bno055 0.1.0

Bosch Sensortec BNO055 embedded-hal driver

What is this?

This is a embedded-hal driver for Bosch's inertial measurement unit (IMU) BNO055.

It is device-agnostic and uses I2c and Delay embedded-hal traits for its operation.

Uses and re-exports nalgebra's Quaternion for quaternion reading and Rotation3 for Euler angles.

Usage

1. Add dependency to Cargo.toml:

   cargo add bno055
   

2. Instantiate and init the device:

   // ... declare and configure your I2c and Delay implementations ...
   
   // Init BNO055 IMU
   let imu = bno055::Bno055::new(i2c, delay);
   
   imu.init()?;
   
   // Enable 9-degrees-of-freedom sensor fusion mode with fast magnetometer calibration
   imu.set_mode(bno055::BNO055OperationMode::NDOF)?;
   
   Ok(imu)
   

3. Read orientation data: quaternion or euler angles (roll, pitch, yaw/heading)

   let quat = imu.quaternion()?;
   // or:
   let euler = imu.euler_angles()?;