Bosch BNO055 User Manual

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Data sheet

BNO055

Intelligent 9-axis absolute orientation sensor

BNO055: data sheet

Document revision

1.4

Document release date

June 2016

Document number

BST-BNO055-DS000-14

Technical reference code(s)

0 273 141 209

Notes

Data in this document are subject to change without notice. Product photos and pictures are for illustration purposes only and may differ from the real product’s appearance.

User Motion

• Quaternion

• Linear Acceleration

• Rotation

• Gravity

• Robust Heading

Bosch Sensortec

Page 2

BNO055

Data sheet

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BNO055

INTELLIGENT ABSOLUTE ORIENTATION SENSOR, 9-AXIS SENSOR FUSION

ALL-IN-ONE WINDOWS 8.x COMPLIANT SENSOR HUB

Basic Description

Key features:

 Outputs fused sensor data Quaternion, Euler angles, Rotation vector,

Linear acceleration, Gravity, Heading

 3 sensors in one device an advanced triaxial 16bit gyroscope, a versatile,

leading edge triaxial 14bit accelerometer and a full performance geomagnetic sensor

 Small package LGA package 28 pins

Footprint 3.8 x 5.2 mm², height 1.13 mm²

 Power Management Intelligent Power Management: normal,

low power and suspend mode available

 Common voltage supplies V  Digital interface HID-I2C (Windows 8 compatible), I²C, UART

 Consumer electronics suite MSL1, RoHS compliant, halogen-free

Key features of integrated sensors:

voltage range: 2.4V to 3.6V

voltage range: 1.7V to 3.6V

DDIO

Operating temperature: -40°C ... +85°C

Accelerometer features

 Programmable functionality Acceleration ranges ±2g/±4g/±8g/±16g

Low-pass filter bandwidths 1kHz - <8Hz

Operation modes:

- Normal

- Suspend

- Low power

- Standby

- Deep suspend

 On-chip interrupt controller Motion-triggered interrupt-signal generation for

- any-motion (slope) detection

- slow or no motion recognition

- high-g detection

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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BNO055

Data sheet

Page 3

Gyroscope features

 Programmable functionality Ranges switchable from ±125°/s to ±2000°/s

Low-pass filter bandwidths 523Hz - 12Hz

Operation modes:

- Normal

- Fast power up

- Deep suspend

- Suspend

- Advanced power save

 On-chip interrupt controller Motion-triggered interrupt-signal generation for

- any-motion (slope) detection

- high rate

Magnetometer features

 Flexible functionality Magnetic field range typical ±1300µT (x-, y-axis);

±2500µT (z-axis) Magnetic field resolution of ~0.3µT Operating modes:

- Low power

- Regular

- Enhanced regular

- High Accuracy

Power modes:

- Normal

- Sleep

- Suspend

- Force

Typical applications

 Navigation  Robotics  Fitness and well-being  Augmented reality  Context awareness  Tablets and ultra-books

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 4

BNO055

Data sheet

Page 4

General description

The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer, a triaxial 16-bit gyroscope with a range of ±2000 degrees per second, a triaxial geomagnetic sensor and a 32-bit cortex M0+ microcontroller running Bosch Sensortec sensor fusion software, in a single package.

The corresponding chip-sets are integrated into one single 28-pin LGA 3.8mm x 5.2mm x

1.1 mm housing. For optimum system integration the BNO055 is equipped with digital bidirectional I2C and UART interfaces. The I2C interface can be programmed to run with the HID-I2C protocol turning the BNO055 into a plug-and-play sensor hub solution for devices running the Windows 8.0 or 8.1 operating system.

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 5

BNO055

Data sheet

Page 5

Contents

BASIC DESCRIPTION ........................................................................................................... 2

SPECIFICATION .................................................................................................................. 12

1.1 ELECTRICAL SPECIFICATION .......................................................................................... 12

1.2 ELECTRICAL AND PHYSICAL CHARACTERISTICS, MEASUREMENT PERFORMANCE ................ 13

2. ABSOLUTE MAXIMUM RATINGS .................................................................................. 17

3. FUNCTIONAL DESCRIPTION ......................................................................................... 18

3.1 ARCHITECTURE ............................................................................................................. 18

3.2 POWER MANAGEMENT ................................................................................................... 18

3.2.1 NORMAL MODE ....................................................................................................................... 19

3.2.2 LOW POWER MODE ................................................................................................................. 19

3.2.3 SUSPEND MODE ..................................................................................................................... 20

3.3 OPERATION MODES ...................................................................................................... 20

3.3.1 CONFIG MODE ........................................................................................................................ 22

3.3.2 NON-FUSION MODES .............................................................................................................. 22

3.3.3 FUSION MODES ....................................................................................................................... 22

3.4 AXIS REMAP.................................................................................................................. 24

3.5 SENSOR CONFIGURATION.............................................................................................. 26

3.5.1 DEFAULT SENSOR CONFIGURATION .......................................................................................... 26

3.5.2 ACCELEROMETER CONFIGURATION .......................................................................................... 27

3.5.3 GYROSCOPE CONFIGURATION .................................................................................................. 28

3.5.4 MAGNETOMETER CONFIGURATION............................................................................................ 29

3.6 OUTPUT DATA ............................................................................................................... 30

3.6.1 UNIT SELECTION...................................................................................................................... 30

3.6.2 DATA OUTPUT FORMAT ............................................................................................................ 30

3.6.3 FUSION OUTPUT DATA RATES .................................................................................................. 31

3.6.4 SENSOR CALIBRATION DATA ..................................................................................................... 31

3.6.5 OUTPUT DATA REGISTERS ....................................................................................................... 33

3.7 DATA REGISTER SHADOWING ......................................................................................... 37

3.8 INTERRUPTS ................................................................................................................. 38

3.8.1 INTERRUPT PIN ....................................................................................................................... 38

3.8.2 INTERRUPT SETTINGS ............................................................................................................. 38

3.9 SELF-TEST ................................................................................................................... 46

3.9.1 POWER ON SELF TEST (POST) ............................................................................................... 46

3.9.2 BUILD IN SELF TEST (BIST) ..................................................................................................... 46

3.10 BOOT LOADER ............................................................................................................ 46

3.11 CALIBRATION .............................................................................................................. 47

3.11.1 ACCELEROMETER CALIBRATION ............................................................................................. 47

3.11.2 GYROSCOPE CALIBRATION .................................................................................................... 47

3.11.3 MAGNETOMETER CALIBRATION .............................................................................................. 47

3.11.4 REUSE OF CALIBRATION PROFILE .......................................................................................... 48

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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BNO055

Data sheet

Page 6

4. REGISTER DESCRIPTION .............................................................................................. 49

4.1 GENERAL REMARKS ...................................................................................................... 49

4.2 REGISTER MAP ............................................................................................................. 50

4.2.1 REGISTER MAP PAGE 0 ........................................................................................................... 50

4.2.2 REGISTER MAP PAGE 1 ........................................................................................................... 53

4.3 REGISTER DESCRIPTION (PAGE 0).................................................................................. 54

4.3.1 CHIP_ID 0X00 ....................................................................................................................... 54

4.3.2 ACC_ID 0X01 ........................................................................................................................ 54

4.3.3 MAG_ID 0X02 ....................................................................................................................... 54

4.3.4 GYR_ID 0X03 ........................................................................................................................ 54

4.3.5 SW_REV_ID_LSB 0X04 ....................................................................................................... 55

4.3.6 SW_REV_ID_MSB 0X05 ...................................................................................................... 55

4.3.7 BL_REV_ID 0X06 .................................................................................................................. 55

4.3.8 PAGE ID 0X07 ....................................................................................................................... 55

4.3.9 ACC_DATA_X_LSB 0X08 ..................................................................................................... 56

4.3.10 ACC_DATA_X_MSB 0X09 .................................................................................................. 56

4.3.11 ACC_DATA_Y_LSB 0X0A .................................................................................................. 56

4.3.12 ACC_DATA_Y_MSB 0X0B ................................................................................................. 56

4.3.13 ACC_DATA_Z_LSB 0X0C .................................................................................................. 57

4.3.14 ACC_DATA_Z_MSB 0X0D ................................................................................................. 57

4.3.15 MAG_DATA_X_LSB 0X0E .................................................................................................. 57

4.3.16 MAG_DATA_X_MSB 0X0F ................................................................................................. 57

4.3.17 MAG_DATA_Y_LSB 0X10 .................................................................................................. 58

4.3.18 MAG_DATA_Y_MSB 0X11 ................................................................................................. 58

4.3.19 MAG_DATA_Z_LSB 0X12 .................................................................................................. 58

4.3.20 MAG_DATA_Z_MSB 0X13 ................................................................................................. 58

4.3.21 GYR_DATA_X_LSB 0X14 .................................................................................................. 59

4.3.22 GYR_DATA_X_MSB 0X15 ................................................................................................. 59

4.3.23 GYR_DATA_Y_LSB 0X16 .................................................................................................. 59

4.3.24 GYR_DATA_Y_MSB 0X17 ................................................................................................. 59

4.3.25 GYR_DATA_Z_LSB 0X18 ................................................................................................... 60

4.3.26 GYR_DATA_Z_MSB 0X19 .................................................................................................. 60

4.3.27 EUL_DATA_X_LSB 0X1A ................................................................................................... 60

4.3.28 EUL_DATA_X_MSB 0X1B .................................................................................................. 60

4.3.29 EUL_DATA_Y_LSB 0X1C ................................................................................................... 61

4.3.30 EUL_DATA_Y_MSB 0X1D .................................................................................................. 61

4.3.31 EUL_DATA_Z_LSB 0X1E ................................................................................................... 61

4.3.32 EUL_DATA_Z_MSB 0X1F .................................................................................................. 61

4.3.33 QUA_DATA_W_LSB 0X20 ................................................................................................. 62

4.3.34 QUA_DATA_W_MSB 0X21 ................................................................................................ 62

4.3.35 QUA_DATA_X_LSB 0X22 .................................................................................................. 62

4.3.36 QUA_DATA_X_MSB 0X23 ................................................................................................. 62

4.3.37 QUA_DATA_Y_LSB 0X24 .................................................................................................. 63

4.3.38 QUA_DATA_Y_MSB 0X25 ................................................................................................. 63

4.3.39 QUA_DATA_Z_LSB 0X26 ................................................................................................... 63

4.3.40 QUA_DATA_Z_MSB 0X27 .................................................................................................. 63

4.3.41 LIA_DATA_X_LSB 0X28 ..................................................................................................... 64

4.3.42 LIA_DATA_X_MSB 0X29 .................................................................................................... 64

4.3.43 LIA_DATA_Y_LSB 0X2A .................................................................................................... 64

4.3.44 LIA_DATA_Y_MSB 0X2B ................................................................................................... 64

4.3.45 LIA_DATA_Z_LSB 0X2C .................................................................................................... 65

4.3.46 LIA_DATA_Z_MSB 0X2D ................................................................................................... 65

4.3.47 GRV_DATA_X_LSB 0X2E .................................................................................................. 65

4.3.48 GRV_DATA_X_MSB 0X2F ................................................................................................. 65

4.3.49 GRV_DATA_Y_LSB 0X30 .................................................................................................. 66

4.3.50 GRV_DATA_Y_MSB 0X31 ................................................................................................. 66

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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BNO055

Data sheet

Page 7

4.3.51 GRV_DATA_Z_LSB 0X32 ................................................................................................... 66

4.3.52 GRV_DATA_Z_MSB 0X33 .................................................................................................. 66

4.3.53 TEMP 0X34 ......................................................................................................................... 67

4.3.54 CALIB_STAT 0X35.............................................................................................................. 67

4.3.55 ST_RESULT 0X36 .............................................................................................................. 67

4.3.56 INT_STA 0X37 .................................................................................................................... 68

4.3.57 SYS_CLK_STATUS 0X38 ................................................................................................... 68

4.3.58 SYS_STATUS 0X39 ............................................................................................................ 68

4.3.59 SYS_ERR 0X3A .................................................................................................................. 69

4.3.60 UNIT_SEL 0X3B.................................................................................................................. 69

4.3.61 OPR_MODE 0X3D .............................................................................................................. 70

4.3.62 PWR_MODE 0X3E.............................................................................................................. 70

4.3.63 SYS_TRIGGER 0X3F ......................................................................................................... 70

4.3.64 TEMP_SOURCE 0X40 ........................................................................................................ 70

4.3.65 AXIS_MAP_CONFIG 0X41 ................................................................................................. 71

4.3.66 AXIS_MAP_SIGN 0X42 ...................................................................................................... 71

4.3.67 ACC_OFFSET_X_LSB 0X55 .............................................................................................. 71

4.3.68 ACC_OFFSET_X_MSB 0X56 ............................................................................................. 72

4.3.69 ACC_OFFSET_Y_LSB 0X57 .............................................................................................. 72

4.3.70 ACC_OFFSET_Y_MSB 0X58 ............................................................................................. 72

4.3.71 ACC_OFFSET_Z_LSB 0X59 .............................................................................................. 72

4.3.72 ACC_OFFSET_Z_MSB 0X5A ............................................................................................. 73

4.3.73 MAG_OFFSET_X_LSB 0X5B ............................................................................................. 73

4.3.74 MAG_OFFSET_X_MSB 0X56C .......................................................................................... 73

4.3.75 MAG_OFFSET_Y_LSB 0X5D ............................................................................................. 73

4.3.76 MAG_OFFSET_Y_MSB 0X5E ............................................................................................ 74

4.3.77 MAG_OFFSET_Z_LSB 0X5F ............................................................................................. 74

4.3.78 MAG_OFFSET_Z_MSB 0X60 ............................................................................................. 74

4.3.79 GYR_OFFSET_X_LSB 0X61 .............................................................................................. 74

4.3.80 GYR_OFFSET_X_MSB 0X62 ............................................................................................. 75

4.3.81 GYR_OFFSET_Y_LSB 0X63 .............................................................................................. 75

4.3.82 GYR_OFFSET_Y_MSB 0X64 ............................................................................................. 75

4.3.83 GYR_OFFSET_Z_LSB 0X65 .............................................................................................. 75

4.3.84 GYR_OFFSET_Z_MSB 0X66 ............................................................................................. 76

4.3.85 ACC_RADIUS_LSB 0X67 ................................................................................................... 76

4.3.86 ACC_RADIUS_MSB 0X68 .................................................................................................. 76

4.3.87 MAG_RADIUS_LSB 0X69 .................................................................................................. 76

4.3.88 MAG_RADIUS_MSB 0X6A ................................................................................................. 76

4.4 REGISTER DESCRIPTION (PAGE 1).................................................................................. 77

4.4.1 PAGE ID 0X07 ........................................................................................................................ 77

4.4.2 ACC_CONFIG 0X08 ................................................................................................................ 77

4.4.3 MAG_CONFIG 0X09 ............................................................................................................... 77

4.4.4 GYR_CONFIG_0 0X0A ........................................................................................................... 78

4.4.5 GYR_CONFIG_1 0X0B ........................................................................................................... 78

4.4.6 ACC_SLEEP_CONFIG 0X0C ................................................................................................... 79

4.4.7 GYR_SLEEP_CONFIG 0X0D ................................................................................................... 80

4.4.8 INT_MSK 0X0F ..................................................................................................................... 81

4.4.9 INT_EN 0X10 ........................................................................................................................ 82

4.4.10 ACC_AM_THRES 0X11 ...................................................................................................... 82

4.4.11 ACC_INT_SETTINGS 0X12 ................................................................................................... 83

4.4.12 ACC_HG_DURATION 0X13 ............................................................................................... 83

4.4.13 ACC_HG_THRES 0X14 ...................................................................................................... 83

4.4.14 ACC_NM_THRES 0X15 ...................................................................................................... 84

4.4.15 ACC_NM_SET 0X16 ........................................................................................................... 84

4.4.16 GYR_INT_SETTING 0X17 .................................................................................................. 85

4.4.17 GYR_HR_X_SET 0X18 ....................................................................................................... 85

4.4.18 GYR_DUR_X 0X19 ............................................................................................................. 86

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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BNO055

Data sheet

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4.4.19 GYR_HR_Y_SET 0X1A ...................................................................................................... 86

4.4.20 GYR_DUR_Y 0X1B ............................................................................................................. 86

4.4.21 GYR_HR_Z_SET 0X1C ...................................................................................................... 87

4.4.22 GYR_DUR_Z 0X1D ............................................................................................................. 87

4.4.23 GYR_AM_THRES 0X1E ..................................................................................................... 87

4.4.24 GYR_AM_SET 0X1F ........................................................................................................... 88

4.5 DIGITAL INTERFACE ....................................................................................................... 89

4.6 I2C PROTOCOL ............................................................................................................. 90

4.7 UART PROTOCOL ......................................................................................................... 93

4.8 HID OVER I2C .............................................................................................................. 94

5. PIN-OUT AND CONNECTION DIAGRAM ....................................................................... 95

5.1 PIN-OUT ....................................................................................................................... 95

5.2 CONNECTION DIAGRAM I2C ............................................................................................ 97

5.3 CONNECTION DIAGRAM UART ....................................................................................... 98

5.4 CONNECTION DIAGRAM HID-I2C .................................................................................... 99

5.5 XOUT32 & XIN32 CONNECTIONS................................................................................ 100

5.5.1 EXTERNAL 32KHZ CRYSTAL OSCILLATOR ............................................................................... 100

5.5.2 INTERNAL CLOCK MODE ......................................................................................................... 100

6. PACKAGE ..................................................................................................................... 101

6.1 OUTLINE DIMENSIONS.................................................................................................. 101

6.2 MARKING .................................................................................................................... 102

6.3 SOLDERING GUIDELINES ............................................................................................. 102

6.4 HANDLING INSTRUCTIONS ............................................................................................ 102

6.5 TAPE AND REEL SPECIFICATION.................................................................................... 103

6.6 ENVIRONMENTAL SAFETY ............................................................................................ 103

6.6.1 HALOGEN CONTENT............................................................................................................... 103

6.6.2 INTERNAL PACKAGE STRUCTURE ............................................................................................ 103

7. LEGAL DISCLAIMER .................................................................................................... 104

7.1 ENGINEERING SAMPLES............................................................................................... 104

7.2 PRODUCT USE ............................................................................................................ 104

7.3 APPLICATION EXAMPLES AND HINTS ............................................................................. 104

8. DOCUMENT HISTORY AND MODIFICATIONS ............................................................ 105

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 9

BNO055

Data sheet

Page 9

Table of Figures

Figure 1: system architecture ...............................................................................................18

