Data sheet
BNO055
Intelligent 9-axis absolute orientation sensor
BNO055: data sheet
Document revision
1.2
Document release date
November 2014
Document number
BST-BNO055-DS000-12
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.
Bosch Sensortec
BNO055
Data sheet
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BST-BNO055-DS000-12 | Revi si on 1. 2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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 VDD voltage range: 2.4V to 3.6V
Digital interface HID-I2C (Windows 8 compatible), I²C, UART
VDDIO voltage range: 1.7V to 3.6V
Consumer electronics suite MSL1, RoHS compliant, halogen-free
Operating temperature: -40°C ... +85°C
Ke y features of integrated sensors:
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
BNO055
Data sheet
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BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
BNO055
Data sheet
Page 4
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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 bi-
directional 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.
BNO055
Data sheet
Page 5
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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 INTERRUPTS ................................................................................................................................................... 38
3.7.1 INTERRUPT PIN ....................................................................................................................................... 38
3.7.2 INTERRUPT SETTINGS ........................................................................................................................... 38
3.8 SELF-TEST ...................................................................................................................................................... 46
3.8.1 POWER ON SELF TEST (POST) ........................................................................................................... 46
3.8.2 BUILD IN SELF TEST (BIST) ................................................................................................................... 46
3.9 BOOT LOADER ................................................................................................................................................. 46
3.10 CALIBRATION ................................................................................................................................................ 47
3.10.1 ACCELEROMETER CALIBRATION ........................................................................................................ 47
3.10.2 GYROSCOPE CALIBRATION ................................................................................................................. 47
3.10.3 MAGNETOMETER CALIBRATION ......................................................................................................... 47
3.10.4 REUSE OF CALIBRATION PROFILE ..................................................................................................... 48
BNO055
Data sheet
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BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
BNO055
Data sheet
Page 7
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
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
BNO055
Data sheet
Page 8
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
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
BNO055
Data sheet
Page 9
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
BNO055
Data sheet
Page 10
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
BNO055
Data sheet
Page 11
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
Table 4-2: Register Map Page 0......................................................................................................................50
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
BNO055
Data sheet
Page 12
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
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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
OPERATING CONDITIONS BNO055
Parameter
Symbol
Condition
Min
Typ
Max
Unit
Supply Voltage
(only Sensors)
VDD
--
2.4
--
3.6
V
Supply Voltage
(µC and I/O Domain)
VDDIO
--
1.7
--
3.6
V
Voltage Input
Low Level (UART, I2C)
VDDIO_VIL
VDDIO = 1.7-2.7V
--
--
0.25
VDDIO
VDDIO = 2.7-3.6V
--
--
0.3
VDDIO
Voltage Input
High Level (UART, I2C)
VDDIO_VIH
VDDIO = 1.7-2.7V
0.7
--
--
VDDIO
VDDIO = 2.7-3.6V
0.55
--
--
VDDIO
Voltage Out put
Low Level (UART, I2C)
VDDIO_VOL
VDDIO > 3V , IOL =20mA
--
0.1
0.2
VDDIO
Voltage Out put
High Level (UART, I2C)
VDDIO_VOH
VDDIO > 3V , IOH =10mA
0.9
0.8
--
VDDIO
POR Volt age t hreshold on
VDDIO-IN rising
VDDIO_POT+
VDDIO falls at 1V/ms or slower
--
1.45
--
V
POR Volt age t hreshold on
VDDIO-IN falling
VDDIO_POT-
--
0.99
--
V
Operat ing Temperat ure
TA
--
-40
--
+85
°C
Tot al supply current
normal mode at TA
(9DOF @100Hz out put
data rat e)
IDD + IDDIO
VDD = 3V, VDDIO = 2.5V
--
--
12.3
mA
Tot al supply current
Low power mode at TA
IDD_LPM
VDD = 3V, VDDIO = 2.5V
--
--
0.4
mA
Tot al supply current
suspend mode at TA
IDD_SuM
VDD = 3V, VDDIO = 2.5V
--
--
0.04
mA
BNO055
Data sheet
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1.2 Electrical and physical characteristics, measurement performance
Table 0-2: Electrical characteristics BNO055
OPERATING CONDITIONS BNO055
Parameter
Symbol
Condition
Min
Typ
Max
Unit
St art-Up time
TSup
From Off to configurat ion mode
400
ms
POR t ime
TPOR
From Reset to Normal mode
650
ms
Data Rat e
DR
s. Par. Fusion Out put data rat es
Data rat e t olerance
9DOF @100Hz output
data rat e
(if int ernal oscillat or is
used)
DRtol
±1
%
OPERATING CONDITIONS ACCELEROMETER
Parameter
Symbol
Condition
Min
Typ
Max
Units
Accelerat ion Range
gFS2g
Select able
via serial digit al interface
±2
g
gFS4g
±4
g
gFS8g
±8
g
gFS16g
±16
g
OUTPUT SIGNAL ACCELEROMETER
(ACCELEROMETER ONLY MODE)
Parameter
Symbol
Condition
Min
Typ
Max
Units
Sensit ivity
S
All gFSXg Values, TA=25°C
1
LSB/mg
Sensit ivity t olerance
Stol
Ta=25°C, gFS2g
±1
±4
%
Sensit ivity Temperature
Drift
TCS
gFS2g,
Nominal VDD supplies,
Temp operat ing conditions
±0.03
%/K
Sensit ivity
Supply Volt. Drift
SVDD
gFS2g, TA=25°C,
VDD_min ≤ VDD ≤ VDD_max
0.065
0.2
%/V
Zero-g Offset (x,y.z)
Offxyz
gFS2g, TA=25°C, nominal VDD
supplies, over life-time
-150
±80
+150
mg
Zero-g Offset
Temperat ure Drift
TCO
gFS2g,
Nominal VDD supplies
±1
+/-3.5
mg/K
Zero-g Offset Supply
Volt. Drift
OffVDD
gFS2g, TA=25°C,
VDD_min ≤ VDD ≤ VDD_max
1.5
2.5
mg/V
Bandwidth
bw8
2nd order filter, bandwidth
programmable
8
Hz
bw16
16
Hz
bw31
31
Hz
bw63
63
Hz
bw125
125
Hz
bw250
250
Hz
bw500
500
Hz
BNO055
Data sheet
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bw1000
1,000
Hz
Nonlinearity
NL
best fit st raight line, gFS2g
0.5
2
%FS
Output Noise Density
nrms
gFS2g, 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
relat ive cont ribution between
any two of t he t hree axes
1
2
%
Alignment Error
EA
relat ive t o package out line
0.5
2
°
OPERATING CONDITIONS GYROSCOPE
Parameter
Symbol
Condition
Min
Typ
Max
Unit
Rat e Range
RFS125
Select able
via serial digit al int erface
125
°/s
RFS250
250
°/s
RFS500
500
°/s
RFS1000
1,000
°/s
RFS2000
2,000
°/s
OUTPUT SIGNAL GYROSCOPE
(GYRO ONLY MODE)
Sensit ivity via regist er
Map
S
Ta=25°C
16.0
900
LSB/°/s
rad/s
Sensit ivity t olerance
Stol
Ta=25°C, RFS2000
--
±1
±3
%
Sensit ivity Change over
Temperat ure
TCS
Nominal VDD supplies -40°C ≤
TA ≤ +85°C RFS2000
±0.03
±0.07
%/K
Sensit ivity
Supply Volt. Drift
SVDD
TA=25°C,
VDD_min ≤ VDD ≤ VDD_max
<0.4
%/V
Nonlinearity
NL
best fit st raight line
RFS1000, RFS2000
±0.05
±0.2
%FS
Zero-rate Offset
Off x y
and z
Nominal VDD supplies TA=25°C,
Slow and fast offset
cancellat ion off
-3
±1
+3
°/s
Zero- Offset Change
over Temperat ure
TCO
Nominal VDD supplies -40°C ≤
TA ≤ +85°C RFS2000
±0.015
±0.03
°/s per K
Zero- Offset Supply
Volt. Drift
Off VDD
TA=25°C,
VDD_min ≤ VDD ≤ VDD_max
0.1
°/s /V
Output Noise
nrms
rms, BW=47Hz
(@ 0.014°/s/√Hz)
0.1
0.3
°/s
BNO055
Data sheet
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Bandwidth BW
f-3dB
523
230
116
64
47
32
23
12
Hz
MECHANICAL CHARACTERISTICS GYROSCOPE
Cross Axis Sensitivity
CAS
Sensit ivity t o st imuli in
non-sense-direct ion
±1
±3
%
OPERATING CONDITIONS MAGNETOMETER
(MAGNETOMETER ONLY MODE)
Parameter
Symbol
Condition
Min
Typ
Max
Units
Magnet ic field range1
Brg,xy
TA=25°C
±1200
±1300
µT
Brg,z
±2000
±2500
µT
Magnet omet er heading
accuracy2
As heading
30µT horizont al geomagnetic
field component , TA=25°C
±2.5
deg
MAGNETOMETER OUTPUT SIGNAL
Parameter
Symbol
Condition
Min
Typ
Max
Unit
Device Resolut ion
D
res,m
TA=25°C
0.3
µT
Gain error3
Gerr,m
After API compensat ion
TA=25°C
Nominal VDD supplies
±5
±8
%
Sensit ivity 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
OFFm,cal
After calibrat ion in fusion mode
-40°C ≤ TA ≤ + 85°C
±2
µT
Zero-B offset
Temperat ure Drift
TCOm
-40°C TA +85°C
±0.23
±0.37
µT/K
Full-scale Nonlinearit y
NLm, FS
best fit st raight line
1
%FS
1 Full linear measurement range considering sensor offsets.
2 The heading accuracy depends on hardware and software. A fully calibrated sensor and ideal tilt
compensation are assumed.
3 Definition: gain error = ( (measured field after API compensation) / (applied field) ) – 1
4 Magnetic zero-B offset assuming calibration in fusion mode. Typical value after applying calibration
movements containing various device orientations (typical device usage).
BNO055
Data sheet
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Output Noise
nrms,lp,m,xy
Low power preset
x, y-axis, TA=25°C
Nominal VDD supplies
1.0
µT
nrms,lp,m,z
Low power preset
z-axis, TA=25°C
Nominal VDD supplies
1.4
µT
nrms,rg,m
Regular preset
TA=25°C
Nominal VDD supplies
0.6
µT
nrms,eh,m
Enhanced regular preset
TA=25°C
Nominal VDD supplies
0.5
µT
nrms,ha,m
High accuracy preset
TA=25°C
Nominal VDD supplies
0.3
µT
Power Supply Reject ion
Rat e
PSRRm
TA=25°C
Nominal VDD supplies
±0.5
µT/V
BNO055
Data sheet
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2. Absolute Maximum Ratings
Table 2-1: Absolute maximum ratings (preliminary target values)
Parameter
Symbol
Condition
Min
Max
Units
Voltage at Supply Pin
VDD Pin
-0.3
4.2
V
VDDIO Pin
-0.3
3.6
V
Voltage at any Logic Pin
Vnon-supply Pin
-0.3
VDDIO+ 0.3
V
Passive St orage Temp. Range
Trps
≤ 65% rel. H.
