BNO055 gyro 0 for all values

[Plasmabot]

Hello,

I have recently created a custom PCB which includes a 16mhz atmega32u4 at 5v, a BNO055 (over i2c, no external crystal) and a TXS0102 level shifting IC. I am having a problem with the BNO055 in that the gyro values (registers 0x14 through 0x18) are always 0. The other sensors and the sensor fusion euler angles function properly. The euler angles sometimes freeze also and I cannot calibrate the magnetometer at all while the gyro calibration is always 3. The self test always reports that everything works except for the gyro, the system does not report any errors.

Here are the solutions I have tried:

• Changing operation modes to NDOF, IMU, AMG and GYRO ONLY
  • Result: No change, gyro values still always 0, gyro fails self test
• Using the Adafruit BNO055 library instead of my code
  • Result: No change
• Desoldering the BNO055 and replacing it with a new one from digikey
  • Result: No change

Thank you for your help.

My code is attatched. It uses the arduino standard wire i2c library. (.ino files are not allowed so I have zipped it.)

[kgoveas]

Hi Plasmabot,

Are the register values after the fix? Register 0x03 should be non-zero.