feat(bno055): add BNO055 9-axis absolute orientation IMU component

.github/workflows/build.yml

@@ -99,6 +99,8 @@ jobs:
           target: esp32
         - path: 'components/bmi270/example'
           target: esp32p4
+        - path: 'components/bno055/example'
+          target: esp32p4
         - path: 'components/bq27220/example'
           target: esp32
         - path: 'components/button/example'

.github/workflows/upload_components.yml

@@ -73,6 +73,7 @@ jobs:
             components/ble_gatt_server
             components/bm8563
             components/bmi270
+            components/bno055
             components/button
             components/byte90
             components/canopen

components/bno055/CMakeLists.txt

@@ -0,0 +1,5 @@
+idf_component_register(
+  INCLUDE_DIRS "include"
+  SRC_DIRS "src"
+  REQUIRES "base_peripheral"
+  )

components/bno055/README.md

@@ -0,0 +1,27 @@
+# BNO055 9-Axis Absolute Orientation IMU Component
+
+[![Badge](https://components.espressif.com/components/espp/bno055/badge.svg)](https://components.espressif.com/components/espp/bno055)
+
+The `Bno055` component provides a driver for the Bosch BNO055 9-axis absolute
+orientation sensor over I2C. The BNO055 runs sensor fusion on its own
+microcontroller, so the driver reads finished orientation data rather than
+filtering raw samples on the ESP.
+
+It supports configuring and reading:
+* Operating mode (raw-only modes and the IMU, COMPASS, M4G, and NDOF fusion
+  modes)
+* 3-axis acceleration, angular rate, and magnetic field
+* Fused orientation as Euler angles and as a quaternion
+* Linear acceleration (gravity removed) and the gravity vector
+* Die temperature and per-sensor calibration status
+
+All outputs are read in a single 46-byte I2C burst and reported in SI units
+(m/s^2, rad/s, rad, uT).
+
+It does not _yet_ support saving and restoring calibration offsets, axis
+remapping, or the interrupt pin.
+
+## Example
+
+The [example](./example) shows how to use the `espp::Bno055` component to
+initialize a BNO055 and print its outputs.

components/bno055/example/CMakeLists.txt

@@ -0,0 +1,22 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.20)
+
+set(ENV{IDF_COMPONENT_MANAGER} "0")
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+# add the component directories that we want to use
+set(EXTRA_COMPONENT_DIRS
+  "../../../components/"
+)
+
+set(
+  COMPONENTS
+  "main esptool_py i2c bno055 task"
+  CACHE STRING
+  "List of components to include"
+  )
+
+project(bno055_example)
+
+set(CMAKE_CXX_STANDARD 23)

components/bno055/example/README.md

@@ -0,0 +1,41 @@
+# BNO055 Example
+
+This example shows how to use the `espp::Bno055` component to initialize a
+BNO055 9-axis absolute orientation IMU over I2C and print its outputs.
+
+It puts the BNO055 in IMU fusion mode (accelerometer + gyroscope, heading
+relative to power-on), reads all outputs at 100 Hz in one I2C burst per sample,
+and prints one CSV row per sample: acceleration, angular rate, Euler angles, the
+orientation quaternion, temperature, and calibration status. The header line
+starts with `%` so the output can be pasted straight into a plotter.
+
+## How to use example
+
+### Hardware Required
+
+This example runs on any ESP32 series device with a BNO055 breakout connected
+over I2C. The defaults are SDA=GPIO7 and SCL=GPIO8 on the ESP32-P4 (the
+internal I2C bus pins on the espp `esp32-p4-eth` board) and SDA=GPIO21,
+SCL=GPIO22 on other targets. Change the pins and the I2C address (0x28 or 0x29)
+with `idf.py menuconfig` under `Example Configuration`.
+
+### Build and Flash
+
+Build the project and flash it to the board, then run monitor tool to view
+serial output:
+
+```
+idf.py -p PORT flash monitor
+```
+
+(Replace PORT with the name of the serial port to use.)
+
+(To exit the serial monitor, type ``Ctrl-]``.)
+
+See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
+
+## Example Output
+
+```
+% Time (s), Accel X (m/s^2), Accel Y (m/s^2), Accel Z (m/s^2), Gyro X (rad/s), Gyro Y (rad/s), Gyro Z (rad/s), Heading (rad), Roll (rad), Pitch (rad), Quat W, Quat X, Quat Y, Quat Z, Temp (C), Calib Sys, Calib Gyro, Calib Accel, Calib Mag
+```

components/bno055/example/main/CMakeLists.txt

@@ -0,0 +1,2 @@
+idf_component_register(SRC_DIRS "."
+                       INCLUDE_DIRS ".")

