BNO055 Intelligent 9-axis absolute orientation sensor

1 Data sheet BNO055 . Intelligent 9-axis absolute orientation sensor Bosch Sensortec BNO055 : data sheet Document revision 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. BNO055 . Data sheet Page 2. BNO055 . Intelligent absolute orientation sensor , 9-axis sensor FUSION. ALL-IN-ONE WINDOWS 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 x mm , height mm.

2 Power Management Intelligent Power Management: normal, low power and suspend mode available Common voltage supplies VDD voltage range: to Digital interface HID-I2C (Windows 8 compatible), I C, UART. VDDIO voltage range: to Consumer electronics suite MSL1, RoHS compliant, halogen-free Operating temperature: -40 C .. +85 C. Key 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 BST- BNO055 -DS000-12 | Revi si on 1. 2 | November 2014 Bosch Sensortec Bosch Sensortec GmbH reserves al l ri ghts even i n the event of i ndustri al property ri ghts.

3 We reserve al l ri ghts of di sposal su ch as copyi ng and passi ng on to thi rd parti 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 thout noti ce. BNO055 . Data sheet Page 3. Gyroscope features Programmable functionality Ranges switchable from 125 /s to 2000 /s Low-pass filter bandwidths 523Hz - 12Hz Operation modes: - Normal - Fast power up - Deep suspend - Suspend - Advanced power save On-chip interrupt controller Motion-triggered interrupt-signal generation for - any-motion (slope) detection - high rate Magnetometer features Flexible functionality Magnetic field range typical 1300 T (x-, y-axis);. 2500 T (z-axis). Magnetic field resolution of ~ T. Operating modes: - Low power - Regular - Enhanced regular - High Accuracy Power modes: - Normal - Sleep - Suspend - Force Typical applications Navigation Robotics Fitness and well-being Augmented reality Context awareness Tablets and ultra-books BST- BNO055 -DS000-12 | Revi si on 1.

4 2 | November 2014 Bosch Sensortec Bosch Sensortec GmbH reserves al l ri ghts even i n the 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 parti 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 thout noti ce. BNO055 . Data sheet Page 4. General description The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer, a triaxial 16-bit gyroscope with a range of 2000 degrees per second, a triaxial geomagnetic sensor and a 32-bit cortex M0+ microcontroller running Bosch Sensortec sensor fusion software, in a single package. The corresponding chip-sets are integrated into one single 28-pin LGA x x mm housing. For optimum system integration the BNO055 is equipped with digital bi- 2 2.

5 Directional I C and UART interfaces. The I C 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 or operating system. BST- BNO055 -DS000-12 | Revi si on 1. 2 | November 2014 Bosch Sensortec Bosch Sensortec GmbH reserves al l ri ghts even i n the 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 parti 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 thout noti ce. BNO055 . Data sheet Page 5. Contents BASIC 2. SPECIFICATION .. 12. ELECTRICAL SPECIFICATION .. 12. ELECTRICAL AND PHYSICAL CHARACTERISTICS, MEASUREMENT PERFORMANCE .. 13. 2. absolute MAXIMUM RATINGS ..17.

6 3. FUNCTIONAL 18. POWER MANAGEMENT .. 18. NORMAL MODE .. 19. LOW POWER 19. SUSPEND MODE .. 20. OPERATION MODES ..20. CONFIG MODE .. 22. NON-FUSION MODES .. 22. FUSION MODES .. 22. AXIS REMAP ..24. sensor CONFIGURATION ..26. DEFAULT sensor 26. ACCELEROMETER 27. GYROSCOPE 28. MAGNETOMETER CONFIGURATION .. 29. OUTPUT UNIT 30. DATA OUTPUT FORMAT .. 30. FUSION OUTPUT DATA 31. sensor CALIBRATION DATA .. 31. OUTPUT DATA REGISTERS .. 33. INTERRUPTS ..38. INTERRUPT PIN .. 38. INTERRUPT SETTINGS .. 38. SELF-TEST ..46. POWER ON SELF TEST (POST) .. 46. BUILD IN SELF TEST (BIST) .. 46. BOOT LOADER ..46. CALIBRATION ..47. ACCELEROMETER CALIBRATION .. 47. GYROSCOPE CALIBRATION .. 47. MAGNETOMETER CALIBRATION .. 47. REUSE OF CALIBRATION PROFILE .. 48. BST- BNO055 -DS000-12 | Revi si on 1. 2 | November 2014 Bosch Sensortec Bosch Sensortec GmbH reserves al l ri ghts even i n the event of i ndustri al property ri ghts.

7 We reserve al l ri ghts of di sposal su ch as copyi ng and passi ng on to thi rd parti 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 thout noti ce. BNO055 . Data sheet Page 6. 4. REGISTER DESCRIPTION .. 49. GENERAL REMARKS ..49. REGISTER MAP ..50. REGISTER MAP PAGE 0 .. 50. REGISTER MAP PAGE 1 .. 53. REGISTER DESCRIPTION (PAGE 0) ..54. CHIP_ID 0X00 .. 54. ACC_ID 0X01 .. 54. MAG_ID 0X02 .. 54. GYR_ID 0X03 .. 54. SW_REV_ID_LSB 55. SW_REV_ID_MSB 0X05 .. 55. BL_REV_ID 0X06 .. 55. PAGE ID 0X07 .. 55. ACC_DATA_X_LSB 0X08 .. 56. ACC_DATA_X_MSB 0X09 .. 56. ACC_DATA_Y_LSB 0X0A .. 56. ACC_DATA_Y_MSB 56. ACC_DATA_Z_LSB 0X0C .. 57. ACC_DATA_Z_MSB 0X0D .. 57. MAG_DATA_X_LSB 0X0E .. 57. MAG_DATA_X_MSB 0X0F .. 57. MAG_DATA_Y_LSB 58. MAG_DATA_Y_MSB 0X11.

