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I'm using the BNO 055 in NDOF mode, and it has a good heading reading... until it's mag calibration level reaches 2 or 3. Calibration level 0 and 1, it's totally fine. When calibration is 0 or 1, the heading is dead accurate and very fast, when calibration is 2 or 3, the heading is a little sluggish, then wanders up a degree or two for about 2 seconds. This issue also doesn't happen outside of the fusion modes. When the mag is calibrated, the heading is accurate in non-fusion modes. It's literally perfectly fine until the moment magnetometer calibration reaches 2. What's causing this? I'm certain it's something firmware/hardware related, because I've ruled everything else out. It also happens on other BNO 055s from different suppliers (including Adafruit). ... View more

I'm using the BNO055 in NDOF mode with full calibration, and if the sensor was off all-night, it works fine for like 10-minutes the following morning, the mag euler reading is very accurate and sharp, no noise at all. After 10-minutes, that changes, the mag euler reading seems to be noisy when coming to a stop (probably moving too, but obviously can't tell for sure). If I move from 120 degrees to 140 degrees (or any combination of heading), it gets to 140 and instead of being rock solid and accurate like normal, it will bounce +/- 2 degrees from the actual heading, and after about 4 seconds, the bouncing stops and the heading is accurate and solid, but the same thing will happen if I move it again. So for example, if I went from 100 degrees to 110 degrees, the readings will look something like this: [111.00] <-- Device stops moving, it stops ahead of true heading [111.60] [111.56] [111.24] <-- Starts dropping [111.00] [110.94] [110.82] [110.70] [110.36] [110.06] [110.00] [109.88] <-- Goes below true heading [109.64] [109.36] [109.64] [109.76] [109.88] [110.00] <-- Normalizes at true heading This is a close representation of what's happening, although the readings are in the thousands of samples since it's in NDOF mode. But this very example happens everytime... It's fine when it's still, but moving it causes it to be jumpy after stopping. And I'll reiterate, this starts seemingly at random after ~10 minutes of operation, and if the device is acting up, restarting it does not fix the problem, it will still act up unless I leave it for an hour or so. I've tried many different layouts, including my own board, my own breakout board, and an adafruit breakout board, different MCUs, different software, different PCs, different power sources... I have definitively and meticulously ruled out all other hardware and software, it is for sure the BNO055 causing the issue. What could this be? ... View more

For weeks now, I've been trying to get the API to work, but between the confusing and severlely lacking API and almost non-existant documentation referencing the API in the datasheet, I am totally lost. I've gotten to the point where I can read/write the sensor registers without issue through custom I2C read/write functions, but I absolutely cannot read/write through the API functions. They all return `0`, and seem to pass the error checks, however, they still do NOT actually read/write the registers. What am I missing here? Even when I run the provided mag_drdy_interrupt.c example, I get `-32,768` from the sensor axes... yet, I can get normal values when I use my own read functions. Even when I set a setting through the API functions, it doesn't appear to actually be setting that register to what I'm telling it to. I have no idea what is going on, and am at my wits end trying to troubleshoot Bosch sensors. Any help is greatly appreciated!   #include <stdio.h> #include "boards.h" #include "app_util_platform.h" #include "app_error.h" #include "nrf_drv_twi.h" #include "nrfx_twi.h" #include "nrf_delay.h" #include "nrf_log.h" #include "nrf_log_ctrl.h" #include "nrf_log_default_backends.h" #include "bmm150.h" #include "bmm150_common.h" /* TWI instance ID. */ #define TWI_INSTANCE_ID 0 /* TWI instance. */ static const nrf_drv_twi_t m_twi = NRF_DRV_TWI_INSTANCE(TWI_INSTANCE_ID); void twi_init (void) { ret_code_t err_code; const nrf_drv_twi_config_t twi_lm75b_config = { .scl = NRF_GPIO_PIN_MAP(0, 27), .sda = NRF_GPIO_PIN_MAP(0, 26), .frequency = NRF_DRV_TWI_FREQ_100K, .interrupt_priority = APP_IRQ_PRIORITY_HIGH, .clear_bus_init = false }; err_code = nrf_drv_twi_init(&m_twi, &twi_lm75b_config, NULL, NULL); //printf("Error Code init\t%d\n", err_code); nrf_drv_twi_enable(&m_twi); } //===================================================== // MAIN //===================================================== int main(void) { struct bmm150_dev dev; struct bmm150_settings mySettings; struct bmm150_mag_data mag_data; int a1, a2, b, c, d, e, f, g, h, i; dev.intf = BMM150_I2C_INTF; dev.read = bmm150_user_i2c_reg_read; dev.write = bmm150_user_i2c_reg_write; dev.delay_us = 3; printf("Breaker 1\n"); twi_init(); uint8_t tempValx[8] = {0}; bmm150_get_regs(0x4b, tempValx, 1, &dev); for(int a = 0; a < sizeof(tempValx); a++){ printf("getRegs %d\t%d\n", a, tempValx[a]); } printf("Breaker 2\n"); nrf_delay_ms(2500); a1 = bmm150_interface_selection(&dev); printf("rslt A1:\t%d\n", a1); a2 = bmm150_init(&dev); printf("rslt A2:\t%d\n", a2); mySettings.pwr_mode = BMM150_POWERMODE_NORMAL; b = bmm150_set_op_mode(&mySettings, &dev); printf("rslt B:\t%d\n", b); mySettings.preset_mode = BMM150_PRESETMODE_REGULAR; c = bmm150_set_presetmode(&mySettings, &dev); printf("rslt C:\t%d\n", c); mySettings.int_settings.drdy_pin_en = 0x01; d = bmm150_set_sensor_settings(BMM150_SEL_DRDY_PIN_EN, &mySettings, &dev); printf("rslt D:\t%d\n", d); e = bmm150_get_interrupt_status(&dev); printf("rslt E:\t%d\n", e); printf("Dev->int_status:\t%d\n", dev.int_status); printf("BMM150_INT_ASSRTED_DRDY:\t%d\n", BMM150_INT_ASSERTED_DRDY); //================================ // Startup Config Functions //================================ printf("Mag X:\t%d\n", mag_data.x); printf("Mag Y:\t%d\n", mag_data.y); printf("Mag Z:\t%d\n", mag_data.z); while(true){ uint8_t dsa = bmm150_read_mag_data(&mag_data, &dev); printf("bmm150_read_mag_data:\t%d\n", dsa); printf("Interrupt Status\t%d\n", dev.int_status); nrf_delay_ms(100); } }     ... View more