Today, I have tested with pascalio library to control I2C device from Orange Pi 5.

It was successful.  

I was able to blink LEDs using mpc23017.  (Demo video is on attachment.)

With this base, I am looking forward to make my object pascal library for BNO-055.

So far, I was able to get physical real-world orientation from BNO-055 using Python.

However, building a massive program that will last for next 30 years, python is not a good choice.

It's got to be Object Pascal or C/C++ if you want a program that will last for 30 or more years.

Typical weapon's life cycle is minumum 30 years.