Figure 2: Principle of any-motion detection ...........................................................................40

Figure 3: High rate interrupt ..................................................................................................42

Figure 4: Principle of any-motion detection ...........................................................................44

Figure 5: I²C timing diagram .................................................................................................91

Figure 6: I²C write .................................................................................................................92

Figure 7: I²C multiple read ....................................................................................................92

Figure 8: Pin-out bottom view ...............................................................................................95

Figure 9: I2C connection diagram .........................................................................................97

Figure 10: UART connection diagram ...................................................................................98

Figure 11 : HID via IC connection diagram ...........................................................................99

Figure 12 : External 32kHz Crystal Oscillator with Load Capacitor ..................................... 100

Figure 13: Outline dimensions ............................................................................................ 101

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 10

BNO055

Data sheet

Page 10

List of Tables

Table 0-1: Electrical parameter specification ........................................................................12

Table 0-2: Electrical characteristics BNO055 ........................................................................13

Table 2-1: Absolute maximum ratings (preliminary target values) .........................................17

Table 3-1: power modes selection ........................................................................................19

Table 3-2: Low power modes - Interrupts .............................................................................19

Table 3-3: Operating modes overview ..................................................................................20

Table 3-4: Default sensor settings ........................................................................................21

Table 3-5: operating modes selection ...................................................................................21

Table 3-6: Operating mode switching time ............................................................................21

Table 3-7: Default sensor configuration at power-on ............................................................26

Table 3-8: Accelerometer configurations ..............................................................................27

Table 3-9: Gyroscope configurations ....................................................................................28

Table 3-10: Magnetometer configurations ...........................................................................29

Table 3-11: unit selection .....................................................................................................30

Table 3-12: Fusion data output format ..................................................................................30

Table 3-13: Rotation angle conventions ...............................................................................30

Table 3-14: Fusion output data rates ....................................................................................31

Table 3-15: Accelerometer Default-Reg settings ..................................................................31

Table 3-16: Accelerometer G-range settings ........................................................................31

Table 3-17: Accelerometer Unit settings ...............................................................................31

Table 3-18: Magnetometer Default-Reg settings ..................................................................32

Table 3-19: Magnetometer Unit settings ...............................................................................32

Table 3-20: Gyroscope Default Reg-settings ........................................................................32

Table 3-21: Gyroscope range settings ..................................................................................33

Table 3-22: Gyroscope unit settings .....................................................................................33

Table 3-23: Radius Default-Reg settings ..............................................................................33

Table 3-24: Radius range settings ........................................................................................33

Table 3-25: Acceleration data ...............................................................................................34

Table 3-26: Magnetic field strength data ...............................................................................34

Table 3-27: Yaw rate data ....................................................................................................34

Table 3-28: Compensated orientation data in Euler angles format........................................35

Table 3-29: Euler angle data representation .........................................................................35

Table 3-30: Compensated orientation data in quaternion format ..........................................35

Table 3-31: Quaternion data representation .........................................................................35

Table 3-32: Linear Acceleration Data ...................................................................................36

Table 3-33: Linear Acceleration data representation ............................................................36

Table 3-34: Gravity Vector Data ...........................................................................................36

Table 3-35: Gravity Vector data representation ....................................................................36

Table 3-36: Temperature Data .............................................................................................37

Table 3-37: Temperature data representation ......................................................................37

Table 3-38: Temperature Source Selection ..........................................................................37

Table 3-39: No-motion time-out periods................................................................................39

Table 3-40: Timing of No-motion interrupt ............................................................................39

Table 3-41: Any-motion Interrupt parameters and Axis selection ..........................................41

Table 3-42: High-G Interrupt parameters and Axis selection.................................................41

Table 3-43: High Rate Interrupt parameters and Axis selection ............................................43

Table 3-44: Axis selection and any motion interrupt .............................................................45

Table 3-45: Power on Self Test ............................................................................................46

Table 3-46: Power on Self Test ............................................................................................46

Table 4-1: Register Access Coding ......................................................................................50

Table 4-2: Register Map Page 0 ...........................................................................................50

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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BNO055

Data sheet

Page 11

Table4-3: Register Map Page 1 ............................................................................................53

Table 4-4: protocol select pin mapping .................................................................................89

Table 4-5: Mapping of digital interface pins ..........................................................................89

Table 4-6: Electrical specification of the interface pins ..........................................................89

Table 4-7: I2C address selection ..........................................................................................90

Table 4-8: I²C timings ...........................................................................................................90

Table 5-1: Pin description .....................................................................................................96

Table 5-2: Crystal Oscillator Source Connections ............................................................... 100

Table 6-1: Marking of mass production parts ...................................................................... 102

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 12

BNO055

Data sheet

Page 12

OPERATING CONDITIONS BNO055

Parameter

Symbol

Condition

Min

Typ

Max

Unit

Supply Voltage

(only Sensors)

VDD

2.4

3.6

Supply Voltage

(µC and I/O Domain)

DDIO

1.7

3.6

Voltage Input

Low Level (UART, I2C)

DDIO_VIL

DDIO

= 1.7-2.7V

0.25 V

DDIO

= 2.7-3.6V

0.3 V

DDIO

Voltage Input

High Level (UART, I2C)

DDIO_VIH

DDIO

= 1.7-2.7V

0.7 V

DDIO

= 2.7-3.6V

0.55 V

DDIO

Voltage Output

Low Level (UART, I2C)

DDIO_VOL

DDIO

> 3V , I

=20mA

0.1 V

DDIO

0.2 V

DDIO

Voltage Output

High Level (UART, I2C)

DDIO_VOH

DDIO

> 3V , I

=10mA

0.8 V

DDIO

0.9 V

DDIO

-- V POR Voltage threshold

on VDDIO-IN rising

DDIO_POT+

DDIO

falls at 1V/ms or slower

1.45

-- V POR Voltage threshold

on VDDIO-IN falling

DDIO_POT-

0.99

Operating Temperature

-40

+85

°C

Total supply current

normal mode at TA

(9DOF @100Hz output

data rate)

+ I

DDIO

VDD = 3V, V

DDIO

= 2.5V

12.3

Total supply current

Low power mode at TA

DD_LPM

VDD = 3V, V

DDIO

= 2.5V

0.33

2.72# mA

Total supply current suspend mode at TA

DD_SuM

VDD = 3V, V

DDIO

= 2.5V

0.04*

Specification

If not stated otherwise, the given values are over lifetime and full performance temperature and voltage ranges, minimum/maximum values are ±3 sigma.

1.1 Electrical specification

Table 0-1: Electrical parameter specification

# 80% suspend mode and 20% normal mode with 9DOF @100Hz output data rate * using I2C as communication protocol

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 13

BNO055

Data sheet

Page 13

OPERATING CONDITIONS BNO055

Parameter

Symbol

Condition

Min

Typ

Max

Unit

Start-Up time

Sup

From Off to configuration

mode

400 ms

POR time

POR

From Reset to Config mode

650 ms

Data Rate

s. Par. Fusion Output data rates

Data rate tolerance

9DOF @100Hz output

data rate

(if internal oscillator is

used)

tol

±1 %

OPERATING CONDITIONS ACCELEROMETER

Parameter

Symbol

Condition

Min

Typ

Max

Units

Acceleration Range

FS2g

Selectable

via serial digital interface

±2 g

FS4g

±4 g

FS8g

±8 g

FS16g

±16 g

OUTPUT SIGNAL ACCELEROMETER

(ACCELEROMETER ONLY MODE)

Parameter

Symbol

Condition

Min

Typ

Max

Units

Sensitivity

All g

FSXg

Values, TA=25°C

LSB/mg

Sensitivity tolerance

tol

Ta=25°C, g

FS2g

±1

±4

Sensitivity Temperature

Drift

TCS

FS2g

Nominal VDD supplies,

Temp operating conditions

±0.03

%/K

Sensitivity

Supply Volt. Drift

VDD

FS2g

, TA=25°C,

DD_min

≤ VDD ≤ V

DD_max

0.065

0.2

%/V

Zero-g Offset (x,y.z)

Off

xyz

FS2g

, TA=25°C, nominal VDD

supplies, over life-time

-150

±80

+150

Zero-g Offset

Temperature Drift

TCO

FS2g

Nominal VDD supplies

±1

+/-3.5

mg/K

Zero-g Offset Supply

Volt. Drift

Off

VDD

FS2g

, TA=25°C,

DD_min

≤ VDD ≤ V

DD_max

1.5

2.5

mg/V

Bandwidth

2nd order filter, bandwidth

programmable

bw16 16 Hz

bw31 31 Hz

bw63 63 Hz

125

125 Hz

250

250 Hz

500

500 Hz

1000

1,000 Hz

1.2 Electrical and physical characteristics, measurement performance

Table 0-2: Electrical characteristics BNO055

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Nonlinearity

best fit straight line, g

FS2g

0.5 2 %FS

Output Noise Density

rms

FS2g

, TA=25°C

Nominal VDD supplies

Normal mode

150

190

µg/Hz

MECHANICAL CHARACTERISTICS ACCELEROMETER

Parameter

Symbol

Condition

Min

Typ

Max

Units

Cross Axis Sensitivity

CAS

relative contribution between

any two of the three axes

1 2

Alignment Error

EA relative to package outline

0.5 2 °

OPERATING CONDITIONS GYROSCOPE

Parameter

Symbol

Condition

Min

Typ

Max

Unit

Rate Range

FS125

Selectable

via serial digital interface

125 °/s

FS250

250 °/s

FS500

500 °/s

FS1000

1,000 °/s

FS2000

2,000 °/s

OUTPUT SIGNAL GYROSCOPE

(GYRO ONLY MODE)

Sensitivity via register

Map

Ta=25°C

16.0 900

LSB/°/s

rad/s

Sensitivity tolerance

tol

Ta=25°C, R

FS2000

±1

±3

Sensitivity Change over

Temperature

TCS

Nominal VDD supplies -40°C

≤ TA ≤ +85°C R

FS2000

±0.03

±0.07

%/K

Sensitivity

Supply Volt. Drift

VDD

TA=25°C,

DD_min

≤ VDD ≤ V

DD_max

<0.4

%/V

Nonlinearity

best fit straight line

FS1000, RFS2000

±0.05

±0.2

%FS

Zero-rate Offset

Off x 

y and

z

Nominal VDD supplies

TA=25°C,

Slow and fast offset

cancellation off

-3

±1

°/s

Zero- Offset Change

over Temperature

TCO

Nominal VDD supplies -40°C

≤ TA ≤ +85°C R

FS2000

±0.015

±0.03

°/s per K

Zero- Offset Supply

Volt. Drift

Off

VDD

TA=25°C,

DD_min

≤ VDD ≤ V

DD_max

0.1

°/s /V

Output Noise

rms

rms, BW=47Hz

(@ 0.014°/s/√Hz)

0.1

0.3

°/s

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Bandwidth BW

-3dB

523 230 116

64 47 32 23 12

MECHANICAL CHARACTERISTICS GYROSCOPE

Cross Axis Sensitivity

CAS

Sensitivity to stimuli in

non-sense-direction

±1

±3

OPERATING CONDITIONS MAGNETOMETER

(MAGNETOMETER ONLY MODE)

Parameter

Symbol

Condition

Min

Typ

Max

Units

Magnetic field range1

Brg,xy

TA=25°C

±1200

±1300 µT

Brg,z

±2000

±2500 µT

Magnetometer heading

accuracy2

As heading

30µT horizontal geomagnetic

field component, TA=25°C

±2.5

deg

MAGNETOMETER OUTPUT SIGNAL

Parameter

Symbol

Condition

Min

Typ

Max

Unit

Device Resolution

res,m

TA=25°C

0.3 µT

Gain error3

err,m

After API compensation

TA=25°C

Nominal VDD supplies

±5

±8

Sensitivity Temperature

Drift

TCSm

After API compensation

-40°C ≤ TA ≤ +85°C

Nominal VDD supplies

±0.01

±0.03

%/K

Zero-B offset

OFFm TA=25°C

±40 µT

Zero-B offset4

OFF

m,cal

After calibration in fusion mode

-40°C ≤ TA ≤ +85°C

±2 µT

Zero-B offset

Temperature Drift

TCOm

-40°C  TA  +85°C

±0.23

±0.37

µT/K

Full-scale Nonlinearity

m, FS

best fit straight line

%FS

Full linear measurement range considering sensor offsets.

The heading accuracy depends on hardware and software. A fully calibrated sensor and ideal tilt

compensation are assumed.

Definition: gain error = ( (measured field after API compensation) / (applied field) ) – 1

Magnetic zero-B offset assuming calibration in fusion mode. Typical value after applying calibration

movements containing various device orientations (typical device usage).

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Output Noise

rms,lp,m,xy

Low power preset

x, y-axis, TA=25°C

Nominal VDD supplies

1.0 µT

rms,lp,m,z

Low power preset

z-axis, TA=25°C

Nominal VDD supplies

1.4 µT

rms,rg,m

Regular preset

TA=25°C

Nominal VDD supplies

0.6 µT

rms,eh,m

Enhanced regular preset

TA=25°C

Nominal VDD supplies

0.5 µT

rms,ha,m

High accuracy preset

TA=25°C

Nominal VDD supplies

0.3 µT

Power Supply Rejection

Rate

PSRRm

TA=25°C

Nominal VDD supplies

±0.5

µT/V

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Parameter

Symbol

Condition

Min

Max

Units

Voltage at Supply Pin

VDD Pin -0.3

4.2

DDIO

-0.3

3.6

Voltage at any Logic Pin

non-supply

-0.3

DDIO

+0.3

Passive Storage Temp.

Range

Trps

≤ 65% rel. H.

-50

+150

°C

Mechanical Shock

MechShock

200µs

Duration ≤ 200µs

10,000

MechShock

1ms

Duration ≤ 1.0ms

2,000

MechShock

freefall

Free fall

onto hard surfaces

1.8

ESD

HBM

HBM, at any Pin

ESD

CDM

500

ESDMM

200

2. Absolute Maximum Ratings

Table 2-1: Absolute maximum ratings (preliminary target values)

Note:

Stress above these limits may cause damage to the device. Exceeding the specified electrical limits may affect the device reliability or cause malfunction.

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3. Functional Description

3.1 Architecture

The following figure shows the basic building blocks of the BNO055 device.

Figure 1: system architecture

3.2 Power management

The BNO055 has two distinct power supply pins:

• VDD is the main power supply for the internal sensors

• V

For the switching sequence of power supply VDD and VDDIO it is mandatory that VDD is powered on and driven to the specified level before or at the same time as VDDIO is powered ON. Otherwise there are no limitations on the voltage levels of both pins relative to each other, as long as they are used within the specified operating range.

The sensor features a power-on reset (POR), initializing the register map with the default values and starting in CONFIG mode. The POR is executed at every power on and can also be triggered either by applying a low signal to the nRESET pin for at least 20ns or by setting the RST_SYS bit in the SYS_TRIGGER register.

The BNO055 can be configured to run in one of the following power modes: normal mode, low power mode, and suspend mode. These power modes are described in more detail in section Power Modes

is a separate power supply pin used for the supply of the µC and the digital interfaces

DDIO

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Parameter

Value

[Reg Addr]: Reg Value

Power Mode

Normal Mode

[PWR_MODE]: xxxxxx00b

Low Power Mode

[PWR_MODE]: xxxxxx01b

Suspend Mode

[PWR_MODE]: xxxxxx10b

Description

Parameter

Value

Reg Value

Restriction

Entering to sleep: NO Motion Interrupt

Detection Type

No Motion

[ACC_NM_SET] : xxxxxxx1b

n/a

Detection Axis

[ACC_INT_Settings] : bit4-bit2

Shares common bit with Any Motion interrupt axis selection

Params Duration

[ACC_NM_SET] : bit6-bit1

n/a

Threshold

[ACC_NM_THRE] : bit7-bit0

n/a

Description

Parameter

Value

Reg Value

Waking up: Any Motion Interrupt

Detection Type

Detection Axis

[ACC_INT_Settings] : bit4-bit2

Params Duration

[ACC_INT_Settings] : bit1-bit0

Threshold

[ACC_AM_THRES] : bit7-bit0

Power Modes

The BNO055 support three different power modes: Normal mode, Low Power Mode, and Suspend mode. The power mode can be selected by writing to the PWR_MODE register as defined in the table below. As default at start-up the BNO055 will run in Normal mode.

Table 3-1: power modes selection

3.2.1 Normal Mode

In normal mode all sensors required for the selected operating mode (see section 3.3) are always switched ON. The register map and the internal peripherals of the MCU are always operative in this mode.

3.2.2 Low Power Mode

If no activity (i.e. no motion) is detected for a configurable duration (default 5 seconds), the BNO055 enters the low power mode. In this mode only the accelerometer is active. Once motion is detected (i.e. the accelerometer signals an any-motion interrupt), the system is woken up and normal mode is entered. The following settings are possible.

Table 3-2: Low power modes - Interrupts

Additionally, the interrupt pins can also be configured to provide HW interrupt to the host.

The BNO055 is by default configured to have optimum values for entering into sleep and waking up. To restore these values, trigger system reset by setting RST_SYS bit in SYS_TRIGGER register.

There are some limitations to achieve the low power mode performance:

 Only No and Any motion interrupts are applicable and High-G and slow motion

interrupts are not applicable in low power mode.

 Low power mode is not applicable where accelerometer is not employed.

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Operating Mode

Available sensor signals

Fusion Data

Accel

Mag

Gyro

Relative

orientation

Absolute

orientation

CONFIGMODE

- - - - -

Non

-fusion

modes

ACCONLY

X - - - -

MAGONLY

- X - - -

GYROONLY

- - X - -

ACCMAG

X X - - -

ACCGYRO

X - X - -

MAGGYRO

- X X - AMG

X X X - -

Fusion modes

IMU

X - X X -

COMPASS

X X - - X

M4G

X X X -

NDOF_FMC_OFF

X X X - X

NDOF

X X X - X

3.2.3 Suspend Mode

In suspend mode the system is paused and all the sensors and the microcontroller are put into sleep mode. No values in the register map will be updated in this mode. To exit from suspend mode the mode should be changed by writing to the PWR_MODE register (see Table 3-1).

3.3 Operation Modes

The BNO055 provides a variety of output signals, which can be chosen by selecting the appropriate operation mode. The table below lists the different modes and the available sensor signals.