components/bno055/example/main/Kconfig.projbuild

@@ -0,0 +1,33 @@
+menu "Example Configuration"
+
+config EXAMPLE_I2C_SDA_GPIO
+  int "SDA GPIO Num"
+  range 0 50
+  default 7 if IDF_TARGET_ESP32P4
+  default 21
+  help
+    GPIO number for I2C Master data line.
+
+config EXAMPLE_I2C_SCL_GPIO
+  int "SCL GPIO Num"
+  range 0 50
+  default 8 if IDF_TARGET_ESP32P4
+  default 22
+  help
+    GPIO number for I2C Master clock line.
+
+config EXAMPLE_I2C_CLOCK_SPEED_HZ
+  int "I2C Clock Speed"
+  range 100 400000
+  default 400000
+  help
+    I2C clock speed in Hz. The BNO055 supports up to 400 kHz.
+
+config EXAMPLE_I2C_ADDRESS
+  hex "BNO055 I2C Address"
+  range 0x28 0x29
+  default 0x28
+  help
+    I2C address of the BNO055: 0x28 with ADR (COM3) low, 0x29 with it high.
+
+endmenu

components/bno055/example/main/bno055_example.cpp

@@ -0,0 +1,102 @@
+#include <chrono>
+#include <sdkconfig.h>
+
+#include "bno055.hpp"
+#include "i2c.hpp"
+#include "task.hpp"
+
+using namespace std::chrono_literals;
+
+extern "C" void app_main(void) {
+  espp::Logger logger({.tag = "BNO055 Example", .level = espp::Logger::Verbosity::INFO});
+  logger.info("Starting example!");
+
+  //! [bno055 example]
+  // make the i2c we'll use to communicate
+  static constexpr auto i2c_port = I2C_NUM_0;
+  static constexpr auto i2c_clock_speed = CONFIG_EXAMPLE_I2C_CLOCK_SPEED_HZ;
+  static constexpr gpio_num_t i2c_sda = (gpio_num_t)CONFIG_EXAMPLE_I2C_SDA_GPIO;
+  static constexpr gpio_num_t i2c_scl = (gpio_num_t)CONFIG_EXAMPLE_I2C_SCL_GPIO;
+  logger.info("Creating I2C on port {} with SDA {} and SCL {}", i2c_port, i2c_sda, i2c_scl);
+  espp::I2c i2c({.port = i2c_port,
+                 .sda_io_num = i2c_sda,
+                 .scl_io_num = i2c_scl,
+                 .sda_pullup_en = GPIO_PULLUP_ENABLE,
+                 .scl_pullup_en = GPIO_PULLUP_ENABLE,
+                 .clk_speed = i2c_clock_speed});
+
+  static constexpr uint8_t address = CONFIG_EXAMPLE_I2C_ADDRESS;
+  std::error_code ec;
+  auto imu_device =
+      i2c.add_device<uint8_t>({.device_address = address,
+                               .timeout_ms = static_cast<int>(i2c.config().timeout_ms),
+                               .scl_speed_hz = i2c.config().clk_speed,
+                               .log_level = espp::Logger::Verbosity::WARN},
+                              ec);
+  if (!imu_device) {
+    logger.error("Failed to create BNO055 I2C device: {}", ec.message());
+    return;
+  }
+
+  // create the IMU; auto_init resets it and enters IMU (accel + gyro) fusion
+  // mode, which takes about 700 ms
+  espp::Bno055 imu({.device_address = address,
+                    .probe = espp::make_i2c_addressed_probe(imu_device),
+                    .write = espp::make_i2c_addressed_write(imu_device),
+                    .write_then_read = espp::make_i2c_addressed_write_then_read(imu_device),
+                    .mode = espp::Bno055::OperatingMode::IMU,
+                    .use_external_crystal = true,
+                    .auto_init = true,
+                    .log_level = espp::Logger::Verbosity::INFO});
+  if (!imu.initialized()) {
+    logger.error("BNO055 not found at address {:#04x}", address);
+    return;
+  }
+
+  // print the header for the IMU data (for plotting)
+  fmt::print("% Time (s), "
+             "Accel X (m/s^2), Accel Y (m/s^2), Accel Z (m/s^2), "
+             "Gyro X (rad/s), Gyro Y (rad/s), Gyro Z (rad/s), "
+             "Heading (rad), Roll (rad), Pitch (rad), "
+             "Quat W, Quat X, Quat Y, Quat Z, "
+             "Temp (C), Calib Sys, Calib Gyro, Calib Accel, Calib Mag\n");
+
+  // read the IMU at 100 Hz and print one CSV row per sample
+  auto task_fn = [&](std::mutex &m, std::condition_variable &cv) {
+    auto start = std::chrono::high_resolution_clock::now();
+
+    std::error_code ec;
+    if (!imu.update(ec)) {
+      logger.error("Failed to update BNO055: {}", ec.message());
+    } else {
+      auto data = imu.data();
+      std::string text = fmt::format("{:.3f},", esp_timer_get_time() / 1'000'000.0f);
+      text += fmt::format("{:.3f},{:.3f},{:.3f},", data.accel_mps2.x, data.accel_mps2.y,
+                          data.accel_mps2.z);
+      text += fmt::format("{:.4f},{:.4f},{:.4f},", data.gyro_radps.x, data.gyro_radps.y,
+                          data.gyro_radps.z);
+      text += fmt::format("{:.4f},{:.4f},{:.4f},", data.euler.heading, data.euler.roll,
+                          data.euler.pitch);
+      text += fmt::format("{:.4f},{:.4f},{:.4f},{:.4f},", data.orientation.w, data.orientation.x,
+                          data.orientation.y, data.orientation.z);
+      text += fmt::format("{},{},{},{},{}", data.temperature_c, data.calibration.system,
+                          data.calibration.gyro, data.calibration.accel, data.calibration.mag);
+      fmt::print("{}\n", text);
+    }
+
+    std::unique_lock<std::mutex> lk(m);
+    cv.wait_until(lk, start + 10ms);
+    return false;
+  };
+
+  espp::Task task({.callback = task_fn,
+                   .task_config = {.name = "BNO055 Task", .stack_size_bytes = 6 * 1024},
+                   .log_level = espp::Logger::Verbosity::WARN});
+  task.start();
+
+  // loop forever
+  while (true) {
+    std::this_thread::sleep_for(1s);
+  }
+  //! [bno055 example]
+}

