Content # Based on https://github.com/badgeteam/badgePython/blob/9163a8683c1ed6029b7059eb72c7fd3d431493f0/python_modules/campzone2019/mpu6050.py # See: https://badge.team/docs/badges/mch2022/software-development/api/bsp/ # https://docs.micropython.org/en/latest/library/machine.I2C.html # https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-bno055-an007.pdf # https://github.com/BoschSensortec/BNO055_driver/blob/master/bno055.c import machine,utime,ustruct # https://badge.team/docs/badges/mch2022/hardware/pinout/#esp32 i2c = machine.SoftI2C(scl=machine.Pin(21),sda=machine.Pin(22),freq=100000) sensor = 0x28 def cmd_i2c(sensor,addr,val): try: global i2c return i2c.writeto_mem(sensor, addr, val) except: return None def noisy_readfrom_mem(device, address, length, n_tries=5): ## Tries reading a few times due to buggy i2c bus for _ in range(0, n_tries): try: return i2c.readfrom_mem(device, address, length) except: pass raise OSError('NODEV') def has_sensor(): return sensor is not None # /* Page id register definition */ BNO055_PAGE_ID_ADDR = 0X07 # /* PAGE0 REGISTER DEFINITION START*/ BNO055_CHIP_ID_ADDR = 0x00 BNO055_ACCEL_REV_ID_ADDR = 0x01 BNO055_MAG_REV_ID_ADDR = 0x02 BNO055_GYRO_REV_ID_ADDR = 0x03 BNO055_SW_REV_ID_LSB_ADDR = 0x04 BNO055_SW_REV_ID_MSB_ADDR = 0x05 BNO055_BL_REV_ID_ADDR = 0X06 # /* Accel data register */ BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08 BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09 BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D # /* Gravity data registers */ BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30 BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31 BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32 BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33 # /* Temperature data register */ BNO055_TEMP_ADDR = 0X34 # /* Status registers */ BNO055_CALIB_STAT_ADDR = 0X35 BNO055_SELFTEST_RESULT_ADDR = 0X36 BNO055_INTR_STAT_ADDR = 0X37 BNO055_SYS_CLK_STAT_ADDR = 0X38 BNO055_SYS_STAT_ADDR = 0X39 BNO055_SYS_ERR_ADDR = 0X3A # /* Unit selection register */ BNO055_UNIT_SEL_ADDR = 0X3B # /* Mode registers */ BNO055_OPR_MODE_ADDR = 0X3D BNO055_PWR_MODE_ADDR = 0X3E BNO055_SYS_TRIGGER_ADDR = 0X3F BNO055_TEMP_SOURCE_ADDR = 0X40 # /* Axis remap registers */ BNO055_AXIS_MAP_CONFIG_ADDR = 0X41 BNO055_AXIS_MAP_SIGN_ADDR = 0X42 # /** Operation mode settings **/ OPERATION_MODE_ACCONLY = b'\x01' OPERATION_MODE_CONFIG = 0X00 POWER_MODE_NORMAL = 0X00 BNO055_ID = 0xA0 # /** BNO055 power settings */ # typedef enum { # POWER_MODE_NORMAL = 0X00, # POWER_MODE_LOWPOWER = 0X01, # POWER_MODE_SUSPEND = 0X02 # } adafruit_bno055_powermode_t; # # /** Operation mode settings **/ # typedef enum { # OPERATION_MODE_CONFIG = 0X00, # OPERATION_MODE_ACCONLY = 0X01, # OPERATION_MODE_MAGONLY = 0X02, # OPERATION_MODE_GYRONLY = 0X03, # OPERATION_MODE_ACCMAG = 0X04, # OPERATION_MODE_ACCGYRO = 0X05, # OPERATION_MODE_MAGGYRO = 0X06, # OPERATION_MODE_AMG = 0X07, # OPERATION_MODE_IMUPLUS = 0X08, # OPERATION_MODE_COMPASS = 0X09, # OPERATION_MODE_M4G = 0X0A, # OPERATION_MODE_NDOF_FMC_OFF = 0X0B, # OPERATION_MODE_NDOF = 0X0C # } adafruit_bno055_opmode_t; # # /** Remap settings **/ # typedef enum { # REMAP_CONFIG_P0 = 0x21, # REMAP_CONFIG_P1 = 0x24, // default # REMAP_CONFIG_P2 = 0x24, # REMAP_CONFIG_P3 = 0x21, # REMAP_CONFIG_P4 = 0x24, # REMAP_CONFIG_P5 = 0x21, # REMAP_CONFIG_P6 = 0x21, # REMAP_CONFIG_P7 = 0x24 # } adafruit_bno055_axis_remap_config_t; # # /** Remap Signs **/ # typedef enum { # REMAP_SIGN_P0 = 0x04, # REMAP_SIGN_P1 = 0x00, // default # REMAP_SIGN_P2 = 0x06, # REMAP_SIGN_P3 = 0x02, # REMAP_SIGN_P4 = 0x03, # REMAP_SIGN_P5 = 0x01, # REMAP_SIGN_P6 = 0x07, # REMAP_SIGN_P7 = 0x05 # } adafruit_bno055_axis_remap_sign_t; # init stuffs def init(): # /* Make sure we have the right device */ # id = read8(BNO055_CHIP_ID_ADDR); # if (id != BNO055_ID): # /* Switch to config mode (just in case since this is the default) */ cmd_i2c(sensor, BNO055_OPR_MODE_ADDR, OPERATION_MODE_CONFIG) utime.sleep_ms(30) # /* Reset */ cmd_i2c(sensor, BNO055_SYS_TRIGGER_ADDR, 0x20) # /* Delay incrased to 30ms due to power issues https://tinyurl.com/y375z699 */ utime.sleep_ms(30) # while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) { # utime.sleep_ms(10) utime.sleep_ms(50) # /* Set to normal power mode */ cmd_i2c(sensor, BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL) utime.sleep_ms(10) noisy_readfrom_mem(sensor, BNO055_PAGE_ID_ADDR, 0) cmd_i2c(sensor, BNO055_SYS_TRIGGER_ADDR, 0x0) utime.sleep_ms(10) noisy_readfrom_mem(sensor, BNO055_OPR_MODE_ADDR, 1) # /* Set the requested operating mode (see section 3.3) */ cmd_i2c(sensor, BNO055_OPR_MODE_ADDR, OPERATION_MODE_ACCONLY) utime.sleep_ms(20) def get_accel(): result = (0,0,0) try: result = (ustruct.unpack(">h",noisy_readfrom_mem(sensor, BNO055_ACCEL_DATA_X_LSB_ADDR, 2)) [0], ustruct.unpack(">h",noisy_readfrom_mem(sensor, BNO055_ACCEL_DATA_Y_LSB_ADDR, 2)) [0], ustruct.unpack(">h",noisy_readfrom_mem(sensor, BNO055_ACCEL_DATA_Z_LSB_ADDR, 2)) [0]) finally: return result