About fgallardo

I am trying to get some reading from the IMU BNO055, the implementation from ADA Fruit below. https://cdn-learn.adafruit.com/downloads/pdf/adafruit-bno055-absolute-orientation-sensor.pdf It seems like I am not able to pass the calibration step. The BNO055 manual can be found below: https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf I am not using libraries but communicating using I2C directly and reading and writing from the device registers. The configuration I am doing is as follows: // The opening of the device and so on, works, so the line below is not a problem. if (ioctl(data_exchange->file_imu_sensor, I2C_SLAVE, data_exchange->imu_addr) < 0) { printf("Impossible to communicate with the IMU in the i2c. Make sure that the address you have is correct!\n"); exit(1); } // Here is where I start with the configuration. First I reset the device. //SYS_TRIGGER Register. ADD 3F //CLK_SEL (0 internal oscillator) REST_INT(reset interrumptions)RST_SYS(1 to reset) x x x x Self_TEST(1 to make a self test.) // 00xxxx0 buf[0] = 0x3F; buf[1] = 0x20; //00100000 write_buf(data_exchange,buf,3); printf("IMU WAS COMMANDED TO RESET"); sleep(1); //It needs some time to reset. With one sec should be sufficient. // Here I start with the real configuration. // G range 2G xxxxxx00 // BW 7.81Hz xxx000xx // Op mod normal 000xxxxx //So I will write a 0 to the register ACC_condfi buf[0] = 0x0D; buf[1] = 0x00; write_buf(data_exchange,buf,3); // Now unit selection.UNIT_SEL Page 30. //Accelaration m/s2 xxxxxxx0b // Magnetic field in micro Teslas (always) // Angular rate defrees ps xxxxxx0xb // Euler angles Degress> xxxxxxxb // Quaternion in Quaernion units always. //Temperatyre deg xxx0xxxxb // NPI The data output format can be selected by writing to the UNIT_SEL register, this allows user to switch between the orientation definition described by Windows and Android operating systems // Windows> 0xxxxxxxb // Android> 1xxxxxxxb. Page 30. // Bits 5 and 6 are reserved. So it does not matter. So we write a 0. buf[0] = 0x03; buf[1] = 0x00; write_buf(data_exchange,buf,3); //We now need to set the operation mode: //Register OPR_MODE Page 21. //Fusion mode NDOF. xxxx1100b buf[0] = 0x1C; buf[1] = 0x0C; //00001100 write_buf(data_exchange,buf,3); // GYR_Config_0 buf[0] = 0x0B; buf[1] = 0x00; //00001100 write_buf(data_exchange,buf,3); // PWR_MODE. Normal mode is xxxxxx00b buf[0] = 0x3E; buf[1] = 0x00; //00000000 write_buf(data_exchange,buf,3); Now, I am supposed to wait for the internal calibration of the chip to be performed. But it seems like it does not finish doing that. I am checking it by means of checking the register 0x35, which should be >0 if the calibration was finished. char buf[10]; int status=0; read_buf(dataset_pointer,0x35,3,buf); status=buf[0]; if(status>0){ //Here is where I perform all the reading and so on. }   I also followed this code: https://github.com/fgallardo/BNO055/blob/master/BNO055%2BBMP280_Basic_AHRS_t3.ino Which also writes a 1 to the PAGEID register (0x07) and then a 0 after writing to the configuration registers. Am I missing something in the configuration? I checked on the Internet and I found some suggestions (as per the IMU manual, too) about making an 8 symbol in the air with the device, which I did, but the calibration is not finished anyway. I don't think it is a power issue (I found some references about that in the Bosh forums) because I connected VIN to 5.0V, 3VO to 3.3V and GND to GND. Any comment on this would be of great help. Am I configuring the device wrong? Am I missing any register? Thanks! ... View more