firmware: diagnose BNO086 I2C address

2026-07-17 01:59:02 -06:00
parent 1ada42b9fe
commit a1a2f399d1
4 changed files with 44 additions and 3 deletions
@@ -9,6 +9,26 @@ Adafruit_BNO08x bno086(-1);
 sh2_SensorValue_t value;
 bool initialized = false;
 float radiansToDegrees(float r) { return r * 180.0f / PI; }
+bool addressResponds(uint8_t address) {
+    Wire.beginTransmission(address);
+    return Wire.endTransmission() == 0;
+}
+
+uint8_t findBnoAddress() {
+    Serial.println("Scanning I2C bus on D7 SDA / D8 SCL...");
+    uint8_t bnoAddress = 0;
+    for (uint8_t address = 1; address < 127; address++) {
+        if (!addressResponds(address)) continue;
+        Serial.print("I2C device found at 0x");
+        if (address < 0x10) Serial.print('0');
+        Serial.println(address, HEX);
+        if (address == BNO086_I2C_ADDRESS || address == BNO086_I2C_ADDRESS_ALTERNATE) {
+            bnoAddress = address;
+        }
+    }
+    return bnoAddress;
+}
+
 void updateEuler(ImuState& s) {
    float sinr = 2 * (s.real * s.i + s.j * s.k);
    float cosr = 1 - 2 * (s.i * s.i + s.j * s.j);
@@ -23,7 +43,18 @@ void updateEuler(ImuState& s) {

 bool initImu() {
    Wire.begin(BNO086_SDA_PIN, BNO086_SCL_PIN);
-    initialized = bno086.begin_I2C(BNO086_I2C_ADDRESS, &Wire);
+    Wire.setClock(BNO086_I2C_CLOCK_HZ);
+    delay(100);
+
+    uint8_t address = findBnoAddress();
+    if (address == 0) {
+        Serial.println("No BNO086 found at 0x4A or 0x4B");
+        return false;
+    }
+
+    Serial.print("Starting BNO086 at 0x");
+    Serial.println(address, HEX);
+    initialized = bno086.begin_I2C(address, &Wire);
    if (initialized) initialized = bno086.enableReport(SH2_ROTATION_VECTOR, IMU_REPORT_INTERVAL_US);
    return initialized;
 }