Main project page Whirlybird
BNO080
Sample obtained from Circuit Launch community surplus racks.
https://learn.sparkfun.com/tutorials/qwiic-vr-imu-bno080-hookup-guide/all
compass.py
# BNO08x Micropython I2C Library & Test
# derived from Adafruit CircuitPython & Dobodu
# https://github.com/dobodu/BOSCH-BNO085-I2C-micropython-library/blob/main/lib/bno08x_i2c.py
# Updates to integrate with whilrlybird DF'n by DEFAULT
from machine import I2C, Pin
import time
from time import sleep_ms
import math
from bno08x_i2c import *
import neopixel
NEO_COUNT = 32
NEO_DELAY = 50
np = neopixel.NeoPixel(Pin(44), NEO_COUNT, bpp=4)
I2C1_SDA = Pin(5)
I2C1_SCL = Pin(4)
def rgbw(p):
np[p] = (0, 0, 0, 1)
np.write()
sleep_ms(NEO_DELAY)
def ring():
for i in range(24,32):
rgbw(i)
np.fill((0,0,0,0))
np.write()
for i in range(23,-1, -1):
rgbw(i)
np.fill((0,0,0,0))
np.write()
ring()
i2c1 = I2C(1, scl=I2C1_SCL, sda=I2C1_SDA, freq=100000, timeout=200000 )
#print("I2C Device found at address : ",i2c1.scan(),"\n")
bno = BNO08X_I2C(i2c1, debug=False)
print("BNO08x I2C connection : Done\n")
bno.enable_feature(BNO_REPORT_ACCELEROMETER)
bno.enable_feature(BNO_REPORT_GYROSCOPE)
#bno.enable_feature(BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR)
#bno.enable_feature(BNO_REPORT_MAGNETOMETER)
bno.enable_feature(BNO_REPORT_ROTATION_VECTOR)
#bno.enable_feature(BNO_REPORT_ACTIVITY_CLASSIFIER)
#bno.enable_feature(BNO_REPORT_STABILITY_CLASSIFIER)
print("BNO08x sensors enabling : Done\n")
def tilt():
#26/30 left/right, 28/31 down/up
x,y,z = bno.acceleration
np.fill((0,0,0,0))
if x < -1:
np[26] = (int(x*-3),0,0,0)
elif x > 1:
np[30] = (int(x*3),0,0,0)
if y < -1:
np[31] = (0,int(y*-3),0,0)
elif y > 1:
np[28] = (0,0,int(y*3),0)
#print("X: %0.6f\tY: %0.6f\tZ: %0.6f" % (x,y,z))
def turn():
x,y,z = bno.euler
r = z + 180 - 13
if r < 0:
r += 360
#print(z,r)
np[int(r/15)] = (0,0,0,5)
np.write()
def classifier():
print(bno.stability_classification, bno.activity_classification["most_likely"])
def loop():
while True:
tilt()
turn()
#classifier()
sleep_ms(50)
loop()
#cpt = 0
#while True:
# time.sleep(0.5)
# cpt += 1
# geo_x, geo_y, geo_z, geo_w = bno.geomagnetic_quaternion
# mag_x, mag_y, mag_z = bno.magnetic # pylint:disable=no-member
# heading = math.atan2(mag_x, mag_y) * 180 / math.pi
# print("%0.f Geo\tX: %0.6f\tY: %0.6f\tZ: %0.6f\tW: %0.6f\tMag X: %0.6f\tY: %0.6f\tZ: %0.6f\tuT %d" % (heading, geo_x, geo_y, geo_z, geo_w, mag_x, mag_y, mag_z, cpt))
#if cpt == 10 :
# bno.tare
# print("cpt", cpt)
# accel_x, accel_y, accel_z = bno.acceleration # pylint:disable=no-member
# print("Acceleration\tX: %0.6f\tY: %0.6f\tZ: %0.6f\tm/s²" % (accel_x, accel_y, accel_z))
# gyro_x, gyro_y, gyro_z = bno.gyro # pylint:disable=no-member
# print("Gyroscope\tX: %0.6f\tY: %0.6f\tZ: %0.6f\trads/s" % (gyro_x, gyro_y, gyro_z))
# quat_i, quat_j, quat_k, quat_real = bno.quaternion # pylint:disable=no-member
# print("Rot Vect Quat\tI: %0.6f\tJ: %0.6f\tK: %0.6f\tReal: %0.6f" % (quat_i, quat_j, quat_k, quat_real))
# R, T, P = bno.euler
# print("Euler Angle\tX: %0.1f\tY: %0.1f\tZ: %0.1f" % (R, T, P))
# print("")