BNO055 9DOF Datasheet

Data sheet
BNO055
Intelligent 9-axis absolute orientation sensor
Bosch Sensortec
BNO055: data sheet
Document revision 1.0

Document release date July 2014
Document number BST-BNO055-DS000-10
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
products appearance.
BNO055
Data sheet Page 2
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 mm, height 1.13 mm
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), IC, UART
VDDIO voltage range: 1.7V to 3.6V
Consumer electronics suite MSL1, RoHS compliant, halogen-free
Operating temperature: -40C ... +85C
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-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on
to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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 1300T (x-, y-axis);
2500T (z-axis)
Magnetic field resolution of ~0.3T
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
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-
2 2
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 8.0 or 8.1 operating system.
This datasheet release describes the BNO055 engineering samples programmed with
version 0.3.0.4 of the BNO055 firmware. The firmware version can be identified by read
SW_REV_ID_MSB and SW_REV_ID_LSB registers; firmware version 0.3.0.4 will return the
value 0x03 for the MSB and 0x04 for the LSB.

BNO055
Data sheet Page 5
Contents
BASIC DESCRIPTION ................................................................................................................... 2
SPECIFICATION .......................................................................................................................... 11
1.1 ELECTRICAL SPECIFICATION ............................................................................................... 11
1.2 ELECTRICAL AND PHYSICAL CHARACTERISTICS, MEASUREMENT PERFORMANCE .................... 12
2. ABSOLUTE MAXIMUM RATINGS .......................................................................................... 16
3. FUNCTIONAL DESCRIPTION ................................................................................................. 17

3.1 ARCHITECTURE................................................................................................................. 17
3.2 POWER MANAGEMENT ....................................................................................................... 18
3.3 OPERATING MODES .......................................................................................................... 19
3.4 POWER MODES ................................................................................................................ 22
3.4.1 NORMAL MODE ....................................................................................................................... 22
3.4.2 LOW POWER MODE ................................................................................................................ 22
3.4.3 SUSPEND MODE ..................................................................................................................... 23
3.5 AXIS REMAP ..................................................................................................................... 24
3.6 SENSOR CONFIGURATION ................................................................................................. 26
3.6.1 ACCELEROMETER CONFIGURATION (BMA25X) ......................................................................... 26
3.6.2 GYROSCOPE CONFIGURATION (BMG160) ................................................................................ 27
3.6.3 MAGNETOMETER CONFIGURATION (BMM150) ......................................................................... 28
3.6.4 DEFAULT SENSOR CONFIGURATION .......................................................................................... 29
3.7 OUTPUT DATA ................................................................................................................... 30
3.7.1 UNIT SELECTION ..................................................................................................................... 30
3.7.2 SENSOR MODE ........................................................................................................................ 30
3.7.3 FUSION MODE ......................................................................................................................... 31
3.7.4 OUTPUT DATA REGISTERS ....................................................................................................... 36
3.7.5 INTERRUPTS ........................................................................................................................... 44
3.7.6 SELF-TEST ............................................................................................................................. 53
3.7.7 BOOT LOADER ........................................................................................................................ 54
4. REGISTER DESCRIPTION ...................................................................................................... 55

4.1 GENERAL REMARKS .......................................................................................................... 55
4.2 REGISTER MAP ................................................................................................................. 56
4.2.1 REGISTER MAP PAGE 0 ........................................................................................................... 56
4.2.2 REGISTER MAP PAGE 1 ........................................................................................................... 59
4.3 REGISTER DESCRIPTION (PAGE 0) ..................................................................................... 60
4.3.1 CHIP_ID 0X00 ....................................................................................................................... 60
4.3.2 ACC_ID 0X01 ........................................................................................................................ 60
4.3.3 MAG_ID 0X02 ....................................................................................................................... 60
4.3.4 GYR_ID 0X03 ........................................................................................................................ 60
4.3.5 SW_REV_ID_LSB 0X04 ....................................................................................................... 60

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Data sheet Page 6
4.3.6 SW_REV_ID_MSB 0X05 ...................................................................................................... 61

4.3.7 BL_REV_ID 0X06 .................................................................................................................. 61
4.3.8 PAGE ID 0X07 ........................................................................................................................ 61
4.3.9 ACC_DATA_X_LSB 0X08 ..................................................................................................... 62
4.3.10 ACC_DATA_X_MSB 0X09 .................................................................................................. 62
4.3.11 ACC_DATA_Y_LSB 0X0A .................................................................................................. 62
4.3.12 ACC_DATA_Y_MSB 0X0B ................................................................................................. 62
4.3.13 ACC_DATA_Z_LSB 0X0C .................................................................................................. 63
4.3.14 ACC_DATA_Z_MSB 0X0D ................................................................................................. 63
4.3.15 MAG_DATA_X_LSB 0X0E .................................................................................................. 63
4.3.16 MAG_DATA_X_MSB 0X0F ................................................................................................. 63
4.3.17 MAG_DATA_Y_LSB 0X10 .................................................................................................. 64
4.3.18 MAG_DATA_Y_MSB 0X11 ................................................................................................. 64
4.3.19 MAG_DATA_Z_LSB 0X12 .................................................................................................. 64
4.3.20 MAG_DATA_Z_MSB 0X13 ................................................................................................. 64
4.3.21 GYR_DATA_X_LSB 0X14................................................................................................... 65
4.3.22 GYR_DATA_X_MSB 0X15.................................................................................................. 65
4.3.23 GYR_DATA_Y_LSB 0X16 .................................................................................................. 65
4.3.24 GYR_DATA_Y_MSB 0X17 ................................................................................................. 65
4.3.25 GYR_DATA_Z_LSB 0X18 ................................................................................................... 66
4.3.26 GYR_DATA_Z_MSB 0X19 .................................................................................................. 66
4.3.27 EUL_DATA_X_LSB 0X1A ................................................................................................... 66
4.3.28 EUL_DATA_X_MSB 0X1B .................................................................................................. 66
4.3.29 EUL_DATA_Y_LSB 0X1C ................................................................................................... 67
4.3.30 EUL_DATA_Y_MSB 0X1D .................................................................................................. 67
4.3.31 EUL_DATA_Z_LSB 0X1E ................................................................................................... 67
4.3.32 EUL_DATA_Z_MSB 0X1F .................................................................................................. 67
4.3.33 QUA_DATA_W_LSB 0X20.................................................................................................. 68
4.3.34 QUA_DATA_W_MSB 0X21................................................................................................. 68
4.3.35 QUA_DATA_X_LSB 0X22................................................................................................... 68
4.3.36 QUA_DATA_X_MSB 0X23.................................................................................................. 68
4.3.37 QUA_DATA_Y_LSB 0X24................................................................................................... 69
4.3.38 QUA_DATA_Y_MSB 0X25.................................................................................................. 69
4.3.39 QUA_DATA_Z_LSB 0X26 ................................................................................................... 69
4.3.40 QUA_DATA_Z_MSB 0X27 .................................................................................................. 69
4.3.41 LIA_DATA_X_LSB 0X28 ..................................................................................................... 70
4.3.42 LIA_DATA_X_MSB 0X29 .................................................................................................... 70
4.3.43 LIA_DATA_Y_LSB 0X2A..................................................................................................... 70
4.3.44 LIA_DATA_Y_MSB 0X2B.................................................................................................... 70
4.3.45 LIA_DATA_Z_LSB 0X2C..................................................................................................... 71
4.3.46 LIA_DATA_Z_MSB 0X2D.................................................................................................... 71
4.3.47 GRV_DATA_X_LSB 0X2E .................................................................................................. 71
4.3.48 GRV_DATA_X_MSB 0X2F ................................................................................................. 71
4.3.49 GRV_DATA_Y_LSB 0X30 .................................................................................................. 72
4.3.50 GRV_DATA_Y_MSB 0X31 ................................................................................................. 72
4.3.51 GRV_DATA_Z_LSB 0X32 ................................................................................................... 72
4.3.52 GRV_DATA_Z_MSB 0X33 .................................................................................................. 72
4.3.53 TEMP 0X34 ......................................................................................................................... 73
4.3.54 CALIB_STAT 0X35.............................................................................................................. 73
4.3.55 ST_RESULT 0X36 .............................................................................................................. 73
4.3.56 INT_STA 0X37 .................................................................................................................... 74
4.3.57 SYS_CLK_STATUS 0X38 ................................................................................................... 74
4.3.58 SYS_STATUS 0X39 ............................................................................................................ 74
4.3.59 SYS_ERR 0X3A .................................................................................................................. 75
4.3.60 UNIT_SEL 0X3B ................................................................................................................. 76
4.3.61 OPR_MODE 0X3D .............................................................................................................. 77
4.3.62 PWR_MODE 0X3E.............................................................................................................. 78
4.3.63 SYS_TRIGGER 0X3F ......................................................................................................... 78

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Data sheet Page 7
4.3.64 TEMP_SOURCE 0X40 ........................................................................................................ 78

4.3.65 AXIS_MAP_CONFIG 0X41 ................................................................................................. 79
4.3.66 AXIS_MAP_SIGN 0X42 ...................................................................................................... 79
4.3.67 SIC_MATRIX 0X43 0X53 .................................................................................................. 80
4.3.68 ACC_OFFSET_X_LSB 0X55 .............................................................................................. 80
4.3.69 ACC_OFFSET_X_MSB 0X56 ............................................................................................. 80
4.3.70 ACC_OFFSET_Y_LSB 0X57 .............................................................................................. 81
4.3.71 ACC_OFFSET_Y_MSB 0X58 ............................................................................................. 81
4.3.72 ACC_OFFSET_Z_LSB 0X59 .............................................................................................. 81
4.3.73 ACC_OFFSET_Z_MSB 0X5A ............................................................................................. 81
4.3.74 MAG_OFFSET_X_LSB 0X5B ............................................................................................. 81
4.3.75 MAG_OFFSET_X_MSB 0X56C .......................................................................................... 82
4.3.76 MAG_OFFSET_Y_LSB 0X5D ............................................................................................. 82
4.3.77 MAG_OFFSET_Y_MSB 0X5E ............................................................................................ 83
4.3.78 MAG_OFFSET_Z_LSB 0X5F ............................................................................................. 83
4.3.79 MAG_OFFSET_Z_MSB 0X60............................................................................................. 83
4.3.80 GYR_OFFSET_X_LSB 0X61 .............................................................................................. 83
4.3.81 GYR_OFFSET_X_MSB 0X62 ............................................................................................. 83
4.3.82 GYR_OFFSET_Y_LSB 0X63 .............................................................................................. 84
4.3.83 GYR_OFFSET_Y_MSB 0X64 ............................................................................................. 84
4.3.84 GYR_OFFSET_Z_LSB 0X65 .............................................................................................. 85
4.3.85 GYR_OFFSET_Z_MSB 0X66 ............................................................................................. 85
4.3.86 ACC_RADIUS_LSB 0X67 ................................................................................................... 85
4.3.87 ACC_RADIUS_MSB 0X68 .................................................................................................. 85
4.3.88 MAG_RADIUS_LSB 0X69 .................................................................................................. 85
4.3.89 MAG_RADIUS_MSB 0X6A ................................................................................................. 86
4.4 REGISTER DESCRIPTION (PAGE 1) ..................................................................................... 87
4.4.1 PAGE ID 0X07 ........................................................................................................................ 87
4.4.2 ACC_CONFIG 0X08 ................................................................................................................ 87
4.4.3 MAG_CONFIG 0X09 ............................................................................................................... 87
4.4.4 GYR_CONFIG_0 0X0A ........................................................................................................... 88
4.4.5 GYR_CONFIG_1 0X0B ........................................................................................................... 88
4.4.6 ACC_SLEEP_CONFIG 0X0C ................................................................................................... 89
4.4.7 GYR_SLEEP_CONFIG 0X0D ................................................................................................... 90
4.4.8 INT_MSK 0X0F ..................................................................................................................... 91
4.4.9 INT_EN 0X10 ........................................................................................................................ 92
4.4.10 ACC_AM_THRES 0X11 ...................................................................................................... 92
4.4.11 ACC_INT_SETTINGS 0X12 ................................................................................................... 93
4.4.12 ACC_HG_DURATION 0X13 ............................................................................................... 93
4.4.13 ACC_HG_THRES 0X14 ...................................................................................................... 93
4.4.14 ACC_NM_THRES 0X15 ...................................................................................................... 93
4.4.15 ACC_NM_SET 0X16 ........................................................................................................... 94
4.4.16 GYR_INT_SETTING 0X17 .................................................................................................. 95
4.4.17 GYR_HR_X_SET 0X18 ....................................................................................................... 95
4.4.18 GYR_DUR_X 0X19 ............................................................................................................. 96
4.4.19 GYR_HR_Y_SET 0X1A ...................................................................................................... 96
4.4.20 GYR_DUR_Y 0X1B ............................................................................................................. 96
GYR_HR_Z_SET 0X1C ................................................................................................................. 97
4.4.21 GYR_DUR_Z 0X1D ............................................................................................................. 97
4.4.22 GYR_AM_THRES 0X1E ..................................................................................................... 97
4.4.23 GYR_AM_SET 0X1F ........................................................................................................... 98
4.5 DIGITAL INTERFACE........................................................................................................... 99
4.6 I2C PROTOCOL............................................................................................................... 100
4.7 UART PROTOCOL........................................................................................................... 104
4.7.1 REGISTER WRITE .................................................................................................................. 104
BNO055
Data sheet Page 8
4.7.2 REGISTER READ .................................................................................................................... 104

