel Y (m/s^2), Accel Z (m/s^2), Gyro X (rad/s), Gyro Y (rad/s), Gyro Z (rad/s), Heading (rad), Roll (rad), Pitch (rad), Quat W, Quat X, Quat Y, Quat Z, Temp (C), Calib Sys, Calib Gyro, Calib Accel, Calib Mag