-50
+150
°C
Mechanical Shock
MechShock200µs
Duration ≤ 200µs
10,000
g
MechShock1ms
Duration ≤ 1.0ms
2,000
g
MechShockfreefall
Free fall
onto hard surfaces
1.8
m
ESD
ESD
HBM
HBM, at any Pin
2
kV
ESD
CDM
CDM
400
V
ESD
MM
MM
200
V
Note:
Stress above these limits may cause damage to the device. Exceeding the specified electrical
limits may affect the device reliability or cause malfunction.
BNO055
Data sheet
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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
• VDDIO is a separate power supply pin used for the supply of the µC and the digital
interfaces
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 s etting
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
BNO055
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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
Parameter
Value
[Reg Addr]: Reg Value
Power Mode
Normal Mode
[PWR_MODE]: xxxxxx00b
Low Power Mode
[PWR_MODE]: xxxxxx01b
Suspend Mode
[PWR_MODE]: xxxxxx10b
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
Descriptio
n
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
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.
BNO055
Data sheet
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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.
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
Operating Mode
Available sensor signals
Fusion Data
Accel
Mag
Gyro
Relative
orientation
Absolute
orientation
CONFIGMODE
-
-
-
-
-
Non-fusionmodes
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
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.
BNO055
Data sheet
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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
Sensor
Range
Bandwidth
Accelerometer
4G
62.5 Hz
Magnetometer
NA
10 Hz
Gyroscope
2000 dps
32 Hz
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
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
Table 3-6 below shows the time required to switch between CONFIGMODE and the other
operating modes.
Table 3-6: Operating mode switching time
From
To
Switching time
CONFIGMODE
Any operation mode
7ms
Any operation mode
CONFIGMODE
19ms
BNO055
Data sheet
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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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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
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
There are two bits are used to configure the axis remap which will define in the following
way,
Value
Axis Representation
00
X - Axis
01
Y - Axis
10
Z- Axis
11
Invalid
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
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Reserved
Remappe
d X axis
sign
Remappe
d Y axis
sign
Remappe
d Z axis
sign
Value
Sign
0
Positive
1
Negative
The default value is 0x00.
The default values correspond to the following coordinate system
Z; Ωz; z
X; Ωx; x
Y; Ωy; y
Accel; Gyro; Magnet
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Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
Some example placement for axis vs. register settings:
For the above described placements, following would be the axis configuration parameters.
Placement
AXIS_REMAP_CONFIG
AXIS_REMAP_SIGN
P0
0x21
0x04
P1 (default)
0x24
0x00
P2
0x24
0x06
P3
0x21
0x02
P4
0x24
0x03
P5
0x21
0x01
P6
0x21
0x07
P7
0x24
0x05
TOP VIEW
BOTTOM VIEW
Z
X
Y
Z
X
Y
P0
P1
P2
P3
P4
P5
P6
P7
P0
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Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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 sensor 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
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
15
Z Repetition
16
Resolution x/y/z
13/13/15 bits
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Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
Parameter
Values
[Reg Addr]: Reg Value
Restrictions
G Range
2G
[ACC_Config]: xxxxxx00b
User selectable in all
modes
4G
[ACC_Config]: xxxxxx01b
8G
[ACC_Config]: xxxxxx10b
16G
[ACC_Config]: xxxxxx11b
Bandwidth
7.81Hz
[ACC_Config]: xxx000xxb
Auto controlled in fusion
mode
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
Auto controlled in fusion
mode
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
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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Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
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
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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
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
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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
Data
Units
[Reg Addr]: Register Value
Acceleration, Linear
Acceleration, Gravity
vector
m/s2
[UNIT_SEL] : xxxxxxx0b
mg
[UNIT_SEL] : xxxxxxx1b
Magnetic Field Strength
Micro Tesla
NA
Angular Rate
Dps
[UNIT_SEL] : xxxxxx0xb
Rps
[UNIT_SEL] : xxxxxx1xb
Euler Angles
Degrees
[UNIT_SEL] : xxxxx0xxb
Radians
[UNIT_SEL] : xxxxx1xxb
Quaternion
Quaternion
units
NA
Temperature
°C
[UNIT_SEL] : xxx0xxxxb
°F
[UNIT_SEL] : xxx1xxxxb
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
Parameter
Values
[Reg Addr]: Register value
Fusion data output
format
Windows
[UNIT_SEL]: 0xxxxxxxb
Android
[UNIT_SEL]: 1xxxxxxxb
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
Rotation angle
Range (Android format)
Range (Windows format)
Pitch
+180° to -180° (turning
clockwise decreases values)
-180° to +180° (turing clock-
wise increases values)
Roll
-90° to +90° (increasing with increasing inclination)
Heading / Yaw
0° to 360° (turning clockwise increases values)
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3.6.3 Fusion Output data rates
Table 3-14: Fusion output data rates
BNO055 Operating
Mode
Data input rate
Algo
calling
rate
Data output rate
Accel
Mag
Gyro
Accel
Mag
Gyro
Fusion
data
IMU
100Hz
NA
100Hz
100Hz
100Hz
NA
100Hz
100Hz
COMPASS
20Hz
20Hz
NA
20Hz
20Hz
20Hz
NA
20Hz
M4G
50Hz
50Hz
NA
50Hz
50Hz
50Hz
NA
50Hz
NDOF_FMC_OFF
100Hz
20Hz
100Hz
100Hz
100Hz
20Hz
100Hz
100Hz
NDOF
100Hz
20Hz
100Hz
100Hz
100Hz
20Hz
100Hz
100Hz
3.6.4 Sensor calibration data
The following section describes the register holding the calibration data of the sensors (see
chapter 3.10). 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
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
The range of the offsets varies based on the G-range of accelerometer sensor.
Table 3-16: Accelerometer G-range settings
Accelerometer G-range
Maximum Offset range in mg
2G
+/- 2000
4G
+/- 4000
8G
+/- 8000
16G
+/- 16000
Table 3-17: Accelerometer Unit settings
Unit
Representation
m/s2
1 m/s2 = 100 LSB
mg
1 mg = 1 LSB
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3.6.4.2 Magnetometer offset
The magnetometer offset can be configured in the following registers,
Table 3-18: Magnetometer Default-Reg settings
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
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
Unit
Representation
µT
1 µT = 16 LSB
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
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
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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Table 3-21: Gyroscope range settings
Gyroscope dps range
Maximum Offset range in
LSB
2000
+/- 32000
1000
+/- 16000
500
+/- 8000
250
+/- 4000
125
+/- 2000
Table 3-22: Gyroscope unit settings
Unit
Representation
Dps
1 Dps = 16 LSB
Rps
1 Rps = 900 LSB
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
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
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 f or
accelerometer is +/-1000, magnetometer is +/-960 and Gyroscope is NA.
Table 3-24: Radius range settings
Radius for sensor
Maximum Range
Accelerometer
+/- 1000 LSB
Magnetometer
+/- 960 LSB
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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Table 3-25: Acceleration data
Parameter
Data type
bytes
Accel_Data_X
signed
2
Accel_Data_Y
signed
2
Accel_Data_Z
signed
2
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
Parameter
Data type
bytes
Mag_Data_X
signed
2
Mag_Data_Y
signed
2
Mag_Data_Z
signed
2
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
Parameter
Data type
bytes
Gyr_Data_X
signed
2
Gyr_Data_Y
signed
2
Gyr_Data_Z
signed
2
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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
Parameter
Data type
bytes
EUL_Heading
Signed
2
EUL_Roll
Signed
2
EUL_Pitch
Signed
2
Table 3-29: Euler angle data representation
Unit
Representation
Degrees
1 degree = 16 LSB
Radians
1 radian = 900 LSB
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
Parameter
Data type
bytes
QUA_Data_w
Signed
2
QUA_Data_x
Signed
2
QUA_Data_y
Signed
2
QUA_Data_z
Signed
2
Table 3-31: Quaternion data representation
Unit
Representation
Quaternion (unit less)
1 Quaternion (unit less) = 2^14 LSB
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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
Parameter
Data type
bytes
LIA_Data_X
signed
2
LIA_Data_Y
signed
2
LIA_Data_Z
signed
2
Table 3-33: Linear Acceleration data representation
Unit
Representation
m/s2
1 m/s2 = 100 LSB
mg
1 mg = 1 LSB
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
Parameter
Data type
bytes
GRV_Data_X
signed
2
GRV_Data_Y
signed
2
GRV_Data_Z
signed
2
Table 3-35: Gravity Vector data representation
Unit
Representation
m/s2
1 m/s2 = 100 LSB
mg
1 mg = 1 LSB
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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
Parameter
Data type
bytes
TEMP
signed
1
Table 3-37: Temperature data representation
Unit
Representation
°C
1°C = 1 LSB
F
2 F = 1 LSB
Table 3-38: Temperature Source Selection
Source
[Reg Addr]: Register Value
Accelerometer
[TEMP_SOURCE]: xxxxxx00b
Gyroscope
[TEMP_SOURCE]: xxxxxx01b
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3.7 Interrupts
3.7.1 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
register are cleared on read.
3.7.2 Interrupt Settings
3.7.2.1 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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Table 3-39: No-motion time-out periods
slo_no_mot_dur
Delay
time
slo_no_mot_dur
Delay
time
slo_no_mot_d
ur
Delay
Time
0
1 s
16
40 s
32
88 s
1
2 s
17
48 s
33
96 s
2
3 s
18
56 s
34
104 s
...
...
19
64 s.
...
...
14
15 s
20
72 s
62
328 s
15
16 s
21
80 s
63
336 s
Note: slo_no_mot_dur values 22 to 31 are not specified
acceleration
slo_no_mot_th
-slo_no_mot_th
slope
time
axis x, y, or z
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 3-40: Timing of No-motion interrupt
Params
Value
[Reg Addr]: Register Value
Detection Type
No Motion
[ACC_NM_SET]: xxxxxxx0b
Slow Motion
[ACC_NM_SET]: xxxxxxx1b
Interrupt Parameters
Threshold
[ACC_NM_THRE]: bit7:bit0
Duration
[ACC_NM_SET]: bit6:bit1
Axis selection
X-axis
[ACC_INT_Settings]: xxxxx1xxb
Y-axis
[ACC_INT_Settings]: xxxx1xxxb
Z-axis
[ACC_INT_Settings]: xxx1xxxxb
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s l ope_t h
INT
sl ope
accel erat i on
acc(t0)
acc(t0−1/(2*bw)
)
sl ope(t 0)=acc(t 0)− acc(t 0−1/(2*bw))
ti me
ti me
ti me
s l ope_dur
s l ope_dur
3.7.2.2 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 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 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.