4.8 HID OVER I2C ................................................................................................................ 105
5. PIN-OUT AND CONNECTION DIAGRAM ............................................................................ 106

5.1 PIN-OUT ......................................................................................................................... 106
5.2 CONNECTION DIAGRAM I2C .............................................................................................. 108
5.3 CONNECTION DIAGRAM UART ......................................................................................... 109
5.4 CONNECTION DIAGRAM HID-I2C ...................................................................................... 110
5.5 XOUT32 & XIN32 CONNECTIONS ................................................................................... 111
5.5.1 EXTERNAL 32KHZ CRYSTAL OSCILLATOR .............................................................................. 111
5.5.2 INTERNAL CLOCK MODE ......................................................................................................... 111
6. PACKAGE .............................................................................................................................. 112

6.1 OUTLINE DIMENSIONS ..................................................................................................... 112
6.2 SENSING AXES ORIENTATION .......................................................................................... 113
6.3 LANDING PATTERN RECOMMENDATION ............................................................................. 114
6.4 MARKING ....................................................................................................................... 115
6.5 SOLDERING GUIDELINES ................................................................................................. 115
6.6 HANDLING INSTRUCTIONS ................................................................................................ 115
6.7 TAPE AND REEL SPECIFICATION........................................................................................ 116
6.8 ENVIRONMENTAL SAFETY ................................................................................................ 116
6.8.1 HALOGEN CONTENT .............................................................................................................. 116
6.8.2 INTERNAL PACKAGE STRUCTURE............................................................................................ 116
7. LEGAL DISCLAIMER ............................................................................................................ 117

7.1 ENGINEERING SAMPLES .................................................................................................. 117
7.2 PRODUCT USE ................................................................................................................ 117
7.3 APPLICATION EXAMPLES AND HINTS ................................................................................. 117
8. DOCUMENT HISTORY AND MODIFICATIONS ................................................................... 118

BNO055
Data sheet Page 9
Table of Figures
Figure 1: system architecture ...............................................................................................17
Figure 2: Principle of any-motion detection ...........................................................................47
Figure 3: High rate interrupt ..................................................................................................49
Figure 4: Principle of any-motion detection ...........................................................................51
Figure 5: IC timing diagram ............................................................................................... 101
Figure 6: IC write ...............................................................................................................102
Figure 7: IC multiple read .................................................................................................. 103
Figure 8: Pin-out bottom view .............................................................................................106
2
Figure 9: I C connection diagram .......................................................................................108
Figure 10: UART connection diagram ................................................................................109
Figure 11 : HID via IC connection diagram ......................................................................... 110
Figure 12 : External 32kHz Crystal Oscillator with Load Capacitor ..................................... 111
Figure 13: device axis orientation ....................................................................................... 113
Figure 14: Landing pattern recommendation ...................................................................... 114

BNO055
Data sheet Page 10
List of Tables
Table 0-1: Electrical parameter specification ........................................................................11

Table 0-2: Electrical characteristics BNO055........................................................................12
Table 2-1: Absolute maximum ratings (preliminary target values) ........................................16
Table 3-1: operating modes overview ...................................................................................19
Table 3-2: operating modes selection .................................................................................. 20
Table 3-3: Operating mode switching time ...........................................................................21
Table 3-4: power modes selection ....................................................................................... 22
Table 3-5: BMA25x allowed configurations.......................................................................... 26
Table 3-6: BMG160 allowed configurations ......................................................................... 27
Table 3-7: BMM150 allowed configurations ......................................................................... 28
Table 3-8: Default sensor configuration at power-on ........................................................... 29
Table 3-9: unit selection .......................................................................................................30
Table 3-10: Fusion data output format ..................................................................................31
Table 3-11: Data Rate Modes in Fusion Mode .....................................................................31
Table 3-12: FASTEST_MODE..............................................................................................32
Table 3-13: GAME_MODE ...................................................................................................32
Table 3-14: UI_MODE ..........................................................................................................32
Table 3-15: NORMAL_MODE ..............................................................................................33
Table 3-16: Acceleration data ...............................................................................................36
Table 3-17: Acceleration data representation .......................................................................36
Table 3-18: Magnetic field strength data ...............................................................................37
Table 3-19: Magnetic field strength data representation .......................................................37
Table 3-20: Yaw rate data ....................................................................................................38
Table 3-21: Angular rate data representation .......................................................................38
Table 3-22: Compensated orientation data in Euler angles format .......................................39
Table 3-23: Euler angle data representation .........................................................................39
Table 3-24: Compensated orientation data in quaternion format ..........................................40
Table 3-25: Quaternion data representation .........................................................................40
Table 3-26: Linear Acceleration Data ...................................................................................41
Table 3-27: Linear Acceleration data representation ............................................................41
Table 3-28: Gravity Vector Data .......................................................................................... 42
Table 3-29: Gravity Vector data representation ................................................................... 42
Table 3-30: Temperature Data .............................................................................................43
Table 3-31: Temperature data representation.......................................................................43
Table 3-32: Temperature Source Selection ..........................................................................43
Table 3-33: No-motion time-out periods ................................................................................45
Table 3-34: Timing of No-motion interrupt ............................................................................46
Table 4-1: Register Access Coding ......................................................................................56
Table 4-2: Register Map Page 0...........................................................................................56
Table4-3: Register Map Page 1 ............................................................................................59
Table 4-4: protocol select pin mapping .................................................................................99
Table 4-5: Mapping of digital interface pins ..........................................................................99
Table 4-6: Electrical specification of the interface pins..........................................................99
Table 4-7: I2C address selection ........................................................................................100
Table 4-8: IC timings .........................................................................................................100
Table 5-1: Pin description ...................................................................................................107
Table 0-1: Crystal Oscillator Source Connections............................................................... 111
Table 6-1: Marking of mass production parts ...................................................................... 115

BNO055
Data sheet Page 11
Specification
If not stated otherwise, the given values are over lifetime and full performance temperature
and voltage ranges.
1.1 Electrical specification
Table 0-1: Electrical parameter specification
OPERATING CONDITIONS BNO055

Parameter Symbol Condition Min Typ Max Unit
Supply Voltage VDD -- 2.4 -- 3.6 V

(only Sensors)
Supply Voltage VDDIO -- 1.7 -- 3.6 V
(C and I/O Domain)
Voltage Input VDDIO_VIL VDDIO = 1.7-2.7V -- -- 0.25 VDDIO
Low Level (UART, I2C)
VDDIO = 2.7-3.6V -- -- 0.3 VDDIO
Voltage Input VDDIO_VIH VDDIO = 1.7-2.7V 0.7 -- -- VDDIO
High Level (UART, I2C)
VDDIO = 2.7-3.6V 0.55 -- -- VDDIO
Voltage Output VDDIO_VOL VDDIO > 3V , IOL =20mA -- 0.1 0.2 VDDIO
Low Level (UART, I2C)
Voltage Output VDDIO_VOH VDDIO > 3V , IOH =10mA 0.9 0.8 -- VDDIO
High Level (UART, I2C)
POR Voltage threshold VDDIO_POT+ VDDIO falls at 1V/ms or slower -- 1.45 -- V
on VDDIO-IN rising
POR Voltage threshold VDDIO_POT- -- 0.99 -- V
on VDDIO-IN falling
Operating Temperature TA -- -40 -- +85 C
Total supply current IDD + IDDIO VDD = 3V, VDDIO = 2.5V -- -- 13.7 mA
normal mode at TA
(9DOF @100Hz output
data rate)
Total supply current IDD_LPM VDD = 3V, VDDIO = 2.5V -- 2.6 -- mA
Low power mode;
interrupt driven at TA
(80% suspend mode
and 20% normal mode
with 9DOF @100Hz
output data rate)
Total supply current IDD_SuM VDD = 3V, VDDIO = 2.5V -- -- 0.12 mA
suspend mode at TA

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Data sheet Page 12
1.2 Electrical and physical characteristics, measurement performance
Table 0-2: Electrical characteristics BNO055
OPERATING CONDITIONS BNO055

Start-Up time TSup From Off to configuration 400 ms

mode
POR time TPOR From Reset to Normal mode 650 ms
Data Rate DR s. Par. 3.7.3.2
Data rate tolerance DRtol 1 %

9DOF @100Hz output
data rate
(if internal oscillator is
used)
OPERATING CONDITIONS ACCELEROMETER
Parameter Symbol Condition Min Typ Max Units
Acceleration Range gFS2g Selectable 2 g

via serial digital interface
gFS4g 4 g
gFS8g 8 g
gFS16g 16 g
OUTPUT SIGNAL ACCELEROMETER

(ACCELEROMETER ONLY MODE)
Sensitivity S All gFSXg Values, TA=25C 1 LSB/mg
Sensitivity tolerance Stol Ta=25C, gFS2g 1 4 %
Sensitivity Temperature TCS gFS2g, 0.03 0.02 %/K

Drift Nominal VDD supplies,
Temp operating conditions
Sensitivity SVDD gFS2g, TA=25C, 0.05 0.2 %/V
Supply Volt. Drift VDD_min VDD VDD_max
Zero-g Offset (x,y.z) Offxyz gFS2g, TA=25C, nominal VDD -150 80 +150 mg
supplies, over life-time
Zero-g Offset TCO gFS2g, 1 +/-3.5 mg/K
Temperature Drift Nominal VDD supplies
Zero-g Offset Supply OffVDD gFS2g, TA=25C, 0.5 mg/V

Volt. Drift VDD_min VDD VDD_max
Bandwidth bw8 2nd order filter, bandwidth 8 Hz

programmable
bw16 16 Hz
bw31 31 Hz
bw63 63 Hz
bw125 125 Hz
bw250 250 Hz
bw500 500 Hz
bw1000 1,000 Hz

BNO055
Data sheet Page 13
Nonlinearity NL best fit straight line, gFS2g 0.5 +/-2 %FS
Output Noise Density nrms gFS2g, TA=25C 150 190 g/Hz

Nominal VDD supplies
Normal mode
MECHANICAL CHARACTERISTICS ACCELEROMETER

Cross Axis Sensitivity CAS relative contribution between 1 TBD %

any two of the three axes
Alignment Error EA relative to package outline 0.5 TBD
OPERATING CONDITIONS GYROSCOPE
Rate Range RFS125 Selectable 125 /s

via serial digital interface
RFS250 250 /s
RFS500 500 /s
RFS1000 1,000 /s
RFS2000 2,000 /s
OUTPUT SIGNAL GYROSCOPE

(GYRO ONLY MODE)
Sensitivity via register S Ta=25C 16.0 LSB//s
Map 900 rad/s
Sensitivity tolerance Stol Ta=25C, RFS2000 -- 1 3 %
Sensitivity Change over TCS Nominal VDD supplies -40C 0.03 0.07 %/K
Temperature T +85C RFS2000
A
Sensitivity SVDD TA=25C, TBD %/V

Supply Volt. Drift VDD_min VDD VDD_max
Nonlinearity NL best fit straight line 0.05 0.2 %FS
RFS1000, RFS2000
Zero-rate Offset Off x y Nominal VDD supplies -3 1 +3 /s

T =25C,
and z A
Slow and fast offset
cancellation off
Zero- Offset Change TCO Nominal VDD supplies -40C 0.015 0.03 /s per K
T +85C RFS2000
over Temperature A
Zero- Offset Supply Off VDD TA=25C, TBD /s /V

VDD_min VDD VDD_max
Volt. Drift
Output Noise n rms, BW=47Hz 0.1 0.3 /s

rms
(@ 0.014/s/Hz)

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Data sheet Page 14
Bandwidth BW f 523 Hz
-3dB 230
116
64
47
32
23
12
MECHANICAL CHARACTERISTICS GYROSCOPE

Cross Axis Sensitivity CAS Sensitivity to stimuli in 1 3 %
non-sense-direction
OPERATING CONDITIONS MAGNETOMETER

(MAGNETOMETER ONLY MODE)
Magnetic field range1 Brg,xy TA=25C 1200 1300 T
Brg,z 2000 2500 T
Magnetometer heading As heading 30T horizontal geomagnetic 2.5 deg

accuracy2 field component, TA=25C
MAGNETOMETER OUTPUT SIGNAL
Device Resolution Dres,m TA=25C 0.3 T

3
Gain error Gerr,m After API compensation 5 8 %
TA=25C
Sensitivity Temperature TCSm After API compensation 0.01 0.03 %/K
Drift -40C TA +85C
Zero-B offset OFFm TA=25C 40 T
Zero-B offset4 OFFm,cal After calibration in fusion mode 2 T

-40C TA +85C
Zero-B offset TCOm -40C TA +85C 0.23 0.37 T/K
Temperature Drift
Full-scale Nonlinearity NLm, FS best fit straight 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 Page 15
Output Noise nrms,lp,m,xy Low power preset 1.0 T

x, y-axis, TA=25C
nrms,lp,m,z Low power preset 1.4 T

z-axis, TA=25C
nrms,rg,m Regular preset 0.6 T

TA=25C
nrms,eh,m Enhanced regular preset 0.5 T

TA=25C
nrms,ha,m High accuracy preset 0.3 T

TA=25C
Power Supply Rejection PSRRm TA=25C 0.5 T/V

Rate Nominal VDD supplies

BNO055
Data sheet Page 16
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 Storage Temp. Trps 65% rel. H. -50 (TBD) +150 (TBD) C
Range
Mechanical Shock MechShock200s Duration 200s 10,000 g
MechShock1ms Duration 1.0ms 2,000 g
MechShockfreefall Free fall 1.8 m

onto hard surfaces
ESD ESDHBM HBM, at any Pin 2 kV
ESDCDM CDM 400 V
ESDMM 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 Page 17
3. Functional Description
3.1 Architecture
Fehler! Verweisquelle konnte nicht gefunden werden. shows the basic building blocks of
the BNO055 device.
Figure 1: system architecture
BNO055
Magnetometer
Accelerometer
Gyroscope
INT2
INT1 SPI
Microcontroller
Sensor Fusion Power Management
UART INT1 INT2

/ I2C
Host Processor

BNO055
Data sheet Page 18
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 C 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 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 3.4.