8 58. MAG_DATA_Z_LSB 0X12 .. 58. MAG_DATA_Z_MSB 58. GYR_DATA_X_LSB 0X14 .. 59. GYR_DATA_X_MSB 0X15 .. 59. GYR_DATA_Y_LSB 0X16 .. 59. GYR_DATA_Y_MSB 0X17 .. 59. GYR_DATA_Z_LSB 60. GYR_DATA_Z_MSB 0X19 .. 60. EUL_DATA_X_LSB 60. EUL_DATA_X_MSB 60. EUL_DATA_Y_LSB 61. EUL_DATA_Y_MSB 0X1D .. 61. EUL_DATA_Z_LSB 0X1E .. 61. EUL_DATA_Z_MSB 0X1F .. 61. QUA_DATA_W_LSB 0X20 .. 62. QUA_DATA_W_MSB 62. QUA_DATA_X_LSB 0X22 .. 62. QUA_DATA_X_MSB 0X23 .. 62. QUA_DATA_Y_LSB 0X24 .. 63. QUA_DATA_Y_MSB 0X25 .. 63. QUA_DATA_Z_LSB 63. QUA_DATA_Z_MSB 0X27 .. 63. LIA_DATA_X_LSB 0X28 .. 64. LIA_DATA_X_MSB 0X29 .. 64. LIA_DATA_Y_LSB 64. LIA_DATA_Y_MSB 64. LIA_DATA_Z_LSB 0X2C .. 65. LIA_DATA_Z_MSB 65. GRV_DATA_X_LSB 65. BST- BNO055 -DS000-12 | Revi si on 1. 2 | November 2014 Bosch Sensortec Bosch Sensortec GmbH reserves al l ri ghts even i n the event of i ndustri al property ri ghts.

9 We reserve al l ri ghts of di sposal su ch as copyi ng and passi ng on to thi rd parti 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 thout noti ce. BNO055 . Data sheet Page 7. GRV_DATA_X_MSB 65. GRV_DATA_Y_LSB 0X30 .. 66. GRV_DATA_Y_MSB 0X31 .. 66. GRV_DATA_Z_LSB 66. GRV_DATA_Z_MSB 0X33 .. 66. TEMP 0X34 .. 67. CALIB_STAT 0X35 .. 67. ST_RESULT 0X36 .. 67. INT_STA 0X37 .. 68. SYS_CLK_STATUS 0X38 .. 68. SYS_STATUS 68. SYS_ERR 69. UNIT_SEL 69. OPR_MODE 0X3D .. 70. PWR_MODE 70. SYS_TRIGGER 0X3F .. 70. TEMP_SOURCE 0X40 .. 70. AXIS_MAP_CONFIG 0X41 .. 71. AXIS_MAP_SIGN 0X42 .. 71. ACC_OFFSET_X_LSB 71. ACC_OFFSET_X_MSB 0X56 .. 72. ACC_OFFSET_Y_LSB 72. ACC_OFFSET_Y_MSB 0X58 .. 72. ACC_OFFSET_Z_LSB 0X59 .. 72. ACC_OFFSET_Z_MSB 0X5A .. 73.

10 MAG_OFFSET_X_LSB 73. MAG_OFFSET_X_MSB 0X56C .. 73. MAG_OFFSET_Y_LSB 0X5D .. 73. MAG_OFFSET_Y_MSB 74. MAG_OFFSET_Z_LSB 74. MAG_OFFSET_Z_MSB 74. GYR_OFFSET_X_LSB 0X61 .. 74. GYR_OFFSET_X_MSB 0X62 .. 75. GYR_OFFSET_Y_LSB 0X63 .. 75. GYR_OFFSET_Y_MSB 0X64 .. 75. GYR_OFFSET_Z_LSB 75. GYR_OFFSET_Z_MSB 0X66 .. 76. ACC_RADIUS_LSB 0X67 .. 76. ACC_RADIUS_MSB 76. MAG_RADIUS_LSB 0X69 .. 76. MAG_RADIUS_MSB 0X6A .. 76. REGISTER DESCRIPTION (PAGE 1)..77. PAGE ID 77. ACC_CONFIG 0X08 .. 77. MAG_CONFIG 0X09 .. 77. GYR_CONFIG_0 0X0A .. 78. GYR_CONFIG_1 78. ACC_S LEEP_CONFIG 79. GYR_S LEEP_CONFIG 0X0D .. 80. INT_MSK 0X0F .. 81. INT_EN 0X10 .. 82. ACC_AM_THRES 0X11 .. 82. ACC_INT_S ETTINGS 0X12 .. 83. ACC_HG_DURATION 83. ACC_HG_THRES 0X14 .. 83. BST- BNO055 -DS000-12 | Revi si on 1. 2 | November 2014 Bosch Sensortec Bosch Sensortec GmbH reserves al l ri ghts even i n the event of i ndustri al property ri ghts.