Adafruit BNO055 IMU - I2C Clock Stretching?

KurtKurt New Member Posts: 146 ✭✭
I am looking forward to receiving my UP board, which hopefully will ship very soon :D

It was also great to hear that you will be supporting Ubuntu 14.04 which supports ROS Indigo.

I am playing around with a secondary board, which will probably have an Adafruit BNO055 IMU on it. Adafruit has demo code for the BNO055 for the RPI as well as the BBBk (

The RPI can not reliably talk to the IMU using I2C as it's I2C does not support clock stretching. SPI does work on the BBBk and so far it looks like it does as well on Odroid C1.

So wondering if the I2C on the UP board handles I2C Clock stretching. Or should I choose to use a UART instead.

Currently I Odroid/RPI I use the UART that is part of the expansion connector to talk to a Teensy 3.2 at 2MBS. Secondary question will be how fast can I drive the UART on UP?



  • MarioMario New Member Posts: 9
    Hello Kurt
    I ordered my up board and I'm debating what IMU to purchase for my robotics project. I would like to know what were your results with the Bosch IMU. Is I2C clock stretching an issue on the board? I would really like to use the BMO055 on I2C.

    Best regards
  • KurtKurt New Member Posts: 146 ✭✭
    As I mentioned in the thread:

    I have so far just had it hooked up and appeared to be working. I have not used it much yet, as I have been busy with other non robotics/electronics stuff, but hope to get back to it.
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