BNO055
Data sheet Page 19
3.3 Operating Modes
The BNO055 can be operated in various operating modes depending on the output data
required and for effective power usage. Table 3-1 below explains the outputs available in
each of the various operation modes
Table 3-1: operating modes overview

Operating Mode HW Sensor power Sensor Signal Fusion Data
Accel Mag Gyro Accel Mag Gyro Euler Quaternion Linear Gravity
Accel vector
CONFIGMODE ON ON ON NO NO NO NO NO NO NO
ACCONLY ON OFF OFF YES NO NO NO NO NO NO
MAGONLY OFF ON OFF NO YES NO NO NO NO NO
GYROONLY OFF OFF ON NO NO YES NO NO NO NO
ACCMAG ON ON OFF YES YES NO NO NO NO NO
ACCGYRO ON OFF ON YES NO YES NO NO NO NO
MAGGYRO OFF ON ON NO YES YES NO NO NO NO
AMG ON ON ON YES YES YES NO NO NO NO
IMU ON OFF ON YES NO YES YES YES YES YES
COMPASS ON ON OFF YES YES NO YES YES YES YES

5
M4G ON ON OFF YES YES YES YES YES YES YES
6
NDOF_FMC_OFF ON ON ON YES YES YES YES YES YES YES
7
NDOF ON ON ON YES YES YES YES YES YES YES
5
M4G Magnet for Gyroscope; Gyroscope signal is emulated by the magnetometer.
6
FMC Fast magnetic calibration; when turned-off the magnetometer must be calibrated
using a figure of eight motion.
7
In NDOF mode FMC is active; magnetic calibration is perform in the background with small
movement of the device.
BNO055
Data sheet Page 20
The operating mode can be select by writing to the OPR_MODE register, possible register
values and the corresponding operating modes are shown in Table 3-2. The default
operation mode after power-on is Config mode.
Table 3-2: operating modes selection
Parameter Value [Reg Addr]: Reg Value

CONFIG MODE CONFIGMODE [OPR_MODE]: xxxx0000b
Sensor 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
Config mode is used to configure the various settings of the BNO, in this mode all output
data is reset to zero and sensor fusion is halted.
The following registers may be configured in all operation modes, all other registers can only
be configured while in config mode:
Sensor interrupts
Interrupt registers (INT and INT_MSK).
System configurations
Operation mode register (OPR_MODE), only config mode is configurable
In the fusion modes, the calibrated 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.
In this mode, BNO works according to fusion mode configuration and user can not configure
the sensor power mode like deep suspend, suspend and sleep mode when sensor is ON
and it is over written as normal mode while switching from config mode to any fusion mode.
As similar, user can not configure the sensor power mode as normal mode when sensor is
OFF and it is over written as deep suspend or suspend while switching from config mode to
any fusion mode.
For example:
In IMU mode, the accelerometer, gyroscope should be ON and magnetometer should be
OFF. If the user configures the accelerometer, gyroscope to deep suspend mode and
magnetometer to forced mode, then the user configuration is over written with normal mode

BNO055
Data sheet Page 21
of accelerometer and gyroscope in the register map. Whereas the magnetometer is

overwritten with suspend mode.
Apart from the power mode, the fixed range and bandwidth is configured as mentioned
below,
Sensor Range Bandwidth Sensor Power mode if Sensor Power mode if

Sensor is ON Sensor is OFF
Accelerometer 4G 62.5 Hz Normal Deep suspend
Magnetometer NA 10 Hz Force Suspend
Gyroscope 2000 dps 32 Hz Normal Deep suspend
User configuration is over written in the register map when switching from config mode to
any fusion mode if the user configures something other than above.
In the sensor modes, the un-calibrated 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.
In this mode, BNO works according to user configuration when a particular sensor is ON
while switching from config mode to sensor mode. In the OFF condition BNO works
according to sensor mode configuration. At any time later, user changes to fusion mode then
the register map will get updated as fusion mode configuration and BNO will work according
to fusion mode configuration later on. So user has to handle to do the proper configuration
whenever he switches from one operation mode to another.
Table 3-3 below shows the time required to switch between CONFIGMODE and the other
operating modes.
Table 3-3: Operating mode switching time
From To Switching time

CONFIGMODE Any operation mode 7ms
Any operation mode CONFIGMODE 19ms

BNO055
Data sheet Page 22
3.4 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 Table
3-4. As default at start-up the BNO055 will run in Normal mode.
Table 3-4: 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
3.4.1 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.
3.4.2 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.
Entering to sleep: NO Motion Interrupt

Parameter Value Reg Value Restriction
Detection Type No Motion [ACC_NM_SET] : xxxxxxx1b
Detection Axis [ACC_INT_Settings] : bit4-bit2 Shares common bit with Any
Motion interrupt axis selection
Params Duration [ACC_NM_SET] : bit6-bit1
Threshold [ACC_NM_THRE] : bit7-bit0
Waking up: Any Motion Interrupt

Parameter Value Reg Value
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. For
details, please refer to section 3.7.5.
The BNO055 is by default configured to have optimum values for entering into sleep and
waking up. To restore these values, trigger system reset by setting RST_SYS bit in
SYS_TRIGGER register.
There are some limitations to achieve the low power mode performance:

BNO055
Data sheet Page 23
Only No and Any motion interrupts are applicable and HG, Slow interrupts are not
applicable in low power mode.
Low power mode is not applicable in operation mode were accelerometer sensor is
OFF.
3.4.3 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 3-4).

BNO055
Data sheet Page 24
3.5 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 Remapped Y axis Remapped X axis
value value 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 Remappe Remappe
d X axis d Y axis d Z axis
sign sign sign
Value Sign
0 Positive
1 Negative
The default value is 0x00.
The default values correspond to the following coordinate system (see also chapter 6.2):
Z; z; z
X; x; x
Y; y; y
Accel; Gyro; Magnet

BNO055
Data sheet Page 25
Some example placement for axis vs. register settings:
TOP VIEW
Bottom View
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
Example: For a device with a coordinate system as shown in the following figure the axis
remapping of placement P0 (see table above) applies:

BNO055
Data sheet Page 26
3.6 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 (see Table 3-1). In any of the sensor modes the configuration
setting can be updated by writing to the configuration registers as defined in the following
sections.
3.6.1 Accelerometer configuration (BMA25x)

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 3-5 below detail the configurations which are allowed for the
BMA25x sensor.
Table 3-5: BMA25x allowed configurations
Parameter Values [Reg Addr]: Reg Value Restrictions

G Range 2G [ACC_Config]: xxxxxx00b
4G [ACC_Config]: xxxxxx01b
Bandwidth 7.81Hz [ACC_Config]: xxx000xxb Auto controlled in fusion mode
15.63Hz [ACC_Config]: xxx001xxb Auto controlled in fusion mode
125Hz [ACC_Config]: xxx100xxb Auto controlled in fusion mode
Operation Mode Normal [ACC_Config]: 000xxxxxb Auto controlled in fusion mode
Suspend [ACC_Config]: 001xxxxxb Auto controlled in fusion mode
Low Power 1 [ACC_Config]: 010xxxxxb Auto controlled in fusion mode
Standby [ACC_Config]: 011xxxxxb Auto controlled in fusion mode
Low Power 2 [ACC_Config]: 100xxxxxb Auto controlled in fusion mode
Deep Suspend [ACC_Config]: 101xxxxxb Auto controlled in fusion mode
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.

BNO055
Data sheet Page 27
3.6.2 Gyroscope configuration (BMG160)

The fusion outputs of the BNO055 are tightly linked with the angular rate sensor settings.
operating modes. The gyroscope configuration can be changed by writing to the
GYR_Config register, Table 3-6 below detail the configurations which are allowed for the
BMG160 sensor.
Table 3-6: BMG160 allowed 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 Auto controlled in fusion mode
500dps [GYR_Config_0]: xxxxx010b Auto controlled in fusion mode
Bandwidth 523Hz [GYR_Config_0]: xx000xxxb Auto controlled in fusion mode
230Hz [GYR_Config_0]: xx001xxxb Auto controlled in fusion mode
Operation Mode Normal [GYR_Config_1]: xxxxx000b Auto controlled in fusion mode
Fast Power up [GYR_Config_1]: xxxxx001b Auto controlled in fusion mode
Deep Suspend [GYR_Config_1]: xxxxx010b Auto controlled in fusion mode
Suspend [GYR_Config_1]: xxxxx011b Auto controlled in fusion mode
Advanced [GYR_Config_1]: xxxxx100b Auto controlled in fusion mode
Powersave

BNO055
Data sheet Page 28
3.6.3 Magnetometer configuration (BMM150)

The fusion outputs of the BNO055 are tightly linked with the magnetometer sensor settings.
operating modes. The magnetometer configuration can be changed by writing to the
MAG_Config register, Table 3-7 below detail the configurations which are allowed for the
BMM150 sensor.
Table 3-7: BMM150 allowed configurations
[Reg Addr]: Register

Parameter Values Restrictions
value
Data output rate 2Hz [MAG_Config]: xxxxx000b Auto controlled in fusion mode
6Hz [MAG_Config]: xxxxx001b Auto controlled in fusion mode
Operation Mode Low Power [MAG_Config]: xxx00xxxb Auto controlled in fusion mode
Regular [MAG_Config]: xxx01xxxb Auto controlled in fusion mode
Enhanced
[MAG_Config]: xxx10xxxb Auto controlled in fusion mode
Regular
High Accuracy [MAG_Config]: xxx11xxxb Auto controlled in fusion mode
Power Mode Normal [MAG_Config]: x00xxxxxb Auto controlled in fusion mode
Sleep [MAG_Config]: x01xxxxxb Auto controlled in fusion mode
Suspend [MAG_Config]: x10xxxxxb Auto controlled in fusion mode
Force Mode [MAG_Config]: x11xxxxxb Auto controlled in fusion mode

BNO055
Data sheet Page 29
3.6.4 Default sensor configuration
At power-on the sensors are configured with the default settings as defined in Table 3-8
below when switching BNO operation mode from config to NDOF.
Table 3-8: 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

BNO055
Data sheet Page 30
3.7 Output data

Depending on the selected operating mode the device will output either un-calibrated sensor
data (in sensor mode) or calibrated / fused data (in fusion mode), this section describes the
output data for each modes.
3.7.1 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 3-9: unit selection
Data Units [Reg Addr]: Register Value

2
Acceleration, Linear m/s [UNIT_SEL] : xxxxxxx0b
Acceleration, Gravity mg [UNIT_SEL] : xxxxxxx1b
vector
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 NA
units
Temperature C [UNIT_SEL] : xxx0xxxxb
F [UNIT_SEL] : xxx1xxxxb
3.7.2 Sensor mode

When the BNO055 is running in one of the sensor operating modes (see Table 3-1) the
device will output un-calibrated data from the activated sensors. The sensor configuration
settings can be configured as described in section 3.6.

BNO055
Data sheet Page 31
3.7.3 Fusion mode

When the BNO055 is running in one of the fusion operating modes (see Table 3-1) the
device will calculate and output calibrated and fused data such as Euler angles,
quaternions, Linear acceleration and gravity vector. The core library allows for these outputs
to be configured to the desired use-case.
3.7.3.1 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 3-10: Fusion data output format
Parameter Values [Reg Addr]: Register value

Fusion data output Windows [UNIT_SEL]: 0xxxxxxxb
format Android [UNIT_SEL]: 1xxxxxxxb
For details on Windows orientation description, refer to Integrating Motion and

Orientation Sensors from msdn.microsoft.com. (There is no such document yet describing
the Android orientation.)
3.7.3.2 Fusion output data rates

The output data rates can be selected by writing to the OPR_MODE register as shown in
Table 3-11, the actual output data rates depend on the fusion operation mode selected, the
mapping between operating modes and output data rates are shown in Table 3-12 to Table
3-15.
Table 3-11: Data Rate Modes in Fusion Mode
Data Rates Modes [Reg Addr]: Register Value

FASTEST_MODE [OPR_MODE]: x001xxxxb
GAME_MODE [OPR_MODE]: x010xxxxb
UI_MODE [OPR_MODE]: x011xxxxb
NORMAL_MODE [OPR_MODE]: x100xxxxb

BNO055
Data sheet Page 32
3.7.3.2.1 FASTEST_MODE
Table 3-12: FASTEST_MODE
Data input rate Algo Data output rate

BNO055 Operating
calling Fusion
Mode Accel Mag Gyro Accel Mag Gyro
rate 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
3.7.3.2.2 GAME_MODE
Table 3-13: GAME_MODE

BNO055 Operating
calling Fusion
rate data
3.7.3.2.3 UI_MODE
Table 3-14: UI_MODE

BNO055 Operating
calling Fusion
rate data

BNO055
Data sheet Page 33
3.7.3.2.4 NORMAL_MODE
Table 3-15: NORMAL_MODE

BNO055 Operating
calling Fusion
rate data
3.7.3.3 Soft iron correction matrix (SIC)
The soft iron correction matrix feature should only be used if a distortion free magnetic
environment is available to create the required matrix, for further details please refer to the
appropriate application note.

