BNO055 always reads zero on all sensors and fusions

[Eirenliel]

Hello, I'm running BNO055 via I2C, basically using examples from the driver https://github.com/BoschSensortec/BNO055_driver, I can talk to the IC, and get those versions:

chip id A0, softwared rev 311, accel id FB, mag id 32, gyro id F, bootloader rev 15

I set it into power mode 0 (BNO055_POWER_MODE_NORMAL) and I tried all operation modes, but when I try reading sensor data or fusion data, I get all 0, my quaternion is 0,0,0,0 and each sensor also returns 0,0,0. Calibration status status first reads 0330 (3 for accel and gyro, 0 for sys and mag) in IMU mode, but then reads 0000 for all sensors.

I tried two different chips, they give the same results. Looks like sensors themselves don't start by some reason, and I can't figure out why.

[innovaAlex]

I experience the same issue but even when operation mode set to 0x8 I still get 0s. I do set power mode to Normal. I did notice difference that switching power mode can get sensor to spit out 0s but now even when I don't switch power mode I still get 0s. Here is my code example

void bno055_init_test(BNO055_imuReadOutData_t* bmo055OutData)
{
/*********read raw accel data***********/
bmo055OutData->accel_datax = BNO055_INIT_VALUE; // variable used to read the accel x data
bmo055OutData->accel_datay = BNO055_INIT_VALUE; // variable used to read the accel y data
bmo055OutData->accel_dataz = BNO055_INIT_VALUE; // variable used to read the accel z data
//struct bno055_accel_t accel_xyz;

/*********read raw mag data***********/
bmo055OutData->mag_datax = BNO055_INIT_VALUE; // variable used to read the mag x data
bmo055OutData->mag_datay = BNO055_INIT_VALUE; // variable used to read the mag y data
bmo055OutData->mag_dataz = BNO055_INIT_VALUE; // variable used to read the mag z data
//struct bno055_mag_t mag_xyz;

/***********read raw gyro data***********/

bmo055OutData->gyro_datax = BNO055_INIT_VALUE; // variable used to read the gyro x data
bmo055OutData->gyro_datay = BNO055_INIT_VALUE; // variable used to read the gyro y data
bmo055OutData->gyro_dataz = BNO055_INIT_VALUE; // variable used to read the gyro z data
//struct bno055_gyro_t gyro_xyz;

/*************read raw Euler data************/

bmo055OutData->euler_data_h = BNO055_INIT_VALUE; // variable used to read the euler h data
bmo055OutData->euler_data_r = BNO055_INIT_VALUE; // variable used to read the euler r data
bmo055OutData->euler_data_p = BNO055_INIT_VALUE; // variable used to read the euler p data
//struct bno055_euler_t euler_hrp; // structure used to read the euler hrp data

/************read raw quaternion data**************/
bmo055OutData->quaternion_data_w = BNO055_INIT_VALUE; // variable used to read the quaternion w data
bmo055OutData->quaternion_data_x = BNO055_INIT_VALUE; // variable used to read the quaternion x data
bmo055OutData->quaternion_data_y = BNO055_INIT_VALUE; // variable used to read the quaternion y data
bmo055OutData->quaternion_data_z = BNO055_INIT_VALUE; // variable used to read the quaternion z data
//struct bno055_quaternion_t quaternion_wxyz; // structure used to read the quaternion wxyz data

/************read raw linear acceleration data***********/
bmo055OutData->linear_accel_data_x = BNO055_INIT_VALUE; // variable used to read the linear accel x data
bmo055OutData->linear_accel_data_y = BNO055_INIT_VALUE; // variable used to read the linear accel y data
bmo055OutData->linear_accel_data_z = BNO055_INIT_VALUE; // variable used to read the linear accel z data
//struct bno055_linear_accel_t linear_acce_xyz; // structure used to read the linear accel xyz data

/*****************read raw gravity sensor data****************/
bmo055OutData->gravity_data_x = BNO055_INIT_VALUE; // variable used to read the gravity x data
bmo055OutData->gravity_data_y = BNO055_INIT_VALUE; // variable used to read the gravity y data
bmo055OutData->gravity_data_z = BNO055_INIT_VALUE; // variable used to read the gravity z data
//struct bno055_gravity_t gravity_xyz; /* structure used to read the gravity xyz data
u8 power_mode = BNO055_INIT_VALUE;

