Modified the sensors example to use the BNO055 IMU.

examples/sensors/sensors.c

@@ -14,7 +14,11 @@ void user_init(void)
   balance_enable_gyro();
   user_time_set_period(100);
   exp_adc_start();
-  exp_compass_start();
+  exp_bno055_start();
+  if(is_button_pressed(BTN_UP))
+    exp_bno055_erase_calibration();
+  while(exp_bno055_is_calibrated()!=0x01)
+    _delay_ms(100);
 }
 
 void user_loop(void)
@@ -37,9 +41,8 @@ void user_loop(void)
                      else
                        state=read_sensors;
                      break;
-    case read_sensors: cm510_printf("CM510 ADC port 1: %d\n",get_adc_avg_channel(ADC_PORT_2));
-                       cm510_printf("Exp. Board compass: %d\n",exp_compass_get_avg_heading());
-                       cm510_printf("Exp. Board ADC port 7: %d\n",exp_adc_get_avg_channel(ADC7));
+    case read_sensors: if(user_time_is_period_done())
+                         cm510_printf("%d\n",exp_bno055_get_heading());
                        break;
   }
 }