bno055-usb-stick-py 0.9.1

BNO055 USB Stick Linux Python Driver

BNO055 USB Stick Python driver

TL;DR: "Swiss army knife" for using BNO055 USB Stick under Linux from python3.

BNO055 USB Stick comes with Development Desktop 2.0 software package, which is available for Windows only.

If you have a BNO055 USB Stick and want to use it on a Linux platform (e.g. Ubuntu, Raspbian, Yocto, Suse, etc.) this repo provides you with a python 3 driver, capable of reading / writing registers / burst read, and stream data read.

OS Prerequisites

1. When plugged in on a Linux system, the BNO055 USB Stick should appear as /dev/ttyACM* device. This device is a so-called cdc_acm (communication device class), but let us leave these details for now.

2. Your Linux user must be a member of the dialout group (e.g. see this thread) to be able to read/write ttyACM* devices without root privileges.

3. udev is installed on the system. We do autodetect the USB stick by relying on information from udev.

Installation

pip install bno055_usb_stick_py

Supported Python version

python v3.6+

Python dependencies

TL;DR: install (i) pyserial, (ii) pyudev, (iii) dataclasses (if using python3.6), and (iv) optionally: pyquaternion and matplotlib, or use environment.yml to create conda environment with dependencies resolved.

For further details regarding creating conda senvironment read this guide.

Quick start

Read register:

from bno055_usb_stick import BnoUsbStick

bno_usb_stick = BnoUsbStick()
reg_val = bno_usb_stick.read_register(0x00)
print(f"bno chip id addr: {0x00}, value: {reg_val}")

Get 10 packets in streaming mode:

from bno055_usb_stick import BnoUsbStick

bno_usb_stick = BnoUsbStick()
bno_usb_stick.activate_streaming()
for packet in bno_usb_stick.recv_streaming_generator(num_packets=10):
    print(f"bno data: {packet}")

Prevent modem manager to capture serial device

When plugging bno_usb_stick on Ubuntu, the device is unavailable for the first 10-15 seconds, due to the fact that ModemManager process takes over and tries to use the device.

To avoid this Ubuntu-specific behavior, add an exception to the udev rules, s.t. the ModemManager ignores the bno_usb_stick. Run the script:

python disable_modem_manager_bno_usb_stick.py

The script requires root privileges. Essentially it copies the 97-ttyacm.rules file to /etc/udev/rules.d and reloads the udev rules.

Maintainer

Dr. Konstantin Selyunin, for suggestions / questions / comments please contact: selyunin [dot] k [dot] v [at] gmail [dot] com