/*Start initialization*/
I2C_routine_BNO055();

comres = bno055_init(&bno055); //checks ID versions
power_mode = BNO055_POWER_MODE_NORMAL;
comres += bno055_set_power_mode(power_mode);
comres = bno055_set_operation_mode(BNO055_OPERATION_MODE_IMUPLUS); //BNO055_OPERATION_MODE_CONFIG
//HAL_Delay(650);
/*----------------------------------------*/

success = bno055_read_register(BNO055_SYS_STAT_ADDR, &err_bmo055_buf[1], BNO055_GEN_READ_WRITE_LENGTH);

if ((err_bmo055_buf[1]==0x01) || (err_bmo055_buf[0]!=0x0)){
success = bno055_read_register(BNO055_SYS_ERR_ADDR, &err_bmo055_buf[0], BNO055_GEN_READ_WRITE_LENGTH);
while (err_bmo055_buf[0]!=0x00){
/*Software system reset */
success = bno055_read_register(BNO055_SYS_TRIGGER_ADDR, &bno055_sys_trig, BNO055_GEN_READ_WRITE_LENGTH);
write_buf = (bno055_sys_trig | BNO055_SYS_RST_MSK);
bno055_set_operation_mode(BNO055_OPERATION_MODE_CONFIG);//not sure if I need this but setting it to write to the register
success = bno055_write_register(BNO055_SYS_TRIGGER_ADDR,
&write_buf, BNO055_GEN_READ_WRITE_LENGTH);
/*------------------------------------------------------*/
HAL_Delay(650); //just in case we need a little time to reset
I2C_routine_BNO055(); //assign functions
comres = bno055_init(&bno055); //checks ID versions

comres += bno055_set_power_mode(BNO055_POWER_MODE_NORMAL); //set power mode
bno055_set_operation_mode(BNO055_OPERATION_MODE_AMG);//set operation mode
success = bno055_read_register(BNO055_SYS_STAT_ADDR, &err_bmo055_buf[1], BNO055_GEN_READ_WRITE_LENGTH);
success = bno055_read_register(BNO055_SYS_ERR_ADDR, &err_bmo055_buf[0], BNO055_GEN_READ_WRITE_LENGTH);
count = count + 1;
}
}
//set to use external oscillator
bno055_set_operation_mode(BNO055_OPERATION_MODE_CONFIG);
success = bno055_read_register(BNO055_SYS_TRIGGER_ADDR, &bno055_sys_trig, BNO055_GEN_READ_WRITE_LENGTH);
write_buf = (bno055_sys_trig | BNO055_CLK_SRC_MSK); //0x80;
success = bno055_write_register(BNO055_SYS_TRIGGER_ADDR, &write_buf, BNO055_GEN_READ_WRITE_LENGTH);
bno055_set_operation_mode(BNO055_OPERATION_MODE_AMG);

success = bno055_read_register(BNO055_SELFTEST_RESULT_ADDR, &err_bmo055_buf[4], BNO055_GEN_READ_WRITE_LENGTH);
if (err_bmo055_buf[4]!=0xf){
success = bno055_read_register(BNO055_SYS_TRIGGER_ADDR, &bno055_sys_trig, BNO055_GEN_READ_WRITE_LENGTH);
write_buf = (bno055_sys_trig | BNO055_SELFTEST_MSK); //0x01;
//Do self-test
success = bno055_write_register(BNO055_SYS_TRIGGER_ADDR, &write_buf, BNO055_GEN_READ_WRITE_LENGTH);
}

success = bno055_read_register(BNO055_SELFTEST_RESULT_ADDR, &err_bmo055_buf[4], BNO055_GEN_READ_WRITE_LENGTH);
success = bno055_read_register(BNO055_SYS_CLK_STAT_ADDR, &err_bmo055_buf[2], BNO055_GEN_READ_WRITE_LENGTH);
success = bno055_read_register(BNO055_INTR_STAT_ADDR, &err_bmo055_buf[3], BNO055_GEN_READ_WRITE_LENGTH);

success = bno055_read_register(BNO055_CALIB_STAT_ADDR, &err_bmo055_buf[5], BNO055_GEN_READ_WRITE_LENGTH);