Table 3-3: Operating modes overview

The default operation mode after power-on is CONFIGMODE.

When the user changes to another operation mode, the sensors which are required in that particular sensor mode are powered, while the sensors whose signals are not required are set to suspend mode.

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Sensor

Range

Bandwidth

Accelerometer

62.5 Hz

Magnetometer

10 Hz

Gyroscope

2000 dps

32 Hz

Parameter

Value

[Reg Addr]: Reg Value

CONFIG MODE

CONFIGMODE

[OPR_MODE]: xxxx0000b

Non-Fusion Mode

ACCONLY

[OPR_MODE]: xxxx0001b

MAGONLY

[OPR_MODE]: xxxx0010b

GYROONLY

[OPR_MODE]: xxxx0011b

ACCMAG

[OPR_MODE]: xxxx0100b

ACCGYRO

[OPR_MODE]: xxxx0101b

MAGGYRO

[OPR_MODE]: xxxx0110b

AMG

[OPR_MODE]: xxxx0111b

Fusion Mode

IMU

[OPR_MODE]: xxxx1000b

COMPASS

[OPR_MODE]: xxxx1001b

M4G

[OPR_MODE]: xxxx1010b

NDOF_FMC_OFF

[OPR_MODE]: xxxx1011b

NDOF

[OPR_MODE]: xxxx1100b

From

Switching time

CONFIGMODE

Any operation mode

7ms

Any operation mode

CONFIGMODE

19ms

The BNO055 sets the following default settings for the sensors. The user can overwrite these settings in the register map when in CONFIGMODE.

Table 3-4: Default sensor settings

In any mode, the sensor data are available in the data register based on the unit selected. The axis of the data is configured based on the axis-remap register configuration.

The operating mode can be selected by writing to the OPR_MODE register, possible register values and the corresponding operating modes are shown in the table below.

Table 3-5: operating modes selection

Table 3-6 below shows the time required to switch between CONFIGMODE and the other operating modes.

Table 3-6: Operating mode switching time

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3.3.1 Config Mode

This mode is used to configure BNO, wherein all output data is reset to zero and sensor fusion is halted. This is the only mode in which all the writable register map entries can be changed. (Exceptions from this rule are the interrupt registers (INT and INT_MSK) and the operation mode register (OPR_MODE), which can be modified in any operation mode.)

As being said, this mode is the default operation mode after power-on or RESET. Any other mode must be chosen to be able to read any sensor data.

3.3.2 Non-Fusion Modes

3.3.2.1 ACCONLY If the application requires only raw accelerometer data, this mode can be chosen. In this

mode the other sensors (magnetometer, gyro) are suspended to lower the power consumption. In this mode, the BNO055 behaves like a stand-alone acceleration sensor.

3.3.2.1 MAGONLY

In MAGONLY mode, the BNO055 behaves like a stand-alone magnetometer, with acceleration sensor and gyroscope being suspended.

3.3.2.2 GYROONLY

In GYROONLY mode, the BNO055 behaves like a stand-alone gyroscope, with acceleration sensor and magnetometer being suspended.

3.3.2.3 ACCMAG

Both accelerometer and magnetometer are switched on, the user can read the data from these two sensors.

3.3.2.4 ACCGYRO

Both accelerometer and gyroscope are switched on; the user can read the data from these two sensors.

3.3.2.5 MAGGYRO

Both magnetometer and gyroscope are switched on, the user can read the data from these two sensors.

3.3.2.6 AMG (ACC-MAG-GYRO)

All three sensors accelerometer, magnetometer and gyroscope are switched on.

3.3.3 Fusion modes

Sensor fusion modes are meant to calculate measures describing the orientation of the device in space. It can be distinguished between non-absolute or relative orientation and absolute orientation. Absolute orientation means orientation of the sensor with respect to the earth and its magnetic field. In other words, absolute orientation sensor fusion modes calculate the direction of the magnetic north pole. In non-absolute or relative orientation modes, the heading of the sensor can vary depending on how the sensor is placed initially.

All fusion modes provide the heading of the sensor as quaternion data or in Euler angles (roll, pitch and yaw angle). The acceleration sensor is both exposed to the gravity force and to accelerations applied to the sensor due to movement. In fusion modes it is possible to separate the two acceleration sources, and thus the sensor fusion data provides separately linear acceleration (i.e. acceleration that is applied due to movement) and the gravity vector.

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3.3.3.1 IMU (Inertial Measurement Unit)

In the IMU mode the relative orientation of the BNO055 in space is calculated from the accelerometer and gyroscope data. The calculation is fast (i.e. high output data rate).

3.3.3.2 COMPASS

The COMPASS mode is intended to measure the magnetic earth field and calculate the geographic direction. The earth magnetic field is a vector with the horizontal components x,y and the vertical z component. It depends on the position on the globe and natural iron occurrence. For heading calculation (direction of compass pointer) only the horizontal components x and y are used. Therefore the vector components of the earth magnetic field must be transformed in the horizontal plane, which requires the knowledge of the direction of the gravity vector. To summarize, the heading can only be calculated when considering gravity and magnetic field at the same time.

However, the measurement accuracy depends on the stability of the surrounding magnetic field. Furthermore, since the earth magnetic field is usually much smaller than the magnetic fields that occur around and inside electronic devices, the compass mode requires calibration (see chapter 3.10)

3.3.3.3 M4G (Magnet for Gyroscope)

The M4G mode is similar to the IMU mode, but instead of using the gyroscope signal to detect rotation, the changing orientation of the magnetometer in the magnetic field is used. Since the magnetometer has much lower power consumption than the gyroscope, this mode is less power consuming in comparison to the IMU mode. There are no drift effects in this mode which are inherent to the gyroscope.

However, as for compass mode, the measurement accuracy depends on the stability of the surrounding magnetic field. For this mode no magnetometer calibration is required and also not available.

3.3.3.4 NDOF_FMC_OFF

This fusion mode is same as NDOF mode, but with the Fast Magnetometer Calibration turned ‘OFF’.

3.3.3.5 NDOF

This is a fusion mode with 9 degrees of freedom where the fused absolute orientation data is calculated from accelerometer, gyroscope and the magnetometer. The advantages of combining all three sensors are a fast calculation, resulting in high output data rate, and high robustness from magnetic field distortions. In this mode the Fast Magnetometer calibration is turned ON and thereby resulting in quick calibration of the magnetometer and higher output data accuracy. The current consumption is slightly higher in comparison to the NDOF_FMC_OFF fusion mode.

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Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Reserved

Remapped Z axis value

Remapped Y axis

value

Remapped X axis

value

Value

Axis Representation

X - Axis

Y - Axis

Z- Axis

Invalid

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Reserved

Remapped X axis sign

Remapped Y axis sign

Remapped Z axis sign

Value

Sign

Positive

Negative

Z; Ωz; z

X; Ωx; x

Y; Ωy; y

Accel; Gyro; Magnet

3.4 Axis remap

The device mounting position should not limit the data output of the BNO055 device. The axis of the device can be re-configured to the new reference axis.

Axis configuration byte: Register Address: AXIS_MAP_CONFIG

There are two bits are used to configure the axis remap which will define in the following way,

Also, when user try to configure the same axis to two or more then BNO055 will take this as invalid condition and previous configuration will be restored in the register map. The default value is: X Axis = X, Y Axis = Y and Z Axis = Z (AXIS_REMAP_CONFIG = 0x24).

Axis sign configuration byte: Register Address: AXIS_MAP_SIGN

The default value is 0x00.

The default values correspond to the following coordinate system

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Placement

AXIS_REMAP_CONFIG

AXIS_REMAP_SIGN

0x21

0x04

P1 (default)

0x24

0x00

0x24

0x06

0x21

0x02

0x24

0x03

0x21

0x01

0x21

0x07

0x24

0x05

TOP VIEW

BOTTOM VIEW

ZYX

Some example placement for axis vs. register settings:

For the above described placements, following would be the axis configuration parameters.

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Sensors

Parameters

Value

Accelerometer

Power Mode

NORMAL

Range

+/- 4g

Bandwidth

62.5Hz

Resolution

14 bits

Gyroscope

Power Mode

NORMAL

Range

2000 °/s

Bandwidth

32Hz

Resolution

16 bits

Magnetometer

Power Mode

FORCED

ODR

20Hz

XY Repetition

Z Repetition

Resolution x/y/z

13/13/15 bits

3.5 Sensor Configuration

The fusion outputs of the BNO055 are tightly linked with the sensor configuration settings. Due to this fact, the sensor configuration is limited when BNO055 is configured to run in any of the fusion operating mode. In any of the non-fusion modes the configuration settings can be updated by writing to the configuration registers as defined in the following sections.

3.5.1 Default sensor configuration

At power-on the sensors are configured with the default settings as defined in Table 3-8 below.

Table 3-7: Default sensor configuration at power-on

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Parameter

Values

[Reg Addr]: Reg Value

Restrictions

G Range

[ACC_Config]: xxxxxx00b

Auto controlled in fusion mode

[ACC_Config]: xxxxxx01b

[ACC_Config]: xxxxxx10b

16G

[ACC_Config]: xxxxxx11b

Bandwidth

7.81Hz

[ACC_Config]: xxx000xxb

15.63Hz

[ACC_Config]: xxx001xxb

31.25Hz

[ACC_Config]: xxx010xxb

62.5Hz

[ACC_Config]: xxx011xxb

125Hz

[ACC_Config]: xxx100xxb

250Hz

[ACC_Config]: xxx101xxb

500Hz

[ACC_Config]: xxx110xxb

1000Hz

[ACC_Config]: xxx111xxb

Operation Mode

Normal

[ACC_Config]: 000xxxxxb

Suspend

[ACC_Config]: 001xxxxxb

Low Power 1

[ACC_Config]: 010xxxxxb

Standby

[ACC_Config]: 011xxxxxb

Low Power 2

[ACC_Config]: 100xxxxxb

Deep Suspend

[ACC_Config]: 101xxxxxb

3.5.2 Accelerometer configuration

The fusion outputs of the BNO055 are tightly linked with the accelerometer sensor settings. Therefore the configuration possibilities are restricted when running in any of the fusion operating modes. The accelerometer configuration can be changed by writing to the ACC_Config register, Table below shows different Accelerometer configurations

Table 3-8: Accelerometer configurations

The accelerometer sensor operation mode is not configurable by user when BNO power mode is configured as low power mode. BNO rewrites the user configured value to Normal mode when switching from config mode to any BNO operation mode. This used to achieve the BNO low power mode performance.

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Parameter

Values

[Reg Addr]: Register value

Restrictions

Range

2000 dps

[GYR_Config_0]: xxxxx000b

Auto controlled in fusion mode

1000 dps

[GYR_Config_0]: xxxxx001b

500dps

[GYR_Config_0]: xxxxx010b

250 dps

[GYR_Config_0]: xxxxx011b

125 dps

[GYR_Config_0]: xxxxx100b

Bandwidth

523Hz

[GYR_Config_0]: xx000xxxb

230Hz

[GYR_Config_0]: xx001xxxb

116Hz

[GYR_Config_0]: xx010xxxb

47Hz

[GYR_Config_0]: xx011xxxb

23Hz

[GYR_Config_0]: xx100xxxb

12Hz

[GYR_Config_0]: xx101xxxb

64Hz

[GYR_Config_0]: xx110xxxb

32Hz

[GYR_Config_0]: xx111xxxb

Operation Mode

Normal

[GYR_Config_1]: xxxxx000b

Fast Power up

[GYR_Config_1]: xxxxx001b

Deep Suspend

[GYR_Config_1]: xxxxx010b

Suspend

[GYR_Config_1]: xxxxx011b

Advanced Powersave

[GYR_Config_1]: xxxxx100b

3.5.3 Gyroscope configuration

The fusion outputs of the BNO055 are tightly linked with the angular rate sensor settings. Therefore the configuration possibilities are restricted when running in any of the fusion operating modes. The gyroscope configuration can be changed by writing to the GYR_Config register, Table below shows different Gyroscope configurations

Table 3-9: Gyroscope configurations

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Parameter

Values

[Reg Addr]: Register

value

Restrictions

Data output rate

2Hz

[MAG_Config]: xxxxx000b

Auto controlled in fusion mode

6Hz

[MAG_Config]: xxxxx001b

8Hz

[MAG_Config]: xxxxx010b

10Hz

[MAG_Config]: xxxxx011b

15Hz

[MAG_Config]: xxxxx100b

20Hz

[MAG_Config]: xxxxx101b

25Hz

[MAG_Config]: xxxxx110b

30Hz

[MAG_Config]: xxxxx111b

Operation Mode

Low Power

[MAG_Config]: xxx00xxxb

Regular

[MAG_Config]: xxx01xxxb

Enhanced

Regular

[MAG_Config]: xxx10xxxb

High Accuracy

[MAG_Config]: xxx11xxxb

Power Mode

Normal

[MAG_Config]: x00xxxxxb

Sleep

[MAG_Config]: x01xxxxxb

Suspend

[MAG_Config]: x10xxxxxb

Force Mode

[MAG_Config]: x11xxxxxb

3.5.4 Magnetometer configuration

The fusion outputs of the BNO055 are tightly linked with the magnetometer sensor settings. Therefore the configuration possibilities are restricted when running in any of the fusion operating modes. The magnetometer configuration can be changed by writing to the MAG_Config register, Table below shows different Magnetometer configurations.

Table 3-10: Magnetometer configurations

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Data

Units

[Reg Addr]: Register Value

Acceleration, Linear Acceleration, Gravity vector

m/s2

[UNIT_SEL] : xxxxxxx0b

[UNIT_SEL] : xxxxxxx1b

Magnetic Field Strength

Micro Tesla

Angular Rate

Dps

[UNIT_SEL] : xxxxxx0xb

Rps

[UNIT_SEL] : xxxxxx1xb

Euler Angles

Degrees

[UNIT_SEL] : xxxxx0xxb

Radians

[UNIT_SEL] : xxxxx1xxb

Quaternion

Quaternion units

Temperature

°C

[UNIT_SEL] : xxx0xxxxb

°F

[UNIT_SEL] : xxx1xxxxb

Parameter

Values

[Reg Addr]: Register value

Fusion data output format

Windows

[UNIT_SEL]: 0xxxxxxxb

Android

[UNIT_SEL]: 1xxxxxxxb

Rotation angle

Range (Android format)

Range (Windows format)

Pitch

+180° to -180° (turning clockwise decreases values)

-180° to +180° (turning clockwise increases values)

Roll

-90° to +90° (increasing with increasing inclination)

Heading / Yaw

0° to 360° (turning clockwise increases values)

3.6 Output data

Depending on the selected operating mode the device will output either un-calibrated sensor data (in non-fusion mode) or calibrated / fused data (in fusion mode), this section describes the output data for each modes.

3.6.1 Unit selection

The measurement units for the various data outputs (regardless of operation mode) can be configured by writing to the UNIT_SEL register as described in Table 3-9.

Table 3-11: unit selection

3.6.2 Data output format

The data output format can be selected by writing to the UNIT_SEL register, this allows user to switch between the orientation definition described by Windows and Android operating systems.

Table 3-12: Fusion data output format

The output data format is based on the following convention regarding the rotation angles for roll, pitch and heading / yaw (compare also section 3.4):

Table 3-13: Rotation angle conventions

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BNO055 Operating

Mode

Data input rate

Algo

calling

rate

Data output rate

Accel

Mag

Gyro

Accel

Mag

Gyro

Fusion

data

IMU

100Hz

COMPASS

20Hz

M4G

50Hz

NDOF_FMC_OFF

100Hz

20Hz

100Hz

20Hz

100Hz

NDOF

100Hz

20Hz

100Hz

20Hz

100Hz

Reg Name

Default Reg Value (Bit 0 – Bit 7)

ACC_OFFSET_X_LSB

0x00

ACC_OFFSET_X_MSB

0x00

ACC_OFFSET_Y_LSB

0x00

ACC_OFFSET_Y_MSB

0x00

ACC_OFFSET_Z_LSB

0x00

ACC_OFFSET_Z_MSB

0x00

Accelerometer G-range

Maximum Offset range in mg

+/- 2000

+/- 4000

+/- 8000

16G

+/- 16000

Unit

Representation

m/s2

1 m/s2 = 100 LSB

1 mg = 1 LSB

3.6.3 Fusion Output data rates

Table 3-14: Fusion output data rates

3.6.4 Sensor calibration data

The following section describes the register holding the calibration data of the sensors (see chapter 3.11). The offset and radius data can be read from these registers and stored in the host system, which could be later used to get the correct orientation data after ‘Power on Reset’ of the sensor.

3.6.4.1 Accelerometer offset

The accelerometer offset can be configured in the following registers, shown in the table below. There are 6 bytes required to configure the accelerometer offset (2 bytes for each of the 3 axis X, Y and Z). Configuration will take place only when the user writes the last byte (i.e., ACC_OFFSET_Z_MSB).

Table 3-15: Accelerometer Default-Reg settings

The range of the offsets varies based on the G-range of accelerometer sensor.

Table 3-16: Accelerometer G-range settings

Table 3-17: Accelerometer Unit settings

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Reg Name

Default Reg Value (Bit 0 – Bit 7)

MAG_OFFSET_X_LSB

0x00

MAG_OFFSET_X_MSB

0x00

MAG_OFFSET_Y_LSB

0x00

MAG_OFFSET_Y_MSB

0x00

MAG_OFFSET_Z_LSB

0x00

MAG_OFFSET_Z_MSB

0x00

Unit

Representation

µT

1 µT = 16 LSB

Reg Name

Default Reg Value (Bit 0 – Bit 7)

GYR_OFFSET_X_LSB

0x00

GYR_OFFSET_X_MSB

0x00

GYR_OFFSET_Y_LSB

0x00

GYR_OFFSET_Y_MSB

0x00

GYR_OFFSET_Z_LSB

0x00

GYR_OFFSET_Z_MSB

0x00

3.6.4.2 Magnetometer offset

The magnetometer offset can be configured in the following registers,

Table 3-18: Magnetometer Default-Reg settings

There are 6 bytes required to configure the magnetometer offset (bytes (2 bytes for each of the 3 axis X, Y and Z). Configuration will take place only when the user writes the last byte (i.e., MAG_OFFSET_Z_MSB). Therefore the last byte must be written whenever the user wants to changes the configuration. The range of the magnetometer offset is +/-6400 in LSB.

