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    BNO055 calibration data not reading correctly

    Digisolve
    Established Member

    BNO055 calibration data not reading correctly

    I'm working thru a calibration issue I have where the SYS CABIB status is always 0 even when the ACC, GYRO & MAG are all 3

    Looking closer at the offset data. After a POR everything is 0x00 except MAG radius (regs 0x69 & 0x6A which are 0xE0 & 0x01 resectively) which agrees with the datasheet

    I then put the BNO055 into DNOF mode (OPR_MODE = 0xC0).

    However, I found if I read the office regs for saving (after putting the BNO055 into CONFIG mode & waiting 30mS)  the MAG_RADIUS regs are 0x00 0x00

    So I wrote the following values into the offset & radius reg & read them back to ensure they wrote ok

    3 x ACC_OFFSET 0x0001

    3 x MAG_OFFSET 0x0002

    3 x GYR_OFFSET 0x0003

    1 x ACC_RADIUS 0x0004

    1 x MAG_RADIUS 0x0500

    then put the BNO055 into NDOF mode(OPR_MODE = 0xC0), await  10mS & switch back to CONFIG mode (OPR_MODE = 0x00), await 30mS then read the offset & redius regs back

    3 x ACC_OFFSET 0x0001

    3 x MAG_OFFSET 0x0002

    3 x GYR_OFFSET 0x0003

    1 x ACC_RADIUS 0x03E8

    1 x MAG_RADIUS 0x0000

    the ACC_RADIUS & MAG_RADIUS changed ? I would expect the MAG_RADIUS to be between 144 & 1280 (as stated in the data sheet)

    12 REPLIES 12
    BSTRobin
    Community Moderator

    Re: BNO055 calibration data not reading correctly

    Hi Digisolve,

    Did you finish cabliration as you set BNO055 to DNOF mode and read offset & radius registers?

    And did you following the following descrition in BNO055 data sheet to read and write profiles?

    Reuse of calibration profile.png

    Digisolve
    Established Member

    Re: BNO055 calibration data not reading correctly

    I believe I completed the calibration. I followed the you tube video. for ACC, GYRO & MAG. All four CALIB STAT results were 3. but is ~30 degrees wrong. 

    Attached are two pics; one with the BNO055 pointing what it beleives to be North with a compass point the same direction & one with my iPhone pointing in the same direction.

    The BNO055 read 0 degrees but the compass & my iPhone read about 26  degrees

    (I wish there was a quicker way to Work with Bosch on my problem)

    Digisolve
    Established Member

    Re: BNO055 calibration data not reading correctly

    Please can I get some feedback. My client is chasing me daily. Thank you

    BSTRobin
    Community Moderator

    Re: BNO055 calibration data not reading correctly

    Hi Digisolve,

    After you loaded offset & radius and calibration reached to 3. Offset & radius may change because the background calibration algorithm is always running.

    For your hardware, it is recommended that you generate a SIC matrix and write it to the sensor.

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