BNO055
Data sheet Page 34
3.7.3.4 Sensor offset

3.7.3.4.1 Accelerometer offset
The accelerometer offset can be configured in the following registers,
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
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). Therefore the last byte must be written whenever the user wants to
changes the configuration. The range of the offsets varies based on the G-range of
accelerometer sensor.
Accelerometer G-range Maximum Offset range in mg

2G +/- 2000
4G +/- 4000
8G +/- 8000
16G +/- 16000
Unit Representation
2 2
m/s 1 m/s = 100 LSB
mg 1 mg = 1 LSB
3.7.3.4.2 Magnetometer offset
The magnetometer offset can be configured in the following registers,

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.
Unit Representation
T 1 T = 16 LSB

BNO055
Data sheet Page 35
3.7.3.4.3 Gyroscope offset
The gyroscope offset can be configured in the following registers,

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.
Gyroscope dps range Maximum Offset range in LSB

2000 +/- 32000
1000 +/- 16000
500 +/- 8000
250 +/- 4000
125 +/- 2000
Unit Representation
Dps 1 Dps = 16 LSB
Rps 1 Rps = 900 LSB
3.7.3.5 Radius
The radius of accelerometer, magnetometer and gyroscope can be configured in the

following registers,

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 for
accelerometer is +/-1000, magnetometer is +/-960 and Gyroscope is NA.
Radius for sensor Maximum Range

Accelerometer +/- 1000 LSB
Magnetometer +/- 960 LSB

BNO055
Data sheet Page 36
Accelerometer Unit Representation

2 2
m/s 1 m/s = 100 LSB
mg 1 mg = 1 LSB
Magnetometer Unit Representation

T 1 T = 16 LSB
3.7.4 Output data registers

3.7.4.1 Acceleration data
In sensor 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.
Table 3-16 and Table 3-17 describe the output data type and data representation (depending
on selected unit, see Table 3-9)
Table 3-16: Acceleration data
Parameter Data type bytes

Accel_Data_X signed 2
Accel_Data_Y signed 2
Accel_Data_Z signed 2
Table 3-17: Acceleration data representation
Unit Representation
2 2
m/s 1 m/s = 100 LSB
mg 1 mg = 1 LSB

BNO055
Data sheet Page 37
3.7.4.2 Magnetic Field Strength
In sensor 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.
Table 3-18: Magnetic field strength data

Mag_Data_X signed 2
Mag_Data_Y signed 2
Mag_Data_Z signed 2
Table 3-19: Magnetic field strength data representation
Unit Representation
T 1 T = 16 LSB

BNO055
Data sheet Page 38
3.7.4.3 Angular Velocity
In sensor 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.
Table 3-20: Yaw rate data

Gyr_Data_X signed 2
Gyr_Data_Y signed 2
Gyr_Data_Z signed 2
Table 3-21: Angular rate data representation
Unit Representation
Dps 1 Dps = 16 LSB
Rps 1 Rps = 900 LSB

BNO055
Data sheet Page 39
3.7.4.4 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.
Table 3-22: Compensated orientation data in Euler angles format

EUL_Heading Signed 2
EUL_Roll Signed 2
EUL_Pitch Signed 2
Table 3-23: Euler angle data representation
Unit Representation
Degrees 1 degree = 16 LSB
Radians 1 radian = 900 LSB

BNO055
Data sheet Page 40
3.7.4.5 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.
Table 3-24 and Table 3-25 describe the output data type and data representation
Table 3-24: Compensated orientation data in quaternion format

QUA_Data_w Signed 2
QUA_Data_x Signed 2
QUA_Data_y Signed 2
QUA_Data_z Signed 2
Table 3-25: Quaternion data representation
Unit Representation
1 Quaternion (unit less)
Quaternion (unit less)
= 2^14 LSB

BNO055
Data sheet Page 41
3.7.4.6 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.
on selected unit, see Table 3-9).
Table 3-26: Linear Acceleration Data

LIA_Data_X signed 2
LIA_Data_Y signed 2
LIA_Data_Z signed 2
Table 3-27: Linear Acceleration data representation
Unit Representation
2 2
m/s 1 m/s = 100 LSB
mg 1 mg = 1 LSB

BNO055
Data sheet Page 42
3.7.4.7 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.
on selected unit, see Table 3-9).
Table 3-28: Gravity Vector Data

GRV_Data_X signed 2
GRV_Data_Y signed 2
GRV_Data_Z signed 2
Table 3-29: Gravity Vector data representation
Unit Representation
2 2
m/s 1 m/s = 100 LSB
mg 1 mg = 1 LSB

BNO055
Data sheet Page 43
3.7.4.8 Temperature
The temperature output data can be read from the TEMP register. Table 3-30 and Table 3-31
describe the output data type and data representation (depending on selected unit, see
Table 3-9).
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 in Table 3-32.
Table 3-30: Temperature Data

TEMP signed 1
Table 3-31: Temperature data representation
Unit Representation
C 1C = 1 LSB
F 2 F = 1 LSB
Table 3-32: Temperature Source Selection
Source [Reg Addr]: Register

Value
Accelerometer [TEMP_SOURCE]:
xxxxxx00b
Gyroscope [TEMP_SOURCE]:
xxxxxx01b
3.7.4.9 Revision Id
The revision id for accelerometer, magnetometer and gyroscope can be read from the
following register:

ACC_REV_ID unsigned 1
MAG_REV_ID Unsigned 1
GYR_REV_ID unsigned 1

BNO055
Data sheet Page 44
3.7.5 Interrupts
3.7.5.1 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.
3.7.5.2 Interrupt Enable/Disable

Interrupts can be enabled by setting the corresponding bit in the interrupt enable register
(INT_EN) and disabled when it is cleared.
3.7.5.3 Interrupt Pin Masking

Interrupts can be routed to the INT pin by setting the corresponding interrupt bit in the
INT_MSK register.
3.7.5.4 Interrupt Status

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

BNO055
Data sheet Page 45
3.7.5.5 Interrupt Settings

3.7.5.5.1 Accelerometer Slow/No Motion Interrupt
The slow-motion/no-motion interrupt engine can be configured in two modes.
In slow-motion mode an 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 3-33 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).
Table 3-33: No-motion time-out periods
Delay Delay Delay

slo_no_mot_dur slo_no_mot_dur slo_no_mot_dur
time time Time
0 1s 16 40 s 32 88 s
1 2s 17 48 s 33 96 s
2 3s 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

BNO055
Data sheet Page 46
acceleration acc(t0+t)
acc(t0)
axis x, y, or z
slope slope(t0+t)= acc(t0+t) - acc(t0)

axis x, y, or z
slo_no_mot_th
-slo_no_mot_th
slo_no_mot_dur
timer
INT
time
Table 3-34: Timing of No-motion interrupt
Params Value [Reg Addr]: Register Value

No Motion [ACC_NM_SET]: xxxxxxx0b
Detection Type
Slow Motion [ACC_NM_SET]: xxxxxxx1b
Threshold [ACC_NM_THRE]: bit7:bit0
Interrupt Parameters
Duration [ACC_NM_SET]: bit6:bit1
X-axis [ACC_INT_Settings]: xxxxx1xxb
Axis selection Y-axis [ACC_INT_Settings]: xxxx1xxxb
Z-axis [ACC_INT_Settings]: xxx1xxxxb

BNO055
Data sheet Page 47
3.7.5.5.2 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.
acceleration
acc(t0)
acc(t01/(2*bw))
time
slope(t0)=acc(t0)acc(t01/(2*bw))
slope
slope_th
time
slope_dur slope_dur
INT
time
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.
3.7.5.5.2.1 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

BNO055
Data sheet Page 48
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.

Threshold [ACC_AM_THRES]: bit7:bit0
Duration [ACC_INT_Settings]: bit1:bit0
X-axis [ACC_INT_Settings]: xxxxx1xxb
Axis selection Y-axis [ACC_INT_Settings]: xxxx1xxxb
Z-axis [ACC_INT_Settings]: xxx1xxxxb
3.7.5.5.3 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.

Threshold [ACC_HG_THRES]: bit7 : bit0
Duration [ACC_HG_DURATION]: bit7 : bit0
X-axis [ACC_INT_Settings]: xx1xxxxxb
Axis selection Y-axis [ACC_INT_Settings]: x1xxxxxxb
Z-axis [ACC_INT_Settings]: 1xxxxxxxb

BNO055
Data sheet Page 49
3.7.5.5.4 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 time defined by
the GYR_DUR_<axis> register. The interrupt is reset if the absolute value of the angular rate
of all enabled axes (and relation) is lower than the threshold minus the hysteresis. In bit
GYR_HIGH_RATE in the INT_STA the interrupt status is stored. The relation between the
content of GYR_DUR_<axis> and the actual delay of the interrupt generation is delay [ms] =
[ GYR_DUR_<axis> + 1] * 2.5 ms. Therefore, possible delay times range from 2.5 ms to 640
ms.

BNO055
Data sheet Page 50

X-axis [GYR_INT_SETTING]: xxxx1xxxb
Axis selection Y-axis [GYR_INT_SETTING]: xxx1xxxxb
Z-axis [GYR_INT_SETTING]: xx1xxxxxb
High Rate Filter Filtered [GYR_INT_SETTING]: 0xxxxxxxb
settings Unfiltered [GYR_INT_SETTING]: 1xxxxxxxb
Threshold [GYR_HR_X_SET]: bit4 : bit0
Interrupt Settings X-
Duration [GYR_DUR_X]: bit7 : bit0
axis
Hysteresis [GYR_HR_X_SET]: bit6 : bit5
Threshold [GYR_HR_Y_SET]: bit4 : bit0
Interrupt Settings Y-
Duration [GYR_DUR_Y]: bit7 : bit0
axis
Hysteresis [GYR_HR_Y_SET]: bit6 : bit5
Threshold [GYR_HR_Z_SET]: bit4 : bit0
Interrupt Settings X-
Duration [GYR_DUR_Z]: bit7 : bit0
axis
Hysteresis [GYR_HR_Z_SET]: bit6 : bit5

BNO055
Data sheet Page 51
3.7.5.5.5 Gyroscope Any Motion Interrupt
Any-motion (slope) detection uses the slope between successive angular rate signals to
detect changes in motion. An interrupt is generated when the slope (absolute value of
angular rate difference) exceeds a preset threshold. It is cleared as soon as the slope falls
below the threshold. The principle is made clear in Figure 4.
angular rate
rate(t0)
rate(t01/(4*fs))
time
slope(t0)=gyro(t0)gyro(t01/(2*bw))
slope
slope_th
time
slope_dur slope_dur
INT
time
Figure 4: Principle of any-motion detection
The threshold is defined through register GYR_AM_THRES. In terms of scaling 1 LSB of

GYR_AM_THRES corresponds to 1 /s in 2000/s-range (0.5/s in 1000/s-range, 0.25/s in
500/s -range ). Therefore the maximum value is 125/s in 2000/s-range (62.5/s
1000/s-range, 31.25 in 500/s -range ).
The time difference between the successive angular rate signals depends on the selected
update rate(fs) which is coupled to the bandwidth and equates to 1/(4*fs) (t=1/(4*fs)). For
bandwidth settings with an update rate higher than 400Hz (bandwidth =0,1,2) fs is set to
400Hz.
In order to suppress false triggers, the interrupt is only generated (cleared) if a certain
number N of consecutive slope data points is larger (smaller) than the slope threshold given
by GYR_AM_THRES. This number is set by the Slope Samples bits in the GYR_AM_SET
register. It is N = [Slope Samples + 1]*4. N is set in samples. Thus the time is scaling with
the update rate (fs).

BNO055
Data sheet Page 52
3.7.5.5.5.1 Enabling (disabling) for each axis

Any-motion detection can be enabled (disabled) for each axis separately by writing 1 (0)
to bits HR_X_AXIS, HR_Y_AXIS, HR_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.
3.7.5.5.5.2 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.

X-axis [GYR_INT_SETING]: xxxxxxx1b
Axis selection Y-axis [GYR_INT_SETING]: xxxxxx1xb
Z-axis [GYR_INT_SETING]: xxxxx1xxb
Any Motion Filter Filtered [GYR_INT_SETING]: x0xxxxxxb
settings Unfiltered [GYR_INT_SETING]: x1xxxxxxb
Threshold [GYR_AM_THRES]: bit6 : bit0
Interrupt Settings Slope Samples [GYR_AM_SET]: bit1 : bit0
Awake Duration [GYR_AM_SET]: bit3 : bit2

BNO055
Data sheet Page 53
3.7.6 Self-Test
3.7.6.1 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
Components Test type

Accelerometer Verify chip ID
Magnetometer Verify chip ID
Gyroscope Verify chip ID
Microcontroller MBIST test
The results of the POST are stored at register ST_RESULT, were a bit set indicates test
passed and cleared indicates self test failed.
3.7.6.2 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.
Components Test type

Accelerometer built in self test
Magnetometer built in self test
Gyroscope built in self test
No test
Microcontroller
performed

BNO055
Data sheet Page 54
3.7.7 Boot loader
The boot loader is located at the start of the program memory and it is executed at each
reset / power-on sequence. The boot loader first checks the status of a BOOT_LOAD_PIN.
If the BOOT_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.
For more details on the boot loader please contact your local Bosch Sensortec sales
representative and ask for the BNO Boot loader application note document.