Table 3-19: Magnetometer Unit settings

3.6.4.3 Gyroscope offset

The gyroscope offset can be configured in the following registers, shown in the table below

Table 3-20: Gyroscope Default Reg-settings

There are 6 bytes required to configure the gyroscope offset (bytes (2 bytes for each of the 3 axis X, Y and Z). Configuration will take place only when the user writes the last byte (i.e., GYR_OFFSET_Z_MSB). Therefore the last byte must be written whenever the user wants to changes the configuration. The range of the offset varies based on the dps-range of gyroscope sensor.

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Gyroscope dps range

Maximum Offset range in LSB

2000

+/- 32000

1000

+/- 16000

500

+/- 8000

250

+/- 4000

125

+/- 2000

Unit

Representation

Dps

1 Dps = 16 LSB

Rps

1 Rps = 900 LSB

Reg Name

Default Reg Value (Bit 0 – Bit 7)

ACC_RADIUS_LSB

0x00

ACC_RADIUS_MSB

0x00

MAG_RADIUS_LSB

0x00

MAG_RADIUS_MSB

0x00

Radius for sensor

Maximum Range

Accelerometer

+/- 1000 LSB

Magnetometer

+/- 960 LSB

Table 3-21: Gyroscope range settings

Table 3-22: Gyroscope unit settings

3.6.4.4 Radius

The radius of accelerometer, magnetometer and gyroscope can be configured in the following registers,

Table 3-23: Radius Default-Reg settings

There are 4 bytes (2 bytes for each accelerometer and magnetometer) to configure the radius. Configuration will take place only when user writes to the last byte (i.e., ACC_RADIUS_MSB and MAG_RADIUS_MSB). Therefore the last byte must be written whenever the user wants to changes the configuration. The range of the radius for accelerometer is +/-1000, magnetometer is +/-960 and Gyroscope is NA.

Table 3-24: Radius range settings

3.6.5 Output data registers

3.6.5.1 Acceleration data

In non-fusion mode uncompensated acceleration data for each axis X/Y/Z, can be read from the appropriate ACC_DATA_<axis>_LSB and ACC_DATA_<axis>_MSB registers.

In fusion mode the fusion algorithm output offset compensated acceleration data for each axis X/Y/Z, the output data can be read from the appropriate ACC_DATA_<axis>_LSB and ACC_DATA_<axis>_MSB registers. Refer table below for information regarding the data types for the acceleration data.

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Parameter

Data type

bytes

Accel_Data_X

signed

Accel_Data_Y

signed

Accel_Data_Z

signed

Parameter

Data type

bytes

Mag_Data_X

signed

Mag_Data_Y

signed

Mag_Data_Z

signed

Parameter

Data type

bytes

Gyr_Data_X

signed

Gyr_Data_Y

signed

Gyr_Data_Z

signed

Table 3-25: Acceleration data

3.6.5.2 Magnetic Field Strength

In non-fusion mode uncompensated field strength data for each axis X/Y/Z, can be read from the appropriate MAG_DATA_<axis>_LSB and MAG_DATA_<axis>_MSB registers.

In fusion mode the fusion algorithm output offset compensated magnetic field strength data for each axis X/Y/Z, the output data can be read from the appropriate MAG_DATA_<axis>_LSB and MAG_DATA_<axis>_MSB registers. Refer table below for information regarding the data types for the magnetic field strength.

Table 3-26: Magnetic field strength data

3.6.5.3 Angular Velocity

In non-fusion mode uncompensated angular velocity (yaw rate) data for each axis X/Y/Z, can be read from the appropriate GYR_DATA_<axis>_LSB and GYR_DATA_<axis>_MSB registers.

In fusion mode the fusion algorithm output offset compensated angular velocity (yaw rate) data for each axis X/Y/Z, the output data can be read from the appropriate GYR_DATA_<axis>_LSB and GYR_DATA_<axis>_MSB registers. Refer table below for information regarding the data types for the angular velocity.

Table 3-27: Yaw rate data

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Parameter

Data type

bytes

EUL_Heading

Signed

EUL_Roll

Signed

EUL_Pitch

Signed

Unit

Representation

Degrees

1 degree = 16 LSB

Radians

1 radian = 900 LSB

Parameter

Data type

bytes

QUA_Data_w

Signed

QUA_Data_x

Signed

QUA_Data_y

Signed

QUA_Data_z

Signed

Unit

Representation

Quaternion (unit less)

1 Quaternion (unit less) = 2^14 LSB

3.6.5.4 Orientation (Euler angles)

Orientation output only available in fusion operation modes.

The fusion algorithm output offset and tilt compensated orientation data in Euler angles format for each DOF Heading/Roll/Pitch, the output data can be read from the appropriate EUL<dof>_LSB and EUL_<dof>_MSB registers. Refer table below for information regarding the data types and the unit representation for the Euler angle format.

Table 3-28: Compensated orientation data in Euler angles format

Table 3-29: Euler angle data representation

3.6.5.5 Orientation (Quaternion)

Orientation output only available in fusion operating modes.

The fusion algorithm output offset and tilt compensated orientation data in quaternion format for each DOF w/x/y/z, the output data can be read from the appropriate QUA_DATA_<dof>_LSB and QUA_DATA_<dof>_MSB registers. Refer table below for information regarding the data types and the unit representation for the Orientation output.

Table 3-30: Compensated orientation data in quaternion format

Table 3-31: Quaternion data representation

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Parameter

Data type

bytes

LIA_Data_X

signed

LIA_Data_Y

signed

LIA_Data_Z

signed

Unit

Representation

m/s2

1 m/s2 = 100 LSB

1 mg = 1 LSB

Parameter

Data type

bytes

GRV_Data_X

signed

GRV_Data_Y

signed

GRV_Data_Z

signed

Unit

Representation

m/s2

1 m/s2 = 100 LSB

1 mg = 1 LSB

3.6.5.6 Linear Acceleration

Linear acceleration output only available in fusion operating modes.

The fusion algorithm output linear acceleration data for each axis x/y/z, the output data can be read from the appropriate LIA_DATA_<axis>_LSB and LIA_DATA_<axis>_MSB registers. Refer table below for further information regarding the data types and the unit representation for Linear acceleration

Table 3-32: Linear Acceleration Data

Table 3-33: Linear Acceleration data representation

3.6.5.7 Gravity Vector

Gravity Vector output only available in fusion operating modes.

The fusion algorithm output gravity vector data for each axis x/y/z, the output data can be read from the appropriate GRV_DATA_<axis>_LSB and GRV_DATA_<axis>_MSB registers. Refer table below for further information regarding the data types and the unit representation for the Gravity vector.

Table 3-34: Gravity Vector Data

Table 3-35: Gravity Vector data representation

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Parameter

Data type

bytes

TEMP

signed

Unit

Representation

°C

1°C = 1 LSB

2 F = 1 LSB

Source

[Reg Addr]: Register Value

Accelerometer

[TEMP_SOURCE]: xxxxxx00b

Gyroscope

[TEMP_SOURCE]: xxxxxx01b

3.6.5.8 Temperature

The temperature output data can be read from the TEMP register. The table below describes the output data type and data representation (depending on selected unit). The temperature can be read from one of two sources, the temperature source can be selected by writing to the TEMP_SOURCE register as detailed below.

Table 3-36: Temperature Data

Table 3-37: Temperature data representation

Table 3-38: Temperature Source Selection

3.7 Data register shadowing

This section describes the two methods to read sensor data from the BNO055 register map. In the first method also called multi byte read (or burst read) the data consistency is ensured by data register shadowing and hence the LSB and MSB of each axis are all referring to the same instance (refer section 4.6 I2C read access) Whereas in the single byte reads, the MSB may get updated when the data in LSB is read and thereby resulting in data inconsistency. So depending upon the application, the user may select the type of data read to ensure that the correct data is being read.

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3.8 Interrupts

3.8.1 Interrupt Pin

INT is configured as interrupt pin for signaling an interrupt to the host. The interrupt trigger is configured as raising edge and is latched on to the INT pin. Once an interrupt occurs, the INT pin is set to high and will remain high until it is reset by host. This can be done by setting RST_INT in SYS_TRIGGER register. Interrupts can be enabled by setting the corresponding bit in the interrupt enable register (INT_EN) and disabled when it is cleared.

Interrupt Pin Masking Interrupts can be routed to the INT pin by setting the corresponding interrupt bit in the

INT_MSK register.

Interrupt Status Interrupt occurrences are stored in the interrupt status register (INT_STA). All bits in this

3.8.2 Interrupt Settings

3.8.2.1 Accelerometer Slow/No Motion Interrupt

The slow-motion/no-motion interrupt engine can be configured in two modes.

Slow-motion Interrupt is triggered when the measured slope of at least one enabled axis exceeds the programmable slope threshold for a programmable number of samples. Hence the engine behaves similar to the any-motion interrupt, but with a different set of parameters. In order to suppress false triggers, the interrupt is only generated (cleared) if a certain number N of consecutive slope data points is larger (smaller) than the slope threshold given by slo_no_mot_dur<1:0>. The number is N = slo_no_mot_dur<1:0> + 1.

In no-motion mode an interrupt is generated if the slope on all selected axes remains smaller

than a programmable threshold for a programmable delay time. Figure 11 shows the timing

diagram for the no-motion interrupt. The scaling of the threshold value is identical to that of

the slow-motion interrupt. However, in no-motion mode register slo_no_mot_dur defines the

delay time before the no-motion interrupt is triggered.

Table 3-39 lists the delay times adjustable with register slo_no_mot_dur. The timer tick period is 1 second. Hence using short delay times can result in considerable timing uncertainty.

If bit SM/NM is set to ‘1’ (‘0’), the no-motion/slow-motion interrupt engine is configured in the no-motion (slow-motion) mode. Common to both modes, the engine monitors the slopes of the axes that have been enabled with bits AM/NM_X_AXIS, AM/NM_Y_AXIS, and AM/NM_Z_AXIS for the x-axis, y-axis and z-axis, respectively. The measured slope values are continuously compared against the threshold value defined in register ACC_NM_THRES. The scaling is such that 1 LSB of ACC_NM_THRES corresponds to 3.91 mg in 2g-range (7.81 mg in 4g-range, 15.6 mg in 8g-range and 31.3 mg in 16g-range). Therefore the maximum value is 996 mg in 2g-range (1.99g in 4g-range, 3.98g in 8g-range and 7.97g in 16g-range). The time difference between the successive acceleration samples depends on the selected bandwidth and equates to 1/(2 * bw).

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slo_no_mot_dur

Delay

time

slo_no_mot_dur

Delay

time

slo_no_mot_dur

Delay

Time

1 s

40 s

88 s

2 s

48 s

96 s

3 s

56 s

104 s

...

64 s.

...

15 s

72 s

328 s

16 s

80 s

336 s

Params

Value

[Reg Addr]: Register Value

Detection Type

No Motion

[ACC_NM_SET]: xxxxxxx1b

Slow Motion

[ACC_NM_SET]: xxxxxxx0b

Interrupt Parameters

Threshold

[ACC_NM_THRE]: bit7:bit0

Duration

[ACC_NM_SET]: bit6:bit1

acceleration

slo_no_mot_th

-slo_no_mot_th

slope

time

axis x, y, or z

slo_no_mot_dur

timer

INT

slope(t0+Δt)= acc(t0+Δt) - acc(t0)

acc(t0+Δt)

acc(t0)

Table 3-39: No-motion time-out periods

Note: slo_no_mot_dur values 22 to 31 are not specified

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Table 3-40: Timing of No-motion interrupt

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slope_th

INT

slope acceleration

acc(t0)

acc(t0−1/(2*bw))

slope(t0)=acc(t0)−acc(t0−1/(2*bw))

time

slope_dur

Axis selection

X-axis

[ACC_INT_Settings]: xxxxx1xxb

Y-axis

[ACC_INT_Settings]: xxxx1xxxb

Z-axis

[ACC_INT_Settings]: xxx1xxxxb

3.8.2.2 Accelerometer Any Motion Interrupt

The any-motion interrupt uses the slope between successive acceleration signals to detect changes in motion. An interrupt is generated when the slope (absolute value of acceleration difference) exceeds a preset threshold. It is cleared as soon as the slope falls below the threshold. The principle is made clear in Figure 2: Principle of any-motion detection.

Figure 2: Principle of any-motion detection

The threshold is defined through register ACC_AM_THRES. In terms of scaling 1 LSB of ACC_AM_THRES corresponds to 3.91 mg in 2g-range (7.81 mg in 4g-range, 15.6 mg in 8grange and 31.3 mg in 16g-range). Therefore the maximum value is 996 mg in 2g-range (1.99g in 4g-range, 3.98g in 8g-range and 7.97g in 16g-range).

The time difference between the successive acceleration signals depends on the selected bandwidth and equates to 1/(2*bandwidth) (t=1/(2*bw)). In order to suppress false triggers, the interrupt is only generated (cleared) if a certain number N of consecutive slope data points is larger (smaller) than the slope threshold given by ACC_AM_THRES. This number is set by the AM_DUR bits. It is N = AM_DUR + 1.

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Example: AM_DUR = 00b, …, 11b = 1decimal, …, 4decimal.

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Params

Value

[Reg Addr]: Register Value

Interrupt Parameters

Threshold

[ACC_AM_THRES]: bit7:bit0

Duration

[ACC_INT_Settings]: bit1:bit0

Axis selection

X-axis

[ACC_INT_Settings]: xxxxx1xxb

Y-axis

[ACC_INT_Settings]: xxxx1xxxb

Z-axis

[ACC_INT_Settings]: xxx1xxxxb

Params

Value

[Reg Addr]: Register Value

Interrupt Parameters

Threshold

[ACC_HG_THRES]: bit7 : bit0

Duration

[ACC_HG_DURATION]: bit7 : bit0

Axis selection

X-axis

[ACC_INT_Settings]: xx1xxxxxb

Y-axis

[ACC_INT_Settings]: x1xxxxxxb

Z-axis

[ACC_INT_Settings]: 1xxxxxxxb

Enabling (disabling) for each axis:

Any-motion detection can be enabled (disabled) for each axis separately by writing ´1´ (´0´) to bits AM/NM_X_AXIS, AM/NM_Y_AXIS, AM/NM_Z_AXIS. The criteria for any-motion detection are fulfilled and the slope interrupt is generated if the slope of any of the enabled axes exceeds the threshold ACC_AM_THRES for [AM_DUR +1] consecutive times. As soon as the slopes of all enabled axes fall or stay below this threshold for [AM_DUR +1] consecutive times the interrupt is cleared unless interrupt signal is latched.

Table 3-41: Any-motion Interrupt parameters and Axis selection

3.8.2.3 Accelerometer High G Interrupt

This interrupt is based on the comparison of acceleration data against a high-g threshold for the detection of shock or other high-acceleration events.

The high-g interrupt is enabled (disabled) per axis by writing ´1´ (´0´) to bits ACC_HIGH_G in the INT_EN register and enabling the axis in with bits HG_X_AXIS, HG_Y_AXIS, and HG_Z_AXIS, respectively in the ACC_INT_Settings register. The high-g threshold is set through the ACC_HG_THRES register. The meaning of an LSB of ACC_HG_THRES depends on the selected g-range: it corresponds to 7.81 mg in 2g-range, 15.63 mg in 4grange, 31.25 mg in 8g-range, and 62.5 mg in 16g-range (i.e. increment depends from grange setting).

The high-g interrupt is generated if the absolute value of the acceleration of at least one of the enabled axes (´or´ relation) is higher than the threshold for at least the time defined by the ACC_HG_DURATION register. The interrupt is reset if the absolute value of the acceleration of all enabled axes (´and´ relation) is lower than the threshold for at least the time defined by the ACC_HG_DURATION register. The interrupt status is stored in bit ACC_HIGH_G in the INT_STA register. The relation between the content of ACC_HG_DURATION and the actual delay of the interrupt generation is delay [ms] = [ACC_HG_DURATION + 1] * 2 ms. Therefore, possible delay times range from 2 ms to 512 ms.

Table 3-42: High-G Interrupt parameters and Axis selection

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3.8.2.4 Gyroscope High Rate Interrupt

This interrupt is based on the comparison of angular rate data against a high-rate threshold for the detection of shock or other high-angular rate events. The principle is made clear in Figure 3 below:

Figure 3: High rate interrupt

The high-rate interrupt is enabled (disabled) per axis by writing ´1´ (´0´) to bits

GYRO_HIGH_RATE in the INT_EN register and for each axis by writing to the HR_X_AXIS, HR_Y_AXIS, and HR_Z_AXIS, respectively in the GYR_INT_SETTING register. The high- rate threshold is set through the HR_<axis>_Threshold bits in the appropriate GYR_HR_<axis>_SET register. The meaning of an LSB of HR_<axis>_Threshold depends

on the selected °/s-range: it corresponds to 62.5°/s in 2000°/s-range, 31.25°/s in 1000°/srange, 15.625°/s in 500°/s -range …). The HR_<axis>_Threshold register setting 0 corresponds to 62.26°/s in 2000°/s-range, 31.13°/s in 1000°/s-range, 15.56°/s in 500°/srange …. Therefore the maximum value is 1999.76°/s in 2000°/s-range (999.87°/s 1000°/srange, 499.93°/s in 500°/s -range …). A hysteresis can be selected by setting the HR_<axis>_THRES_HYST bits. Analogously to threshold, the meaning of an LSB of HR_<axis>_THRES_HYST bits is °/s-range dependent: The HR_<axis>_THRES_HYST register setting 0 corresponds to an angular rate difference of 62.26°/s in 2000°/s-range, 31.13°/s in 1000°/s-range, 15.56°/s in 500°/s-range …. The meaning of an LSB of HR_<axis>_THRES_HYST depends on the selected °/s-range too: it corresponds to 62.5°/s in 2000°/s-range, 31.25°/s in 1000°/s-range, 15.625°/s in 500°/s -

range …).

The high-rate interrupt is generated if the absolute value of the angular rate of at least one of the enabled axes (´or´ relation) is higher than the threshold for at least the time defined by the GYR_DUR_<axis> register. The interrupt is reset if the absolute value of the angular rate of all enabled axes (´and´ relation) is lower than the threshold minus the hysteresis. In bit GYR_HIGH_RATE in the INT_STA the interrupt status is stored. The relation between the content of GYR_DUR_<axis> and the actual delay of the interrupt generation is delay [ms] = [ GYR_DUR_<axis> + 1] * 2.5 ms. Therefore, possible delay times range from 2.5 ms to 640 ms.

