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    BNO055 calibration data not reading correctly

    BNO055 calibration data not reading correctly

    Digisolve
    Established Member

    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
    Community Moderator

    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

    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

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

    BSTRobin
    Community Moderator
    Community Moderator

    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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