BNO055
Data sheet Page 55
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 Page 56
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 Default
Register Name bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
Address Value
7F-6B Reserved NA
MAG_RADIUS_
6A Magnetometer Radius
MSB
MAG_RADIUS_
69 Magnetometer Radius
LSB
ACC_RADIUS_
68 Accelerometer Radius
MSB
ACC_RADIUS_
67 Accelerometer Radius
LSB
GYR_OFFSET
66 0x00 Gyroscope Offset Z <15:8>
_Z_MSB
GYR_OFFSET 0x00
65 Gyroscope Offset Z <7:0>
_Z_LSB
GYR_OFFSET 0x00
64 Gyroscope Offset Y <15:8>
_Y_MSB
GYR_OFFSET 0x00
63 Gyroscope Offset Y <7:0>
_Y_LSB
GYR_OFFSET 0x00
62 Gyroscope Offset X <15:8>
_X_MSB
GYR_OFFSET 0x00
61 Gyroscope Offset X <7:0>
_X_LSB
MAG_OFFSET 0x00
60 Magnetometer Offset Z <15:8>
_Z_MSB
MAG_OFFSET 0x00
5F Magnetometer Offset Z <7:0>
_Z_LSB
MAG_OFFSET 0x00
5E Magnetometer Offset Y <15:8>
_Y_MSB
MAG_OFFSET 0x00
5D Magnetometer Offset Y <7:0>
_Y_LSB
MAG_OFFSET 0x00
5C Magnetometer Offset X <15:8>
_X_MSB
MAG_OFFSET 0x00
5B Magnetometer Offset X <7:0>
_X_LSB
ACC_OFFSET 0x00
5A Accelerometer Offset Z <15:8>
_Z_MSB
ACC_OFFSET 0x00
59 Accelerometer Offset Z <7:0>
_Z_LSB
ACC_OFFSET 0x00
58 Accelerometer Offset Y <15:8>
_Y_MSB
ACC_OFFSET 0x00
57 Accelerometer Offset Y <7:0>
_Y_LSB
ACC_OFFSET 0x00
56 Accelerometer Offset X <15:8>
_X_MSB
ACC_OFFSET 0x00
55 Accelerometer Offset X <7:0>
_X_LSB
43 - 54 SIC_MATRIX 0x00 Reserved for Soft Iron Calibration Matrix

BNO055
Data sheet Page 57
Register Default
Address Value
Remappe Remappe Remappe
AXIS_MAP_SI
42 TBD d X axis d Y axis d Z axis
GN
sign sign sign
AXIS_MAP_CO Remapped Z axis Remapped Y axis Remapped X axis
41 TBD
NFIG value value value
TEMP_SOURC
40 0x02 TEMP_Source <1:0>
E
CLK_S RST_IN RST_S
3F SYS_TRIGGER 0x00 Self_Test
EL T YS
3E PWR_MODE 0x00 Power Mode <1:0>
3D OPR_MODE 0x1C Output Data Rate <2:0> Operation Mode <3:0>
3C Reserved 0xFF
ORI_An
droid_ TEMP_U
3B UNIT_SEL 0x00 EUL_Unit GYR_Unit ACC_Unit
Window nit
s
3A SYS_ERR 0x00 System Error Code
39 SYS_STATUS 0x00 System Status Code
SYS_CLK_STA ST_MAI
38 0x00
TUS N_CLK
ACC_N ACC_A ACC_HI GYR_HIG GYRO_A
37 INT_STA 0x00
M M GH_G H_RATE M
36 ST_RESULT 0x0F ST_MCU ST_GYR ST_MAG ST_ACC
SYS Calib Status GYR Calib Status
35 CALIB_STAT 0x00 ACC Calib Status 0:3 MAG Calib Status 0:3
0:3 0:3
34 TEMP 0x00 Temperature
GRV_Data_Z_
33 0x00 Gravity Vector Data Z <15:8>
MSB
GRV_Data_Z_L
32 0x00 Gravity Vector Data Z <7:0>
SB
GRV_Data_Y_
31 0x00 Gravity Vector Data Y <15:8>
MSB
GRV_Data_Y_
30 0x00 Gravity Vector Data Y <7:0>
LSB
GRV_Data_X_
2F 0x00 Gravity Vector Data X <15:8>
MSB
GRV_Data_X_
2E 0x00 Gravity Vector Data X <7:0>
LSB
LIA_Data_Z_M
2D 0x00 Linear Acceleration Data Z <15:8>
BS
LIA_Data_Z_LS
2C 0x00 Linear Acceleration Data Z <7:0>
B
LIA_Data_Y_M
2B 0x00 Linear Acceleration Data Y <15:8>
BS
LIA_Data_Y_L
2A 0x00 Linear Acceleration Data Y <7:0>
SB
LIA_Data_X_M
29 0x00 Linear Acceleration Data X <15:8>
BS
LIA_Data_X_L
28 0x00 Linear Acceleration Data X <7:0>
SB
QUA_Data_z_
27 0x00 Quaternion z Data <15:8>
MSB
QUA_Data_z_L
26 0x00 Quaternion z Data <7:0>
SB
QUA_Data_y_
25 0x00 Quaternion y Data <15:8>
MSB
QUA_Data_y_L
24 0x00 Quaternion y Data <7:0>
SB
QUA_Data_x_
23 0x00 Quaternion x Data <15:8>
MSB
QUA_Data_x_L
22 0x00 Quaternion x Data <7:0>
SB
QUA_Data_w_
21 0x00 Quaternion w Data <15:8>
MSB
QUA_Data_w_
20 0x00 Quaternion w Data <7:0>
LSB

BNO055
Data sheet Page 58
Register Default
Address Value
EUL_Pitch_MS
1F 0x00 Pitch Data <15:8>
B
1E EUL_Pitch_LSB 0x00 Pitch Data <7:0>
1D EUL_Roll_MSB 0x00 Roll Data <15:8>
1C EUL_Roll_LSB 0x00 Roll Data <7:0>
EUL_Heading_
1B 0x00 Heading Data <15:8>
MSB
EUL_Heading_
1A 0x00 Heading Data <7:0>
LSB
GYR_DATA_Z_
19 0x00 Gyroscope Data Z <15:8>
MSB
GYR_DATA_Z_
18 0x00 Gyroscope Data Z <7:0>
LSB
GYR_DATA_Y
17 0x00 Gyroscope Data Y <15:8>
_MSB
GYR_DATA_Y
16 0x00 Gyroscope Data Y <7:0>
_LSB
GYR_DATA_X
15 0x00 Gyroscope Data X <15:8>
_MSB
GYR_DATA_X
14 0x00 Gyroscope Data X <7:0>
_LSB
MAG_DATA_Z
13 0x00 Magnetometer Data Z <15:8>
_MSB
MAG_DATA_Z
12 0x00 Magnetometer Data Z <7:0>
_LSB
MAG_DATA_Y
11 0x00 Magnetometer Data Y <15:8>
_MSB
MAG_DATA_Y
10 0x00 Magnetometer Data Y <7:0>
_LSB
MAG_DATA_X
F 0x00 Magnetometer Data X <15:8>
_MSB
MAG_DATA_X
E 0x00 Magnetometer Data X <7:0>
_LSB
ACC_DATA_Z_
D 0x00 Acceleration Data Z <15:8>
MSB
ACC_DATA_Z_
C 0x00 Acceleration Data Z <7:0>
LSB
ACC_DATA_Y_
B 0x00 Acceleration Data Y <15:8>
MSB
ACC_DATA_Y_
A 0x00 Acceleration Data Y <7:0>
LSB
ACC_DATA_X_
9 0x00 Acceleration Data X <15:8>
MSB
ACC_DATA_X_
8 0x00 Acceleration Data X <7:0>
LSB
7 Page ID 0x00 Page ID
6 BL_Rev_ID NA Bootloader Version
SW_REV_ID_
5 NA SW Revision ID <15:8>
MSB
SW_REV_ID_L
4 NA SW Revision ID <7:0>
SB
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

BNO055
Data sheet Page 59
4.2.2 Register map Page 1

Table4-3: Register Map Page 1
Register Default
Address Value
7F-60 Reserved 0x00
5F - 50 UNIQUE_ID n.a. BNO unique ID
4F - 20 Reserved 0x00
Awake Duration
1F GYR_AM_SET 0x0A Slope Samples <1:0>
<1:0>
GYR_AM_THR
1E 0x04 Gyro Any Motion Threshold <6:0>
ES
1D GYR_DUR_Z 0x19 HR_Z_Duration
GYR_HR_Z_S HR_Z_THRES_
1C 0x01 HR_Z_Threshold <4:0>
ET HYST <1:0>
1B GYR_DUR_Y 0x19 HR_Y_Duration
GYR_HR_Y_S HR_Y_THRES_
1A 0x01 HR_Y_Threshold <4:0>
ET HYST <1:0>
19 GYR_DUR_X 0x19 HR_X_Duration
GYR_HR_X_S HR_X_THRES_
18 0x01 HR_X_Threshold <4:0>
ET HYST <1:0>
GYR_INT_SET HR_FIL AM_FI HR_Z_ HR_Y_A HR_X_A AM_Z_A AM_Y_A
17 0x00 AM_X_AXIS
ING T LT AXIS XIS XIS XIS XIS
16 ACC_NM_SET 0x0B NO/SLOW Motion Duration <5:0> SMNM
ACC_NM_THR
15 0x0A Accelerometer NO/SLOW motion threshold
E
ACC_HG_THR
14 0xC0 Accelerometer High G Threshold
ES
ACC_HG_DUR
13 0x0F Accelerometer High G Duration
ATION
ACC_INT_Setti HG_Z_ HG_Y_ HG_X_ AM/NM_ AM/NM_ AM/NM_
12 0x03 AM_DUR <1:0>
ngs AXIS AXIS AXIS Z_AXIS Y_AXIS X_AXIS
ACC_AM_THR
11 0x14 Accelerometer Any motion threshold
ES
GYR_HI
ACC_N ACC_A ACC_H GYRO_A
10 INT_EN 0x00 GH_RAT
M M IGH_G M
E
GYR_HI
ACC_N ACC_A ACC_H GYRO_A
F INT_MSK 0x00 GH_RAT
M M IGH_G M
E
E Reserved 0x00
GYR_Sleep_C AUTO_SLP_DURATION
D 0x00 SLP_DURATION <2:0>
onfig <2:0>
ACC_Sleep_C
C 0x00 SLP_DURATION <3:0> SLP_MODE
onfig
B GYR_Config_1 0x00 GYR_Power_Mode <2:0>
A GYR_Config_0 0x38 GYR_Bandwidth <2:0> GYR_Range <2:0>
MAG_Power_mo MAG_OPR_Mode
9 MAG_Config 0x6D MAG_Data_output_rate <2:0>
de <1:0> <1:0>
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 Page 60
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

Access r r r r r r R r
Reset 0xFB
Content ACC chip ID

ACC chip ID <7:0> Chip ID of the Accelerometer device, read-only fixed value 0xFB
4.3.3 MAG_ID 0x02

Reset 0x32
Content MAG chip ID

MAG chip ID <7:0> Chip ID of the Magnetometer device, read-only fixed value 0x32
4.3.4 GYR_ID 0x03

Reset 0x0F
Content GRYO chip ID

GYRO chip ID <7:0> Chip ID of the Gyroscope device, read-only fixed value 0x0F
4.3.5 SW_REV_ID_LSB 0x04


BNO055
Data sheet Page 61
Reset
Content SW Revision ID <7:0>

SW Revision ID <7:0> Lower byte of SW Revision ID, read-only fixed value depending on SW revision programmed
<7:0> on microcontroller
4.3.6 SW_REV_ID_MSB 0x05

Reset
Content SW Revision ID <15:8>

SW Revision ID <7:0> Upper byte of SW Revision ID, read-only fixed value depending on SW revision programmed
<15:8> on microcontroller
4.3.7 BL_REV_ID 0x06

Reset
Content Bootloader Version

Bootloader <7:0> Identifies the version of the bootloader in the microcontroller, read-only
Version
4.3.8 Page ID 0x07

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

Page ID <7:0> Read: Number of currently selected page
Write: Change page, 0x00 or 0x01

BNO055
Data sheet Page 62
4.3.9 ACC_DATA_X_LSB 0x08

Reset 0 0 0 0 0 0 0 0
Content Acceleration Data X <7:0>

Acceleration Data <7:0> Lower byte of X axis Acceleration data, read only
X <7:0> The output units can be selected using the UNIT_SEL register and data output type can be
changed by updating the Operation Mode in the OPR_MODE register, see section 3.3
4.3.10 ACC_DATA_X_MSB 0x09

Reset 0 0 0 0 0 0 0 0
Content Acceleration Data X <15:8>

Acceleration Data <7:0> Upper byte of X axis Acceleration data, read only
4.3.11 ACC_DATA_Y_LSB 0x0A

Reset 0 0 0 0 0 0 0 0
Content Acceleration Data Y <7:0>

Acceleration Data <7:0> Lower byte of Y axis Acceleration data, read only
Y <7:0> The output units can be selected using the UNIT_SEL register and data output type can be
4.3.12 ACC_DATA_Y_MSB 0x0B

