Let's look at some specific examples using the BNO055 and BNO085.
NOTE: These example assume the i2c-gpio overlay has been enabled and configured with the following line added to /boot/config.txt:
dtoverlay=i2c-gpio,i2c_gpio_sda=16,i2c_gpio_scl=20,bus=8
We again use the example from the BNO055 library. However, we make the following modifications to use the software I2C port:
import time import board import adafruit_bno055 from adafruit_extended_bus import ExtendedI2C as I2C i2c=I2C(8) sensor = adafruit_bno055.BNO055_I2C(i2c)
Only the top part of the code listing is shown above. The remainder of the example code is unchanged.
Now running the updated example:
pi@raspberrypi:~ $ python3 bno055_simpletest.py Temperature: 23 degrees C Accelerometer (m/s^2): (0.0, 0.0, 0.0) Magnetometer (microteslas): (38.5, -27.6875, -67.0625) Gyroscope (rad/sec): (-0.002181661564992912, -0.001090830782496456, 0.00545415391248228) Euler angle: (0.0, 0.0, 0.0) Quaternion: (0.0, 0.0, 0.0, 0.0) Linear acceleration (m/s^2): (0.0, 0.0, 0.0) Gravity (m/s^2): (0.0, 0.0, 0.0) Temperature: 23 degrees C Accelerometer (m/s^2): (0.15, -0.34, 10.0) Magnetometer (microteslas): (39.1875, -26.25, -65.0625) Gyroscope (rad/sec): (-0.001090830782496456, 0.0, 0.0) Euler angle: (0.0, 0.8125, 2.0625) Quaternion: (0.99981689453125, -0.018310546875, -0.0072021484375, 0.0) Linear acceleration (m/s^2): (-0.01, 0.01, 0.14) Gravity (m/s^2): (0.14, -0.35000000000000003, 9.790000000000001) Temperature: 23 degrees C Accelerometer (m/s^2): (0.15, -0.33, 9.92) Magnetometer (microteslas): (39.5625, -26.5625, -64.375) Gyroscope (rad/sec): (-0.001090830782496456, -0.001090830782496456, 0.0) Euler angle: (0.0, 0.8125, 2.0625) Quaternion: (0.99981689453125, -0.018310546875, -0.0072021484375, 0.0) Linear acceleration (m/s^2): (0.01, 0.02, 0.17) Gravity (m/s^2): (0.14, -0.35000000000000003, 9.790000000000001)
The readings look good.
Again to use the example from the BNO085 library. However, make the following modifications to use the software I2C port:
import time
import board
import busio
from adafruit_bno08x import (
BNO_REPORT_ACCELEROMETER,
BNO_REPORT_GYROSCOPE,
BNO_REPORT_MAGNETOMETER,
BNO_REPORT_ROTATION_VECTOR,
)
from adafruit_bno08x.i2c import BNO08X_I2C
from adafruit_extended_bus import ExtendedI2C as I2C
i2c=I2C(8)
bno = BNO08X_I2C(i2c)
Only the top part of the code listing is shown above. The remainder of the example code is unchanged.
Now running the updated example:
pi@raspberrypi:~ $ python3 bno08x_simpletest.py Acceleration: X: 0.078125 Y: 0.078125 Z: 9.542969 m/s^2 Gyro: X: -0.001953 Y: 0.000000 Z: 0.000000 rads/s Magnetometer: X: 18.250000 Y: 31.312500 Z: -51.437500 uT Rotation Vector Quaternion: I: 0.005066 J: -0.002808 K: 0.271362 Real: 0.962463 Acceleration: X: 0.078125 Y: 0.078125 Z: 9.582031 m/s^2 Gyro: X: 0.000000 Y: 0.000000 Z: -0.003906 rads/s Magnetometer: X: 18.687500 Y: 32.000000 Z: -51.500000 uT Rotation Vector Quaternion: I: 0.005554 J: -0.002014 K: 0.267334 Real: 0.963623
Readings look good and (hopefully) it should continue running without hitting any errors.
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