/*---------------------------------------*/
}
BNO055_RETURN_FUNCTION_TYPE bno055_check_cal(bno055_calib* calib_results_struct){

success = bno055_get_accel_calib_stat(calib_results_struct->accel_calib_status);
success = bno055_get_gyro_calib_stat(calib_results_struct->gyro_calib_status);
success = bno055_get_sys_calib_stat(calib_results_struct->sys_calib_status);
success = bno055_get_mag_calib_stat(calib_results_struct->mag_calib_status);
}
/* This API is an example for reading sensor data
* \param: Structure where data will be stored
* \return: None
*/
void bno055_data_readout_template(BNO055_imuReadOutData_t* bmo055OutData)
{

/* variable used to set the power mode of the sensor*/
u8 power_mode = BNO055_INIT_VALUE;
/* For initializing the BNO sensor it is required to the operation mode
* of the sensor as NORMAL
* Normal mode can set from the register
* Page - page0
* register - 0x3E
* bit positions - 0 and 1*/
//power_mode = BNO055_POWER_MODE_NORMAL;

/* set the power mode as NORMAL*/
//comres += bno055_set_power_mode(power_mode);
/* For reading sensor raw data it is required to set the
* operation modes of the sensor
* operation mode can set from the register
* page - page0
* register - 0x3D
* bit - 0 to 3
* for sensor data read following operation mode have to set
* SENSOR MODE
* 0x01 - BNO055_OPERATION_MODE_ACCONLY
* 0x02 - BNO055_OPERATION_MODE_MAGONLY
* 0x03 - BNO055_OPERATION_MODE_GYRONLY
* 0x04 - BNO055_OPERATION_MODE_ACCMAG
* 0x05 - BNO055_OPERATION_MODE_ACCGYRO
* 0x06 - BNO055_OPERATION_MODE_MAGGYRO
* 0x07 - BNO055_OPERATION_MODE_AMG
* based on the user need configure the operation mode*/
comres += bno055_set_operation_mode(BNO055_OPERATION_MODE_IMUPLUS); //BNO055_OPERATION_MODE_AMG

/************************* START READ RAW SENSOR DATA****************/
/* Raw accel X, Y and Z data can read from the register
* page - page 0
* register - 0x08 to 0x0D*/
comres += bno055_read_accel_x(&bmo055OutData->accel_datax);
comres += bno055_read_accel_y(&bmo055OutData->accel_datay);
comres += bno055_read_accel_z(&bmo055OutData->accel_dataz);
comres += bno055_read_accel_xyz(&bmo055OutData->accel_xyz);

/* Raw mag X, Y and Z data can read from the register
* page - page 0
* register - 0x0E to 0x13*/
comres += bno055_read_mag_x(&bmo055OutData->mag_datax);
comres += bno055_read_mag_y(&bmo055OutData->mag_datay);
comres += bno055_read_mag_z(&bmo055OutData->mag_dataz);
comres += bno055_read_mag_xyz(&bmo055OutData->mag_xyz);

/* Raw gyro X, Y and Z data can read from the register
* page - page 0
* register - 0x14 to 0x19*/
comres += bno055_read_gyro_x(&bmo055OutData->gyro_datax);
comres += bno055_read_gyro_y(&bmo055OutData->gyro_datay);
comres += bno055_read_gyro_z(&bmo055OutData->gyro_dataz);
comres += bno055_read_gyro_xyz(&bmo055OutData->gyro_xyz);

/************************* END READ RAW SENSOR DATA****************/

/************************* START READ RAW FUSION DATA ********
* For reading fusion data it is required to set the
* operation modes of the sensor
* operation mode can set from the register
* page - page0
* register - 0x3D
* bit - 0 to 3
* for sensor data read following operation mode have to set
* FUSION MODE
* 0x08 - BNO055_OPERATION_MODE_IMUPLUS
* 0x09 - BNO055_OPERATION_MODE_COMPASS
* 0x0A - BNO055_OPERATION_MODE_M4G
* 0x0B - BNO055_OPERATION_MODE_NDOF_FMC_OFF
* 0x0C - BNO055_OPERATION_MODE_NDOF
* based on the user need configure the operation mode*/
// comres += bno055_set_operation_mode(BNO055_OPERATION_MODE_NDOF);