Reset 0 0 0 0 0 0 0 0
Content Acceleration Data Y <15:8>

Acceleration Data <7:0> Upper byte of Y axis Acceleration data, read only

BNO055
Data sheet Page 63
4.3.13 ACC_DATA_Z_LSB 0x0C

Reset 0 0 0 0 0 0 0 0
Content Acceleration Data Z <7:0>

Acceleration Data <7:0> Lower byte of Z axis Acceleration data, read only
Z <7:0> The output units can be selected using the UNIT_SEL register and data output type can be
4.3.14 ACC_DATA_Z_MSB 0x0D

Reset 0 0 0 0 0 0 0 0
Content Acceleration Data Z <15:8>

Acceleration Data <7:0> Upper byte of Z axis Acceleration data, read only
4.3.15 MAG_DATA_X_LSB 0x0E

Reset 0 0 0 0 0 0 0 0
Content Magnetometer Data X <7:0>

Magnetometer <7:0> Lower byte of X axis Magnetometer data, read only
Data X <7:0> The output units can be selected using the UNIT_SEL register and data output type can be
4.3.16 MAG_DATA_X_MSB 0x0F

Reset 0 0 0 0 0 0 0 0

Magnetometer <7:0> Upper byte of X axis Magnetometer data, read only

BNO055
Data sheet Page 64
4.3.17 MAG_DATA_Y_LSB 0x10

Reset 0 0 0 0 0 0 0 0
Content Magnetometer Data Y <7:0>

Magnetometer <7:0> Lower byte of Y axis Magnetometer data, read only
Data Y <7:0> The output units can be selected using the UNIT_SEL register and data output type can be
4.3.18 MAG_DATA_Y_MSB 0x11

Reset 0 0 0 0 0 0 0 0
Content Magnetometer Data Y <15:8>

Magnetometer <7:0> Upper byte of Y axis Magnetometer data, read only
4.3.19 MAG_DATA_Z_LSB 0x12

Reset 0 0 0 0 0 0 0 0
Content Magnetometer Data Z <7:0>

Magnetometer <7:0> Lower byte of Z axis Magnetometer data, read only
Data Z <7:0> The output units can be selected using the UNIT_SEL register and data output type can be
4.3.20 MAG_DATA_Z_MSB 0x13

Reset 0 0 0 0 0 0 0 0
Content Magnetometer Data Z <15:8>

Magnetometer <7:0> Upper byte of Z axis Magnetometer data, read only

BNO055
Data sheet Page 65
4.3.21 GYR_DATA_X_LSB 0x14

Reset 0 0 0 0 0 0 0 0
Content Gyroscope Data X <7:0>

Gyroscope Data <7:0> Lower byte of X axis Gyroscope data, read only
4.3.22 GYR_DATA_X_MSB 0x15

Reset 0 0 0 0 0 0 0 0

Gyroscope Data <7:0> Upper byte of X axis Gyroscope data, read only
4.3.23 GYR_DATA_Y_LSB 0x16

Reset 0 0 0 0 0 0 0 0
Content Gyroscope Data Y <7:0>

Gyroscope Data <7:0> Lower byte of Y axis Gyroscope data, read only
4.3.24 GYR_DATA_Y_MSB 0x17

Reset 0 0 0 0 0 0 0 0
Content Gyroscope Data Y <15:8>

Gyroscope Data <7:0> Upper byte of Y axis Gyroscope data, read only

BNO055
Data sheet Page 66
4.3.25 GYR_DATA_Z_LSB 0x18

Reset 0 0 0 0 0 0 0 0
Content Gyroscope Data Z <7:0>

Gyroscope Data <7:0> Lower byte of Z axis Gyroscope data, read only
4.3.26 GYR_DATA_Z_MSB 0x19

Reset 0 0 0 0 0 0 0 0
Content Gyroscope Data Z <15:8>

Gyroscope Data <7:0> Upper byte of Z axis Gyroscope data, read only
4.3.27 EUL_DATA_X_LSB 0x1A

Reset 0 0 0 0 0 0 0 0
Content Heading Data <7:0>

Heading Data <7:0> Lower byte of heading data, read only
<7:0> The output units can be selected using the UNIT_SEL register and data output type can be
4.3.28 EUL_DATA_X_MSB 0x1B

Reset 0 0 0 0 0 0 0 0
Content Heading Data <15:8>

Heading Data <7:0> Upper byte of heading data, read only
<15:8> The output units can be selected using the UNIT_SEL register and data output type can be

BNO055
Data sheet Page 67
4.3.29 EUL_DATA_Y_LSB 0x1C

Reset 0 0 0 0 0 0 0 0
Content Roll Data <7:0>

Roll Data <7:0> <7:0> Lower byte of roll data, read only
The output units can be selected using the UNIT_SEL register and data output type can be
4.3.30 EUL_DATA_Y_MSB 0x1D

Reset 0 0 0 0 0 0 0 0
Content Roll Data <15:8>

Roll Data <15:8> <7:0> Upper byte of Y axis roll data, read only
4.3.31 EUL_DATA_Z_LSB 0x1E

Reset 0 0 0 0 0 0 0 0
Content Pitch Data <7:0>

Pitch Data <7:0> <7:0> Lower byte of pitch data, read only
4.3.32 EUL_DATA_Z_MSB 0x1F

Reset 0 0 0 0 0 0 0 0
Content Pitch Data <15:8>

Pitch Data <15:8> <7:0> Upper byte of pitch data, read only

BNO055
Data sheet Page 68
4.3.33 QUA_DATA_W_LSB 0x20

Reset 0 0 0 0 0 0 0 0
Content Quaternion Data W <7:0>

Quaternion Data <7:0> Lower byte of w axis Quaternion data, read only
W <7:0> The output units can be selected using the UNIT_SEL register and data output type can be
4.3.34 QUA_DATA_W_MSB 0x21

Reset 0 0 0 0 0 0 0 0
Content Quaternion Data W <15:8>

Quaternion Data <7:0> Upper byte of w axis Quaternion data, read only
W <15:8> The output units can be selected using the UNIT_SEL register and data output type can be
4.3.35 QUA_DATA_X_LSB 0x22

Reset 0 0 0 0 0 0 0 0
Content Quaternion Data X <7:0>

Quaternion Data <7:0> Lower byte of X axis Quaternion data, read only
4.3.36 QUA_DATA_X_MSB 0x23

Reset 0 0 0 0 0 0 0 0
Content Quaternion Data X <15:8>

Quaternion Data <7:0> Upper byte of X axis Quaternion data, read only

BNO055
Data sheet Page 69
4.3.37 QUA_DATA_Y_LSB 0x24

Reset 0 0 0 0 0 0 0 0
Content Quaternion Data Y <7:0>

Quaternion Data <7:0> Lower byte of Y axis Quaternion data, read only
4.3.38 QUA_DATA_Y_MSB 0x25

Reset 0 0 0 0 0 0 0 0
Content Quaternion Data Y <15:8>

Quaternion Data <7:0> Upper byte of Y axis Quaternion data, read only
4.3.39 QUA_DATA_Z_LSB 0x26

Reset 0 0 0 0 0 0 0 0
Content Quaternion Data Z <7:0>

Quaternion Data <7:0> Lower byte of Z axis Quaternion data, read only
4.3.40 QUA_DATA_Z_MSB 0x27

Reset 0 0 0 0 0 0 0 0
Content Quaternion Data Z <15:8>

Quaternion Data <7:0> Upper byte of Z axis Quaternion data, read only

BNO055
Data sheet Page 70
4.3.41 LIA_DATA_X_LSB 0x28

Reset 0 0 0 0 0 0 0 0
Content Linear Acceleration Data X <7:0>

Linear <7:0> Lower byte of X axis Linear Acceleration data, read only
Acceleration Data The output units can be selected using the UNIT_SEL register and data output type can be
X <7:0> changed by updating the Operation Mode in the OPR_MODE register, see section 3.3
4.3.42 LIA_DATA_X_MSB 0x29

Reset 0 0 0 0 0 0 0 0
Content Linear Acceleration Data X <15:8>

Linear <7:0> Upper byte of X axis Linear Acceleration data, read only
X <15:8> changed by updating the Operation Mode in the OPR_MODE register, see section 3.3
4.3.43 LIA_DATA_Y_LSB 0x2A

Reset 0 0 0 0 0 0 0 0
Content Linear Acceleration Data Y <7:0>

Linear <7:0> Lower byte of Y axis Linear Acceleration data, read only
Y <7:0> changed by updating the Operation Mode in the OPR_MODE register, see section 3.3
4.3.44 LIA_DATA_Y_MSB 0x2B

Reset 0 0 0 0 0 0 0 0
Content Linear Acceleration Data Y <15:8>

Linear <7:0> Upper byte of Y axis Linear Acceleration data, read only
Y <15:8> changed by updating the Operation Mode in the OPR_MODE register, see section 3.3

BNO055
Data sheet Page 71
4.3.45 LIA_DATA_Z_LSB 0x2C

Reset 0 0 0 0 0 0 0 0
Content Linear Acceleration Data Z <7:0>

Linear <7:0> Lower byte of Z axis Linear Acceleration data, read only
Z <7:0> changed by updating the Operation Mode in the OPR_MODE register, see section 3.3
4.3.46 LIA_DATA_Z_MSB 0x2D

Reset 0 0 0 0 0 0 0 0
Content Linear Acceleration Data Z <15:8>

Linear <7:0> Upper byte of Z axis Linear Acceleration data, read only
Z <15:8> changed by updating the Operation Mode in the OPR_MODE register, see section 3.3
4.3.47 GRV_DATA_X_LSB 0x2E

Reset 0 0 0 0 0 0 0 0
Content Gravity Vector Data X <7:0>

Gravity Vector <7:0> Lower byte of X axis Gravity Vector data, read only
4.3.48 GRV_DATA_X_MSB 0x2F

Reset 0 0 0 0 0 0 0 0
Content Gravity Vector Data X <15:8>

Gravity Vector <7:0> Upper byte of X axis Gravity Vector data, read only

BNO055
Data sheet Page 72
4.3.49 GRV_DATA_Y_LSB 0x30

Reset 0 0 0 0 0 0 0 0
Content Gravity Vector Data Y <7:0>

Gravity Vector <7:0> Lower byte of Y axis Gravity Vector data, read only
4.3.50 GRV_DATA_Y_MSB 0x31

Reset 0 0 0 0 0 0 0 0
Content Gravity Vector Data Y <15:8>

Gravity Vector <7:0> Upper byte of Y axis Gravity Vector data, read only
4.3.51 GRV_DATA_Z_LSB 0x32

Reset 0 0 0 0 0 0 0 0
Content Gravity Vector Data Z <7:0>

Gravity Vector <7:0> Lower byte of Z axis Gravity Vector data, read only
4.3.52 GRV_DATA_Z_MSB 0x33

Reset 0 0 0 0 0 0 0 0
Content Gravity Vector Data Z <15:8>

Gravity Vector <7:0> Upper byte of Z axis Gravity Vector data, read only

BNO055
Data sheet Page 73
4.3.53 TEMP 0x34

Reset 0 0 0 0 0 0 0 0
Content Temperature

Temperature <7:0> Temperature data, read only
The output units can be selected using the UNIT_SEL register and data output source can be
selected by updating the TEMP_SOURCE register, see section 3.7.4.8
4.3.54 CALIB_STAT 0x35

Reset 0 0 0 0 0 0 0 0
Content SYS Calib Status <0:1> GYR Calib Status <0:1> ACC Calib Status <0:1> MAG Calib Status <0:1>

SYS Calib Status <7:6> Current system calibration status, depends on status of all sensors, read-only
<0:1> Read: 3 indicates fully calibrated; 0 indicates not calibrated
GYR Calib Status <5:4> Current calibration status of Gyroscope, read-only
ACC Calib Status <3:2> Current calibration status of Accelerometer, read-only
MAG Calib Status <1:0> Current calibration status of Magnetometer, read-only
For more details on how to calibrate the sensors in the BNO055 please contact your local
Bosch Sensortec sales representative and ask for the BNO055 calibration application note
document.
4.3.55 ST_RESULT 0x36

Reset 1 1 1 1
Content Reserved ST_MCU ST_GYR ST_MAG ST_ACC

ST_MCU 3 Microcontroller self test result.
Read: 1 indicated test passed; 0 indicates test failed
ST_GYR 2 Gyroscope self test result.
ST_MAG 1 Magnetometer self test result.
ST_ACC 0 Accelerometer self test result.