Example: AM_DUR = 00b, …, 11b = 1decimal, …, 4decimal.
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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
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
3.7.2.3 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 4g-
range, 31.25 mg in 8g-range, and 62.5 mg in 16g-range (i.e. increment depends from g-
range 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
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
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3.7.2.4 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°/s-
range, 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°/s-
range …. Therefore the maximum value is 1999.76°/s in 2000°/s-range (999.87°/s 1000°/s-
range, 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 t ime 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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Table 3-43: High Rate Interrupt parameters and Axis selection
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 X-
axis
Threshold
[GYR_HR_X_SET]: bit4 : bit0
Duration
[GYR_DUR_X]: bit7 : bit0
Hysteresis
[GYR_HR_X_SET]: bit6 : bit5
Interrupt Settings Y-
axis
Threshold
[GYR_HR_Y_SET]: bit4 : bit0
Duration
[GYR_DUR_Y]: bit7 : bit0
Hysteresis
[GYR_HR_Y_SET]: bit6 : bit5
Interrupt Settings X-
axis
Threshold
[GYR_HR_Z_SET]: bit4 : bit0
Duration
[GYR_DUR_Z]: bit7 : bit0
Hysteresis
[GYR_HR_Z_SET]: bit6 : bit5
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3.7.2.5 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 s lope 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 t he 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).
s l ope_t h
INT
sl ope
angul ar rate
rate(t0)
rate(t0−1/(4*fs))
sl ope(t 0)=gyro(t0)− gyro(t0−1/(2*bw))
ti me
ti me
ti me
s l ope_dur
s l ope_dur
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3.7.2.6 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.
3.7.2.7 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
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
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3.8 Self-Test
3.8.1 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
Components
Test type
Accelerometer
Verify chip ID
Magnetometer
Verify chip ID
Gyroscope
Verify chip ID
Microcontroller
Memory Build In 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.
3.8.2 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
Components
Test type
Accelerometer
built in self test
Magnetometer
built in self test
Gyroscope
built in self test
Microcontroller
No test
performed
3.9 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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3.10 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 calibration 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, the following simple steps had to be taken after
every ‘Power on Reset’ for proper calibration of the device.
3.10.1 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.
3.10.2 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.
3.10.3 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.
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
3.10.4 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
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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´.
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
read/write
read only
write only
reserved
Table 4-2: Register Map Page 0
Register
Address
Register
Name
Default
Value
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
7F-6B
Reserved
NA
6A
MAG_RADIUS_
MSB
Magnet omet er Radius
69
MAG_RADIUS_
LSB
Magnet omet er Radius
68
ACC_RADIUS_
MSB
Acceleromet er Radius
67
ACC_RADIUS_L
SB
Acceleromet er Radius
66
GYR_OFFSET_
Z_MSB
0x00
Gyroscope Offset Z <15:8>
65
GYR_OFFSET_
Z_LSB
0x00
Gyroscope Offset Z <7:0>
64
GYR_OFFSET_
Y_MSB
0x00
Gyroscope Offset Y <15:8>
63
GYR_OFFSET_
Y_LSB
0x00
Gyroscope Offset Y <7:0>
62
GYR_OFFSET_
X_MSB
0x00
Gyroscope Offset X <15:8>
61
GYR_OFFSET_
X_LSB
0x00
Gyroscope Offset X <7:0>
60
MAG_OFFSET_
Z_MSB
0x00
Magnet omet er Offset Z <15:8>
5F
MAG_OFFSET_
Z_LSB
0x00
Magnet omet er Offset Z <7:0>
5E
MAG_OFFSET_
Y_MSB
0x00
Magnet omet er Offset Y <15:8>
5D
MAG_OFFSET_
Y_LSB
0x00
Magnet omet er Offset Y <7:0>
5C
MAG_OFFSET_
X_MSB
0x00
Magnet omet er Offset X <15:8>
5B
MAG_OFFSET_
X_LSB
0x00
Magnet omet er Offset X <7:0>
5A
ACC_OFFSET_
Z_MSB
0x00
Acceleromet er Offset Z <15:8>
59
ACC_OFFSET_
Z_LSB
0x00
Acceleromet er Offset Z <7:0>
58
ACC_OFFSET_
Y_MSB
0x00
Acceleromet er Offset Y <15:8>
57
ACC_OFFSET_
Y_LSB
0x00
Acceleromet er Offset Y <7:0>
56
ACC_OFFSET_
X_MSB
0x00
Acceleromet er Offset X <15:8>
55
ACC_OFFSET_
X_LSB
0x00
Acceleromet er Offset X <7:0>
43 - 54
Reserved
0x00
BNO055
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
Register
Address
Register
Name
Default
Value
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
42
AXIS_MAP_SIG
N
TBD
Remapped
X axis sign
Remapped
Y axis sign
Remapped
Z axis sign
41
AXIS_MAP_CO
NFIG
TBD
Remapped Z axis
value
Remapped Y axis value
Remapped X axis value
40
TEMP_SOURC
E
0x02
TEMP_Source <1:0>
3F
SYS_TRIGGER
0x00
CLK_SE
L
RST_IN
T
RST_S
YS
Self_Test
3E
PWR_MODE
0x00
Power Mode <1:0>
3D
OPR_MODE
0x1C
Operat ion Mode <3:0>
3C
Reserved
0xFF
3B
UNIT_SEL
0x80
ORI_An
droid_Wi
ndows
TEMP_Un
it
EUL_Unit
GYR_Unit
ACC_Unit
3A
SYS_ERR
0x00
Syst em Error Code
39
SYS_STATUS
0x00
Syst em St atus Code
38
SYS_CLK_STA
TUS
0x00
ST_MAIN
_CLK
37
INT_STA
0x00
ACC_N
M
ACC_A
M
ACC_HI
GH_G
GYR_HIG
H_RATE
GYRO_A
M
36
ST_RESULT
0x0F
ST_MCU
ST_GYR
ST_MAG
ST_ACC
35
CALIB_STAT
0x00
SYS Calib St atus
0:3
GYR Calib St atus
0:3
ACC Calib St atus 0:3
MAG Calib St at us 0:3
34
TEMP
0x00
Temperat ure
33
GRV_Data_Z_M
SB
0x00
Gravity Vect or Data Z <15:8>
32
GRV_Data_Z_L
SB
0x00
Gravity Vect or Data Z <7:0>
31
GRV_Data_Y_M
SB
0x00
Gravity Vect or Data Y <15:8>
30
GRV_Data_Y_L
SB
0x00
Gravity Vect or Data Y <7:0>
2F
GRV_Data_X_M
SB
0x00
Gravity Vect or Data X <15:8>
2E
GRV_Data_X_L
SB
0x00
Gravity Vect or Data X <7:0>
2D
LIA_Dat a_Z_MB
S
0x00
Linear Accelerat ion Dat a Z <15:8>
2C
LIA_Dat a_Z_LS
B
0x00
Linear Accelerat ion Dat a Z <7:0>
2B
LIA_Dat a_Y_MB
S
0x00
Linear Accelerat ion Data Y <15:8>
2A
LIA_Dat a_Y_LS
B
0x00
Linear Accelerat ion Dat a Y <7:0>
29
LIA_Dat a_X_MB
S
0x00
Linear Accelerat ion Dat a X <15:8>
28
LIA_Dat a_X_LS
B
0x00
Linear Accelerat ion Dat a X <7:0>
27
QUA_Data_z_M
SB
0x00
Quat ernion z Dat a <15:8>
26
QUA_Data_z_LS
B
0x00
Quat ernion z Dat a <7:0>
25
QUA_Data_y_M
SB
0x00
Quat ernion y Data <15:8>
24
QUA_Data_y_LS
B
0x00
Quat ernion y Data <7:0>
23
QUA_Data_x_M
SB
0x00
Quat ernion x Data <15:8>
22
QUA_Data_x_LS
B
0x00
Quat ernion x Data <7:0>
21
QUA_Data_w_M
SB
0x00
Quat ernion w Data <15:8>
20
QUA_Data_w_L
SB
0x00
Quat ernion w Data <7:0>
1F
EUL_Pit ch_MSB
0x00
Pitch Data <15:8>
1E
EUL_Pit ch_LSB
0x00
Pitch Data <7:0>
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
Register
Address
Register
Name
Default
Value
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
1D
EUL_Roll_MSB
0x00
Roll Data <15:8>
1C
EUL_Roll_LSB
0x00
Roll Data <7:0>
1B
EUL_Heading_M
SB
0x00
Heading Dat a <15:8>
1A
EUL_Heading_L
SB
0x00
Heading Dat a <7:0>
19
GYR_DATA_Z_
MSB
0x00
Gyroscope Data Z <15:8>
18
GYR_DATA_Z_L
SB
0x00
Gyroscope Data Z <7:0>
17
GYR_DATA_Y_
MSB
0x00
Gyroscope Data Y <15:8>
16
GYR_DATA_Y_
LSB
0x00
Gyroscope Data Y <7:0>
15
GYR_DATA_X_
MSB
0x00
Gyroscope Data X <15:8>
14
GYR_DATA_X_L
SB
0x00
Gyroscope Data X <7:0>
13
MAG_DATA_Z_
MSB
0x00
Magnet omet er Data Z <15:8>
12
MAG_DATA_Z_
LSB
0x00
Magnet omet er Data Z <7:0>
11
MAG_DATA_Y_
MSB
0x00
Magnet omet er Data Y <15:8>
10
MAG_DATA_Y_
LSB
0x00
Magnet omet er Data Y <7:0>
F
MAG_DATA_X_
MSB
0x00
Magnet omet er Data X <15:8>
E
MAG_DATA_X_
LSB
0x00
Magnet omet er Data X <7:0>
D
ACC_DATA_Z_
MSB
0x00
Accelerat ion Data Z <15:8>
C
ACC_DATA_Z_L
SB
0x00
Accelerat ion Data Z <7:0>
B
ACC_DATA_Y_
MSB
0x00
Accelerat ion Data Y <15:8>
A
ACC_DATA_Y_L
SB
0x00
Accelerat ion Data Y <7:0>
9
ACC_DATA_X_
MSB
0x00
Accelerat ion Data X <15:8>
8
ACC_DATA_X_L
SB
0x00
Accelerat ion Data X <7:0>
7
Page ID
0x00
Page ID
6
BL_Rev_ID
NA
Boot loader Version
5
SW_REV_ID_M
SB
0x035
SW Revision ID <15:8>
4
SW_REV_ID_LS
B
0x086
SW Revision ID <7:0>
3
GYR_ID
0x0F
GYRO chip ID
2
MAG_ID
0x32
MAG chip ID
1
ACC_ID
0xFB
ACC chip ID
0
CHIP_ID
0xA0
BNO055 CHIP ID
5 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.
