Supported Targets	ESP32	ESP32-C2	ESP32-C3	ESP32-C5	ESP32-C6	ESP32-C61	ESP32-H2	ESP32-S3

BNO055 ESP-IDF Component

This component provides a complete ESP-IDF driver for the Bosch BNO055 absolute orientation sensor, which combines accelerometer, gyroscope, and magnetometer data through sensor fusion in an onboard microcontroller.

The driver offers a clean, modular interface for initialization, configuration, data acquisition, calibration management, offset handling, and unit conversions — making it easy to integrate the BNO055 into any ESP-IDF project.

Features

• Full I²C communication support (no batch writes required)
• Initialization and configuration with error handling
• Operation mode switching (CONFIG, NDOF, IMU, etc.)
• Unit system control (m/s², deg/s, radians, etc.)
• Offset management:
  • Read calibration offsets (bno055_get_offsets())
  • Write saved offsets (bno055_set_offsets())
• Sensor data acquisition:
  • Accelerometer
  • Magnetometer
  • Gyroscope
  • Euler Angles
  • Quaternion
  • Linear Acceleration
  • Gravity
  • Temperature
• Calibration monitoring with detailed status output
• Axis remapping and sign inversion
• Configurable via Kconfig
• Works across all ESP32 targets
• Fully compatible with ESP-IDF ≥ 5.3.2 (includes I²C clock-stretching fix)

Component Structure

bno055/
├── include/
│   ├── bno055.h              # Public API
├── src/
│   ├── bno055.c              # Public interface implementation
│   ├── bno055_priv.c         # Internal logic and helpers
│   └── bno055_priv.h
├── Kconfig                   # Configuration options
├── CMakeLists.txt            # Component build definition
├── idf_component.yml         # Component manifest for ESP Registry
└── examples/
    ├── initialization/       # Simple initialization example
    ├── offsets/              # Working with sensor offsets
    ├── axis_remaps/          # Axis remapping example
    └── sensor_readings/      # Data readout example

Configuration (Kconfig)

This example uses the following Kconfig options from the component:

Setting	Description	Default
CONFIG_BNO055_I2C_FREQUENCY	I²C frequency (kHz)	400
CONFIG_BNO055_SDA_PIN	SDA GPIO	2
CONFIG_BNO055_SCL_PIN	SCL GPIO	3
CONFIG_BNO055_I2C_ADDR	I²C address (0x28 / 0x29)	0x28
CONFIG_BNO055_RESET_PIN	Reset GPIO (-1 disables)	-1

Modify these using idf.py menuconfig → BNO055 Configuration.

Usage

Refer to the /examples directory for:

• initialization: Minimal working setup
• offsets: Working with offsets post calibration
• axis_remaps: Axis reconfiguration after calibration
• sensor_readings: Periodic calibrated sensor data acquisition

Notes

• Requires ESP-IDF ≥ 5.3.2 for I²C clock stretching compatibility.
• Tested on ESP32, ESP32-C3, and ESP32-S3 targets.
• Logging can be controlled via esp_log_level_set() for BNO055_TAG.
• Offsets and calibration data can be saved and reloaded between sessions.
• Axis remapping requires complete calibration before use.

License

Licensed under the MIT License.
See the LICENSE file for full text.

Maintainer

Author: Adithya Venkata Narayanan (Adithya-187326) Version: 1.0.0 Registry: ESP Component Registry