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Params

Value

[Reg Addr]: Register Value

Axis selection

X-axis

[GYR_INT_SETTING]: xxxx1xxxb

Y-axis

[GYR_INT_SETTING]: xxx1xxxxb

Z-axis

[GYR_INT_SETTING]: xx1xxxxxb

High Rate Filter settings

Filtered

[GYR_INT_SETTING]: 0xxxxxxxb

Unfiltered

[GYR_INT_SETTING]: 1xxxxxxxb

Interrupt Settings Xaxis

Threshold

[GYR_HR_X_SET]: bit4 : bit0

Duration

[GYR_DUR_X]: bit7 : bit0

Hysteresis

[GYR_HR_X_SET]: bit6 : bit5

Interrupt Settings Yaxis

Threshold

[GYR_HR_Y_SET]: bit4 : bit0

Duration

[GYR_DUR_Y]: bit7 : bit0

Hysteresis

[GYR_HR_Y_SET]: bit6 : bit5

Interrupt Settings Xaxis

Threshold

[GYR_HR_Z_SET]: bit4 : bit0

Duration

[GYR_DUR_Z]: bit7 : bit0

Hysteresis

[GYR_HR_Z_SET]: bit6 : bit5

Table 3-43: High Rate Interrupt parameters and Axis selection

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slope_th

INT

slope angular rate

rate(t0)

rate(t0−1/(4*fs))

slope(t0)=gyro(t0)−gyro(t0−1/(2*bw))

time

slope_dur

3.8.2.5 Gyroscope Any Motion Interrupt

Any-motion (slope) detection uses the slope between successive angular rate signals to detect changes in motion. An interrupt is generated when the slope (absolute value of angular rate difference) exceeds a preset threshold. It is cleared as soon as the slope falls below the threshold. The principle is made clear in Figure 4.

Figure 4: Principle of any-motion detection

The threshold is defined through register GYR_AM_THRES. In terms of scaling 1 LSB of GYR_AM_THRES corresponds to 1 °/s in 2000°/s-range (0.5°/s in 1000°/s-range, 0.25°/s in 500°/s -range …). Therefore the maximum value is 125°/s in 2000°/s-range (62.5°/s 1000°/s-range, 31.25 in 500°/s -range …).

The time difference between the successive angular rate signals depends on the selected update rate(fs) which is coupled to the bandwidth and equates to 1/(4*fs) (t=1/(4*fs)). For bandwidth settings with an update rate higher than 400Hz (bandwidth =0,1,2) fs is set to 400Hz.

In order to suppress false triggers, the interrupt is only generated (cleared) if a certain number N of consecutive slope data points is larger (smaller) than the slope threshold given by GYR_AM_THRES. This number is set by the Slope Samples bits in the GYR_AM_SET register. It is N = [Slope Samples + 1]*4. N is set in samples. Thus the time is scaling with the update rate (fs).

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Params

Value

[Reg Addr]: Register Value

Axis selection

X-axis

[GYR_INT_SETING]: xxxxxxx1b

Y-axis

[GYR_INT_SETING]: xxxxxx1xb

Z-axis

[GYR_INT_SETING]: xxxxx1xxb

Any Motion Filter settings

Filtered

[GYR_INT_SETING]: x0xxxxxxb

Unfiltered

[GYR_INT_SETING]: x1xxxxxxb

Interrupt Settings

Threshold

[GYR_AM_THRES]: bit6 : bit0

Slope Samples

[GYR_AM_SET]: bit1 : bit0

Awake Duration

[GYR_AM_SET]: bit3 : bit2

3.8.2.6 Enabling (disabling) for each axis

Any-motion detection can be enabled (disabled) for each axis separately by writing ´1´ (´0´) to bits AM_X_AXIS, AM_Y_AXIS, AM_Z_AXIS in the GYR_INT_SETTING register. The criteria for any-motion detection are fulfilled and the Any-Motion interrupt is generated if the slope of any of the enabled axes exceeds the threshold GYR_AM_THRES for [Slope Samples+1]*4 consecutive times. As soon as the slopes of all enabled axes fall or stay below this threshold for [Slope Samples +1]*4 consecutive times the interrupt is cleared unless interrupt signal is latched.

3.8.2.7 Axis of slope / any motion interrupt

The interrupt status is stored in bit GYRO_AM in the INT_EN register. The Any-motion interrupt supplies additional information about the detected slope.

Table 3-44: Axis selection and any motion interrupt

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Components

Test type

Accelerometer

Verify chip ID

Magnetometer

Verify chip ID

Gyroscope

Verify chip ID

Microcontroller

Memory Build In Self Test

Components

Test type

Accelerometer

built in self test

Magnetometer

built in self test

Gyroscope

built in self test

Microcontroller

No test performed

3.9 Self-Test

3.9.1 Power On Self Test (POST)

During the device startup, a power on self test is executed. This feature checks that the connected sensors and microcontroller are responding / functioning correctly. Following tests are executed

Table 3-45: Power on Self Test

The results of the POST are stored at register ST_RESULT, where a bit set indicates test passed and cleared indicates self test failed.

3.9.2 Build In Self Test (BIST)

The host can trigger a self test from CONFIG MODE. The test can be triggered by setting bit SELF_TEST in the in the SYS_TRIGGER register, the results are stored in the ST_RESULT register. During the execution of the system test, all other features are paused.

Table 3-46: Power on Self Test

3.10 Boot loader

The boot loader is located at the start of the program memory and it is executed at each reset / power-on sequence. It first checks the status of the nBOOT_LOAD_PIN.

If the nBOOT_LOAD_PIN is pulled low during reset / power-on sequence, it continues execution in boot loader mode. Otherwise the device continues to boot in application mode.

In case there is a firmware update, then an application note would be available in time with the necessary information to upgrade at the host side. Nevertheless it is recommended that the nBOOT_LOAD_PIN is connected as shown in section 5.

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3.11 Calibration

Though the sensor fusion software runs the calibration algorithm of all the three sensors (accelerometer, gyroscope and magnetometer) in the background to remove the offsets, some preliminary steps had to be ensured for this automatic calibration5 to take place. The accelerometer and the gyroscope are relatively less susceptible to external disturbances, as a result of which the offset is negligible. Whereas the magnetometer is susceptible to external magnetic field and therefore to ensure proper heading accuracy, the calibration steps described below have to be taken. Depending on the sensors been selected in the fusion mode, the following simple steps had to be taken after every ‘Power on Reset’ for proper calibration of the device.

3.11.1 Accelerometer Calibration

 Place the device in 6 different stable positions for a period of few seconds to allow the

accelerometer to calibrate.

 Make sure that there is slow movement between 2 stable positions  The 6 stable positions could be in any direction, but make sure that the device is lying at

least once perpendicular to the x, y and z axis.

 The register CALIB_STAT can be read to see the calibration status of the accelerometer.

3.11.2 Gyroscope Calibration

 Place the device in a single stable position for a period of few seconds to allow the

gyroscope to calibrate

 The register CALIB_STAT can be read to see the calibration status of the gyroscope.

3.11.3 Magnetometer Calibration

Magnetometer in general are susceptible to both hard-iron and soft-iron distortions, but majority of the cases are rather due to the former. And the steps mentioned below are to calibrate the magnetometer for hard-iron distortions. Nevertheless certain precautions need to be taken into account during the positioning of the sensor in the PCB which is described in our HSMI (Handling, Soldering and Mounting Instructions) application note to avoid unnecessary magnetic influences.

Compass, M4G & NDOF_FMC_OFF:

 Make some random movements (for example: writing the number ‘8’ on air) until the

CALIB_STAT register indicates fully calibrated.

 It takes more calibration movements to get the magnetometer calibrated than in the NDOF

mode.

NDOF:

 The same random movements have to be made to calibrate the sensor as in the

FMC_OFF mode, but here it takes relatively less calibration movements (and slightly higher current consumption) to get the magnetometer calibrated.

 The register CALIB_STAT can be read to see the calibration status of the magnetometer.

It is not possible to disable the automatic calibration which runs in the background

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3.11.4 Reuse of Calibration Profile

Once the device is calibrated, the calibration profile can be reused to get the correct orientation data immediately after ‘Power of Reset’ (prior to going through the steps mentioned in the above section). However, once the sensor enters the internal calibration routine, the calibration profile is overwritten with the newly obtained sensor offsets and sensor radius. Depending on the application, necessary steps had to be ensured for proper calibration of the sensor.

Reading Calibration profile The calibration profile includes sensor offsets and sensor radius. Host system can read the offsets and radius only after a full calibration is achieved and the operation mode is switched to CONFIG_MODE. Refer to sensor offsets and sensor radius registers.

Setting Calibration profile It is important that the correct offsets and corresponding sensor radius are used. Incorrect offsets may result in unreliable orientation data even at calibration accuracy level 3. To set the calibration profile the following steps need to be taken

1. Select the operation mode to CONFIG_MODE

2. Write the corresponding sensor offsets and radius data

3. Change operation mode to fusion mode

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4. Register description

4.1 General Remarks

The entire communication with the device is performed by reading from and writing to registers. Registers have a width of 8 bits. There are several registers which are either

completely or partially marked as ‘reserved’. Any reserved bit is ignored when it is written and

no specific value is guaranteed when read. It is recommended not to use registers at all

which are completely marked as ‘reserved’. Furthermore it is recommended to mask out

(logical and with zero) reserved bits of registers which are partially marked as reserved.

Read-Only Registers are marked as shown in Table 4-1: Register Access Coding. Any attempt to write to these registers is ignored. There are bits within some registers that trigger internal sequences. These bits are configured for write-only access and read as value ´0´.

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read/write

read only

write only

reserved

Default

Value

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

7F-6B

Reserved

MAG_RADIUS_

MSB

Magnetometer Radius

MAG_RADIUS_

LSB

Magnetometer Radius

ACC_RADIUS_

MSB

Accelerometer Radius

ACC_RADIUS_

LSB

Accelerometer Radius

GYR_OFFSET_

Z_MSB

0x00

Gyroscope Offset Z <15:8>

GYR_OFFSET_

Z_LSB

0x00

Gyroscope Offset Z <7:0>

GYR_OFFSET_

Y_MSB

0x00

Gyroscope Offset Y <15:8>

GYR_OFFSET_

Y_LSB

0x00

Gyroscope Offset Y <7:0>

GYR_OFFSET_

X_MSB

0x00

Gyroscope Offset X <15:8>

GYR_OFFSET_

X_LSB

0x00

Gyroscope Offset X <7:0>

MAG_OFFSET

_Z_MSB

0x00

Magnetometer Offset Z <15:8>

MAG_OFFSET

_Z_LSB

0x00

Magnetometer Offset Z <7:0>

MAG_OFFSET

_Y_MSB

0x00

Magnetometer Offset Y <15:8>

MAG_OFFSET

_Y_LSB

0x00

Magnetometer Offset Y <7:0>

MAG_OFFSET

_X_MSB

0x00

Magnetometer Offset X <15:8>

MAG_OFFSET

_X_LSB

0x00

Magnetometer Offset X <7:0>

ACC_OFFSET_

Z_MSB

0x00

Accelerometer Offset Z <15:8>

ACC_OFFSET_

Z_LSB

0x00

Accelerometer Offset Z <7:0>

ACC_OFFSET_

Y_MSB

0x00

Accelerometer Offset Y <15:8>

ACC_OFFSET_

Y_LSB

0x00

Accelerometer Offset Y <7:0>

ACC_OFFSET_

X_MSB

0x00

Accelerometer Offset X <15:8>

ACC_OFFSET_

X_LSB

0x00

Accelerometer Offset X <7:0>

43 - 54

Reserved

0x00

4.2 Register map

The register map is separated into two logical pages, Page 1 contains sensor specific configuration data and Page 0 contains all other configuration parameters and output data.

At power-on Page 0 is selected, the PAGE_ID register can be used to identify the current selected page and change between page 0 and page 1.

4.2.1 Register map Page 0

Table 4-1: Register Access Coding

Table 4-2: Register Map Page 0

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Default

Value

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

AXIS_MAP_SI

TBD

Remappe

d X axis

sign

Remappe

d Y axis

sign

Remappe

d Z axis

sign

AXIS_MAP_CO

NFIG

TBD

Remapped Z axis

value

Remapped Y axis

value

Remapped X axis

value

TEMP_SOURC

0x02

TEMP_Source <1:0>

SYS_TRIGGER

0x00

CLK_S

RST_IN

RST_S

Self_Test

PWR_MODE

0x00 Power Mode <1:0>

OPR_MODE

0x1C Operation Mode <3:0>

Reserved

0xFF

UNIT_SEL

0x80

ORI_An

droid_W

indows

TEMP_U

nit

EUL_Unit

GYR_Unit

ACC_Unit

SYS_ERR

0x00

System Error Code

SYS_STATUS

0x00

System Status Code

SYS_CLK_STA

TUS

0x00

ST_MAI

N_CLK

INT_STA

0x00

ACC_N

ACC_A

ACC_HI

GH_G

GYR_HIG

H_RATE

GYRO_A

ST_RESULT

0x0F

ST_MCU

ST_GYR

ST_MAG

ST_ACC

CALIB_STAT

0x00

SYS Calib Status

0:3

GYR Calib Status

0:3

ACC Calib Status 0:3

MAG Calib Status 0:3

TEMP

0x00

Temperature

GRV_Data_Z_

MSB

0x00

Gravity Vector Data Z <15:8>

GRV_Data_Z_L

0x00

Gravity Vector Data Z <7:0>

GRV_Data_Y_

MSB

0x00

Gravity Vector Data Y <15:8>

GRV_Data_Y_L

0x00

Gravity Vector Data Y <7:0>

GRV_Data_X_

MSB

0x00

Gravity Vector Data X <15:8>

GRV_Data_X_L

0x00

Gravity Vector Data X <7:0>

LIA_Data_Z_M

0x00

Linear Acceleration Data Z <15:8>

LIA_Data_Z_LS

0x00

Linear Acceleration Data Z <7:0>

LIA_Data_Y_M

0x00

Linear Acceleration Data Y <15:8>

LIA_Data_Y_LS

0x00

Linear Acceleration Data Y <7:0>

LIA_Data_X_M

0x00

Linear Acceleration Data X <15:8>

LIA_Data_X_LS

0x00

Linear Acceleration Data X <7:0>

QUA_Data_z_

MSB

0x00

Quaternion z Data <15:8>

QUA_Data_z_L

0x00

Quaternion z Data <7:0>

QUA_Data_y_

MSB

0x00

Quaternion y Data <15:8>

QUA_Data_y_L

0x00

Quaternion y Data <7:0>

QUA_Data_x_

MSB

0x00

Quaternion x Data <15:8>

QUA_Data_x_L

0x00

Quaternion x Data <7:0>

QUA_Data_w_

MSB

0x00

Quaternion w Data <15:8>

QUA_Data_w_L

0x00

Quaternion w Data <7:0>

EUL_Pitch_MS

0x00

Pitch Data <15:8>

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Default

Value

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

EUL_Pitch_LSB

0x00

Pitch Data <7:0>

EUL_Roll_MSB

0x00

Roll Data <15:8>

EUL_Roll_LSB

0x00

Roll Data <7:0>

EUL_Heading_

MSB

0x00

Heading Data <15:8>

EUL_Heading_

LSB

0x00

Heading Data <7:0>

GYR_DATA_Z_

MSB

0x00

Gyroscope Data Z <15:8>

GYR_DATA_Z_

LSB

0x00

Gyroscope Data Z <7:0>

GYR_DATA_Y_

MSB

0x00

Gyroscope Data Y <15:8>

GYR_DATA_Y_

LSB

0x00

Gyroscope Data Y <7:0>

GYR_DATA_X_

MSB

0x00

Gyroscope Data X <15:8>

GYR_DATA_X_

LSB

0x00

Gyroscope Data X <7:0>

MAG_DATA_Z_

MSB

0x00

Magnetometer Data Z <15:8>

MAG_DATA_Z_

LSB

0x00

Magnetometer Data Z <7:0>

MAG_DATA_Y

_MSB

0x00

Magnetometer Data Y <15:8>

MAG_DATA_Y

_LSB

0x00

Magnetometer Data Y <7:0>

MAG_DATA_X

_MSB

0x00

Magnetometer Data X <15:8>

MAG_DATA_X

_LSB

0x00

Magnetometer Data X <7:0>

ACC_DATA_Z_

MSB

0x00

Acceleration Data Z <15:8>

ACC_DATA_Z_

LSB

0x00

Acceleration Data Z <7:0>

ACC_DATA_Y_

MSB

0x00

Acceleration Data Y <15:8>

ACC_DATA_Y_

LSB

0x00

Acceleration Data Y <7:0>

ACC_DATA_X_

MSB

0x00

Acceleration Data X <15:8>

ACC_DATA_X_

LSB

0x00

Acceleration Data X <7:0>

Page ID

0x00

Page ID

BL_Rev_ID

Bootloader Version

SW_REV_ID_M

0x036

SW Revision ID <15:8>

SW_REV_ID_L

0x087

SW Revision ID <7:0>

GYR_ID

0x0F

GYRO chip ID

MAG_ID

0x32

MAG chip ID

ACC_ID

0xFB

ACC chip ID

CHIP_ID

0xA0

BNO055 CHIP ID

The current software version is 0.3.0.8 and therefore the SW_REV_ID_MSB is 0x03. However the register

default value is subject to change with respect to the updated software.

The current software version is 0.3.0.8 and therefore the SW_REV_ID_LSB is 0x08. However the register

default value is subject to change with respect to the updated software.

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Default

Value

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

7F-60

Reserved

0x00

5F - 50

UNIQUE_ID

n.a.

