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AHRS BNO055(gy-955) read

 
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hamid9543



Joined: 31 Jan 2013
Posts: 63

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AHRS BNO055(gy-955) read
PostPosted: Thu Jul 21, 2022 9:16 am     Reply with quote

My code to reading the z-Euler angle from AHRS bno055 is as follows, but only 0.00 is printed.
i tested code in arduino uno and it works correctly!

Code:

#include <16F1937.h>
#use delay(internal=32MHz)
#use i2c(Master,Fast=400000,sda=PIN_C4,scl=PIN_C3,force_hw)
#use rs232(baud=9600,parity=N,xmit=PIN_C6,rcv=PIN_C7,bits=8,stream=PORT1)

#define BNO055 0x52
float Yaw=0;

unsigned int8 status;
unsigned int8 get_ack_status(unsigned int8 address)
{
   unsigned int8 status;
   
   i2c_start();
   status = i2c_write(address);
   i2c_stop();
   
   if(status==0)  return(TRUE);
   else           return(FALSE);
}

void Search_i2c()
{
   printf("\n\rStart:\n\r");
   delay_ms(1000);
   unsigned int8 count = 0;
   for(unsigned int8 i=0x10; i < 0xF0; i+=2)
   {
    status = get_ack_status(i);
    if(status == TRUE)
      { 
         printf("Addr:%X\n\r",i);
         count++;
         delay_ms(500);
      }
   }
   if(count == 0)  printf("Nothing Found\n\r");
   else            printf("Chips Found=%u\n",count);
}

void BNO055_Config()
{
i2c_start();                                   
i2c_write(BNO055);                               
i2c_write(0x3E);       // Power Mode                                         
i2c_write(0x00);       // Normal:0X00 (or B00),Low Power: 0X01 (or B01),Suspend Mode: 0X02 (orB10)                                       
i2c_stop();                                                         
delay_ms(100);                                                         

i2c_start();                                                       
i2c_write(BNO055);                                                 
i2c_write(0x3D);       // Operation Mode                   
i2c_write(0x0C);       //NDOF:0X0C (or B1100),IMU:0x08 (or B1000),NDOF_FMC_OFF: 0x0B (or B1011)                                                                                   
i2c_stop();                                                         
delay_ms(100);          //Operation Mode switching time maximum=20ms
}

void BNO055_read()    //reg_addr_Yaw=0x1A
{
i2c_start();
i2c_write(0x52);     // 0x1A :GY955_SLAVE_WRT
i2c_write(0x1A);       //reg_addr_Yaw=0x1A
i2c_start();
i2c_write(0x53);   // 0x1B ::GY955_SLAVE_RD
Yaw = (int16)(i2c_read()|i2c_read(0)<<8 )/16.00;
i2c_stop();
}

void main()
{
   delay_ms(2000);
   BNO055_Config();
   delay_ms(1000);
   Search_i2c();
   while(TRUE)
   {   
   BNO055_read();
   printf("%f\r\n",Yaw);     
   }

}
Ttelmah



Joined: 11 Mar 2010
Posts: 18226

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PostPosted: Thu Jul 21, 2022 10:37 am     Reply with quote

Big problem is here:

Yaw = (int16)(i2c_read()|i2c_read(0)<<8 )/16.00;

Problem is you are trying to rotate an 8bit value 8 bits..

Yaw = (i2c_read)|((int16)i2c_read(0)<<8 ))/16.00;

This casts the second read to an int16 before the rotation.
On the Arduino the default integer is an int16.
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