There are no libraries to use BNO055 with STM32. We created one to use with STM32 HAL I2C.
It does support FreeRTOS, see bno055.h. Uncomment #define FREERTOS_ENABLED to enable FreeRTOS.
Use CubeMX to init i2c in fast mode.
Copy bno055.c, bno055.h and bno055_stm32.h to your project.
Set BNO055 i2c address in bno055.h
#define BNO055_I2C_ADDR BNO055_I2C_ADDR_LO // For 0x28
#define BNO055_I2C_ADDR BNO055_I2C_ADDR_HI // For 0x29Include bno055_stm32.h.
Pass i2c handler to bno055_assignI2C function and set work mode:
bno055_assignI2C(&hi2c1);
bno055_setup();
bno055_setOperationModeNDOF();Then use bno055_getVectorEuler to receive euler angle data:
bno055_vector_t v = bno055_getVectorEuler();
printf("Heading: %.2f Roll: %.2f Pitch: %.2f\r\n", v.x, v.y, v.z);Or use bno055_getVectorQuaternion to receive quaternion data:
bno055_vector_t v = bno055_getVectorQuaternion();
printf("W: %.2f X: %.2f Y: %.2f Z: %.2f\r\n", v.w, v.x, v.y, v.z);To remap axis, use bno055_setAxisMap in config mode (refer to datasheet page 24):
bno055_axis_map_t axis = {
.x = BNO055_AXIS_X,
.x_sign = BNO055_AXIS_SIGN_POSITIVE,
.y = BNO055_AXIS_Y,
.y_sign = BNO055_AXIS_SIGN_POSITIVE,
.z = BNO055_AXIS_Z,
.z_sign = BNO055_AXIS_SIGN_POSITIVE
};
bno055_setAxisMap(axis);# main.c
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2019 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bno055_stm32.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
bno055_assignI2C(&hi2c1);
bno055_setup();
bno055_setOperationModeNDOF();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
bno055_vector_t v = bno055_getVectorEuler();
printf("Heading: %.2f Roll: %.2f Pitch: %.2f\r\n", v.x, v.y, v.z);
v = bno055_getVectorQuaternion();
printf("W: %.2f X: %.2f Y: %.2f Z: %.2f\r\n", v.w, v.x, v.y, v.z);
HAL_Delay(1000);
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/Heading: 292.81 Roll: 50.00 Pitch: 175.62
W: 0.35 X: 0.45 Y: -0.78 Z: 0.23
Heading: 292.81 Roll: 50.00 Pitch: 175.62
W: 0.35 X: 0.45 Y: -0.78 Z: 0.23