BNO unique ID

4F - 20

Reserved

0x00

GYR_AM_SET

0x0A

Awake Duration

<1:0>

Slope Samples <1:0>

GYR_AM_THR

0x04

Gyro Any Motion Threshold <6:0>

GYR_DUR_Z

0x19

HR_Z_Duration

GYR_HR_Z_S

0x01

HR_Z_THRES_

HYST <1:0>

HR_Z_Threshold <4:0>

GYR_DUR_Y

0x19

HR_Y_Duration

GYR_HR_Y_S

0x01

HR_Y_THRES_

HYST <1:0>

HR_Y_Threshold <4:0>

GYR_DUR_X

0x19

HR_X_Duration

GYR_HR_X_S

0x01

HR_X_THRES_

HYST <1:0>

HR_X_Threshold <4:0>

GYR_INT_SET

ING

0x00

HR_FIL

AM_FIL

HR_Z_

AXIS

HR_Y_A

XIS

HR_X_A

XIS

AM_Z_A

XIS

AM_Y_A

XIS

AM_X_AXIS

ACC_NM_SET

0x0B

NO/SLOW Motion Duration <5:0>

SMNM

ACC_NM_THR

0x0A

Accelerometer NO/SLOW motion threshold

ACC_HG_THR

0xC0

Accelerometer High G Threshold

ACC_HG_DUR

ATION

0x0F

Accelerometer High G Duration

ACC_INT_Setti

ngs

0x03

HG_Z_

AXIS

HG_Y_

AXIS

HG_X_

AXIS

AM/NM_

Z_AXIS

AM/NM_

Y_AXIS

AM/NM_

X_AXIS

AM_DUR <1:0>

ACC_AM_THR

0x14

Accelerometer Any motion threshold

INT_EN

0x00

ACC_N

ACC_A

ACC_H

IGH_G

GYR_HI

GH_RAT

GYRO_A

INT_MSK

0x00

ACC_N

ACC_A

ACC_H

IGH_G

GYR_HI

GH_RAT

GYRO_A

Reserved

0x00

GYR_Sleep_C

onfig

0x00

AUTO_SLP_DURATION

<2:0>

SLP_DURATION <2:0>

ACC_Sleep_C

onfig

0x00 SLP_DURATION <3:0>

SLP_MODE

GYR_Config_1

0x00

GYR_Power_Mode <2:0>

GYR_Config_0

0x38 GYR_Bandwidth <2:0>

GYR_Range <2:0>

MAG_Config

0x6D

MAG_Power_mo

de <1:0>

MAG_OPR_Mode

<1:0>

MAG_Data_output_rate <2:0>

ACC_Config

0x0D

ACC_PWR_Mode <2:0>

ACC_BW <2:0>

ACC_Range <1:0>

Page ID

0x01

Page ID

6 - 0

Reserved

n.a.

4.2.2 Register map Page 1

Table4-3: Register Map Page 1

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 1 0 1 0 0 0 0 0

Content

BNO055 CHIP ID

DATA

bits

Description

BNO055 CHIP ID

<7:0>

Chip identification code, read-only fixed value 0xA0

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r R r

Reset

0xFB

Content

ACC chip ID

DATA

bits

Description

ACC chip ID

<7:0>

Chip ID of the Accelerometer device, read-only fixed value 0xFB

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r R r

Reset

0x32

Content

MAG chip ID

DATA

bits

Description

MAG chip ID

<7:0>

Chip ID of the Magnetometer device, read-only fixed value 0x32

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r R r

Reset

0x0F

Content

GRYO chip ID

DATA

bits

Description

GYRO chip ID

<7:0>

Chip ID of the Gyroscope device, read-only fixed value 0x0F

4.3 Register description (Page 0)

4.3.1 CHIP_ID 0x00

4.3.2 ACC_ID 0x01

4.3.3 MAG_ID 0x02

4.3.4 GYR_ID 0x03

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 56

BNO055

Data sheet

Page 56

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset

Content

SW Revision ID <7:0>

DATA

bits

Description

SW Revision ID <7:0>

<7:0>

Lower byte of SW Revision ID, read-only fixed value depending on SW revision programmed

on microcontroller

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset

Content

SW Revision ID <15:8>

DATA

bits

Description

SW Revision ID <15:8>

<7:0>

Upper byte of SW Revision ID, read-only fixed value depending on SW revision programmed

on microcontroller

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset

Content

Bootloader Version

DATA

bits

Description

Bootloader Version

<7:0>

Identifies the version of the bootloader in the microcontroller, read-only

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 0 0 0 0

Content

Page ID

DATA

bits

Description

Page ID

<7:0>

Read: Number of currently selected page

Write: Change page, 0x00 or 0x01

4.3.5 SW_REV_ID_LSB 0x04

4.3.6 SW_REV_ID_MSB 0x05

4.3.7 BL_REV_ID 0x06

4.3.8 PAGE ID 0x07

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 57

BNO055

Data sheet

Page 57

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Acceleration Data X <7:0>

DATA

bits

Description

Acceleration Data

X <7:0>

<7:0>

Lower byte of X axis Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Acceleration Data X <15:8>

DATA

bits

Description

Acceleration Data

X <15:8>

<7:0>

Upper byte of X axis Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Acceleration Data Y <7:0>

DATA

bits

Description

Acceleration Data

Y <7:0>

<7:0>

Lower byte of Y axis Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Acceleration Data Y <15:8>

DATA

bits

Description

Acceleration Data

Y <15:8>

<7:0>

Upper byte of Y axis Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.9 ACC_DATA_X_LSB 0x08

4.3.10 ACC_DATA_X_MSB 0x09

4.3.11 ACC_DATA_Y_LSB 0x0A

4.3.12 ACC_DATA_Y_MSB 0x0B

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 58

BNO055

Data sheet

Page 58

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Acceleration Data Z <7:0>

DATA

bits

Description

Acceleration Data

Z <7:0>

<7:0>

Lower byte of Z axis Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Acceleration Data Z <15:8>

DATA

bits

Description

Acceleration Data

Z <15:8>

<7:0>

Upper byte of Z axis Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Magnetometer Data X <7:0>

DATA

bits

Description

Magnetometer

Data X <7:0>

<7:0>

Lower byte of X axis Magnetometer data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Magnetometer Data X <15:8>

DATA

bits

Description

Magnetometer

Data X <15:8>

<7:0>

Upper byte of X axis Magnetometer data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.13 ACC_DATA_Z_LSB 0x0C

4.3.14 ACC_DATA_Z_MSB 0x0D

4.3.15 MAG_DATA_X_LSB 0x0E

4.3.16 MAG_DATA_X_MSB 0x0F

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 59

BNO055

Data sheet

Page 59

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Magnetometer Data Y <7:0>

DATA

bits

Description

Magnetometer

Data Y <7:0>

<7:0>

Lower byte of Y axis Magnetometer data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Magnetometer Data Y <15:8>

DATA

bits

Description

Magnetometer

Data Y <15:8>

<7:0>

Upper byte of Y axis Magnetometer data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Magnetometer Data Z <7:0>

DATA

bits

Description

Magnetometer

Data Z <7:0>

<7:0>

Lower byte of Z axis Magnetometer data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Magnetometer Data Z <15:8>

DATA

bits

Description

Magnetometer

Data Z <15:8>

<7:0>

Upper byte of Z axis Magnetometer data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.17 MAG_DATA_Y_LSB 0x10

4.3.18 MAG_DATA_Y_MSB 0x11

4.3.19 MAG_DATA_Z_LSB 0x12

4.3.20 MAG_DATA_Z_MSB 0x13

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 60

BNO055

Data sheet

Page 60

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gyroscope Data X <7:0>

DATA

bits

Description

Gyroscope Data

X <7:0>

<7:0>

Lower byte of X axis Gyroscope data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gyroscope Data X <15:8>

DATA

bits

Description

Gyroscope Data

X <15:8>

<7:0>

Upper byte of X axis Gyroscope data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gyroscope Data Y <7:0>

DATA

bits

Description

Gyroscope Data

Y <7:0>

<7:0>

Lower byte of Y axis Gyroscope data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gyroscope Data Y <15:8>

DATA

bits

Description

Gyroscope Data

Y <15:8>

<7:0>

Upper byte of Y axis Gyroscope data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.21 GYR_DATA_X_LSB 0x14

4.3.22 GYR_DATA_X_MSB 0x15

4.3.23 GYR_DATA_Y_LSB 0x16

4.3.24 GYR_DATA_Y_MSB 0x17

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 61

BNO055

Data sheet

Page 61

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gyroscope Data Z <7:0>

DATA

bits

Description

Gyroscope Data Z

<7:0>

Lower byte of Z axis Gyroscope data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gyroscope Data Z <15:8>

DATA

bits

Description

Gyroscope Data Z

<15:8>

<7:0>

Upper byte of Z axis Gyroscope data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Heading Data <7:0>

DATA

bits

Description

Heading Data

<7:0>

Lower byte of heading data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Heading Data <15:8>

DATA

bits

Description

Heading Data

<15:8>

<7:0>

Upper byte of heading data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.25 GYR_DATA_Z_LSB 0x18

4.3.26 GYR_DATA_Z_MSB 0x19

4.3.27 EUL_DATA_X_LSB 0x1A

4.3.28 EUL_DATA_X_MSB 0x1B

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 62

BNO055

Data sheet

Page 62

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Roll Data <7:0>

DATA

bits

Description

Roll Data <7:0>

<7:0>

Lower byte of roll data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Roll Data <15:8>

DATA

bits

Description

Roll Data <15:8>

<7:0>

Upper byte of Y axis roll data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Pitch Data <7:0>

DATA

bits

Description

Pitch Data <7:0>

<7:0>

Lower byte of pitch data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Pitch Data <15:8>

DATA

bits

Description

Pitch Data <15:8>

<7:0>

Upper byte of pitch data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.29 EUL_DATA_Y_LSB 0x1C

4.3.30 EUL_DATA_Y_MSB 0x1D

4.3.31 EUL_DATA_Z_LSB 0x1E

4.3.32 EUL_DATA_Z_MSB 0x1F

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 63

BNO055

Data sheet

Page 63

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Quaternion Data W <7:0>

DATA

bits

Description

Quaternion Data

W <7:0>

<7:0>

Lower byte of w axis Quaternion data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Quaternion Data W <15:8>

DATA

bits

Description

Quaternion Data

W <15:8>

<7:0>

Upper byte of w axis Quaternion data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Quaternion Data X <7:0>

DATA

bits

Description

Quaternion Data

X <7:0>

<7:0>

Lower byte of X axis Quaternion data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Quaternion Data X <15:8>

DATA

bits

Description

Quaternion Data

X <15:8>

<7:0>

Upper byte of X axis Quaternion data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.33 QUA_DATA_W_LSB 0x20

4.3.34 QUA_DATA_W_MSB 0x21

4.3.35 QUA_DATA_X_LSB 0x22

4.3.36 QUA_DATA_X_MSB 0x23

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 64

BNO055

Data sheet

Page 64

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Quaternion Data Y <7:0>

DATA

bits

Description

Quaternion Data

Y <7:0>

<7:0>

Lower byte of Y axis Quaternion data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Quaternion Data Y <15:8>

DATA

bits

Description

Quaternion Data

Y <15:8>

<7:0>

Upper byte of Y axis Quaternion data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Quaternion Data Z <7:0>

DATA

bits

Description

Quaternion Data

Z <7:0>

<7:0>

Lower byte of Z axis Quaternion data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Quaternion Data Z <15:8>

DATA

bits

Description

Quaternion Data

Z <15:8>

<7:0>

Upper byte of Z axis Quaternion data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.37 QUA_DATA_Y_LSB 0x24

4.3.38 QUA_DATA_Y_MSB 0x25

4.3.39 QUA_DATA_Z_LSB 0x26

4.3.40 QUA_DATA_Z_MSB 0x27

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 65

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Data sheet

Page 65

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Linear Acceleration Data X <7:0>

DATA

bits

Description

Linear

Acceleration Data

X <7:0>

<7:0>

Lower byte of X axis Linear Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Linear Acceleration Data X <15:8>

DATA

bits

Description

Linear

Acceleration Data

X <15:8>

<7:0>

Upper byte of X axis Linear Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Linear Acceleration Data Y <7:0>

DATA

bits

Description

Linear

Acceleration Data

Y <7:0>

<7:0>

Lower byte of Y axis Linear Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Linear Acceleration Data Y <15:8>

DATA

bits

Description

Linear

Acceleration Data

Y <15:8>

<7:0>

Upper byte of Y axis Linear Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.41 LIA_DATA_X_LSB 0x28

4.3.42 LIA_DATA_X_MSB 0x29

4.3.43 LIA_DATA_Y_LSB 0x2A

4.3.44 LIA_DATA_Y_MSB 0x2B

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

Page 66

BNO055

Data sheet

Page 66

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Linear Acceleration Data Z <7:0>

DATA

bits

Description

Linear

Acceleration Data

Z <7:0>

<7:0>

Lower byte of Z axis Linear Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Linear Acceleration Data Z <15:8>

DATA

bits

Description

Linear

Acceleration Data

Z <15:8>

<7:0>

Upper byte of Z axis Linear Acceleration data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gravity Vector Data X <7:0>

DATA

bits

Description

Gravity Vector

Data X <7:0>

<7:0>

Lower byte of X axis Gravity Vector data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gravity Vector Data X <15:8>

DATA

bits

Description

Gravity Vector

Data X <15:8>

<7:0>

Upper byte of X axis Gravity Vector data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.45 LIA_DATA_Z_LSB 0x2C

4.3.46 LIA_DATA_Z_MSB 0x2D

4.3.47 GRV_DATA_X_LSB 0x2E

4.3.48 GRV_DATA_X_MSB 0x2F

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gravity Vector Data Y <7:0>

DATA

bits

Description

Gravity Vector

Data Y <7:0>

<7:0>

Lower byte of Y axis Gravity Vector data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gravity Vector Data Y <15:8>

DATA

bits

Description

Gravity Vector

Data Y <15:8>

<7:0>

Upper byte of Y axis Gravity Vector data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gravity Vector Data Z <7:0>

DATA

bits

Description

Gravity Vector

Data Z <7:0>

<7:0>

Lower byte of Z axis Gravity Vector data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Gravity Vector Data Z <15:8>

DATA

bits

Description

Gravity Vector

Data Z <15:8>

<7:0>

Upper byte of Z axis Gravity Vector data, read only

The output units can be selected using the UNIT_SEL register and data output type can be

changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

4.3.49 GRV_DATA_Y_LSB 0x30

4.3.50 GRV_DATA_Y_MSB 0x31

4.3.51 GRV_DATA_Z_LSB 0x32

4.3.52 GRV_DATA_Z_MSB 0x33

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Temperature

DATA

bits

Description

Temperature

<7:0>

Temperature data, read only

The output units can be selected using the UNIT_SEL register and data output source can be

selected by updating the TEMP_SOURCE register, see section 3.6.5.8

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

SYS Calib Status <0:1>

GYR Calib Status <0:1>

ACC Calib Status <0:1>

MAG Calib Status <0:1>

DATA

bits

Description

SYS Calib Status

<0:1>

<7:6>

Current system calibration status, depends on status of all sensors, read-only

Read: 3 indicates fully calibrated; 0 indicates not calibrated

GYR Calib Status

<0:1>

<5:4>

Current calibration status of Gyroscope, read-only

Read: 3 indicates fully calibrated; 0 indicates not calibrated

ACC Calib Status

<0:1>

<3:2>

Current calibration status of Accelerometer, read-only

Read: 3 indicates fully calibrated; 0 indicates not calibrated

MAG Calib Status

<0:1>

<1:0>

Current calibration status of Magnetometer, read-only

Read: 3 indicates fully calibrated; 0 indicates not calibrated

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 1 1 1 1

Content

Reserved

ST_MCU

ST_GYR

ST_MAG

ST_ACC

DATA

bits

Description

ST_MCU

Microcontroller self test result.

Read: 1 indicated test passed; 0 indicates test failed

ST_GYR

Gyroscope self test result.

Read: 1 indicated test passed; 0 indicates test failed

ST_MAG

Magnetometer self test result.

Read: 1 indicated test passed; 0 indicates test failed

ST_ACC

Accelerometer self test result.

Read: 1 indicated test passed; 0 indicates test failed

4.3.53 TEMP 0x34

4.3.54 CALIB_STAT 0x35

4.3.55 ST_RESULT 0x36

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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Page 69

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0

Content

ACC_NM

ACC_AM

ACC_HIG

H_G

Reserved

GYR_HIG

H_RATE

GYRO_AM

Reserved

DATA

bits

Description

ACC_NM

Status of Accelerometer no motion or slow motion interrupt, read only Read: 1 indicates interrupt triggered; 0 indicates no interrupt triggered

ACC_AM

Status of Accelerometer any motion interrupt, read only Read: 1 indicates interrupt triggered; 0 indicates no interrupt triggered

ACC_HIGH_G

Status of Accelerometer high-g interrupt, read only Read: 1 indicates interrupt triggered; 0 indicates no interrupt triggered

GYR_HIGH_RATE

Status of gyroscope high rate interrupt, read only Read: 1 indicates interrupt triggered; 0 indicates no interrupt triggered

GYRO_AM

Status of gyroscope any motion interrupt, read only Read: 1 indicates interrupt triggered; 0 indicates no interrupt triggered

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

Reserved

Reserved Reserved

Reserved

ST_MAIN_

CLK

DATA

bits

Description

Indicates that, it is Free to configure the CLK SRC (External or Internal)

Indicates that, it is in Configuration state

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 0

Content

System Status Code

DATA

bits

Description

System Status

Code

<7:0>

Read: 0 System idle, 1 System Error, 2 Initializing peripherals 3 System Initialization 4 Executing selftest, 5 Sensor fusion algorithm running, 6 System running without fusion algorithm

4.3.56 INT_STA 0x37

4.3.57 SYS_CLK_STATUS 0x38

4.3.58 SYS_STATUS 0x39

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset

Content

System Error Code

DATA

bits

Description

System Error

Code

<7:0>

Read the error status from this register if the SYS_STATUS (0x39) register is SYSTEM ERROR (0x01)

Read : 0 No error 1 Peripheral initialization error 2 System initialization error 3 Self test result failed 4 Register map value out of range 5 Register map address out of range 6 Register map write error 7 BNO low power mode not available for selected operation mode 8 Accelerometer power mode not available 9 Fusion algorithm configuration error A Sensor configuration error