6 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.
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.2.2 Register map Page 1
Table4-3: Register Map Page 1
Register
Address
Register
Name
Defaul
t
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
1F
GYR_AM_SET
0x0A
Awake Duration
<1:0>
Slope Samples <1:0>
1E
GYR_AM_THR
ES
0x04
Gyro Any Motion Threshold <6:0>
1D
GYR_DUR_Z
0x19
HR_Z_Duration
1C
GYR_HR_Z_SE
T
0x01
HR_Z_THRES_H
YST <1:0>
HR_Z_Threshold <4:0>
1B
GYR_DUR_Y
0x19
HR_Y_Durat ion
1A
GYR_HR_Y_S
ET
0x01
HR_Y_THRES_H
YST <1:0>
HR_Y_Threshold <4:0>
19
GYR_DUR_X
0x19
HR_X_Durat ion
18
GYR_HR_X_SE
T
0x01
HR_X_THRES_H
YST <1:0>
HR_X_Threshold <4:0>
17
GYR_INT_SETI
NG
0x00
HR_FIL
T
AM_FIL
T
HR_Z_
AXIS
HR_Y_AX
IS
HR_X_AX
IS
AM_Z_AX
IS
AM_Y_AX
IS
AM_X_AXIS
16
ACC_NM_SET
0x0B
NO/SLOW Motion Durat ion <5:0>
SMNM
15
ACC_NM_THR
E
0x0A
Acceleromet er NO/SLOW motion t hreshold
14
ACC_HG_THR
ES
0xC0
Acceleromet er High G Threshold
13
ACC_HG_DURA
TION
0x0F
Acceleromet er High G Duration
12
ACC_INT_Sett i
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>
11
ACC_AM_THR
ES
0x14
Acceleromet er Any mot ion threshold
10
INT_EN
0x00
ACC_N
M
ACC_A
M
ACC_HI
GH_G
GYR_HI
GH_RAT
E
GYRO_A
M
F
INT_MSK
0x00
ACC_N
M
ACC_A
M
ACC_HI
GH_G
GYR_HI
GH_RAT
E
GYRO_A
M
E
Reserved
0x00
D
GYR_Sleep_Co
nfig
0x00
AUTO_SLP_DURATION <2:0>
SLP_DURATION <2:0>
C
ACC_Sleep_Con
fig
0x00
SLP_DURATION <3:0>
SLP_MODE
B
GYR_Config_1
0x00
GYR_Power_Mode <2:0>
A
GYR_Config_0
0x38
GYR_Bandwidt h <2:0>
GYR_Range <2:0>
9
MAG_Config
0x6D
MAG_Power_mod
e <1:0>
MAG_OPR_Mode
<1:0>
MAG_Data_out put_rat e <2:0>
8
ACC_Config
0x0D
ACC_PWR_Mode <2:0>
ACC_BW <2:0>
ACC_Range <1:0>
7
Page ID
0x01
Page ID
6 - 0
Reserved
n.a.
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3 Register description (Page 0)
4.3.1 CHIP_ID 0x00
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
4.3.2 ACC_ID 0x01
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 t he Acceleromet er device, read-only fixed value 0xFB
4.3.3 MAG_ID 0x02
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 t he Magnet omet er device, read-only fixed value 0x32
4.3.4 GYR_ID 0x03
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 t he Gyroscope device, read-only fixed value 0x0F
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.5 SW_REV_ID_LSB 0x04
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
4.3.6 SW_REV_ID_MSB 0x05
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
4.3.7 BL_REV_ID 0x06
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r
r
r
r
r
r
r
r
Reset
Content
Boot loader Version
DATA
bits
Description
Bootloader
Version
<7:0>
Identifies t he version of the boot loader in t he microcont roller, read-only
4.3.8 PAGE ID 0x07
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
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 select ed page
Write: Change page, 0x00 or 0x01
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.9 ACC_DATA_X_LSB 0x08
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
Accelerat ion Data X <7:0>
DATA
bits
Description
Acceleration
Data X <7:0>
<7:0>
Lower byte of X axis Acceleration dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.10 ACC_DATA_X_MSB 0x09
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
Accelerat ion Data X <15:8>
DATA
bits
Description
Acceleration
Data X <15:8>
<7:0>
Upper byte of X axis Acceleration dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.11 ACC_DATA_Y_LSB 0x0A
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
Accelerat ion Data Y <7:0>
DATA
bits
Description
Acceleration
Data Y <7:0>
<7:0>
Lower byte of Y axis Accelerat ion data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.12 ACC_DATA_Y_MSB 0x0B
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
Accelerat ion Data Y <15:8>
DATA
bits
Description
Acceleration
Data Y <15:8>
<7:0>
Upper byte of Y axis Accelerat ion dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 57
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.13 ACC_DATA_Z_LSB 0x0C
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
Accelerat ion Data Z <7:0>
DATA
bits
Description
Acceleration
Data Z <7:0>
<7:0>
Lower byte of Z axis Acceleration dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.14 ACC_DATA_Z_MSB 0x0D
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
Accelerat ion Data Z <15:8>
DATA
bits
Description
Acceleration
Data Z <15:8>
<7:0>
Upper byte of Z axis Acceleration data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.15 MAG_DATA_X_LSB 0x0E
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
Magnet omet er Data X <7:0>
DATA
bits
Description
Magnetometer
Data X <7:0>
<7:0>
Lower byte of X axis Magnet omet er data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.16 MAG_DATA_X_MSB 0x0F
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
Magnet omet er Data X <15:8>
DATA
bits
Description
Magnetometer
Data X <15:8>
<7:0>
Upper byte of X axis Magnetomet er data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 58
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.17 MAG_DATA_Y_LSB 0x10
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
Magnet omet er Data Y <7:0>
DATA
bits
Description
Magnetometer
Data Y <7:0>
<7:0>
Lower byte of Y axis Magnet omet er dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.18 MAG_DATA_Y_MSB 0x11
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
Magnet omet er Data Y <15:8>
DATA
bits
Description
Magnetometer
Data Y <15:8>
<7:0>
Upper byte of Y axis Magnet omet er dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.19 MAG_DATA_Z_LSB 0x12
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
Magnet omet er Data Z <7:0>
DATA
bits
Description
Magnetometer
Data Z <7:0>
<7:0>
Lower byte of Z axis Magnet ometer dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.20 MAG_DATA_Z_MSB 0x13
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
Magnet omet er Data Z <15:8>
DATA
bits
Description
Magnetometer
Data Z <15:8>
<7:0>
Upper byte of Z axis Magnet ometer dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 59
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.21 GYR_DATA_X_LSB 0x14
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 out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.22 GYR_DATA_X_MSB 0x15
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 out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.23 GYR_DATA_Y_LSB 0x16
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 out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.24 GYR_DATA_Y_MSB 0x17
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 out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 60
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.25 GYR_DATA_Z_LSB 0x18
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>
<7:0>
Lower byte of Z axis Gyroscope data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.26 GYR_DATA_Z_MSB 0x19
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 out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.27 EUL_DATA_X_LSB 0x1A
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 Dat a <7:0>
DATA
bits
Description
Heading Data
<7:0>
<7:0>
Lower byte of heading dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.28 EUL_DATA_X_MSB 0x1B
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 Dat a <15:8>
DATA
bits
Description
Heading Data
<15:8>
<7:0>
Upper byte of heading dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 61
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.29 EUL_DATA_Y_LSB 0x1C
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 dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.30 EUL_DATA_Y_MSB 0x1D
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 out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.31 EUL_DATA_Z_LSB 0x1E
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 dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.32 EUL_DATA_Z_MSB 0x1F
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 dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 62
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.33 QUA_DATA_W_LSB 0x20
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
Quat ernion Data W <7:0>
DATA
bits
Description
Quaternion Data
W <7:0>
<7:0>
Lower byte of w axis Quat ernion data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.34 QUA_DATA_W_MSB 0x21
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
Quat ernion Data W <15:8>
DATA
bits
Description
Quaternion Data
W <15:8>
<7:0>
Upper byte of w axis Quat ernion data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.35 QUA_DATA_X_LSB 0x22
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
Quat ernion Data X <7:0>
DATA
bits
Description
Quaternion Data
X <7:0>
<7:0>
Lower byte of X axis Quat ernion data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.36 QUA_DATA_X_MSB 0x23
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
Quat ernion Data X <15:8>
DATA
bits
Description
Quaternion Data
X <15:8>
<7:0>
Upper byte of X axis Quat ernion data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 63
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.37 QUA_DATA_Y_LSB 0x24
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
Quat ernion Data Y <7:0>
DATA
bits
Description
Quaternion Data
Y <7:0>
<7:0>
Lower byte of Y axis Quat ernion dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.38 QUA_DATA_Y_MSB 0x25
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
Quat ernion Data Y <15:8>
DATA
bits
Description
Quaternion Data
Y <15:8>
<7:0>
Upper byte of Y axis Quat ernion dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.39 QUA_DATA_Z_LSB 0x26
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
Quat ernion Data Z <7:0>
DATA
bits
Description
Quaternion Data
Z <7:0>
<7:0>
Lower byte of Z axis Quat ernion dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.40 QUA_DATA_Z_MSB 0x27
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
Quat ernion Data Z <15:8>
DATA
bits
Description
Quaternion Data
Z <15:8>
<7:0>
Upper byte of Z axis Quat ernion dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 64
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.41 LIA_DATA_X_LSB 0x28
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 Accelerat ion Dat a 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 out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.42 LIA_DATA_X_MSB 0x29
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 Accelerat ion Dat a 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 out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.43 LIA_DATA_Y_LSB 0x2A
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 Accelerat ion Dat a Y <7:0>
DATA
bits
Description
Linear
Acceleration
Data Y <7:0>
<7:0>
Lower byte of Y axis Linear Accelerat ion data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.44 LIA_DATA_Y_MSB 0x2B
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 Accelerat ion Dat a Y <15:8>
DATA
bits
Description
Linear
Acceleration
Data Y <15:8>
<7:0>
Upper byte of Y axis Linear Accelerat ion dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 65
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.45 LIA_DATA_Z_LSB 0x2C
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 Accelerat ion Dat a Z <7:0>
DATA
bits
Description
Linear
Acceleration
Data Z <7:0>
<7:0>
Lower byte of Z axis Linear Accelerat ion dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.46 LIA_DATA_Z_MSB 0x2D
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 Accelerat ion Dat a Z <15:8>
DATA
bits
Description
Linear
Acceleration
Data Z <15:8>
<7:0>
Upper byte of Z axis Linear Accelerat ion dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.47 GRV_DATA_X_LSB 0x2E
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 Vect or Data X <7:0>
DATA
bits
Description
Gravity Vector
Data X <7:0>
<7:0>
Lower byte of X axis Gravity Vect or data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.48 GRV_DATA_X_MSB 0x2F
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 Vect or Data X <15:8>
DATA
bits
Description
Gravity Vector
Data X <15:8>
<7:0>
Upper byte of X axis Gravity Vect or data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 66
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.49 GRV_DATA_Y_LSB 0x30
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 Vect or Data Y <7:0>
DATA
bits
Description
Gravity Vector
Data Y <7:0>
<7:0>
Lower byte of Y axis Gravity Vect or data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.50 GRV_DATA_Y_MSB 0x31
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 Vect or Data Y <15:8>
DATA
bits
Description
Gravity Vector
Data Y <15:8>
<7:0>
Upper byte of Y axis Gravit y Vect or dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.51 GRV_DATA_Z_LSB 0x32
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 Vect or Data Z <7:0>
DATA
bits
Description
Gravity Vector
Data Z <7:0>
<7:0>
Lower byte of Z axis Gravit y Vect or dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
4.3.52 GRV_DATA_Z_MSB 0x33
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 Vect or Data Z <15:8>
DATA
bits
Description
Gravity Vector
Data Z <15:8>
<7:0>
Upper byte of Z axis Gravit y Vect or dat a, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put t ype can be
changed by updat ing the Operat ion Mode in the OPR_MODE regist er, see sect ion 3.3
BNO055
Data sheet
Page 67
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.53 TEMP 0x34
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
Temperat ure
DATA
bits
Description
Temperature
<7:0>
Temperat ure data, read only
The out put units can be select ed using the UNIT_SEL regist er and dat a out put source can be
select ed by updating the TEMP_SOURCE regist er, see sect ion 3.6.5.8
4.3.54 CALIB_STAT 0x35
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 St atus <0:1>
GYR Calib St atus <0:1>
ACC Calib St atus <0:1>
MAG Calib St at us <0:1>
DATA
bits
Description
SYS Calib St atus
<0:1>
<7:6>
Current system calibrat ion st atus, depends on st atus of all sensors, read-only
Read: 3 indicates fully calibrat ed; 0 indicat es not calibrat ed
GYR Calib St atus
<0:1>
<5:4>
Current calibrat ion st atus of Gyroscope, read-only
Read: 3 indicates fully calibrat ed; 0 indicates not calibrat ed
ACC Calib St atus
<0:1>
<3:2>
Current calibrat ion st atus of Acceleromet er, read-only
Read: 3 indicates fully calibrat ed; 0 indicat es not calibrat ed
MAG Calib St at us
<0:1>
<1:0>
Current calibrat ion st atus of Magnet omet er, read-only
Read: 3 indicates fully calibrat ed; 0 indicat es not calibrat ed
4.3.55 ST_RESULT 0x36
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
3
Microcont roller self test result.