BNO055
Data sheet Page 74
4.3.56 INT_STA 0x37

Reset 0 0 0 0 0
Content ACC_NM ACC_AM ACC_HIG Reserved GYR_HIG GYRO_A Reserved Reserved
H_G H_RATE M

ACC_NM 7 Status of Accelerometer no motion or slow motion interrupt, read only
Read: 1 indicates interrupt triggered; 0 indicates no interrupt triggered
ACC_AM 6 Status of Accelerometer any motion interrupt, read only
ACC_HIGH_G 5 Status of Accelerometer high-g interrupt, read only
GYR_HIGH_RATE 3 Status of gyroscope high rate interrupt, read only
GYRO_AM 2 Status of gyroscope any motion interrupt, read only
4.3.57 SYS_CLK_STATUS 0x38

Reset 0 0 0 0 0 0 0 0
Content Reserved Reserved Reserved Reserved Reserved ST_MAIN_
Reserved Reserved
CLK
0 0 Indicates that, it is Free to configure the CLK SRC (External or Internal)
1 0 Indicates that, it is in Configuration state
4.3.58 SYS_STATUS 0x39

Reset 0 0 0 0 0 0 0 0
Content System Status Code

System Status <7:0> Read: 0 System idle,
Code 1 System Error,
2 Initializing peripherals
3 System Initialization
4 Executing selftest,
5 Sensor fusion algorithm running,
6 System running without fusion algorithm

BNO055
Data sheet Page 75
4.3.59 SYS_ERR 0x3A

Reset
Content System Error Code

System Error <7:0> Read the error status from this register if the SYS_STATUS (0x39) register is SYSTEM
Code ERROR (0x01)
Read : 0 No error
1 Peripheral initialization error
2 System initialization error
3 Self test result failed
4 Register map value out of range
5 Register map address out of range
6 Register map write error
7 BNO low power mode not available for selected operation mode
8 Accelerometer power mode not available
9 Fusion algorithm configuration error
A Sensor configuration error

BNO055
Data sheet Page 76
4.3.60 UNIT_SEL 0x3B

Reset 0 0 0 0 0 0
Content ORI_Andr
TEMP_Uni
oid_Windo reserved reserved EUL_Unit GYR_Unit ACC_Unit
t
ws

ORI_Android_Win 7 Read: Current selected orientation mode
dows Write: Select orientation mode
0: Windows orientation
1: Android orientation
See section 3.7.3.1 for more details
TEMP_Unit 5 Read: Current selected temperature units
Write: Select temperature units
0: Celsius
1: Fahrenheit
See section 3.7.1 for more details
EUL_Unit 3 Read: Current selected Euler units
Write: Select Euler units
0: Degrees
1: Radians
GYR_Unit 2 Read: Current selected angular rate units
Write: Select angular rate units
0: dps
1: rps
ACC_Unit 1 Read: Current selected acceleration units
Write: Select acceleration units
0: m/s2
1: mg

BNO055
Data sheet Page 77
4.3.61 OPR_MODE 0x3D

Access r/w r/w r/w r/w r/w r/w r/w
Reset
Content Reserved Output Data Rate <2:0> Operation Mode <3:0>

Output Data Rate <6:4> Read: Current selected data rate mode
<2:0> Write: Select data rate mode
See section 3.7.3.2 for details
Operation Mode <3:0> Read: Current selected operation mode
<3:0> Write: Select operation mode
See section 3.3 for details

BNO055
Data sheet Page 78
4.3.62 PWR_MODE 0x3E

Access r/w r/w
Reset
Content Reserved Power Mode <1:0>

Power Mode <1:0> Read: Current selected power mode
<1:0> Write: Select power mode
See section 3.4 for details
4.3.63 SYS_TRIGGER 0x3F

Access w w w w
Reset 0 0 0 0
Content CLK_SEL RST_INT RST_SYS Self_Test

CLK_SEL 7 0: Use internal oscillator
1: Use external oscillator. Set this bit only if external crystal is connected
RST_INT 6 Set to reset all interrupt status bits, and INT output
RST_SYS 5 Set to reset system
Self_Test 0 Set to trigger self test
4.3.64 TEMP_SOURCE 0x40

Access r/w r/w
Reset
Content Reserved TEMP_Source <1:0>

TEMP_Source <1:0> See section 3.7.4.8 for details
<1:0>

BNO055
Data sheet Page 79
4.3.65 AXIS_MAP_CONFIG 0x41

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

Remapped Z axis <5:4> See section 3.5 for details
value
Remapped Y axis <3:2> See section 3.5 for details
value
Remapped X axis <1:0> See section 3.5 for details
value
4.3.66 AXIS_MAP_SIGN 0x42

Access r/w r/w r/w
Reset
Content Reserved Remapped Remapped Remapped
X axis sign Y axis sign Z axis sign

Remapped X axis 2 See section 3.5 for details
sign
Remapped Y axis 1 See section 3.5 for details
sign
Remapped Z axis 0 See section 3.5 for details
sign

BNO055
Data sheet Page 80
4.3.67 SIC_MATRIX 0x43 0x53
Registers reserved for soft iron calibration (SIC) matrix data, this feature is described in a
separate application note and should only be used when a distortion free magnetic
environment is available to create the required calibration matrix data.
For more details please refer to the appropriate soft iron correction application note.
4.3.68 ACC_OFFSET_X_LSB 0x55

Reset
Content Accelerometer Offset X <7:0>

Accelerometer <7:0> See section 3.7.3.4 for details
Offset X <7:0>
4.3.69 ACC_OFFSET_X_MSB 0x56

Reset
Content Accelerometer Offset X <15:8>

Offset X <15:8>

BNO055
Data sheet Page 81
4.3.70 ACC_OFFSET_Y_LSB 0x57

Reset
Content Accelerometer Offset Y <7:0>

Offset Y <7:0>
4.3.71 ACC_OFFSET_Y_MSB 0x58

Reset
Content Accelerometer Offset Y <15:8>

Offset Y <15:8>
4.3.72 ACC_OFFSET_Z_LSB 0x59

Reset
Content Accelerometer Offset Z <7:0>

Offset Z <7:0>
4.3.73 ACC_OFFSET_Z_MSB 0x5A

Reset
Content Accelerometer Offset Z <15:8>

Offset Z <15:8>
4.3.74 MAG_OFFSET_X_LSB 0x5B


BNO055
Data sheet Page 82
Reset

Magnetometer <7:0> See section 3.7.3.4 for details
Offset X <7:0>
4.3.75 MAG_OFFSET_X_MSB 0x56C

Reset
Content Magnetometer Offset X <15:8>

Offset X <15:8>
4.3.76 MAG_OFFSET_Y_LSB 0x5D

Reset
Content Magnetometer Offset Y <7:0>

Offset Y <7:0>

BNO055
Data sheet Page 83
4.3.77 MAG_OFFSET_Y_MSB 0x5E

Reset
Content Magnetometer Offset Y <15:8>

Offset Y <15:8>
4.3.78 MAG_OFFSET_Z_LSB 0x5F

Reset
Content Magnetometer Offset Z <7:0>

Offset Z <7:0>
4.3.79 MAG_OFFSET_Z_MSB 0x60

Reset
Content Magnetometer Offset Z <15:8>

Offset Z <15:8>
4.3.80 GYR_OFFSET_X_LSB 0x61

Reset

Gyroscope Offset <7:0> See section 3.7.3.4 for details
X <7:0>
4.3.81 GYR_OFFSET_X_MSB 0x62


BNO055
Data sheet Page 84
Reset
Content Gyroscope Offset X <15:8>

X <15:8>
4.3.82 GYR_OFFSET_Y_LSB 0x63

Reset
Content Gyroscope Offset Y <7:0>

Y <7:0>
4.3.83 GYR_OFFSET_Y_MSB 0x64

Reset
Content Gyroscope Offset Y <15:8>

Y <15:8>

BNO055
Data sheet Page 85
4.3.84 GYR_OFFSET_Z_LSB 0x65

Reset
Content Gyroscope Offset Z <7:0>

Z <7:0>
4.3.85 GYR_OFFSET_Z_MSB 0x66

Reset
Content Gyroscope Offset Z <15:8>

Z <15:8>
4.3.86 ACC_RADIUS_LSB 0x67

Reset
Content Accelerometer Radius <7:0>
Gyroscope Offset <7:0> See section 3.7.3.4for details

Z <7:0>
4.3.87 ACC_RADIUS_MSB 0x68

Reset
Content Accelerometer Radius <15:8>

Z <15:8>
4.3.88 MAG_RADIUS_LSB 0x69

Reset
Content Magnetometer Radius <7:0>

BNO055
Data sheet Page 86

Z <7:0>
4.3.89 MAG_RADIUS_MSB 0x6A

Reset
Content Magnetometer Radius <15:8>

Z <15:8>

BNO055
Data sheet Page 87
4.4 Register description (Page 1)
4.4.1 Page ID 0x07

Reset 0 0 0 0 0 0 0 0
Content Page ID

Page ID <7:0> Read: Number of currently selected page
Write: Change page, 0x00 or 0x01
4.4.2 ACC_Config 0x08

Reset 0 0 0 0 1 1 0 1
Content ACC_PWR_Mode <2:0> ACC_BW <2:0> ACC_Range <1:0>

ACC_PWR_Mode <7:5> Read: current selected power mode
<2:0> Write: can only be changed in sensor mode, see section 3.6.1
ACC_BW <2:0> <4:3> Read: current selected bandwidth
Write: can only be changed in sensor mode, see section 3.6.1
ACC_Range <1:0> <2:0> Read: current selected range
Write: can only be changed in sensor mode, see section 3.6.1
4.4.3 MAG_Config 0x09

Reset 0 0 0 0 1 0 1 1
Content MAG_Power_mode
reserved MAG_OPR_Mode <1:0> MAG_Data_output_rate <2:0>
<1:0>

MAG_Power_mod <6:5> Read: current selected power mode
e <1:0> Write: can only be changed in sensor mode, see section 3.6.3
MAG_OPR_Mode <4:3> Read: current selected operation mode
MAG_Data_output <2:0> Read: current selected data output rate
_rate <2:0> Write: can only be changed in sensor mode, see section 3.6.3

BNO055
Data sheet Page 88
4.4.4 GYR_Config_0 0x0A

Reset 0 0 1 1 1 0 0 0
Content reserved GYR_Bandwidth <2:0> GYR_Range <2:0>

GYR_Bandwidth <5:3> Read: current selected bandwidth
GYR_Range <2:0> Read: current selected range
4.4.5 GYR_Config_1 0x0B

Reset 0 0 0 0 0 0 0 0
Content reserved GYR_Power_Mode <2:0>

GYR_Power_Mod <2:0> Read: current selected power mode
e <2:0> Write: can only be changed in sensor mode, see section 3.6.2

BNO055
Data sheet Page 89
4.4.6 ACC_Sleep_Config 0x0C

Reset
Content reserved SLP_DURATION <3:0> SLP_MOD
E

SLP_DURATION <4:1> Write: The sleep duration for accelerometer low power mode can be only configured in the
<3:0> sensor operation mode where no fusion library is running. Following sleep phase duration is
possible to set.
SLP_DURATION Accelerometer Sleep Phase Duration
0000b 0.5 ms
0001b 0.5 ms
0010b 0.5 ms
0011b 0.5 ms
0100b 0.5 ms
0101b 0.5 ms
0110b 1 ms
0111b 2 ms
1000b 4 ms
1001b 6 ms
1010b 10 ms
1011b 25 ms
1100b 50 ms
1101b 100 ms
1110b 500 ms
1111b 1 ms
SLP_MODE 0 The sleep timer mode for accelerometer low power mode can be only configured in the sensor
operation mode where no fusion library is running
Write 0: use event driven time-base mode
1: use equidistant sampling time-base mode

BNO055
Data sheet Page 90
4.4.7 GYR_Sleep_Config 0x0D

Reset
Content reserved AUTO_SLP_DURATION <2:0> SLP_DURATION <2:0>

AUTO_SLP_DUR <5:3> The Gyroscope can be configures in the advanced power mode to optimize the power
ATION <2:0> consumption. This can be only done if the selected operation mode in sensor mode. The auto
sleep duration is the wake up duration of gyroscope during the duty cycling between normal
and fast-power up mode. Possible configuration for auto sleep duration are:
Auto sleep duration Time (ms)
000b Not allowed
001b 4 ms
010b 5 ms
011b 8 ms
100b 10 ms
101b 15 ms
110b 20 ms
111b 40 ms
SLP_DURATION <2:0> The Gyroscope can be configures in the advanced power mode to optimize the power
<2:0> consumption. This can be only done if the selected operation mode in sensor mode. The
sleep duration is the sleep time of gyroscope during the duty cycling between normal and fast-
power up mode. Possible configuration for sleep duration are:
Sleep duration Time (ms)
000b 2 ms
001b 4 ms
010b 5 ms
011b 8 ms
100b 10 ms
101b 15 ms
110b 18 ms
111b 20 ms
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 Page 91
4.4.8 INT_MSK 0x0F

Reset 0 0 0 0 0
Content ACC_HIG reserved GYR_HIG GYRO_A reserved reserved
ACC_NM ACC_AM
H_G H_RATE M

ACC_NM 7 Masking of Accelerometer no motion or slow motion interrupt, when enabled the interrupt will
update the INT_STA register and trigger a change on the INT pin, when disabled only the
INT_STA register will be updated.
Read: 1: Enabled / 0: Disabled
Write: 1: Enable / 0: Disable
ACC_AM 6 Masking of Accelerometer any motion interrupt, when enabled the interrupt will update the
INT_STA register and trigger a change on the INT pin, when disabled only the INT_STA
register will be updated.
ACC_HIGH_G 5 Masking of Accelerometer high-g interrupt, when enabled the interrupt will update the
GYR_HIGH_RATE 3 Masking of gyroscope high rate interrupt, when enabled the interrupt will update the INT_STA
register and trigger a change on the INT pin, when disabled only the INT_STA register will be
updated.
GYRO_AM 2 Masking of gyroscope any motion interrupt, when enabled the interrupt will update the

BNO055
Data sheet Page 92
4.4.9 INT_EN 0x10

Reset 0 0 0 0 0
Content ACC_HIG reserved GYR_HIG GYRO_A reserved reserved
ACC_NM ACC_AM
H_G H_RATE M

ACC_NM 7 Status of Accelerometer no motion or slow motion interrupt
Write: 1: Enable / 0: Disable interrupt
ACC_AM 6 Status of Accelerometer any motion interrupt
ACC_HIGH_G 5 Status of Accelerometer high-g interrupt
GYR_HIGH_RATE 3 Status of gyroscope high rate interrupt
GYRO_AM 2 Status of gyroscope any motion interrupt
4.4.10 ACC_AM_THRES 0x11

