Examples

Complete ESP32-S3 applications that exercise the driver on a BNO08x breakout, one use case each.

They run on an ESP32-S3 DevKit wired to the sensor over I2C, except spi_polling (SPI), uart_shtp_polling (UART-SHTP) and rvc_mode (UART-RVC); the pins are in esp32_bno08x_test_config.hpp and in each port's configuration. The ports are esp32_bno08x_bus.hpp (I2C), esp32_bno08x_spi_bus.hpp (SPI), esp32_bno08x_uart_bus.hpp (UART-SHTP) and esp32_uart_rvc_bus.hpp (UART-RVC). CI builds the apps marked "yes" on each pull request.

The apps

App	What it shows	Source	CI
driver_integration_test	Comprehensive driver integration test suite (no hardware required)	driver_integration_test.cpp	yes
basic_polling	Basic polling mode example with orientation and linear acceleration	basic_polling_example.cpp	yes
event_driven_callback	Event-driven callback example with step counter and tap detector	event_driven_callback_example.cpp	yes
full_features	Comprehensive example demonstrating all BNO08x features	full_features_example.cpp	yes
dfu_update	Device Firmware Update (DFU) example demonstrating BNO08x firmware update API	dfu_example.cpp	yes
dfu_workflow_test	Comprehensive DFU workflow integration test (state + helpers + in-memory DFU)	dfu_workflow_test.cpp	yes
rvc_mode	UART-RVC mode: heading, pitch, roll and acceleration streamed at 100 Hz	rvc_mode_example.cpp	yes
spi_polling	SH-2 over SPI: rotation vector and gyroscope, polled (SPI reference port)	spi_polling_example.cpp	yes
uart_shtp_polling	SH-2 over UART (UART-SHTP): rotation vector and linear acceleration, polled	uart_shtp_polling_example.cpp	yes

Build and flash one (from examples/esp32, ESP-IDF environment loaded):

./scripts/build_app.sh driver_integration_test Release
./scripts/flash_app.sh flash_monitor driver_integration_test Release

Source of this table: examples/esp32/app_config.yml.

Set up once

git submodule update --init src/sh2 examples/esp32/scripts   # the SH-2 library and the HardFOC ESP-IDF scripts
cd examples/esp32
. $IDF_PATH/export.sh                                        # ESP-IDF v5.5
./scripts/build_app.sh list                                  # every app and build type

The scripts read app_config.yml (the same file this page's table comes from) and build each app as its own firmware image.

What to read in an example

You want to	Read
Bring up I2C: reset, probe both addresses, Begin(), poll orientation	basic_polling_example.cpp
React to steps and taps with a callback	event_driven_callback_example.cpp
Run many reports at once, callbacks and polling together	full_features_example.cpp
Run SH-2 over SPI (mode 3, WAKE, H_INTN)	spi_polling_example.cpp, esp32_bno08x_spi_bus.hpp
Run SH-2 over UART (SHTP framing at 3 Mbit/s)	uart_shtp_polling_example.cpp, esp32_bno08x_uart_bus.hpp
Stream heading over UART-RVC	rvc_mode_example.cpp (UART-RVC mode)
Update the hub's firmware	dfu_example.cpp, dfu_workflow_test.cpp (Firmware update)
See every API call checked, including error paths	driver_integration_test.cpp

The example folder's README has the wiring and the expected serial output.