Read: 1 indicated test passed; 0 indicates test failed
ST_GYR
2
Gyroscope self t est result.
Read: 1 indicated test passed; 0 indicates test failed
ST_MAG
1
Magnet omet er self t est result.
Read: 1 indicated test passed; 0 indicates test failed
ST_ACC
0
Acceleromet er self t est result.
Read: 1 indicated test passed; 0 indicates test failed
BNO055
Data sheet
Page 68
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.56 INT_STA 0x37
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_HIGH
_G
Reserved
GYR_HIG
H_RATE
GYRO_AM
Reserved
Reserved
DATA
bits
Description
ACC_NM
7
St atus of Acceleromet er no motion or slow mot ion int errupt , read only
Read: 1 indicates int errupt t riggered; 0 indicates no int errupt t riggered
ACC_AM
6
St atus of Acceleromet er any motion int errupt, read only
Read: 1 indicates int errupt t riggered; 0 indicates no int errupt t riggered
ACC_HIGH_G
5
St atus of Acceleromet er high-g int errupt, read only
Read: 1 indicates int errupt t riggered; 0 indicates no interrupt triggered
GYR_HIGH_RATE
3
St atus of gyroscope high rat e interrupt, read only
Read: 1 indicates int errupt t riggered; 0 indicates no int errupt t riggered
GYRO_AM
2
St atus of gyroscope any mot ion int errupt , read only
Read: 1 indicates int errupt t riggered; 0 indicat es no int errupt t riggered
4.3.57 SYS_CLK_STATUS 0x38
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
Reserved
Reserved
Reserved
ST_MAIN_
CLK
DATA
bits
Description
0
0
Indicates t hat , it is Free t o configure the CLK SRC (External or Int ernal)
1
0
Indicates t hat , it is in Configurat ion st ate
4.3.58 SYS_STATUS 0x39
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
Syst em St atus Code
DATA
bits
Description
System Status
Code
<7:0>
Read: 0 Syst em idle,
1 Syst em Error,
2 Initializing peripherals
3 Syst em Initializat ion
4 Executing selftest ,
5 Sensor fusion algorithm running,
6 Syst em running without fusion algorit hm
BNO055
Data sheet
Page 69
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.59 SYS_ERR 0x3A
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r
r
r
r
r
r
r
r
Reset
Content
Syst em Error Code
DATA
bits
Description
System Error
Code
<7:0>
Read the error st atus from this regist er if t he SYS_STATUS (0x39) regist er is SYSTEM ERROR
(0x01)
Read : 0 No error
1 Peripheral init ialization error
2 Syst em initialization error
3 Self t est result failed
4 Regist er map value out of range
5 Regist er map address out of range
6 Regist er map write error
7 BNO low power mode not available for select ed operat ion mode
8 Acceleromet er power mode not available
9 Fusion algorithm configurat ion error
A Sensor configurat ion error
4.3.60 UNIT_SEL 0x3B
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
0
0
0
Content
ORI_Androi
d_Windows
reserved
TEMP_Unit
reserved
EUL_Unit
GYR_Unit
ACC_Unit
DATA
bits
Description
ORI_Android_Win
dows
7
Read: Current select ed orientation mode
Write: Select orientation mode
0: Windows orientation
1: Android orientation
See sect ion 3.6.2 for more details
TEMP_Unit
5
Read: Current select ed t emperature units
Write: Select t emperature units
0: Celsius
1: Fahrenheit
See sect ion 3.6.1 for more details
EUL_Unit
3
Read: Current select ed Euler unit s
Write: Select Euler unit s
0: Degrees
1: Radians
See sect ion 3.6.1 for more details
GYR_Unit
2
Read: Current select ed angular rat e units
Write: Select angular rat e units
0: dps
1: rps
See sect ion 3.6.1 for more details
ACC_Unit
1
Read: Current select ed accelerat ion units
Write: Select accelerat ion units
0: m/s2
1: mg
See sect ion 3.6.1 for more details
BNO055
Data sheet
Page 70
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.61 OPR_MODE 0x3D
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
Reset
Content
Reserved
Operat ion Mode <3:0>
DATA
bits
Description
Operation Mode
<3:0>
<3:0>
Read: Current select ed operat ion mode
Write: Select operat ion mode
See sect ion 3.3 for det ails
4.3.62 PWR_MODE 0x3E
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
Reset
Content
Reserved
Power Mode <1:0>
DATA
bits
Description
Power Mode
<1:0>
<1:0>
Read: Current select ed power mode
Write: Select power mode
See sect ion 0 for details
4.3.63 SYS_TRIGGER 0x3F
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
w
w
w
w
Reset
0
0
0
0
Content
CLK_SEL
RST_INT
RST_SYS
Self_Test
DATA
bits
Description
CLK_SEL
7
0: Use int ernal oscillat or
1: Use ext ernal oscillat or. Set this bit only if ext ernal cryst al is connect ed
RST_INT
6
Set to reset all int errupt st atus bit s, and INT out put
RST_SYS
5
Set to reset syst em
Self_Test
0
Set to trigger self t est
4.3.64 TEMP_SOURCE 0x40
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
Reset
Content
Reserved
TEMP_Source <1:0>
DATA
bits
Description
TEMP_Source
<1:0>
<1:0>
See sect ion 3.6.5.8 for details
BNO055
Data sheet
Page 71
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.65 AXIS_MAP_CONFIG 0x41
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
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 sect ion 3.4 for det ails
Remapped Y axis
value
<3:2>
See sect ion 3.4 for det ails
Remapped X axis
value
<1:0>
See sect ion 3.4 for det ails
4.3.66 AXIS_MAP_SIGN 0x42
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
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
2
See sect ion 3.4 for det ails
Remapped Y axis
sign
1
See sect ion 3.4 for det ails
Remapped Z axis
sign
0
See sect ion 3.4 for det ails
4.3.67 ACC_OFFSET_X_LSB 0x55
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Acceleromet er Offset X <7:0>
DATA
bits
Description
Accelerometer
Offset X <7:0>
<7:0>
See sect ion 3.6.4 for det ails
BNO055
Data sheet
Page 72
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.68 ACC_OFFSET_X_MSB 0x56
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Acceleromet er Offset X <15:8>
DATA
bits
Description
Accelerometer
Offset X <15:8>
<7:0>
See sect ion 3.6.4 for det ails
4.3.69 ACC_OFFSET_Y_LSB 0x57
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Acceleromet er Offset Y <7:0>
DATA
bits
Description
Accelerometer
Offset Y <7:0>
<7:0>
See sect ion 3.6.4 for det ails
4.3.70 ACC_OFFSET_Y_MSB 0x58
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Acceleromet er Offset Y <15:8>
DATA
bits
Description
Accelerometer
Offset Y <15:8>
<7:0>
See sect ion 3.6.4 for det ails
4.3.71 ACC_OFFSET_Z_LSB 0x59
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Acceleromet er Offset Z <7:0>
DATA
bits
Description
Accelerometer
Offset Z <7:0>
<7:0>
See sect ion 3.6.4 for det ails
BNO055
Data sheet
Page 73
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.72 ACC_OFFSET_Z_MSB 0x5A
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Acceleromet er Offset Z <15:8>
DATA
bits
Description
Accelerometer
Offset Z <15:8>
<7:0>
See sect ion 3.6.4 for det ails
4.3.73 MAG_OFFSET_X_LSB 0x5B
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Magnet omet er Data X <7:0>
DATA
bits
Description
Magnetometer
Offset X <7:0>
<7:0>
See sect ion 3.6.4 for det ails
4.3.74 MAG_OFFSET_X_MSB 0x56C
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Magnet omet er Offset X <15:8>
DATA
bits
Description
Magnetometer
Offset X <15:8>
<7:0>
See sect ion 3.6.4 for det ails
4.3.75 MAG_OFFSET_Y_LSB 0x5D
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Magnet omet er Offset Y <7:0>
DATA
bits
Description
Magnetometer
Offset Y <7:0>
<7:0>
See sect ion 3.6.4 for det ails
BNO055
Data sheet
Page 74
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.76 MAG_OFFSET_Y_MSB 0x5E
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Magnet omet er Offset Y <15:8>
DATA
bits
Description
Magnetometer
Offset Y <15:8>
<7:0>
See sect ion 3.6.4 for det ails
4.3.77 MAG_OFFSET_Z_LSB 0x5F
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Magnet omet er Offset Z <7:0>
DATA
bits
Description
Magnetometer
Offset Z <7:0>
<7:0>
See sect ion 3.6.4 for det ails
4.3.78 MAG_OFFSET_Z_MSB 0x60
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Magnet omet er Offset Z <15:8>
DATA
bits
Description
Magnetometer
Offset Z <15:8>
<7:0>
See sect ion 3.6.4 for det ails
4.3.79 GYR_OFFSET_X_LSB 0x61
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Gyroscope Dat a X <7:0>
DATA
bits
Description
Gyroscope
Offset X <7:0>
<7:0>
See sect ion 3.6.4 for det ails
BNO055
Data sheet
Page 75
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.80 GYR_OFFSET_X_MSB 0x62
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Gyroscope Offset X <15:8>
DATA
bits
Description
Gyroscope
Offset X <15:8>
<7:0>
See sect ion 3.6.4 for det ails
4.3.81 GYR_OFFSET_Y_LSB 0x63
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Gyroscope Offset Y <7:0>
