1 .. SPDX-License-Identifier: GPL-2.0
2
3 ==============================
4 BNO055 driver
5 ==============================
6
7 1. Overview
8 ===========
9
10 This driver supports Bosch BNO055 IMUs (on bot
11
12 Accelerometer, magnetometer and gyroscope meas
13 When "fusion_enable" sysfs attribute is set to
14 angles and quaternion), linear velocity and gr
15 provided, but some sensor settings (e.g. low p
16 became locked (the IMU firmware controls them)
17
18 This driver supports also IIO buffers.
19
20 2. Calibration
21 ==============
22
23 The IMU continuously performs an autocalibrati
24 operating in fusion mode. The magnetometer aut
25 disabled writing 0 in the sysfs in_magn_calibr
26
27 The driver provides access to autocalibration
28 the IMU has successfully autocalibrated) and t
29
30 The user can save this blob in a firmware file
31 the driver looks for at probe time. If found,
32 with this calibration data. This saves the use
33 calibration procedure every time (which consis
34 various way).
35
36 The driver looks for calibration data file usi
37 a file whose name is suffixed with the IMU uni
38 serial_number) is searched for; this is useful
39 IMU instance. If this file is not found, then
40 is searched for (which can be used when only o
41 struggling with fancy names, that change on ea
42
43 Valid calibration file names would be e.g.
44 bno055-caldata-0e7c26a33541515120204a35342b04
45 bno055-caldata.dat
46
47 In non-fusion mode the IIO 'offset' attributes
48 offsets from calibration data (if any), so tha
49 the accel, angvel and magn IIO attributes. In
50 needed (the IMU firmware internally applies th
51 read as zero.
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