Hi all,
I’m trying to set up a Sparkfun BNO080 sensor with my ESP32 over I2C.
I’m using the Sparkfun library. In the end, I want the data of the accelerometer, the gyroscope and the gamerotationvector with 100Hz.
My code is:
#include "SparkFun_BNO080_Arduino_Library.h"
BNO080 myIMU;
float quatI = 0;
float quatJ = 0;
float quatK = 0;
float quatReal = 0;
float quatRadianAccuracy = 0;
float roll = 0;
float pitch = 0;
float heading = 0;
float ax = 0;
float ay = 0;
float az = 0;
float gx = 0;
float gy = 0;
float gz = 0;
void setup() {
Serial.begin(115200);
Wire.begin();
if (myIMU.begin() == false)
{
Serial.println("BNO080 not detected at default I2C address. Check your jumpers and the hookup guide. Freezing...");
while (1);
}
Wire.setClock(400000); //Increase I2C data rate to 400kHz
//myIMU.enableRotationVector(50); //Send data update every 50ms
myIMU.enableGameRotationVector(10);
myIMU.enableGyro(10); //Send data update every 50ms
myIMU.enableAccelerometer(10);
}
void loop() {
if (myIMU.dataAvailable() == true)
{
ax = myIMU.getAccelX();
ay = myIMU.getAccelY();
az = myIMU.getAccelZ();
gx = myIMU.getGyroX() * 57.295779;
gy = myIMU.getGyroY() * 57.295779;
gz = myIMU.getGyroZ() * 57.295779;
quatI = myIMU.getQuatI();
quatJ = myIMU.getQuatJ();
quatK = myIMU.getQuatK();
quatReal = myIMU.getQuatReal();
//quatRadianAccuracy = myIMU.getQuatRadianAccuracy();
roll = atan2f(quatI * quatJ + quatK * quatReal, 0.5f - quatJ * quatJ - quatK * quatK) / 3.141 * 180;
if (2.0f * (quatJ * quatReal - quatI * quatK) >= 1)
{
pitch = -90;
}
else {
pitch = asinf(-2.0f * (quatJ * quatReal - quatI * quatK)) / 3.141 * 180;
}
heading = atan2f(quatJ * quatK + quatI * quatReal, 0.5f - quatK * quatK - quatReal * quatReal) / 3.141 * 180;
Serial.print(ax);
Serial.print("\t");
Serial.print(ay);
Serial.print("\t");
Serial.print(az);
Serial.print("\t");
//
// Serial.print(gx);
// Serial.print("\t");
// Serial.print(gy);
// Serial.print("\t");
// Serial.print(gz);
// Serial.print("\t");
//
//
// Serial.print(roll);
// Serial.print("\t");
// Serial.print(pitch);
// Serial.print("\t");
// Serial.print(heading);
// Serial.print("\t");
Serial.println("");
}
}
When I now look at the Data, I always get the same reading value multiple times. (see image1.png → acceleration data)
How ever, when comment all Gyro and Vector code (not enabling them and not reading them), the acceleration data looks very smooth (no doulbe/triple values) → image2.png
Do you know, what the problem is? Is there another way read the data of multiple “sensors” at the same time? I have the same problem when using Example15-RawReadings (there are also multiple sensors enabled).
Could it be, that the myIMU.dataAvailable() is not working correctly, if multiple sensors are enabled? I also tried it with the interrupt pin. But I think this one just stay HIGH, even after reading some values. Do I have to reset the pin somehow?
Do you have an idea how to fix this?
Thank you and best regards,
Peter
