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Hi, I am trying to use the bno055 files on GitHub on a nanopi board running armbian. I have implemented read write and delay functions to the best of my knowledge, but every readout returns a 0. Could anyone tell me where I went wrong? The code is: #include <iostream> #include <unistd.h> #include <sys/ioctl.h> #include <errno.h> #include <stdio.h> #include <fcntl.h> #include <unistd.h> #include <linux/i2c-dev.h> #include <syslog.h> #include <inttypes.h> #include <cstring> #include <linux/i2c.h> #include <linux/i2c-dev.h> extern "C" { #include "BNO055_driver/bno055.c" #include "BNO055_driver/bno055.h" } #define BUFFER_SIZE 0x01 using namespace std; s8 BNO055_I2C_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) { const char *path = "/dev/i2c-0"; int fd; if (fd != -1) { if ((fd = open(path, O_RDWR)) < 0) { return (1); } } if (ioctl(fd, I2C_SLAVE, dev_addr) < 0) { close(fd); return (1); } char buff[BUFFER_SIZE]; buff[0] = reg_addr; if (write(fd, buff, BUFFER_SIZE) != BUFFER_SIZE) { close(fd); return (1); } if (read(fd, &reg_data, cnt) != cnt) { close(fd); return (1); } close(fd); return 0; } s8 BNO055_I2C_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) { const char *path = "/dev/i2c-0"; int fd; if (fd != -1) { if ((fd = open(path, O_RDWR)) < 0) { return 1; } } if (ioctl(fd, I2C_SLAVE, dev_addr) < 0) { close(fd); return 1; } char buff[cnt + 1]; buff[0] = reg_addr; memcpy(&buff[1], reg_data, cnt); if (write(fd, buff, cnt + 1) != cnt + 1) { close(fd); return 1; } close(fd); return 0; } void sleep_ms(unsigned int milliseconds) { struct timespec ts; ts.tv_sec = milliseconds / 1000; ts.tv_nsec = (milliseconds % 1000) * 1000000; nanosleep(&ts, NULL); } s8 I2C_routine(bno055_t *bno055) { bno055->bus_write = BNO055_I2C_bus_write; bno055->bus_read = BNO055_I2C_bus_read; bno055->delay_msec = sleep_ms; bno055->dev_addr = BNO055_I2C_ADDR1; return BNO055_INIT_VALUE; } int main() { struct bno055_t myBNO; I2C_routine(&myBNO); cout << "bno055_init " << endl; s8 ans = bno055_init(&myBNO); cout << "true " << (((s8)0) == ans) << endl; u8 chip_id_u8; bno055_read_chip_id(&chip_id_u8); cout << "chip_id_u8 " << (int)chip_id_u8 << endl; } ... View more