components/bno055/example/sdkconfig.defaults

@@ -0,0 +1,14 @@
+CONFIG_IDF_TARGET="esp32p4"
+
+CONFIG_FREERTOS_HZ=1000
+
+# set compiler optimization level to -O2 (compile for performance)
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+
+# Common ESP-related
+#
+CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=16384
+
+# Set esp-timer task stack size to 6KB
+CONFIG_ESP_TIMER_TASK_STACK_SIZE=6144

components/bno055/example/sdkconfig.defaults.esp32p4

@@ -0,0 +1,11 @@
+# Applied on top of sdkconfig.defaults when the target is esp32p4 (ESP-IDF
+# picks up sdkconfig.defaults.<target> automatically).
+#
+# Support pre-v3 silicon (e.g. ESP32-P4 v1.x on the ESP32-P4-ETH and
+# Function-EV boards).
+CONFIG_ESP32P4_SELECTS_REV_LESS_V3=y
+
+# The ESP-IDF 6.1 esp32p4 bootloader (0x6140 bytes) no longer fits in front of
+# the default partition-table offset 0x8000 (max 0x6000 bytes there); move the
+# table to 0x9000 like the other esp32p4 boards in this repo.
+CONFIG_PARTITION_TABLE_OFFSET=0x9000

components/bno055/idf_component.yml

@@ -0,0 +1,20 @@
+## IDF Component Manager Manifest File
+license: "MIT"
+description: "BNO055 9-Axis absolute orientation IMU component for ESP-IDF"
+url: "https://github.com/esp-cpp/espp/tree/main/components/bno055"
+repository: "git://github.com/esp-cpp/espp.git"
+maintainers:
+  - William Emfinger <waemfinger@gmail.com>
+documentation: "https://esp-cpp.github.io/espp/imu/bno055.html"
+examples:
+  - path: example
+tags:
+  - cpp
+  - Component
+  - BNO055
+  - IMU
+  - Peripheral
+dependencies:
+  idf:
+    version: '>=5.0'
+  espp/base_peripheral: '>=1.0'