DATA
bits
Description
Gyroscope
Offset Y <7:0>
<7:0>
See sect ion 3.6.4 for det ails
4.3.82 GYR_OFFSET_Y_MSB 0x64
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Gyroscope Offset Y <15:8>
DATA
bits
Description
Gyroscope
Offset Y <15:8>
<7:0>
See sect ion 3.6.4 for det ails
4.3.83 GYR_OFFSET_Z_LSB 0x65
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Gyroscope Offset Z <7:0>
DATA
bits
Description
Gyroscope
Offset Z <7:0>
<7:0>
See sect ion 3.6.4 for det ails
BNO055
Data sheet
Page 76
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.3.84 GYR_OFFSET_Z_MSB 0x66
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Gyroscope Offset Z <15:8>
DATA
bits
Description
Gyroscope
Offset Z <15:8>
<7:0>
See sect ion 3.6.4 for det ails
4.3.85 ACC_RADIUS_LSB 0x67
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Acceleromet er Radius <7:0>
DATA
bits
Description
4.3.86 ACC_RADIUS_MSB 0x68
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Acceleromet er Radius <15:8>
DATA
bits
Description
Gyroscope
Offset Z <15:8>
<7:0>
See sect ion 3.6.4 for det ails
4.3.87 MAG_RADIUS_LSB 0x69
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Magnet omet er Radius <7:0>
DATA
bits
Description
Gyroscope
Offset Z <7:0>
<7:0>
See sect ion 3.6.4 for det ails
4.3.88 MAG_RADIUS_MSB 0x6A
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
Magnet omet er Radius <15:8>
DATA
bits
Description
Gyroscope
Offset Z <15:8>
<7:0>
See sect ion 3.6.4 for det ails
Gyroscope
Offset Z <7:0>
<7:0>
See sect ion 3.6.4for det ails
BNO055
Data sheet
Page 77
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4 Register description (Page 1)
4.4.1 Page ID 0x07
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
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 select ed page
Write: Change page, 0x00 or 0x01
4.4.2 ACC_Config 0x08
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
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 select ed power mode
Write: can only be changed in sensor mode, see sect ion 3.5.2
ACC_BW <2:0>
<4:3>
Read: current select ed bandwidt h
Write: can only be changed in sensor mode, see sect ion 3.5.2
ACC_Range <1:0>
<2:0>
Read: current select ed range
Write: can only be changed in sensor mode, see sect ion 3.5.2
4.4.3 MAG_Config 0x09
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
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_out put_rat e <2:0>
DATA
bits
Description
MAG_Power_mode
<1:0>
<6:5>
Read: current select ed power mode
Write: can only be changed in sensor mode, see sect ion 3.5.4
MAG_OPR_Mode
<1:0>
<4:3>
Read: current select ed operat ion mode
Write: can only be changed in sensor mode, see sect ion 3.5.4
MAG_Data_out put_
rate <2:0>
<2:0>
Read: current select ed dat a output rat e
Write: can only be changed in sensor mode, see sect ion 3.5.4
BNO055
Data sheet
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BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.4 GYR_Config_0 0x0A
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
1
1
1
0
0
0
Content
reserved
GYR_Bandwidt h <2:0>
GYR_Range <2:0>
DATA
bits
Description
GYR_Bandwidt h
<2:0>
<5:3>
Read: current select ed bandwidt h
Write: can only be changed in sensor mode, see sect ion 3.5.3
GYR_Range <2:0>
<2:0>
Read: current select ed range
Write: can only be changed in sensor mode, see sect ion 3.5.3
4.4.5 GYR_Config_1 0x0B
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
0
0
0
0
0
Content
reserved
GYR_Power_Mode <2:0>
DATA
bits
Description
GYR_Power_Mode
<2:0>
<2:0>
Read: current select ed power mode
Write: can only be changed in sensor mode, see sect ion 3.5.3
BNO055
Data sheet
Page 79
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.6 ACC_Sleep_Config 0x0C
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
reserved
SLP_DURATION <3:0>
SLP_MOD
E
DATA
bits
Description
SLP_DURATION
<3:0>
<4:1>
Writ e: The sleep durat ion for acceleromet er low power mode can be only configured in t he sensor
operation mode where no fusion library is running. Following sleep phase durat ion is possible to set.
SLP_DURATION
Acceleromet er Sleep Phase Durat ion
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
1 ms
SLP_MODE
0
The sleep timer mode for acceleromet er low power mode can be only configured in t he sensor
operation mode where no fusion library is running
Write 0: use event driven time-base mode
1: use equidist ant sampling t ime-base mode
BNO055
Data sheet
Page 80
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.7 GYR_Sleep_Config 0x0D
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
Content
reserved
AUTO_SLP_DURATION <2:0>
SLP_DURATION <2:0>
DATA
bits
Description
AUTO_SLP_DURAT
ION <2:0>
<5:3>
The Gyroscope can be configures in t he advanced power mode to opt imize t he power consumpt ion.
This can be only done if the select ed operat ion mode in sensor mode. The aut o sleep durat ion is t he
wake up duration of gyroscope during t he duty cycling bet ween normal and fast -power up mode.
Possible configurat ion for aut o sleep durat ion are:
Auto sleep durat ion
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>
<2:0>
The Gyroscope can be configures in t he advanced power mode t o optimize t he power consumpt ion.
This can be only done if the select ed operat ion mode in sensor mode. The sleep durat ion is the sleep
time of gyroscope during the dut y cycling bet ween normal and fast -power up mode. Possible
configurat ion for sleep durat ion are:
Sleep durat ion
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
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.
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
BNO055
Data sheet
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© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.8 INT_MSK 0x0F
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
0
0
Content
ACC_NM
ACC_AM
ACC_HIGH
_G
reserved
GYR_HIG
H_RATE
GYRO_AM
reserved
reserved
DATA
bits
Description
ACC_NM
7
Masking of Acceleromet er no mot ion or slow mot ion int errupt, when enabled t he int errupt will
update t he INT_STA regist er and t rigger a change on the INT pin, when disabled only t he INT_STA
regist er will be updat ed.
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable
ACC_AM
6
Masking of Acceleromet er any mot ion interrupt, when enabled t he interrupt will update t he
INT_STA regist er and t rigger a change on the INT pin, when disabled only t he INT_STA regist er will
be updat ed.
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable
ACC_HIGH_G
5
Masking of Acceleromet er high-g int errupt, when enabled the interrupt will update t he INT_STA
regist er and t rigger a change on t he INT pin, when disabled only t he INT_STA regist er will be
updated.
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable
GYR_HIGH_RATE
3
Masking of gyroscope high rat e int errupt , when enabled t he int errupt will updat e the INT_STA
regist er and t rigger a change on t he INT pin, when disabled only t he INT_STA regist er will be
updated.
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable
GYRO_AM
2
Masking of gyroscope any mot ion int errupt, when enabled t he int errupt will updat e t he INT_STA
regist er and t rigger a change on t he INT pin, when disabled only t he INT_STA regist er will be
updated.
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable
BNO055
Data sheet
Page 82
BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.9 INT_EN 0x10
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
0
0
Content
ACC_NM
ACC_AM
ACC_HIGH
_G
reserved
GYR_HIG
H_RATE
GYRO_AM
reserved
reserved
DATA
bits
Description
ACC_NM
7
St atus of Acceleromet er no mot ion or slow mot ion interrupt
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable interrupt
ACC_AM
6
St atus of Acceleromet er any motion int errupt
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable interrupt
ACC_HIGH_G
5
St atus of Acceleromet er high-g int errupt
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable interrupt
GYR_HIGH_RATE
3
St atus of gyroscope high rat e interrupt
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable interrupt
GYRO_AM
2
St atus of gyroscope any mot ion int errupt
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable interrupt
4.4.10 ACC_AM_THRES 0x11
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
1
0
1
0
0
Content
Acceleromet er Any mot ion threshold
DATA
bits
Description
Accelerometer
Any motion
threshold
<7:0>
Threshold used for t he any-mot ion interrupt . The threshold value is dependent on t he acceleromet er
range select ed in t he ACC_Config regist er.
