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About BobbyCannon
since
03-13-2019
03-19-2019
BobbyCannon
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03-19-2019
02:07 PM
No updates? Does Bosch monitor this forum?
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03-14-2019
02:45 AM
0x8C21 <- is not a valid value. This value is 8,648 decimal. The datasheet says the range of the magnetometer offset is +/- 6400 in LSB. I found that I can write 6400 without error but when writing 6401 (or anything higher) I get a system status or "System Error" and a system error of "Fusion algorithm configuration error". Question is this... "How can the self calibration process of the NDOF mode write a value that is outside the minimum / maximum range?"
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03-13-2019
04:25 PM
I found BNO055_SIC_MATRIX_0 in the driver but it's listed as reserved 0x43-0x54. I tried to also save the SIC (soft iron calibration) and restore it with the other calibration values but that did not change the fact that MZ (0x5F/0x60) will not write.
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03-13-2019
03:35 PM
I am using the BNO055 sensor and I cannot seem to get the calibration to restore for Magnetometer MZ. Here is how I get the calibration registers start up the unit, put in fusion mode NDOF loop until all configurations == 3 if (calibration.Sys == 3 && calibration.Acc == 3 && calibration.Gyro == 3 && calibration.Mag == 3) read the calibration registers put into configuration mode WriteData(BNO055_ADDRESS, BNO055_REGISTER_OPR_MODE, 0b0000); // Configuration Mode Delay 20 ms ReadData(BNO055_ADDRESS, BNO055_REGISTER_ACC_OFFSET_X, &Settings.BNO055Calibration.Values[0], 22); save our settings into our EEPROM On boot we restore it by... read data from eeprom put in configuration mode WriteData(BNO055_ADDRESS, BNO055_REGISTER_OPR_MODE, 0b0000); // Configuration Mode Delay 20 ms WriteData(BNO055_ADDRESS, BNO055_REGISTER_ACC_OFFSET_X, &Settings.BNO055Calibration.Values[0], 22); Read configuration and it's in an error state Here is what is actually happening... COM14: BNO055: Switching to Page 0 COM14: Calibration : 0, 0, 0, 0 COM14: System Status : System Idle COM14: System Error : No Error COM14: Restoring calibration values COM14: Writing : 0 1 2 3 4 5 6 7 8 9101112131415161718192021 COM14: Writing : AXAXAYAYAZAZMXMXMYMYMZMZGXGXGYGYGZGZARARMRMR COM14: Writing : 0500E7FFD3FF83F5360E8C21FFFF0000FEFFE8036E03 COM14: Read : 0500E7FFD3FF83F5360E0000FFFF0000FEFF00006E03 COM14: Calibration : 0, 0, 0, 0 COM14: System Status : System Error COM14: System Error : Fusion algorithm configuration error Notice the MZ (10-11/ 0x5F-0x60) offset is 8C21 however it for some reason will not be written. Why not? All other registers are being written. I have tried single register writes by writing each register (0x55-0x6A) individually or in one mass write of 22 bytes. Both way will not write MAG_OFFSET_Z_LSB : 0x5F / MAG_OFFSET_Z_MSB : 0x60
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