Hi, im trying to use SPI to get data from the imu bno086, however it’s not working.
I use the XIAO ESP32S3.
Breakout board I bought: SparkFun VR IMU Breakout - BNO086 (Qwiic) - SparkFun Electronics
Instruction I followed: Hardware Hookup - SparkFun VR IMU Breakout - BNO086 (Qwiic) Hookup Guide
My wire:
| 3.3V | 3.3V |
|---|---|
| GND | GND |
| D5 | CS |
| MISO/PICO | SI |
| MOSI/POCI | SO |
| SCK (D18) | SCK |
| A0 | INT |
| A1 | RST |
Could anyone help me?
Double-check the wiring, the table says MISO/PICO but it should be MISO/POCI, make sure those aren’t swapped
For SPI you’ll also need to solder the PS0 & PS1 jumper pads Hardware Hookup - SparkFun VR IMU Breakout - BNO086 (Qwiic) Hookup Guide (put solder blobs on each of the 2 circled pad areas)
OK, I see quite a bit of flux on both boards’ pin areas…try cleaning that with IPA and re-try
I don’t have much advice other than what Seeed documents here for the spi on that board Pin Multiplexing with Seeed Studio XIAO ESP32S3 (Sense) | Seeed Studio Wiki - do you happen to have a different MCU if the above IPA clean doesn’t work?
can you share the sketch ? maybe there is something
I cleaned the boards with ISO, but it seems not to have any changes.
For the code, I got it from “SparkFun BNO08x Cortex Based IMU” on Arduino IDE. There is an example using SPI for IMU by go to: File → Examples -->Sparkfun → SPI → Examples_01
Using the BNO08x IMU
This example shows how to communicate with the sensor over SPI.
It requires a few more connections than the qwiic cable.
In addition to your usual SPI lines (CS/PICO/POCI/SCK),
This also requires INT and RST. These are crucial for timing when talking to
this sensor.
It outputs the i/j/k/real parts of the rotation vector.
https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
By: Nathan Seidle
SparkFun Electronics
Date: December 21st, 2017
SparkFun code, firmware, and software is released under the MIT License.
Please see LICENSE.md for further details.
Originally written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017
Adjusted by Pete Lewis @ SparkFun Electronics, June 2023 to incorporate the
CEVA Sensor Hub Driver, found here:
https://github.com/ceva-dsp/sh2
Also, utilizing code from the Adafruit BNO08x Arduino Library by Bryan Siepert
for Adafruit Industries. Found here:
https://github.com/adafruit/Adafruit_BNO08x
Also, utilizing I2C and SPI read/write functions and code from the Adafruit
BusIO library found here:
https://github.com/adafruit/Adafruit_BusIO
Hardware Connections:
IoT RedBoard --> BNO08x
D5 --> CS
PICO --> SI
POCI --> SO
SCK --> SCK
A4 --> INT
A5 --> RST
3V3 --> 3V3
GND --> GND
BNO08x "mode" pins set for SPI:
PSO --> 3V3
PS1 --> 3V3
Serial.print it out at 115200 baud to serial monitor.
Feel like supporting our work? Buy a board from SparkFun!
https://www.sparkfun.com/products/22857
*/
//#include <Wire.h>
#include "SparkFun_BNO08x_Arduino_Library.h" // CTRL+Click here to get the library: http://librarymanager/All#SparkFun_BNO08x
BNO08x myIMU;
// For SPI, we need some extra pins defined:
// Note, these can be other GPIO if you like.
#define BNO08X_CS 7
#define BNO08X_INT A4
#define BNO08X_RST A5
// If using the MicroMod Machine Learning Carrier Board, use these pins:
// for more info see https://github.com/sparkfun/SparkFun_BNO08x_Arduino_Library/issues/19
//#define BNO08X_CS PWM0
//#define BNO08X_INT D0 // Note, D0 is also the CS pin for the camera, so you'll need to change that if you're using both.
// a good alternative for D0 is PWM1, (A0 and A1 are only inputs on the carrier board).
//#define BNO08X_RST D1
void setup() {
Serial.begin(115200);
while(!Serial) delay(10); // Wait for Serial to become available.
// Necessary for boards with native USB (like the SAMD51 Thing+).
// For a final version of a project that does not need serial debug (or a USB cable plugged in),
// Comment out this while loop, or it will prevent the remaining code from running.
Serial.println();
Serial.println("BNO08x Read Example");
if (myIMU.beginSPI(BNO08X_CS, BNO08X_INT, BNO08X_RST) == false) {
Serial.println("BNO08x not detected. Check your jumpers and the hookup guide. Freezing...");
while (1)
;
}
Serial.println("BNO08x found!");
setReports();
Serial.println("Reading events");
delay(100);
}
// Here is where you define the sensor outputs you want to receive
void setReports(void) {
Serial.println("Setting desired reports");
if (myIMU.enableRotationVector() == true) {
Serial.println(F("Rotation vector enabled"));
Serial.println(F("Output in form i, j, k, real, accuracy"));
} else {
Serial.println("Could not enable rotation vector");
}
delay(100); // This delay allows enough time for the BNO086 to accept the new
// configuration and clear its reset status
}
void loop() {
delay(10);
if (myIMU.wasReset()) {
Serial.print("sensor was reset ");
setReports();
}
// Has a new event come in on the Sensor Hub Bus?
if (myIMU.getSensorEvent() == true) {
// is it the correct sensor data we want?
if (myIMU.getSensorEventID() == SENSOR_REPORTID_ROTATION_VECTOR) {
float quatI = myIMU.getQuatI();
float quatJ = myIMU.getQuatJ();
float quatK = myIMU.getQuatK();
float quatReal = myIMU.getQuatReal();
float quatRadianAccuracy = myIMU.getQuatRadianAccuracy();
Serial.print(quatI, 2);
Serial.print(F(","));
Serial.print(quatJ, 2);
Serial.print(F(","));
Serial.print(quatK, 2);
Serial.print(F(","));
Serial.print(quatReal, 2);
Serial.print(F(","));
Serial.print(quatRadianAccuracy, 2);
Serial.println();
}
}
}
I tried to collect data using I2C (with the XIAO ESP32S3 board) and it worked perfectly fine. I don’t think the board would be the main issue, but I will test with different ESP board to make sure.
On line 61 in your sketch, for BNO08X_CS instead of 7, try to use D7. D7 on a XIAO is connected to IO44, not GPIO 7.
Yess it works now. Ty
Cool, thanks for sharing back