/* Raw Euler H, R and P data can read from the register
* page - page 0
* register - 0x1A to 0x1E */
comres += bno055_read_euler_h(&bmo055OutData->euler_data_h);
comres += bno055_read_euler_r(&bmo055OutData->euler_data_r);
comres += bno055_read_euler_p(&bmo055OutData->euler_data_p);
comres += bno055_read_euler_hrp(&bmo055OutData->euler_hrp);

/* Raw Quaternion W, X, Y and Z data can read from the register
* page - page 0
* register - 0x20 to 0x27 */
comres += bno055_read_quaternion_w(&bmo055OutData->quaternion_data_w);
comres += bno055_read_quaternion_x(&bmo055OutData->quaternion_data_x);
comres += bno055_read_quaternion_y(&bmo055OutData->quaternion_data_y);
comres += bno055_read_quaternion_z(&bmo055OutData->quaternion_data_z);
comres += bno055_read_quaternion_wxyz(&bmo055OutData->quaternion_wxyz);

/* Raw Linear accel X, Y and Z data can read from the register
* page - page 0
* register - 0x28 to 0x2D */
comres += bno055_read_linear_accel_x(&bmo055OutData->linear_accel_data_x);
comres += bno055_read_linear_accel_y(&bmo055OutData->linear_accel_data_y);
comres += bno055_read_linear_accel_z(&bmo055OutData->linear_accel_data_z);
comres += bno055_read_linear_accel_xyz(&bmo055OutData->linear_acce_xyz);

/* Raw Gravity sensor X, Y and Z data can read from the register
* page - page 0
* register - 0x2E to 0x33 */
comres += bno055_read_gravity_x(&bmo055OutData->gravity_data_x);
comres += bno055_read_gravity_y(&bmo055OutData->gravity_data_y);
comres += bno055_read_gravity_z(&bmo055OutData->gravity_data_z);
comres += bno055_read_gravity_xyz(&bmo055OutData->gravity_xyz);

/************************* END READ RAW FUSION DATA ************/

/*-----------------------------------------------------------------------*
************************* START DE-INITIALIZATION ***********************
*-------------------------------------------------------------------------*/

/* For de - initializing the BNO sensor it is required
* to the operation mode of the sensor as SUSPEND
* Suspend mode can set from the register
* Page - page0
* register - 0x3E
* bit positions - 0 and 1*/
//power_mode = BNO055_POWER_MODE_SUSPEND;

/* set the power mode as SUSPEND*/
//comres += bno055_set_power_mode(power_mode);

/*---------------------------------------------------------------------*
************************* END DE-INITIALIZATION **********************
*---------------------------------------------------------------------*/
//return comres;
bmo055OutData->comres = comres;
}

[Eirenliel]

I fixed the issue by using Adafruit's library: https://github.com/adafruit/Adafruit_BNO055 No ide why Bosch's driver didn't work for me, code looked fine to me, maybe some problems during compilation or similar.

[innovaAlex]

Thank you Eirenliel! I am wondering which compiler do you use and which family microcontroller? If that's compiler or micro issue it must be specific to certain family. Have new library resolved issue with SYS_STATUS reading 0x01 (error)? For me, this error doesn't go away even when I reset IMU.

[Eirenliel]

I'm not sure which compiler it uses, but I am using platformIO in vscode. My MCU is ESP8266 (ESP-12). Yes different library resolved all issues, I didn't investigate why exactly, but it's worth a shot, since it shouldn't be hard to swap.

[BSTRobin]

Hello all,

https://github.com/adafruit/Adafruit_BNO055 is software provided by a third party, using C++.

https://github.com/BoschSensortec/BNO055_driver is software provided by Bosch sensortec, using C. It is source code, no library, and could be migrated to different host MCU  platform.