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 0 0

Content

ORI_Andro id_Windows reserved

TEMP_Uni

reserved

EUL_Unit

GYR_Unit

ACC_Unit

DATA

bits

Description

ORI_Android_Win

dows

Read: Current selected orientation mode

Write: Select orientation mode

0: Windows orientation

1: Android orientation

See section 3.6.2 for more details

TEMP_Unit

Read: Current selected temperature units

Write: Select temperature units

0: Celsius

1: Fahrenheit

See section 3.6.1 for more details

EUL_Unit

Read: Current selected Euler units

Write: Select Euler units

0: Degrees 1: Radians

See section 3.6.1 for more details

GYR_Unit

Read: Current selected angular rate units

Write: Select angular rate units

0: dps

1: rps

See section 3.6.1 for more details

ACC_Unit

Read: Current selected acceleration units

Write: Select acceleration units

0: m/s2

1: mg

See section 3.6.1 for more details

4.3.59 SYS_ERR 0x3A

4.3.60 UNIT_SEL 0x3B

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset Content

Reserved

Operation Mode <3:0>

DATA

bits

Description

Operation Mode

<3:0>

Read: Current selected operation mode

Write: Select operation mode

See section 3.3 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Reserved

Power Mode <1:0>

DATA

bits

Description

Power Mode

<1:0>

Read: Current selected power mode

Write: Select power mode

See section 0 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

w w w

Reset 0 0 0 0

Content

CLK_SEL

RST_INT

RST_SYS

Self_Test

DATA

bits

Description

CLK_SEL

0: Use internal oscillator

1: Use external oscillator. Set this bit only if external crystal is connected

RST_INT

Set to reset all interrupt status bits, and INT output

RST_SYS

Set to reset system

Self_Test

Set to trigger self test

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Reserved

TEMP_Source <1:0>

DATA

bits

Description

TEMP_Source

<1:0>

See section 3.6.5.8 for details

4.3.61 OPR_MODE 0x3D

4.3.62 PWR_MODE 0x3E

4.3.63 SYS_TRIGGER 0x3F

4.3.64 TEMP_SOURCE 0x40

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Reserved

Remapped Z axis value

Remapped Y axis value

Remapped X axis value

DATA

bits

Description

Remapped Z axis

value

<5:4>

See section 3.4 for details

Remapped Y axis

value

<3:2>

See section 3.4 for details

Remapped X axis

value

<1:0>

See section 3.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r/w

r/w

Reset

Content

Reserved

Remapped X axis sign

Remapped Y axis sign

Remapped Z axis sign DATA

bits

Description

Remapped X axis

sign

See section 3.4 for details

Remapped Y axis

sign

See section 3.4 for details

Remapped Z axis

sign

See section 3.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Accelerometer Offset X <7:0>

DATA

bits

Description

Accelerometer

Offset X <7:0>

<7:0>

See section 3.6.4 for details

4.3.65 AXIS_MAP_CONFIG 0x41

4.3.66 AXIS_MAP_SIGN 0x42

4.3.67 ACC_OFFSET_X_LSB 0x55

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Accelerometer Offset X <15:8>

DATA

bits

Description

Accelerometer

Offset X <15:8>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Accelerometer Offset Y <7:0>

DATA

bits

Description

Accelerometer

Offset Y <7:0>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Accelerometer Offset Y <15:8>

DATA

bits

Description

Accelerometer

Offset Y <15:8>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Accelerometer Offset Z <7:0>

DATA

bits

Description

Accelerometer

Offset Z <7:0>

<7:0>

See section 3.6.4 for details

4.3.68 ACC_OFFSET_X_MSB 0x56

4.3.69 ACC_OFFSET_Y_LSB 0x57

4.3.70 ACC_OFFSET_Y_MSB 0x58

4.3.71 ACC_OFFSET_Z_LSB 0x59

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Accelerometer Offset Z <15:8>

DATA

bits

Description

Accelerometer

Offset Z <15:8>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Magnetometer Data X <7:0>

DATA

bits

Description

Magnetometer

Offset X <7:0>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Magnetometer Offset X <15:8>

DATA

bits

Description

Magnetometer

Offset X <15:8>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Magnetometer Offset Y <7:0>

DATA

bits

Description

Magnetometer

Offset Y <7:0>

<7:0>

See section 3.6.4 for details

4.3.72 ACC_OFFSET_Z_MSB 0x5A

4.3.73 MAG_OFFSET_X_LSB 0x5B

4.3.74 MAG_OFFSET_X_MSB 0x56C

4.3.75 MAG_OFFSET_Y_LSB 0x5D

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Magnetometer Offset Y <15:8>

DATA

bits

Description

Magnetometer

Offset Y <15:8>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Magnetometer Offset Z <7:0>

DATA

bits

Description

Magnetometer

Offset Z <7:0>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Magnetometer Offset Z <15:8>

DATA

bits

Description

Magnetometer

Offset Z <15:8>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Gyroscope Data X <7:0>

DATA

bits

Description

Gyroscope Offset

X <7:0>

<7:0>

See section 3.6.4 for details

4.3.76 MAG_OFFSET_Y_MSB 0x5E

4.3.77 MAG_OFFSET_Z_LSB 0x5F

4.3.78 MAG_OFFSET_Z_MSB 0x60

4.3.79 GYR_OFFSET_X_LSB 0x61

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Gyroscope Offset X <15:8>

DATA

bits

Description

Gyroscope Offset

X <15:8>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Gyroscope Offset Y <7:0>

DATA

bits

Description

Gyroscope Offset

Y <7:0>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Gyroscope Offset Y <15:8>

DATA

bits

Description

Gyroscope Offset

Y <15:8>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Gyroscope Offset Z <7:0>

DATA

bits

Description

Gyroscope Offset

Z <7:0>

<7:0>

See section 3.6.4 for details

4.3.80 GYR_OFFSET_X_MSB 0x62

4.3.81 GYR_OFFSET_Y_LSB 0x63

4.3.82 GYR_OFFSET_Y_MSB 0x64

4.3.83 GYR_OFFSET_Z_LSB 0x65

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Gyroscope Offset Z <15:8>

DATA

bits

Description

Gyroscope Offset

Z <15:8>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Accelerometer Radius <7:0>

DATA

bits

Description

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Accelerometer Radius <15:8>

DATA

bits

Description

Gyroscope Offset

Z <15:8>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Magnetometer Radius <7:0>

DATA

bits

Description

Gyroscope Offset

Z <7:0>

<7:0>

See section 3.6.4 for details

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

Magnetometer Radius <15:8>

DATA

bits

Description

Gyroscope Offset

Z <15:8>

<7:0>

See section 3.6.4 for details

Gyroscope Offset

Z <7:0>

<7:0>

See section 3.6.4for details

4.3.84 GYR_OFFSET_Z_MSB 0x66

4.3.85 ACC_RADIUS_LSB 0x67

4.3.86 ACC_RADIUS_MSB 0x68

4.3.87 MAG_RADIUS_LSB 0x69

4.3.88 MAG_RADIUS_MSB 0x6A

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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Note: Specifications within this document are subject to change without notice.

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 0 0 0 0

Content

Page ID

DATA

bits

Description

Page ID

<7:0>

Read: Number of currently selected page

Write: Change page, 0x00 or 0x01

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 1 1 0 1

Content

ACC_PWR_Mode <2:0>

ACC_BW <2:0>

ACC_Range <1:0>

DATA

bits

Description

ACC_PWR_Mode

<2:0>

<7:5>

Read: current selected power mode

Write: can only be changed in sensor mode, see section 3.5.2

ACC_BW <2:0>

<4:3>

Read: current selected bandwidth

Write: can only be changed in sensor mode, see section 3.5.2

ACC_Range <1:0>

<2:0>

Read: current selected range

Write: can only be changed in sensor mode, see section 3.5.2

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 1 0 1 1

Content

reserved

MAG_Power_mode

<1:0>

MAG_OPR_Mode <1:0>

MAG_Data_output_rate <2:0>

DATA

bits

Description

MAG_Power_mod

e <1:0>

<6:5>

Read: current selected power mode

Write: can only be changed in sensor mode, see section 3.5.4

MAG_OPR_Mode

<1:0>

<4:3>

Read: current selected operation mode

Write: can only be changed in sensor mode, see section 3.5.4

MAG_Data_output

_rate <2:0>

<2:0>

Read: current selected data output rate

Write: can only be changed in sensor mode, see section 3.5.4

4.4 Register description (Page 1)

4.4.1 Page ID 0x07

4.4.2 ACC_Config 0x08

4.4.3 MAG_Config 0x09

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.

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Data sheet

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 1 1 1 0 0 0

Content

reserved

GYR_Bandwidth <2:0>

GYR_Range <2:0>

DATA

bits

Description

GYR_Bandwidth

<2:0>

<5:3>

Read: current selected bandwidth

Write: can only be changed in sensor mode, see section 3.5.3

GYR_Range <2:0>

<2:0>

Read: current selected range

Write: can only be changed in sensor mode, see section 3.5.3

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 0 0 0 0

Content

reserved

GYR_Power_Mode <2:0>

DATA

bits

Description

GYR_Power_Mod

e <2:0>

<2:0>

Read: current selected power mode

Write: can only be changed in sensor mode, see section 3.5.3

4.4.4 GYR_Config_0 0x0A

4.4.5 GYR_Config_1 0x0B

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

reserved

SLP_DURATION <3:0>

SLP_MOD

DATA

bits

Description

SLP_DURATION

<3:0>

<4:1>

Write: The sleep duration for accelerometer low power mode can be only configured in the

sensor operation mode where no fusion library is running. Following sleep phase duration is

possible to set.

SLP_DURATION

Accelerometer Sleep Phase Duration

0000b

0.5 ms

0001b

0.5 ms

0010b

0.5 ms

0011b

0.5 ms

0100b

0.5 ms

0101b

0.5 ms

0110b

1 ms

0111b

2 ms

1000b

4 ms

1001b

6 ms

1010b

10 ms

1011b

25 ms

1100b

50 ms

1101b

100 ms

1110b

500 ms

1111b

1000 ms

SLP_MODE

The sleep timer mode for accelerometer low power mode can be only configured in the sensor

operation mode where no fusion library is running

Write 0: use event driven time-base mode

1: use equidistant sampling time-base mode

4.4.6 ACC_Sleep_Config 0x0C

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

Content

reserved

AUTO_SLP_DURATION <2:0>

SLP_DURATION <2:0>

DATA

bits

Description

AUTO_SLP_DUR

ATION <2:0>

<5:3>

The Gyroscope can be configures in the advanced power mode to optimize the power

consumption. This can be only done if the selected operation mode in sensor mode. The auto

sleep duration is the wake up duration of gyroscope during the duty cycling between normal

and fast-power up mode. Possible configuration for auto sleep duration are:

Auto sleep duration

Time (ms)

000b

Not allowed

001b

4 ms

010b

5 ms

011b

8 ms

100b

10 ms

101b

15 ms

110b

20 ms

111b

40 ms

SLP_DURATION

<2:0>

The Gyroscope can be configures in the advanced power mode to optimize the power

consumption. This can be only done if the selected operation mode in sensor mode. The sleep

duration is the sleep time of gyroscope during the duty cycling between normal and fast-power

up mode. Possible configuration for sleep duration are:

Sleep duration

Time (ms)

000b

2 ms

001b

4 ms

010b

5 ms

011b

8 ms

100b

10 ms

101b

15 ms

110b

18 ms

111b

20 ms

Gyroscope bandwidth (Hz)

Mini Autosleep duration (ms)

32 Hz

20 ms

64 Hz

10 ms

12 Hz

20 ms

23 Hz

10 ms

47 Hz

5 ms

116 Hz

4 ms

230 Hz

4 ms

Unfiltered (523 Hz)

4 ms

4.4.7 GYR_Sleep_Config 0x0D

The only restriction for the use of the power save mode comes from the configuration of the digital filter bandwidth of gyroscope. For each bandwidth configuration, minimum auto sleep duration must be ensured. For example, for bandwidth = 47Hz, the minimum auto sleep duration is 5ms. This is specified in the table below. For sleep duration, there is no restriction.

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 0

Content

ACC_NM

ACC_AM

ACC_HIG

H_G

reserved

GYR_HIG

H_RATE

GYRO_AM

reserved

DATA

bits

Description

ACC_NM

Masking of Accelerometer no motion or slow motion interrupt, when enabled the interrupt will update the INT_STA register and trigger a change on the INT pin, when disabled only the INT_STA register will be updated. Read: 1: Enabled / 0: Disabled Write: 1: Enable / 0: Disable

ACC_AM

Masking of Accelerometer any motion interrupt, when enabled the interrupt will update the INT_STA register and trigger a change on the INT pin, when disabled only the INT_STA register will be updated. Read: 1: Enabled / 0: Disabled Write: 1: Enable / 0: Disable

ACC_HIGH_G

Masking of Accelerometer high-g interrupt, when enabled the interrupt will update the INT_STA register and trigger a change on the INT pin, when disabled only the INT_STA register will be updated. Read: 1: Enabled / 0: Disabled Write: 1: Enable / 0: Disable

GYR_HIGH_RATE

Masking of gyroscope high rate interrupt, when enabled the interrupt will update the INT_STA register and trigger a change on the INT pin, when disabled only the INT_STA register will be updated. Read: 1: Enabled / 0: Disabled Write: 1: Enable / 0: Disable

GYRO_AM

Masking of gyroscope any motion interrupt, when enabled the interrupt will update the INT_STA register and trigger a change on the INT pin, when disabled only the INT_STA register will be updated. Read: 1: Enabled / 0: Disabled Write: 1: Enable / 0: Disable

4.4.8 INT_MSK 0x0F

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 0

Content

ACC_NM

ACC_AM

ACC_HIG

H_G

reserved

GYR_HIG

H_RATE

GYRO_AM

reserved

DATA

bits

Description

ACC_NM

Status of Accelerometer no motion or slow motion interrupt Read: 1: Enabled / 0: Disabled Write: 1: Enable / 0: Disable interrupt

ACC_AM

Status of Accelerometer any motion interrupt Read: 1: Enabled / 0: Disabled Write: 1: Enable / 0: Disable interrupt

ACC_HIGH_G

Status of Accelerometer high-g interrupt Read: 1: Enabled / 0: Disabled Write: 1: Enable / 0: Disable interrupt

GYR_HIGH_RATE

Status of gyroscope high rate interrupt Read: 1: Enabled / 0: Disabled Write: 1: Enable / 0: Disable interrupt

GYRO_AM

Status of gyroscope any motion interrupt Read: 1: Enabled / 0: Disabled Write: 1: Enable / 0: Disable interrupt

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 1 0 1 0 0

Content

Accelerometer Any motion threshold

DATA

bits

Description

Accelerometer

Any motion

threshold

<7:0>

Threshold used for the any-motion interrupt. The threshold value is dependent on the accelerometer range selected in the ACC_Config register.

1 LSB = 3.91 mg (2-g range) 1 LSB = 7.81 mg (4-g range) 1 LSB = 15.63 mg (8-g range) 1 LSB = 31.25 mg (16-g range)

4.4.9 INT_EN 0x10

4.4.10 ACC_AM_THRES 0x11

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 0 0 1 1

Content

HG_Z_AXI

HG_Y_AXI

HG_X_AXI

AM/NM_Z_

AXIS

AM/NM_Y

_AXIS

AM/NM_X

_AXIS

AM_DUR <1:0>

DATA

bits

Description

HG_Z_AXIS

Select which axis of the accelerometer is used to trigger a high-G interrupt

1: Enabled; 0: Disabled

HG_Y_AXIS

Select which axis of the accelerometer is used to trigger a high-G interrupt

1: Enabled; 0: Disabled

HG_X_AXIS

Select which axis of the accelerometer is used to trigger a high-G interrupt

1: Enabled; 0: Disabled

AM/NM_Z_AXIS

Select which axis of the accelerometer is used to trigger a any motion or no motion interrupt

1: Enabled; 0: Disabled

AM/NM_Y_AXIS

Select which axis of the accelerometer is used to trigger a any motion or no motion interrupt

1: Enabled; 0: Disabled

AM/NM_X_AXIS

Select which axis of the accelerometer is used to trigger a any motion or no motion interrupt

1: Enabled; 0: Disabled

AM_DUR <1:0>

<1:0>

Any motion interrupt triggers if [AM_DUR<1:0>+1] consecutive data points are above the any

motion interrupt threshold define in ACC_AM_THRES register

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 1 1 1 1

Content

Accelerometer High G Duration

DATA

bits

Description

Accelerometer

High G Duration

<7:0>

The high-g interrupt trigger delay according to [ACC_HG_DURATION + 1] * 2 ms in a range

from 2 ms to 512 ms;

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 1 1 0 0 0 0 0 0

Content

Accelerometer High G Threshold

DATA

bits

Description

Accelerometer

High G Threshold

<7:0>

Threshold used high-g interrupt. The threshold value is dependent on the accelerometer range selected in the ACC_Config register.

1 LSB = 7.81 mg (2-g range 1 LSB = 15.63 mg (4-g range) 1 LSB = 31.25 mg (8-g range) 1 LSB = 62.5 mg (16-g range)

4.4.11 ACC_INT_Settings 0x12

4.4.12 ACC_HG_DURATION 0x13

4.4.13 ACC_HG_THRES 0x14

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset

0 0 0 0 1 0 1

Content

Accelerometer NO/SLOW motion threshold

DATA

bits

Description

Accelerometer

NO/SLOW motion

threshold

<7:0>

Threshold used for the Slow motion or no motion interrupt. The threshold value is dependent on the accelerometer range selected in the ACC_Config register.

1 LSB = 3.91 mg (2-g range) 1 LSB = 7.81 mg (4-g range) 1 LSB = 15.63 mg (8-g range) 1 LSB = 31.25 mg (16-g range)

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 1 0 1 1

Content

reserved

slo_no_mot_dur <5:0>

SMNM

DATA

bits

Description

slo_no_mot_dur

<5:0>

<6:1>

Function depends on whether the slow-motion or no-motion interrupt function has been

selected. If the slow-motion interrupt function has been enabled (SMNM = ‘0’) then

[slo_no_mot_dur<1:0>+1] consecutive slope data points must be above the slow/no-motion

threshold (ACC_NM_THRES) for the slow-/no-motion interrupt to trigger. If the no-motion

interrupt function has been enabled (SMNM = ‘1’) then slo_no_motion_dur<5:0> defines the

time for which no slope data points must exceed the slow/no-motion threshold

(ACC_NM_THRES) for the slow/no-motion interrupt to trigger. The delay time in seconds may

be calculated according with the following equation:

slo_no_mot_dur<5:4>=’b00’  [slo_no_mot_dur<3:0> + 1]

slo_no_mot_dur<5:4>=’b01’  [slo_no_mot_dur<3:0> * 4 + 20]

slo_no_mot_dur<5>=’1’  [slo_no_mot_dur<4:0> * 8 + 88]

SMNM

Select slow motion or no motion interrupt

0: Slow motion; 1: No motion

4.4.14 ACC_NM_THRES 0x15

4.4.15 ACC_NM_SET 0x16

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 0 0 0 0

Content

HR_FILT

AM_FILT

HR_Z_AXI

HR_Y_AXI

HR_X_AXI

AM_Z_AXI

AM_Y_AXI

AM_X_AXI

DATA

bits

Description

HR_FILT 7 ‘1’ (‘0’) selects unfiltered (filtered) data for high rate interrupt

AM_FILT 6 ‘1’ (‘0’) selects unfiltered (filtered) data for any motion interrupt

HR_Z_AXIS 5 1’ (‘0’) enables (disables) high rate interrupt for z-axis

HR_Y_AXIS 4 1’ (‘0’) enables (disables) ) high rate interrupt for y-axis

HR_X_AXIS 3 1’ (‘0’) enables (disables) ) high rate interrupt for x-axis

AM_Z_AXIS 2 1’ (‘0’) enables (disables) any motion interrupt for z-axis

AM_Y_AXIS 1 1’ (‘0’) enables (disables) any motion interrupt for y-axis

AM_X_AXIS 0 1’ (‘0’) enables (disables) any motion interrupt for x-axis

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 0 0 0 1

Content

reserved

HR_X_THRES_HYST

<1:0>

HR_X_Threshold <4:0>

DATA

bits

Description

HR_X_THRES_HY

ST <1:0>

<6:5>

High rate hysteresis for X axis = (255 + 256 * HR_X_THRES_HYST) *4 LSB The high rate value scales with the range setting

1 LSB = 62.26°/s in 2000°/s-range 1 LSB = 31.13°/s in 1000°/s-range

1 LSB = 15.56°/s in 500°/s -range

…

HR_X_Threshold

<4:0>

High rate threshold is for the gyroscope X axis. The threshold value is dependent on the gyroscope range selected in the GRY_Config_0 register.

