This idf-component provides a C++ Interface for Bosch-Sensortec's BNO055 compatible with Espressif's ESP32 SoC (running esp-idf).

Tested on ESP32D0WDQ6 (DevKitC) with Adafruit's BNO055 Breakout Board

• UART - fully Supported.
• I²C - partially supported*

*I²C is partially supported due to several issues probably caused by clock stretching.
currently UART is suggested.

NOTE: this code is not (yet) Production Ready.
You can use this library as a managed component for your project. Add the following to your main/idf_component.yml:

  bno055:
    path: .
    git: https://github.com/zyuri/BNO055ESP32.git

Remember to enable Compiler Options -> Enable C++ Exceptions using make menuconfig

for more details see examples/ also read IDF component manager

PS1 -> 3.3v (HIGH) -> Enables UART protocol
SCL -> UART RX (Default: GPIO_NUM_17)
SDA -> UART TX (Default: GPIO_NUM_16)

PS1 -> GND (LOW) -> Enables I²C protocol
SCL -> SCL (Default: GPIO_NUM_22)
SDA -> SDA (Default: GPIO_NUM_21)