Found this library on Github and so far it is as complete as the Arduino Adafruit library.

Fork of BNO055_fusion by Darren Ulrich

Major bugs

Revision:
5:eae056708af1
Parent:
4:9e6fead1e93e
Child:
6:59ad1c98647c
--- a/BNO055.cpp	Thu Apr 16 10:47:40 2015 +0000
+++ b/BNO055.cpp	Fri Jan 20 20:45:12 2017 +0000
@@ -51,6 +51,7 @@
     initialize ();
 }
 
+
 /////////////// Read data & normalize /////////////////////
 void BNO055::get_Euler_Angles(BNO055_EULER_TypeDef *el)
 {