<div dir="ltr"><p class="MsoNormal" style="margin:0in 0in 8pt;line-height:107%;font-size:11pt;font-family:Calibri,sans-serif"><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial">Murray</span>,</p>

<p class="MsoNormal" style="margin:0in 0in 8pt;line-height:107%;font-size:11pt;font-family:Calibri,sans-serif"><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial">I have
enjoyed looking over the NZPRG website. I noticed that in your reply to Carl,
that you had ruled out connecting the BNO-055 to the Raspberry Pi due to the
clock-stretching issue with the Rpi I2C driver.</span></p>

<p class="MsoNormal" style="margin:0in 0in 8pt;line-height:107%;font-size:11pt;font-family:Calibri,sans-serif"><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial">There
appears to be 3 approaches to making the BNO-055 work with the Raspberry Pi.</span></p>

<p class="gmail-MsoListParagraphCxSpFirst" style="margin:0in 0in 0.0001pt 0.5in;line-height:107%;font-size:11pt;font-family:Calibri,sans-serif"><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30)">1.<span style="font-variant-numeric:normal;font-variant-east-asian:normal;font-stretch:normal;font-size:7pt;line-height:normal;font-family:"Times New Roman"">      </span></span><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial">Use the BNO-055’s
serial interface. See Adafruit tutorial: </span><a href="https://cdn-learn.adafruit.com/downloads/pdf/bno055-absolute-orientation-sensor-with-raspberry-pi-and-beaglebone-black.pdf" style="color:rgb(5,99,193)">https://cdn-learn.adafruit.com/downloads/pdf/bno055-absolute-orientation-sensor-with-raspberry-pi-and-beaglebone-black.pdf</a><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"></span></p>

<p class="gmail-MsoListParagraphCxSpMiddle" style="margin:0in 0in 0.0001pt 0.5in;line-height:107%;font-size:11pt;font-family:Calibri,sans-serif"><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30)">2.<span style="font-variant-numeric:normal;font-variant-east-asian:normal;font-stretch:normal;font-size:7pt;line-height:normal;font-family:"Times New Roman"">      </span></span><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial">Add a </span><span style="font-size:12pt;line-height:107%;color:black;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial">device tree
overlay device as described in <a href="https://gps-pie.com/pi_i2c_config.htm" style="color:rgb(5,99,193)">https://gps-pie.com/pi_i2c_config.htm</a>
and </span><a href="https://www.raspberrypi.org/forums/viewtopic.php?t=205576" style="color:rgb(5,99,193)">https://www.raspberrypi.org/forums/viewtopic.php?t=205576</a>.<span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"></span></p>

<p class="gmail-MsoListParagraphCxSpLast" style="margin:0in 0in 8pt 0.5in;line-height:107%;font-size:11pt;font-family:Calibri,sans-serif"><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30)">3.<span style="font-variant-numeric:normal;font-variant-east-asian:normal;font-stretch:normal;font-size:7pt;line-height:normal;font-family:"Times New Roman"">      </span></span>Fix
the issue in C using the bcm2835 library as described in the book “Raspberry Pi
IoT in C” by Harry Fairhead. This book describes the cause of the problem. It
is an excellent book.<span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"></span></p>

<p class="MsoNormal" style="margin:0in 0in 8pt;line-height:107%;font-size:11pt;font-family:Calibri,sans-serif"><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"> </span></p>

<p class="MsoNormal" style="margin:0in 0in 8pt;line-height:107%;font-size:11pt;font-family:Calibri,sans-serif"><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial">I wish
you and the NZPRG the best of luck. </span></p>

<p class="MsoNormal" style="margin:0in 0in 8pt;line-height:107%;font-size:11pt;font-family:Calibri,sans-serif"><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial">Regards,</span></p>

<p class="MsoNormal" style="margin:0in 0in 8pt;line-height:107%;font-size:11pt;font-family:Calibri,sans-serif"><span style="font-size:12pt;line-height:107%;color:rgb(32,31,30);background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial">Doug P.</span></p></div>