7Semi BNO08x Arduino Library

Arduino library for the 7Semi BNO08x IMU sensor (BNO080/BNO085) with I2C, SPI, and UART support. Works over I²C, SPI, and UART, enabling common SH-2 sensor reports and providing cached sensor data for non-blocking reads.
Tiny footprint — suitable for AVR, ESP32, and ESP8266 boards.

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✨ Features

✅ Supports I²C, SPI, and UART transports
✅ Supports common SH-2 sensor reports:

• Accelerometer
• Gyroscope
• Magnetometer
• Linear Acceleration
• Gravity
• Rotation Vector
• Game Rotation Vector
• Geomagnetic Rotation Vector

✅ Simple API:

• enableReport(reportId, intervalMs)
• processData() inside loop()

✅ Non-blocking driver using processData()
✅ Cached getters:

• getAccelerometer()
• getGyroscope()
• getQuaternion()

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⚡ Getting Started

🔌 Hardware Connections

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✅ I²C

BNO08x	Arduino
VIN	3.3V (or 5V if supported)
GND	GND
SDA	SDA (A4 on UNO)
SCL	SCL (A5 on UNO)

📌 Default address is 0x4B (some breakouts use 0x4A).

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✅ SPI

BNO08x	Arduino
VIN	3.3V
GND	GND
SCK	SCK (13)
MOSI	MOSI (12)
MISO	MISO (11)
CS	Any digital pin (ex: 10)
INTN	Optional (LOW = data ready)
RST	Optional

📌 INTN is recommended for efficient SPI polling.
📌 RST is optional but useful for resetting the sensor.

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✅ UART (for framed SHTP breakouts)

BNO08x	Arduino
VIN	3.3V
GND	GND
TX(MISO)	RX (Serial1 RX)
RX(SCL)	TX (Serial1 TX)
INTN	Optional

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Interface Mode	PS1	PS0	Notes
I²C	0	0	Default mode on most breakouts
Reserved / Undefined	0	1	Not recommended / not used
UART	1	0	Uses TX(MISO)/RX(SCL)
SPI	1	1	Requires CS + SCK + MOSI + MISO

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📦 Installation

1. Download this repository as a ZIP
2. In Arduino IDE:
   Sketch → Include Library → Add .ZIP Library…
3. Select the downloaded ZIP file

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📁 Library Files

Core driver:

• 7Semi_BNO08x.h
• 7Semi_BNO08x.cpp

Transport interface:

• BnoBus.h

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