1 LSB = 62.5°/s in 2000°/s-range

1 LSB = 31.25°/s in 1000°/s-range

1 LSB = 15.625°/s in 500°/s -range

…

4.4.16 GYR_INT_SETTING 0x17

4.4.17 GYR_HR_X_SET 0x18

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 1 1 0 0 1

Content

HR_X_Duration

DATA

bits

Description

HR_X_Duration

<7:0>

High rate duration = (1 + HR_X_Duration)*2.5ms

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 1

Content

reserved

HR_Y_THRES_HYST

<1:0>

HR_Y_Threshold <4:0>

DATA

bits

Description

HR_Y_THRES_HY

ST <1:0>

<6:5>

High rate hysteresis for Y axis = (255 + 256 * HR_Y_THRES_HYST) *4 LSB The high rate value scales with the range setting

1 LSB = 62.26°/s in 2000°/s-range 1 LSB = 31.13°/s in 1000°/s-range

1 LSB = 15.56°/s in 500°/s -range

…

HR_Y_Threshold

<4:0>

High rate threshold is for the gyroscope Y axis. The threshold value is dependent on the gyroscope range selected in the GRY_Config_0 register.

1 LSB = 62.5°/s in 2000°/s-range

1 LSB = 31.25°/s in 1000°/s-range

1 LSB = 15.625°/s in 500°/s -range

…

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 1 1 0 0 1

Content

HR_Y_Duration

DATA

bits

Description

HR_Y_Duration

<7:0>

High rate duration = (1 + HR_Y_Duration)*2.5ms

4.4.18 GYR_DUR_X 0x19

4.4.19 GYR_HR_Y_SET 0x1A

4.4.20 GYR_DUR_Y 0x1B

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access r r r r r r r r

Reset 0 0 0 0 0 0 0 1

Content

reserved

HR_Z_THRES_HYST

<1:0>

HR_Z_Threshold <4:0>

DATA

bits

Description

HR_Z_THRES_HY

ST <1:0>

<6:5>

High rate hysteresis for Z axis = (255 + 256 * HR_Z_THRES_HYST) *4 LSB The high rate value scales with the range setting

1 LSB = 62.26°/s in 2000°/s-range 1 LSB = 31.13°/s in 1000°/s-range

1 LSB = 15.56°/s in 500°/s -range

…

HR_Z_Threshold

<4:0>

High rate threshold is for the gyroscope Z axis. The threshold value is dependent on the gyroscope range selected in the GRY_Config_0 register.

1 LSB = 62.5°/s in 2000°/s-range

1 LSB = 31.25°/s in 1000°/s-range

1 LSB = 15.625°/s in 500°/s -range

…

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 1 1 0 0 1

Content

HR_Z_Duration

DATA

bits

Description

HR_Z_Duration

<7:0>

High rate duration = (1 + HR_Z_Duration)*2.5ms

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 0 1 0 0

Content

reserved

Gyro Any Motion Threshold <6:0>

DATA

bits

Description

Gyro Any Motion

Threshold <6:0>

<6:0>

Any motion threshold is for the gyroscope any motion interrupt. The threshold value is dependent on the gyroscope range selected in the GRY_Config_0 register.

1 LSB = 1 °/s in 2000°/s-range

1 LSB = 0.5°/s in 1000°/s-range

1 LSB = 0.25°/s in 500°/s -range

…

4.4.21 GYR_HR_Z_SET 0x1C

4.4.22 GYR_DUR_Z 0x1D

4.4.23 GYR_AM_THRES 0x1E

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

Access

r/w

Reset 0 0 0 0 1 0 1 0

Content

reserved

Awake Duration <1:0>

Slope Samples <1:0>

DATA

bits

Description

Awake Duration

<1:0>

<3:2>

0=8 samples, 1=16 samples, 2=32 samples, 3=64 samples

Slope Samples

<1:0>

Any motion interrupt triggers if [Slope Samples + 1]*4 consecutive data points are above the

any motion interrupt threshold define in GYRO_AM_THRES register

4.4.24 GYR_AM_SET 0x1F

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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PS1

PS0

Functionality

0 0 Standard/Fast I2C Interface

0 1 HID over I2C

1 0 UART Interface

1 1 Reserved

I2C Interfaces (PS1=0b0)

UART Interface (PS1.PS0=0b10)

COM0

SDA

COM1

SCL

COM2

GNDIO

COM3

I2C address select

Parameter

Symbol

Condition

Min

Typ

Max

Units

Pull-up Resistance,

COM3 pin

Rup

Internal Pull-up

Resistance to

VDDIO

k

Input Capacitance

Cin 5 10

I²C Bus Load

Capacitance (max.

drive capability)

I2C_Load

400

4.5 Digital Interface

The BNO055 supports two digital interfaces for communication between the salve and host device: I2C which supports the HID-I2C protocol and I2C Standard and Fast modes; and the UART interface.

The active interface is selected by the state of the protocol select pins (PS1 and PS0), Table 4-4 shows the mapping between the protocol select pins and the selected interface mode.

Table 4-4: protocol select pin mapping

It is not allowed to keep the protocol select pins floating.

Both digital interfaces share partially the same pins, the pin mapping for each interface is shown in Table 4-5.

Table 4-5: Mapping of digital interface pins

The following table shows the electrical specifications of the interface pins:

Table 4-6: Electrical specification of the interface pins

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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I2C

configuration

COM3_state

I2C address

Slave

HIGH

0x29

Slave

LOW

0x28

HID-I2C

0x40

Parameter

Symbol

Condition

Min

Max

Units

Clock Frequency

SCL

400

kHz

SCL Low Period

LOW

1.3

s

SCL High Period

HIGH

0.6

SDA Setup Time

SUDAT

0.1 SDA Hold Time

HDDAT

0.0

Setup Time for a

repeated Start Condition

SUSTA

0.6

Hold Time for a Start

Condition

HDSTA

0.6

Setup Time for a Stop

Condition

SUSTO

0.6

Time before a new

Transmission can start

BUF

1.3

Idle time between write

accesses, normal mode,

standby mode, low-

power mode 2

IDLE_wacc_nm

µs

Idle time between write

accesses, suspend

mode, low-power mode

IDLE_wacc_su

450 µs

4.6 I2C Protocol

The I²C bus uses SCL (= SCx pin, serial clock) and SDA (= SDx pin, serial data input and output) signal lines. Both lines are connected to V they are pulled high when the bus is free.

The I²C interface of the BNO055 is compatible with the I²C Specification UM10204 Rev. 03 (19 June 2007), available at http://www.nxp.com. The BNO055 supports I²C standard mode and fast mode, only 7-bit address mode is supported. The BNO055 I²C interface uses clock stretching.

The default I²C address of the BNO055 device is 0101001b (0x29). The alternative address 0101000b (0x28), in I2C mode the input pin COM3 can be used to select between the primary and alternative I2C address as shown in Table 4-7.

Table 4-7: I2C address selection

externally via pull-up resistors so that

DDIO

The timing specification for I²C of the BNO055 is given in Table 4-8: I²C timings:

Table 4-8: I²C timings

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HDDAT

BUF

SDA

SCL

SDA

LOW

HDSTA

SUSTA

HIGH

SUDAT

SUSTO

Figure 5: I²C timing diagram shows the definition of the I²C timings given in Table 4-8:

Figure 5: I²C timing diagram

The I²C protocol works as follows:

START: Data transmission on the bus begins with a high to low transition on the SDA line while SCL is held high (start condition (S) indicated by I²C bus master). Once the START signal is transferred by the master, the bus is considered busy.

STOP: Each data transfer should be terminated by a Stop signal (P) generated by master. The STOP condition is a low to HIGH transition on SDA line while SCL is held high.

ACK: Each byte of data transferred must be acknowledged. It is indicated by an acknowledge bit sent by the receiver. The transmitter must release the SDA line (no pull down) during the acknowledge pulse while the receiver must then pull the SDA line low so that it remains stable low during the high period of the acknowledge clock cycle.

In the following diagrams these abbreviations are used:

S Start P Stop ACKS Acknowledge by slave ACKM Acknowledge by master NACKM Not acknowledge by master RW Read / Write

A START immediately followed by a STOP (without SCL toggling from ´VDDIO´ to ´GND´) is not supported. If such a combination occurs, the STOP is not recognized by the device.

I²C write access:

I²C write access can be used to write a data byte in one sequence. The sequence begins with start condition generated by the master, followed by 7 bits slave address and a write bit (RW = 0). The slave sends an acknowledge bit (ACK = 0) and releases the bus. Then the master sends the one byte register address. The slave again acknowledges the transmission

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Start RW

ACKS

dummy

ACKS

Stop

S 0 1 0 1 0 0 0 0 A x x x x x x x x A x x x x x x x x A P

Slave address

Data

Start RW

ACKS

dummy

ACKS

S 0 1 0 1 0 0 0 0 A x 0 0 0 1 0 0 0 A

Start RW

ACKS

ACKM

Sr 0 1 0 1 0 0 0 1 A x x x x x x x x A x x x x x x x x A …

ACKS

ACKM

… A x x x x x x x x A x x x x x x x x A …

ACKS

ACKM

NACKM

Stop

… A x x x x x x x x A x x x x x x x x NA P

Slave address

Read data (0x08)

Read data (0x09)

Read data (0x0A)

Read data (0x0B)

Read data (0x0C)

Read data (0x0D)

and waits for the 8 bits of data which shall be written to the specified register address. After the slave acknowledges the data byte, the master generates a stop signal and terminates the writing protocol.

Example of an I²C write access to the BNO055 (i2c address in this case: 0101000b = 0x28):

Figure 6: I²C write

I²C read access:

I²C read access also can be used to read one or multiple data bytes in one sequence. A read sequence consists of a one-byte I²C write phase followed by the I²C read phase. The two parts of the transmission must be separated by a repeated start condition (Sr). The I²C write phase addresses the slave and sends the register address to be read. After slave acknowledges the transmission, the master generates again a start condition and sends the slave address together with a read bit (RW = 1). Then the master releases the bus and waits for the data bytes to be read out from slave. After each data byte the master has to generate an acknowledge bit (ACK = 0) to enable further data transfer. A NACKM (ACK = 1) from the master stops the data being transferred from the slave. The slave releases the bus so that the master can generate a STOP condition and terminate the transmission. The register address is automatically incremented and, therefore, more than one byte can be sequentially read out. Once a new data read transmission starts, the start address will be set to the register address specified in the latest I²C write command. By default the start address is set at 0x00. In this way repetitive multi-bytes reads from the same starting address are possible.

Example of an I²C read access to the BNO055:

Figure 7: I²C multiple read

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Note: Specifications within this document are subject to change without notice.

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Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

…..

Byte (n+4)

Start Byte

Write

Reg addr

Length

Data 1

…..

Data n

0xAA

0x00

<..>

…..

<..>

Byte 1

Byte 2

Response Header

Status

0xEE

0x01: WRITE_SUCCESS 0x03: WRITE_FAIL 0x04: REGMAP_INVALID_ADDRESS 0x05: REGMAP_WRITE_DISABLED 0x06: WRONG_START_BYTE 0x07: BUS_OVER_RUN_ERROR 0X08: MAX_LENGTH_ERROR 0x09: MIN_LENGTH_ERROR 0x0A: RECEIVE_CHARACTER_TIMEOUT

Byte 1

Byte 2

Byte 3

Start Byte

Read

Reg addr

Length

0xAA

0x01

<..>

Byte 1

Byte 2

Byte 3

…..

Byte (n+2)

ResponseByte

length

Data 1

…..

Data n

0xBB

<..>

Byte 1

Byte 2

Response Header

Status

0xEE

0x02: READ_FAIL 0x04: REGMAP_INVALID_ADDRESS 0x05: REGMAP_WRITE_DISABLED 0x06: WRONG_START_BYTE 0x07: BUS_OVER_RUN_ERROR 0X08: MAX_LENGTH_ERROR 0x09: MIN_LENGTH_ERROR 0x0A: RECEIVE_CHARACTER_TIMEOUT

4.7 UART Protocol

The BNO055 supports UART interface with the following settings: 115200 bps, 8N1 (8 data bits, no parity bit, one stop bit). The maximum length support for read and write is 128 Byte. The packet structure for register read and write are described below.

Command:

Acknowledge Response:

Command:

Read Success Response:

Read Failure or Acknowledge Response:

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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4.8 HID over I2C

HID over I2C is a standard interface protocol to connect devices with hosts via I2C. The main advantage of HID is that there exist generic drivers for different input devices (such as sensors) which can be used with sensors that implement the corresponding well defined HID profiles. HID over I2C describes how messages (reports and events) are exchanged between the device and the host. A descriptor of the structure of these reports is provided by the device and read by the host during initialization of the device at host system start. For detailed information on HID please refer to the HID over I2C documentation from Microsoft.

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Bottom view (pads visible)

5. Pin-out and connection diagram

5.1 Pin-out

The pin-out of the LGA package is shown in Figure 8 and the pin function is described in Table 5-1.

Figure 8: Pin-out bottom view

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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Note: Specifications within this document are subject to change without notice.

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Pin #

Name

I/O Type

Description

Function

I2C

UART

HID-I2C

PIN1

Do not connect

DNC

GND

Ground

GND

VDD

Supply

VDD

nBOOT_LOAD_PIN

Digital In

Bootloader mode select pin (active low)

nBOOT_LOAD_PIN

PS1

Digital In

Protocol select pin 1

GNDIO

VDDIO

GNDIO

PS0

Digital In

Protocol select pin 2

GNDIO

VDDIO

PIN7

Do not connect

DNC

PIN8

Do not connect

DNC

CAP

External capacitor

CAP

BL_IND

Digital Out

Boot loader indicator

DNC

nRESET

Reset pin (active low)

nRESET

PIN12

Do not connect

DNC

PIN13

Do not connect

DNC

INT

Digital Out

Interrupt output

Interrupt

PIN15

Ground

Connect to GNDIO

GNDIO

PIN16

Ground

Connect to GNDIO

GNDIO

COM3

Digital In

Digital interface pin 3

I2C address select

GNDIO

COM2

Digital I/O

Digital interface pin 2

GNDIO

COM1

Digital I/O

Digital interface pin 1

SCL

COM0

Digital I/O

Digital interface pin 0

SDA

PIN21

Do not connect

DNC

PIN22

Do not connect

DNC

PIN23

Do not connect

DNC

PIN24

Do not connect

DNC

GNDIO

Ground

GNDIO

XOUT32

Digital Out

Optional OSC port

OSC Output

XIN32

Digital In

Optional OSC port

OSC Input

VDDIO

Supply

VDDIO

Table 5-1: Pin description

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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BNO 055

Top View

(Pads not visible!)

PIN1

VDDIO

XIN32

XOUT

GNDIO

PIN24

PIN23

PIN22

PIN21

COM

COM1

COM2

COM3

PIN16

PS0

PIN7

PIN8

CAP

PIN10

nRESET

PIN12

PIN13

INT

PIN15

GND

VDD

PS1

100nF

Optional

OSC input

Optional

OSC input

120nF

SDA

6.8nF

PULL

SCL

INT

nBOOT_LOAD_PIN

100nF

(GNDIO

)

I²C_ADDR_SEL

VDDVDDIO

nRESET

Optional

10kΩ

PULL

Pull-up

10kΩ

BL_IND

5.2 Connection diagram I

Figure 9: I2C connection diagram

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BNO 055

Top View

(Pads not visible!)

PIN1

VDDIO

XIN32

XOUT

GNDIO

PIN24

PIN23

PIN22

PIN21

COM

COM1

COM2

COM3

PIN16

PS0

PIN7

PIN8

CAP

PIN10

nRESET

PIN12

PIN13

INT

PIN15

GND

VDD

PS1

100nF

Optional

OSC input

Optional

OSC input

120nF

6.8nF

INT

nBOOT_LOAD_PIN

100nF

(GNDIO

)

VDDVDDIO

nRESET

Optional

10kΩ

Pull-up

10kΩ

BL_IND

5.3 Connection diagram UART

Figure 10: UART connection diagram

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

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Note: Specifications within this document are subject to change without notice.

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BNO 055

Top View

(Pads not visible!)

PIN1

VDDIO

XIN32

XOUT

GNDIO

PIN24

PIN23

PIN22

PIN21

COM

COM1

COM2

COM3

PIN16

PS0

PIN7

PIN8

CAP

PIN10

nRESET

PIN12

PIN13

INT

PIN15

GND

VDD

PS1

100nF

Optional

OSC input

Optional

OSC input

120nF

SDA

6.8nF

PULL

SCL

INT

nBOOT_LOAD_PIN

100nF

(GNDIO

)

VDDVDDIO

nRESET

Optional

10kΩ

PULL

Pull-up

10kΩ

BL_IND

5.4 Connection diagram HID-I2C

Figure 11 : HID via IC connection diagram

BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec

to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.

Note: Specifications within this document are subject to change without notice.