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)
BNO055
Data sheet
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BST-BNO055-DS000-12 | Revi si on 1.2 | November 2014 Bosch Sensortec
© Bosch Sensortec GmbH reserves al l ri ght s even i n t he event of i ndustri al property ri ghts. We reserve al l ri ghts of di sposal su ch as copyi ng and
passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.11 ACC_INT_Settings 0x12
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
0
0
0
1
1
Content
HG_Z_AXI
S
HG_Y_AXI
S
HG_X_AXI
S
AM/NM_Z_
AXIS
AM/NM_Y_
AXIS
AM/NM_X_
AXIS
AM_DUR <1:0>
DATA
bits
Description
HG_Z_AXIS
7
Select which axis of t he acceleromet er is used to trigger a high-G int errupt
1: Enabled; 0: Disabled
HG_Y_AXIS
6
Select which axis of the acceleromet er is used to trigger a high-G int errupt
1: Enabled; 0: Disabled
HG_X_AXIS
5
Select which axis of t he acceleromet er is used to trigger a high-G int errupt
1: Enabled; 0: Disabled
AM/NM_Z_AXIS
4
Select which axis of t he acceleromet er is used t o trigger a any mot ion or no mot ion int errupt
1: Enabled; 0: Disabled
AM/NM_Y_AXIS
3
Select which axis of t he acceleromet er is used to trigger a any mot ion or no mot ion int errupt
1: Enabled; 0: Disabled
AM/NM_X_AXIS
2
Select which axis of t he accelerometer is used t o t rigger a any mot ion or no mot ion int errupt
1: Enabled; 0: Disabled
AM_DUR <1:0>
<1:0>
Any mot ion int errupt t riggers if [AM_DUR<1:0>+1] consecutive dat a point s are above the any
motion int errupt threshold define in ACC_AM_THRES regist er
4.4.12 ACC_HG_DURATION 0x13
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
0
1
1
1
1
Content
Acceleromet er High G Duration
DATA
bits
Description
Accelerometer
High G Duration
<7:0>
The high-g int errupt t rigger delay according to [ACC_HG_DURATION + 1] * 2 ms in a range from
2 ms t o 512 ms;
4.4.13 ACC_HG_THRES 0x14
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
1
1
0
0
0
0
0
0
Content
Acceleromet er High G Threshold
DATA
bits
Description
Accelerometer
High G Threshold
<7:0>
Threshold used high-g int errupt. The threshold value is dependent on the acceleromet er range
select ed in t he ACC_Config regist er.
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)
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.14 ACC_NM_THRES 0x15
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
0
1
0
1
0
Content
Acceleromet er NO/SLOW motion threshold
DATA
bits
Description
Accelerometer
NO/SLOW motion
threshold
<7:0>
Threshold used for t he Slow mot ion or no mot ion int errupt. The t hreshold value is dependent on t he
acceleromet er range select ed in t he 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)
4.4.15 ACC_NM_SET 0x16
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
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>
Funct ion depends on whether t he slow-mot ion or no-mot ion int errupt funct ion has been select ed. If
the slow-mot ion interrupt funct ion has been enabled (SMNM = ‘0’) t hen [slo_no_mot _dur<1:0>+ 1]
consecutive slope dat a point s must be above t he slow/no-mot ion threshold (ACC_NM_THRES) for
the slow-/no-mot ion int errupt to t rigger. If the no-mot ion int errupt function has been enabled
(SMNM = ‘1’) t hen slo_no_motion_dur<5:0> defines the t ime for which no slope data point s must
exceed the slow/no-mot ion t hreshold (ACC_NM_THRES) for the slow/no-mot ion int errupt to
trigger. The delay time in seconds may be calculat ed according with t he following equat ion:
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
0
Select slow mot ion or no mot ion interrupt
1: Slow mot ion; 0: No mot ion
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.16 GYR_INT_SETTING 0x17
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
0
0
0
0
0
Content
HR_FILT
AM_FILT
HR_Z_AXI
S
HR_Y_AXI
S
HR_X_AXI
S
AM_Z_AXI
S
AM_Y_AXI
S
AM_X_AXI
S
DATA
bits
Description
HR_FILT
7
‘1’ (‘0’) select s unfiltered (filt ered) dat a for high rat e int errupt
AM_FILT
6
‘1’ (‘0’) select s unfiltered (filt ered) dat a for any mot ion int errupt
HR_Z_AXIS
5
1’ (‘0’) enables (disables) high rat e int errupt for z-axis
HR_Y_AXIS
4
1’ (‘0’) enables (disables) ) high rate int errupt for y-axis
HR_X_AXIS
3
1’ (‘0’) enables (disables) ) high rat e int errupt for x-axis
AM_Z_AXIS
2
1’ (‘0’) enables (disables) any mot ion interrupt for z-axis
AM_Y_AXIS
1
1’ (‘0’) enables (disables) any mot ion interrupt for y-axis
AM_X_AXIS
0
1’ (‘0’) enables (disables) any mot ion interrupt for x-axis
4.4.17 GYR_HR_X_SET 0x18
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
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 rat e hyst eresis for X axis = (255 + 256 * HR_X_THRES_HYST) *4 LSB
The high rat e value scales with t he range sett ing
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>
<4:0>
High rat e threshold is for the gyroscope X axis. The threshold value is dependent on t he gyroscope
range select ed in t he GRY_Config_0 regist er.
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
…
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.18 GYR_DUR_X 0x19
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
1
1
0
0
1
Content
HR_X_Durat ion
DATA
bits
Description
HR_X_Duration
<7:0>
High rat e duration = (1 + HR_X_Durat ion)*2.5ms
4.4.19 GYR_HR_Y_SET 0x1A
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 rat e hyst eresis for Y axis = (255 + 256 * HR_Y_THRES_HYST) *4 LSB
The high rat e value scales with t he range sett ing
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>
<4:0>
High rat e threshold is for the gyroscope Y axis. The threshold value is dependent on t he gyroscope
range select ed in t he GRY_Config_0 regist er.
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
…
4.4.20 GYR_DUR_Y 0x1B
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
1
1
0
0
1
Content
HR_Y_Durat ion
DATA
bits
Description
HR_Y_Duration
<7:0>
High rat e duration = (1 + HR_Y_Durat ion)*2.5ms
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.21 GYR_HR_Z_SET 0x1C
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 rat e hyst eresis for Z axis = (255 + 256 * HR_Z_THRES_HYST) *4 LSB
The high rat e value scales with t he range sett ing
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>
<4:0>
High rat e threshold is for the gyroscope Z axis. The threshold value is dependent on t he gyroscope
range select ed in t he GRY_Config_0 regist er.
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
…
4.4.22 GYR_DUR_Z 0x1D
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
Reset
0
0
0
1
1
0
0
1
Content
HR_Z_Duration
DATA
bits
Description
HR_Z_Duration
<7:0>
High rat e duration = (1 + HR_Z_Durat ion)*2.5ms
4.4.23 GYR_AM_THRES 0x1E
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
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 mot ion threshold is for t he gyroscope any mot ion interrupt . The t hreshold value is dependent on
the gyroscope range select ed in t he GRY_Config_0 regist er.
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
…
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
4.4.24 GYR_AM_SET 0x1F
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Access
r/w
r/w
r/w
r/w
r/w
r/w
r/w
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>
<1:0>
Any mot ion interrupt t riggers if [Slope Samples + 1]*4 consecutive data point s are above the any
motion int errupt threshold define in GYRO_AM_THRES register
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
PS1
PS0
Functionality
0
0
Standard/Fast I2C Interface
0
1
HID over I2C
1
0
UART Interface
1
1
Reserved
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
PIN
I2C Interfaces
(PS1=0b0)
UART Interface
(PS1.PS0=0b10
)
COM0
SDA
Tx
COM1
SCL
Rx
COM2
GNDIO
COM3
I2C address select
The following table shows the electrical specifications of the interface pins:
Table 4-6: Electrical specification of the interface pins
Parameter
Symbol
Condition
Min
Typ
Max
Units
Pull-up Resistance,
COM3 pin
Rup
Internal Pull-up
Resistance to
VDDIO
20
40
60
k
Input Capacitance
Cin
5
10
pF
I²C Bus Load
Capacitance (max.
drive capability)
CI2C_Loa d
400
pF
BNO055
Data sheet
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Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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 VDDIO externally via pull-up resistors so that
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
I2C
configuration
COM3_state
I2C address
Slave
HIGH
0x29
Slave
LOW
0x28
HID-I2C
X
0x40
The timing specification for I²C of the BNO055 is given in Table 4-8: I²C timings:
Table 4-8: I²C timings
Parameter
Symbol
Condition
Min
Max
Units
Clock Frequency
fSCL
400
kHz
SCL Low Period
tLOW
1.3
s
SCL High Period
tHIGH
0.6
SDA Setup Time
tSUDAT
0.1
SDA Hold Time
tHDDAT
0.0
Setup Time for a
repeated Start
Condition
tSUSTA
0.6
Hold Time for a Start
Condition
tHDSTA
0.6
Setup Time for a Stop
Condition
tSUSTO
0.6
Time before a new
Transmission can start
tBUF
1.3
Idle time between write
accesses, normal mode,
standby mode, low-
power mode 2
tIDLE_wacc_nm
2
µs
Idle time between write
accesses, suspend
mode, low-power mode
1
tIDLE_wacc_su
m
450
µs
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
Figure 5: I²C timing diagram shows the definition of the I²C timings given in Table 4-8:
tHDDAT
tf
tBUF
SDA
SCL
SDA
tLOW
tHDSTA
tr
tSUSTA
tHIGH
tSUDAT
tSUSTO
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 remai ns
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
BNO055
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
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):
Start RW
ACKS
dummy
ACKS
ACKS
Stop
S 0 1 0 1 0 0 0 0 Ax x x x x x x x Ax x x x x x x x AP
Slave address
Data
Register address (0x00 .. 0x7F)
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:
Start RW
ACKS
dummy
ACKS
S 0 1 0 1 0 0 0 0 Ax 0 0 0 1 0 0 0 A
Start RW
ACKS
ACKM
ACKM
Sr 0 1 0 1 0 0 0 1 A x x x x x x x x Ax x x x x x x x A…
ACKS
ACKM
ACKM
…A x x x x x x x x Ax x x x x x x x A…
ACKS
ACKM
NACKM
Stop
…A x x x x x x x x Ax x x x x x x x NA P
Slave address
Register address (0x08)
Slave address
Read data (0x08)
Read data (0x09)
Read data (0x0A)
Read data (0x0B)
Read data (0x0C)
Read data (0x0D)
Figure 7: I²C multiple read
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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 b elow.
Register write
Command:
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
<..>
<..>
<..>
…..
<..>
Acknowledge Response:
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
Register read
Command:
Byte 1
Byte 2
Byte 2
Byte 3
Start Byte
Read
Reg addr
Length
0xAA
0x01
<..>
<..>
Read Success Response:
Byte 1
Byte 2
Byte 3
…..
Byte (n+2)
ResponseByte
length
Data 1
…..
Data n
0xBB
<..>
Read Failure or Acknowledge Response:
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
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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.
