firmware: diagnose BNO086 I2C address

tests/test_xiao_sensor_node_contract.py

@@ -26,6 +26,14 @@ def test_imu_does_not_redeclare_arduino_degrees_macro():
     assert "float degrees(" not in imu
     assert "radiansToDegrees" in imu
 
+def test_imu_scans_both_bno08x_i2c_addresses():
+    config = source("sensor_node_config.h")
+    imu = source("imu.cpp")
+    assert "BNO086_I2C_ADDRESS 0x4A" in config
+    assert "BNO086_I2C_ADDRESS_ALTERNATE 0x4B" in config
+    assert "findBnoAddress()" in imu
+    assert "Wire.endTransmission()" in imu
+
 def test_node_does_not_take_cargo_or_ble_authority():
     combined = "\n".join(p.read_text() for p in NODE.glob("*.*"))
     assert "NimBLE" not in combined and "JBD" not in combined and "server.on(" not in combined