Add BNO055 IMU

.gitignore

@@ -31,3 +31,6 @@ Cargo.lock
 .DS_Store
 
 imu/hexmove/ref/*
+
+# dev
+ref/

Cargo.toml

@@ -5,6 +5,7 @@ members = [
     "imu/bindings",
     "imu/hexmove",
     "imu/hiwonder",
+    "imu/bno055",
 ]
 resolver = "2"
 

imu/bno055/Cargo.toml

@@ -0,0 +1,24 @@
+[package]
+
+name = "linux_bno055"
+readme = "README.md"
+description = "Interface for interacting with BNO055 IMUs"
+version = "0.0.5"
+authors.workspace = true
+edition.workspace = true
+repository.workspace = true
+license.workspace = true
+
+[lib]
+
+name = "linux_bno055"
+crate-type = ["rlib"]
+
+[dependencies]
+
+i2cdev = "0.6"
+byteorder = "1.5"
+bitflags = "2.6"
+log = "0.4"
+num-derive = "0.4"
+num-traits = "0.2"

imu/bno055/README.md

@@ -0,0 +1,7 @@
+# BNO055 IMU
+
+This crate contains the code for interacting with the BNO055 IMU.
+
+Code based on the [embedded-hal implementation of the BNO055](https://github.com/eupn/bno055).
+
+

imu/bno055/src/bin/read_bno055.rs

@@ -0,0 +1,76 @@
+use linux_bno055::Bno055;
+use std::{thread, time::Duration};
+
+fn main() -> Result<(), Box<dyn std::error::Error>> {
+    // Create a new BNO055 instance
+    let mut imu = Bno055::new("/dev/i2c-1")?;
+
+    println!("Reading IMU data...");
+    println!("Press Ctrl+C to exit");
+
+    loop {
+        // Read quaternion data
+        if let Ok(quat) = imu.get_quaternion() {
+            println!(
+                "Quaternion: w: {:.3}, x: {:.3}, y: {:.3}, z: {:.3}",
+                quat.w, quat.x, quat.y, quat.z
+            );
+        }
+
+        // Read euler angles
+        if let Ok(euler) = imu.get_euler_angles() {
+            println!(
+                "Euler Angles: roll: {:.3}°, pitch: {:.3}°, yaw: {:.3}°",
+                euler.roll, euler.pitch, euler.yaw
+            );
+        }
+
+        // Read raw sensor data
+        if let Ok(accel) = imu.get_accelerometer() {
+            println!(
+                "Accelerometer: x: {:.3} m/s², y: {:.3} m/s², z: {:.3} m/s²",
+                accel.x, accel.y, accel.z
+            );
+        }
+
+        if let Ok(gyro) = imu.get_gyroscope() {
+            println!(
+                "Gyroscope: x: {:.3} °/s, y: {:.3} °/s, z: {:.3} °/s",
+                gyro.x, gyro.y, gyro.z
+            );
+        }
+
+        if let Ok(mag) = imu.get_magnetometer() {
+            println!(
+                "Magnetometer: x: {:.3} µT, y: {:.3} µT, z: {:.3} µT",
+                mag.x, mag.y, mag.z
+            );
+        }
+
+        // Read linear acceleration
+        if let Ok(accel) = imu.get_linear_acceleration() {
+            println!(
+                "Linear Acceleration: x: {:.3} m/s², y: {:.3} m/s², z: {:.3} m/s²",
+                accel.x, accel.y, accel.z
+            );
+        }
+
+        // Read temperature and calibration status
+        if let Ok(temp) = imu.get_temperature() {
+            println!("Temperature: {}°C", temp);
+        }
+
+        if let Ok(cal) = imu.get_calibration_status() {
+            println!(
+                "Calibration - Sys: {}, Gyro: {}, Accel: {}, Mag: {}",
+                (cal >> 6) & 0x03,
+                (cal >> 4) & 0x03,
+                (cal >> 2) & 0x03,
+                cal & 0x03
+            );
+        }
+
+        println!("---");
+        thread::sleep(Duration::from_millis(100));
+    }
+}