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
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
Bottom view (pads visible)
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
Table 5-1: Pin description
Pin #
Name
I/O Type
Description
Function
I2C
UART
HID-
I2C
1
PIN1
--
Do not connect
DNC
2
GND
Ground
GND
GND
3
VDD
Supply
VDD
VDD
4
nBOOT_LOAD_PIN
Digital I/O
Bootloader mode
select pin (active
low)
nBOOT_LOAD_PIN
5
PS1
Digital in
Protocol select pin
1
GNDIO
VDDIO
GNDIO
6
PS0
Digital in
Protocol select pin
2
GNDIO
GNDIO
VDDIO
7
PIN7
--
Do not connect
DNC
8
PIN8
--
Do not connect
DNC
9
CAP
--
External capacitor
CAP
10
PIN10
Ground
connect to GNDIO
GNDIO
11
nRESET
--
Reset pin (active
low)
nRESET
12
PIN12
--
Do not connect
DNC
13
PIN13
--
Do not connect
DNC
14
INT
Digital
Out
Interrupt output
Interrupt
15
PIN15
Ground
Connect to GNDIO
GNDIO
16
PIN16
Ground
Connect to GNDIO
GNDIO
17
COM3
Digital I/O
Digital interface pin
3
I2C
address
select
GNDIO
GNDIO
18
COM2
Digital I/O
Digital interface pin
2
GNDIO
19
COM1
Digital I/O
Digital interface pin
1
SCL
Rx
SCL
20
COM0
Digital I/O
Digital interface pin
0
SDA
Tx
SDA
21
PIN21
--
Do not connect
DNC
22
PIN22
--
Do not connect
DNC
23
PIN23
--
Do not connect
DNC
24
PIN24
--
Do not connect
DNC
25
GNDIO
Ground
GNDIO
GNDIO
26
XOUT32
Digital
Out
Optional OSC port
OSC Output
27
XIN32
Digital In
Optional OSC port
OSC Input
28
VDDIO
Supply
VDDIO
VDDIO
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
5.2 Connection diagram I2C
Figure 9: I2C connection diagram
BNO 055
Top View
(Pads not visible!)
2
1
3
4
5
6
7
8
9
10
11
12
13
14
15
19
18
17
16
28
27
26
25
24
23
22
21
20
PIN1
VDDIO
XIN32
XOUT32
GNDIO
PIN24
PIN23
PIN22
PIN21
COM0
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
RPULL
SCL
INT
nBOOT_LOAD_PIN
100nF
(GNDIO)
I²C_ADDR_SEL
VDDVDDIO
nRESET
Optional
10kΩ
RPULL
Pull-up
10kΩ
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
5.3 Connection diagram UART
Figure 10: UART connection diagram
BNO 055
Top View
(Pads not visible!)
2
1
3
4
5
6
7
8
9
10
11
12
13
14
15
19
18
17
16
28
27
26
25
24
23
22
21
20
PIN1
VDDIO
XIN32
XOUT32
GNDIO
PIN24
PIN23
PIN22
PIN21
COM0
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
TX
6.8nF
RX
INT
nBOOT_LOAD_PIN
100nF
(GNDIO)
VDDVDDIO
nRESET
Optional
10kΩ
Pull-up
10kΩ
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
5.4 Connection diagram HID-I2C
Figure 11 : HID via IC connection diagram
BNO 055
Top View
(Pads not visible!)
2
1
3
4
5
6
7
8
9
10
11
12
13
14
15
19
18
17
16
28
27
26
25
24
23
22
21
20
PIN1
VDDIO
XIN32
XOUT32
GNDIO
PIN24
PIN23
PIN22
PIN21
COM0
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
RPULL
SCL
INT
nBOOT_LOAD_PIN
100nF
(GNDIO)
VDDVDDIO
nRESET
Optional
10kΩ
RPULL
Pull-up
10kΩ
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
5.5 XOUT32 & XIN32 Connections
The BNO055 can run from an internal or external 32 KHz clock source. By default, the
internal clock is selected.
An External clock can be selected by setting bit CLK_SEL in the SYSTEM_TRIGGER
register. An external 32 KHz crystal oscillator has to be connected to the pins XIN32 and
XOUT32 as shown below.
To get the best performance out of BNO055, it is recommended to use the external crystal.
5.5.1 External 32kHz Crystal Oscillator
Figure 12 : External 32kHz Crystal Oscillator with Load Capacitor
Table 5-2: Crystal Oscillator Source Connections
Pin Name
Recommended Pin Connection
Description
XIN32
Load capacitor 22pF78
Timer oscillator input
XOUT32
Load capacitor 22pF78
Timer oscillator output
5.5.2 Internal clock mode
The internal clock can be selected by clearing bit CLK_SEL in the SYSTEM_TRIGGER
register. When an internal clock is used, both pins XIN32 and XOUT32 can be left open.
The internal clock of the BNO055 can have clock deviation up to +3%
7 These values are given only as typical example.
8 Decoupling capacitor should be placed close to the device for each supply pin pair in the signal group.
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
6. Package
6.1 Outline dimensions
The sensor package is a standard LGA package; dimensions are shown in the following
diagram. Units are in mm. Note: Unless otherwise specified tolerance = decimal ±0.1mm.
The chapter 3.5 provides information regarding the sensor axis orientation.
Figure 13: Outline dimensions
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
6.2 Marking
Table 6-1: Marking of mass production parts
Labeling
Name
Symbol
Remark
Pin 1 identifier
•
---
Product number
701
3 numeric digits, internal
identification for product type
Second Row
T
Internal use
Third Row
C
Numerical counter
6.3 Soldering Guidelines
The moisture sensitivity level of the BNO055 sensors corresponds to JEDEC Level 1, see
also
- IPC/JEDEC J-STD-020C "Joint Industry Standard: Moisture/Reflow Sensitivity
Classification for non-hermetic Solid State Surface Mount Devices"
- IPC/JEDEC J-STD-033A "Joint Industry Standard: Handling, Packing, Shipping and Use
of Moisture/Reflow Sensitive Surface Mount Devices"
The sensor fulfils the lead-free soldering requirements of the above-mentioned IPC/JEDEC
standard, i.e. reflow soldering with a peak temperature up to 260°C.
6.4 Handling instructions
Micromechanical sensors are designed to sense acceleration with high accuracy even at low
amplitudes and contain highly sensitive structures inside the sensor element. The MEMS
sensor can tolerate mechanical shocks up to several thousand g's. However, these limits
might be exceeded in conditions with extreme shock loads such as e.g. hammer blow on or
next to the sensor, dropping of the sensor onto hard surfaces etc.
We recommend avoiding g-forces beyond the specified limits during transport, handling and
mounting of the sensors in a defined and qualified installation process.
This device has built-in protections against high electrostatic discharges or electric fields (e.g.
2kV HBM); however, anti-static precautions should be taken as for any other CMOS
component. Unless otherwise specified, proper operation can only occur when all terminal
voltages are kept within the supply voltage range. Unused inputs must always be tied to a
defined logic voltage level.
For more details on recommended handling, soldering and mounting please contact your
local Bosch Sensortec sales representative and ask for the “Handling, soldering and
mounting instructions” document.
701
TTTT
CCC
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
6.5 Tape and reel specification
The BNO055 is shipped in a standard cardboard box. For details please refer to the
‘Shipment packaging details’ document.
6.6 Environmental safety
The BNO055 sensor meets the requirements of the EC restriction of hazardous
substances (RoHS and RoHS2) directive, see also:
Directive 2002/95/EC of the European Parliament and of the Council of 27 January
2003
on the restriction of the use of certain hazardous substances in electrical and
electronic equipment.
6.6.1 Halogen content
The BNO055 is halogen-free. For more details on the analysis results please contact your
Bosch Sensortec representative.
6.6.2 Internal package structure
Within the scope of Bosch Sensortec’s ambition to improve its products and secure the
mass product supply, Bosch Sensortec qualifies additional sources (e.g. 2nd source) for the
LGA package of the BNO055.
While Bosch Sensortec took care that all of the technical packages parameters are
described above are 100% identical for all sources, there can be differences in the chemical
content and the internal structural between the different package sources.
However, as secured by the extensive product qualification process of Bosch Sensortec, this
has no impact to the usage or to the quality of the BMNO55 product.
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
7. Legal disclaimer
7.1 Engineering samples
Engineering Samples are marked with an asterisk (*) or (e) or (E). Samples may vary from the
valid technical specifications of the product series contained in this data sheet. They are
therefore not intended or fit for resale to third parties or for use in end product s. Their sole
purpose is internal client testing. The testing of an engineering sample may in no way
replace the testing of a product series. Bosch Sensortec assumes no liability for the use of
engineering samples. The Purchaser shall indemnify Bosch Sensortec from all claims arising
from the use of engineering samples.
7.2 Product use
Bosch Sensortec products are developed for the consumer goods industry. They may only
be used within the parameters of this product data sheet. They are not fit for use in life -
sustaining or security sensitive systems. Security sensitive systems are those for which a
malfunction is expected to lead to bodily harm or significant property damage. In addition,
they are not fit for use in products which interact with motor vehicle systems.
The resale and/or use of products are at the purchaser’s own risk and his own
responsibility. The examination of fitness for the intended use is the sole responsibility of
the Purchaser.
The purchaser shall indemnify Bosch Sensortec from all third party claims arising from any
product use not covered by the parameters of this product data sheet or not approved by
Bosch Sensortec and reimburse Bosch Sensortec for all costs in connection with such
claims.
The purchaser must monitor the market for the purchased products, particularly with regard
to product safety, and inform Bosch Sensortec without delay of all security relevant incidents.
7.3 Application examples and hints
With respect to any examples or hints given herein, any typical values stated herein and/or
any information regarding the application of the device, Bosch Sensortec hereby disclaims
any and all warranties and liabilities of any kind, including without limitation warranties of non -
infringement of intellectual property rights or copyrights of any third party. The information
given in this document shall in no event be regarded as a guarantee of conditions or
characteristics. They are provided for illustrative purposes only and no evaluation regarding
infringement of intellectual property rights or copyrights or regarding functionality,
performance or error has been made.
BNO055
Data sheet
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passi ng on to thi rd part i es. BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cati ons wi thi n thi s document are subj ect to change wi t hout noti ce.
8. Document history and modifications
Rev.
No
Chapter
Description of modification/changes
Date
0.1
Initial version
2013-09-02
0.2
Completely revised version (BMF055 added)
2013-10-15
0.9
Preliminary version with feature set of Firmware
version 0.2.B.0
2014-04-25
1.0
Complete review
2014-07-11
1.1
3
Rearrangement of subsections in chapter 3 for
better readability.
2014-11-05
3.3
Table 3.1 is updated for better readability and all the
operation modes are elaborated
3.11
Chapter on calibration included
3.7, 3.10
Update
4.2
The default value of the UNIT_SEL register is
updated
4.6
I2C communication example figures are updated.
5.1, 5.2, 5.3,
5.4
Included table 5.1 Pin description.
Connection diagram updated
1.2
5
Updated pin description and connection diagram
2014-11-30
6.1
Updated outline dimensions
6.2
Chapter removed and the respective information is
updated in the Handling, soldering and mounting
instructions application note.
Bosch Sensortec GmbH
Gerhard- Kindler- Stra sse 8
72770 Reutlingen / Germany
contact@bosch- sensortec.com
www.bosch- sensortec.com
Modifica tions reserved | Printed in Germa ny
Specifica tions subject to change without notice
Document number: BST-BNO05 5 -DS000- 11
Revision_1.1_201408
