sl-firmware
ad2b599420
Auto-detected alongside MPU6000. Acts as balance primary when MPU6000 fails, or provides NDOF-fused yaw/pitch when both sensors are present. - include/bno055.h: full API — bno055_init/read/is_ready/calib_status/ temperature/save_offsets/restore_offsets - src/bno055.c: I2C1 driver; probes 0x28/0x29, resets via SYS_TRIGGER, enters NDOF mode; 2-burst 12-byte reads (gyro+euler, LIA+gravity); Euler/gyro/accel scaling (÷16, ÷16, ÷100); auto-saves offsets to RTC backup regs BKP0R–BKP6R on first full cal; restores on boot (bno055_is_ready() returns true immediately); temperature updated 1Hz - include/config.h: BNO055_BKP_MAGIC = 0xB055CA10 - src/main.c: bno055_init() in I2C probe block (before IWDG); imu_calibrated() macro dispatches mpu6000_is_calibrated() vs bno055_is_ready(); BNO055 read deferred inside balance gate to avoid stalling main loop; USB JSON reports bno_cs (calib status) and bno_t (temperature) - test/test_bno055_data.py: 43 pytest tests (43/43 pass) — calib status bit extraction, Euler/gyro/accel scaling, burst parsing, offset round-trip packing, temperature signed-byte encoding Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>