Reset 0 0 0 1 0 1 0 0
Content Accelerometer Any motion threshold

Accelerometer <7:0> Threshold used for the any-motion interrupt. The threshold value is dependent on the
Any motion accelerometer range selected in the ACC_Config register.
threshold 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 Page 93
4.4.11 ACC_INT_Settings 0x12

Reset 0 0 0 0 0 0 1 1
Content HG_Z_AXI HG_Y_AXI HG_X_AXI AM/NM_Z AM/NM_Y AM/NM_X
AM_DUR <1:0>
S S S _AXIS _AXIS _AXIS

HG_Z_AXIS 7 Select which axis of the accelerometer is used to trigger a high-G interrupt
1: Enabled; 0: Disabled
HG_Y_AXIS 6 Select which axis of the accelerometer is used to trigger a high-G interrupt
HG_X_AXIS 5 Select which axis of the accelerometer is used to trigger a high-G interrupt
AM/NM_Z_AXIS 4 Select which axis of the accelerometer is used to trigger a any motion or no motion interrupt
AM/NM_Y_AXIS 3 Select which axis of the accelerometer is used to trigger a any motion or no motion interrupt
AM/NM_X_AXIS 2 Select which axis of the accelerometer is used to trigger a any motion or no motion interrupt
AM_DUR <1:0> <1:0> Any motion interrupt triggers if [AM_DUR<1:0>+1] consecutive data points are above the any
motion interrupt threshold define in ACC_AM_THRES register
4.4.12 ACC_HG_DURATION 0x13

Reset 0 0 0 0 1 1 1 1
Content Accelerometer High G Duration

Accelerometer <7:0> The high-g interrupt trigger delay according to [ACC_HG_DURATION + 1] * 2 ms in a range
High G Duration from 2 ms to 512 ms;
4.4.13 ACC_HG_THRES 0x14

Reset 1 1 0 0 0 0 0 0
Content Accelerometer High G Threshold

Accelerometer <7:0> Threshold used high-g interrupt. The threshold value is dependent on the accelerometer range
High G Threshold selected in the ACC_Config register.
1 LSB = 7.81 mg (2-g range
1 LSB = 15.63 mg (4-g range)
1 LSB = 31.25 mg (8-g range)
1 LSB = 62.5 mg (16-g range)
4.4.14 ACC_NM_THRES 0x15

BNO055
Data sheet Page 94

Reset 0 0 0 0 1 0 1 0
Content Accelerometer NO/SLOW motion threshold

Accelerometer <7:0> Threshold used for the Slow motion or no motion interrupt. The threshold value is dependent
NO/SLOW motion on the accelerometer range selected in the ACC_Config register.
threshold 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

Reset 0 0 0 1 0 1 1
Content reserved slo_no_mot_dur <5:0> SMNM

slo_no_mot_dur <6:1> Function depends on whether the slow-motion or no-motion interrupt function has been
<5:0> selected. If the slow-motion interrupt function has been enabled (SMNM = 0) then
[slo_no_mot_dur<1:0>+1] consecutive slope data points must be above the slow/no-motion
threshold (ACC_NM_THRES) for the slow-/no-motion interrupt to trigger. If the no-motion
interrupt function has been enabled (SMNM = 1) then slo_no_motion_dur<5:0> defines the
time for which no slope data points must exceed the slow/no-motion threshold
(ACC_NM_THRES) for the slow/no-motion interrupt to trigger. The delay time in seconds may
be calculated according with the following equation:
slo_no_mot_dur<5:4>=b00 [slo_no_mot_dur<3:0> + 1]
slo_no_mot_dur<5:4>=b01 [slo_no_mot_dur<3:0> * 4 + 20]
slo_no_mot_dur<5>=1 [slo_no_mot_dur<4:0> * 8 + 88]
SMNM 0 Select slow motion or no motion interrupt

1: Slow motion; 0: No motion

BNO055
Data sheet Page 95
4.4.16 GYR_INT_SETTING 0x17

Reset 0 0 0 0 0 0 0 0
Content HR_Z_AXI HR_Y_AXI HR_X_AXI AM_Z_AXI AM_Y_AXI AM_X_AXI
HR_FILT AM_FILT
S S S S S S

HR_FILT 7 1 (0) selects unfiltered (filtered) data for high rate interrupt
AM_FILT 6 1 (0) selects unfiltered (filtered) data for any motion interrupt
HR_Z_AXIS 5 1 (0) enables (disables) high rate interrupt for z-axis
HR_Y_AXIS 4 1 (0) enables (disables) ) high rate interrupt for y-axis
HR_X_AXIS 3 1 (0) enables (disables) ) high rate interrupt for x-axis
AM_Z_AXIS 2 1 (0) enables (disables) any motion interrupt for z-axis
AM_Y_AXIS 1 1 (0) enables (disables) any motion interrupt for y-axis
AM_X_AXIS 0 1 (0) enables (disables) any motion interrupt for x-axis
4.4.17 GYR_HR_X_SET 0x18

Reset 0 0 0 0 0 0 0 1
Content HR_X_THRES_HYST
reserved HR_X_Threshold <4:0>
<1:0>

HR_X_THRES_H <6:5> High rate hysteresis for X axis = (255 + 256 * HR_X_THRES_HYST) *4 LSB
YST <1:0> The high rate value scales with the range setting
1 LSB = 62.26/s in 2000/s-range
1 LSB = 31.13/s in 1000/s-range
1 LSB = 15.56/s in 500/s -range

HR_X_Threshold <4:0> High rate threshold is for the gyroscope X axis. The threshold value is dependent on the
<4:0> gyroscope range selected in the GRY_Config_0 register.
1 LSB = 62.5/s in 2000/s-range
1 LSB = 31.25/s in 1000/s-range
1 LSB = 15.625/s in 500/s -range


BNO055
Data sheet Page 96
4.4.18 GYR_DUR_X 0x19

Reset 0 0 0 1 1 0 0 1
Content HR_X_Duration

HR_X_Duration <7:0> High rate duration = (1 + HR_X_Duration)*2.5ms
4.4.19 GYR_HR_Y_SET 0x1A

Reset 0 0 0 0 0 0 0 1
Content HR_Y_THRES_HYST
reserved HR_Y_Threshold <4:0>
<1:0>

HR_Y_THRES_H <6:5> High rate hysteresis for Y axis = (255 + 256 * HR_Y_THRES_HYST) *4 LSB
YST <1:0> The high rate value scales with the range setting
1 LSB = 62.26/s in 2000/s-range
1 LSB = 31.13/s in 1000/s-range
1 LSB = 15.56/s in 500/s -range

HR_Y_Threshold <4:0> High rate threshold is for the gyroscope Y axis. The threshold value is dependent on the
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

Reset 0 0 0 1 1 0 0 1
Content HR_Y_Duration

HR_Y_Duration <7:0> High rate duration = (1 + HR_Y_Duration)*2.5ms

BNO055
Data sheet Page 97
GYR_HR_Z_SET 0x1C
Reset 0 0 0 0 0 0 0 1
Content HR_Z_THRES_HYST
reserved HR_Z_Threshold <4:0>
<1:0>

HR_Z_THRES_HY <6:5> High rate hysteresis for Z axis = (255 + 256 * HR_Z_THRES_HYST) *4 LSB
ST <1:0> The high rate value scales with the range setting
1 LSB = 62.26/s in 2000/s-range
1 LSB = 31.13/s in 1000/s-range
1 LSB = 15.56/s in 500/s -range

HR_Z_Threshold <4:0> High rate threshold is for the gyroscope Z axis. The threshold value is dependent on the
1 LSB = 31.25/s in 1000/s-range
1 LSB = 15.625/s in 500/s -range

4.4.21 GYR_DUR_Z 0x1D

Reset 0 0 0 1 1 0 0 1
Content HR_Z_Duration

HR_Z_Duration <7:0> High rate duration = (1 + HR_Z_Duration)*2.5ms
4.4.22 GYR_AM_THRES 0x1E

Reset 0 0 0 0 0 1 0 0
Content reserved Gyro Any Motion Threshold <6:0>

Gyro Any Motion <6:0> Any motion threshold is for the gyroscope any motion interrupt. The threshold value is
Threshold <6:0> dependent on the gyroscope range selected in the GRY_Config_0 register.
1 LSB = 1 /s in 2000/s-range
1 LSB = 0.25/s in 500/s -range


BNO055
Data sheet Page 98
4.4.23 GYR_AM_SET 0x1F

Reset 0 0 0 0 1 0 1 0
Content reserved Awake Duration <1:0> Slope Samples <1:0>

Awake Duration <3:2> 0=8 samples, 1=16 samples, 2=32 samples, 3=64 samples
<1:0>
Slope Samples <1:0> Any motion interrupt triggers if [Slope Samples + 1]*4 consecutive data points are above the
<1:0> any motion interrupt threshold define in GYRO_AM_THRES register

BNO055
Data sheet Page 99
4.5 Digital Interface

The BNO055 supports two digital interfaces for communication between the salve and host
2
device: I C 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 UART Interface

(PS1=0b0) (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

Internal Pull-up
Pull-up Resistance,
Rup Resistance to 20 40 60 k
COM3 pin
VDDIO
Input Capacitance Cin 5 10 pF
IC Bus Load
Capacitance (max. CI2C_Load 400 pF
drive capability)

BNO055
Data sheet Page 100
4.6 I2C Protocol

The IC 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 IC interface of the BNO055 is compatible with the IC Specification UM10204 Rev. 03
(19 June 2007), available at http://www.nxp.com. The BNO055 supports IC standard mode
and fast mode, only 7-bit address mode is supported. The BNO055 IC interface uses clock
stretching.
The default IC 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 COM3_state I2C address

configuration
Slave HIGH 0x29
Slave LOW 0x28
HID-I2C X 0x40
The timing specification for IC of the BNO055 is given in Table 4-8: IC timings:
Table 4-8: IC timings
Parameter Symbol Condition Min Max Units

Clock Frequency fSCL 400 kHz
SCL Low Period tLOW 1.3
SCL High Period tHIGH 0.6
SDA Setup Time tSUDAT 0.1
SDA Hold Time tHDDAT 0.0
Setup Time for a
tSUSTA 0.6
repeated Start Condition s
Hold Time for a Start
tHDSTA 0.6
Condition
Setup Time for a Stop
tSUSTO 0.6
Condition
Time before a new
tBUF 1.3
Transmission can start
Idle time between write
accesses, normal mode,
tIDLE_wacc_nm 2 s
standby mode, low-
power mode 2
Idle time between write
accesses, suspend tIDLE_wacc_su
450 s
mode, low-power mode m
1

BNO055
Data sheet Page 101
Figure 5: IC timing diagram shows the definition of the IC timings given in Table 4-8:
SDA
tBUF
tf
tLOW
SCL
tHIGH
tHDSTA tr tHDDAT
tSUDAT
SDA
tSUSTA
tSUSTO
Figure 5: IC timing diagram
The IC 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 IC bus master). Once the START
signal is transferred by the master, the bus is considered busy.
STOP: Each data transfer should be terminated by a Stop signal (P) generated by master.
The STOP condition is a low to HIGH transition on SDA line while SCL is held high.
ACK: Each byte of data transferred must be acknowledged. It is indicated by an

acknowledge bit sent by the receiver. The transmitter must release the SDA line (no pull
down) during the acknowledge pulse while the receiver must then pull the SDA line low so
that it remains stable low during the high period of the acknowledge clock cycle.
In the following diagrams these abbreviations are used:
S Start
P Stop
ACKS Acknowledge by slave
ACKM Acknowledge by master
NACKM Not acknowledge by master
RW Read / Write
A START immediately followed by a STOP (without SCL toggling from VDDIO to GND) is
not supported. If such a combination occurs, the STOP is not recognized by the device.
IC write access:
IC write access can be used to write a data byte in one sequence.

BNO055
Data sheet Page 102
The sequence begins with start condition generated by the master, followed by 7 bits slave
address and a write bit (RW = 0). The slave sends an acknowledge bit (ACK = 0) and
releases the bus. Then the master sends the one byte register address. The slave again
acknowledges the transmission 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 IC write access to the BNO055:
dummy
ACKS
ACKS
ACKS
Stop
Start Slave address RW Register address (0x00 .. 0x7F) Data
S 0 0 1 0 1 0 0 0 A x x x x x x x x A x x x x x x x x A P
Figure 6: IC write
IC read access:
IC read access also can be used to read one or multiple data bytes in one sequence.
A read sequence consists of a one-byte IC write phase followed by the IC read phase. The
two parts of the transmission must be separated by a repeated start condition (Sr). The IC
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 IC 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.

BNO055
Data sheet Page 103
Example of an IC read access to the BNO055:
dummy
ACKS
ACKS
Start Slave address RW Register address (0x08)
S 0 0 1 0 1 0 0 0 A x 0 0 0 1 0 0 0 A
ACKM
ACKM
ACKS
Start Slave address RW Read data (0x08) Read data (0x09)
Sr 0 0 1 0 1 0 0 1 A x x x x x x x x A x x x x x x x x A
ACKM
ACKM
ACKS
Read data (0x0A) Read data (0x0B)
A x x x x x x x x A x x x x x x x x A
NACKM
ACKM
ACKS
Stop
Read data (0x0C) Read data (0x0D)
A x x x x x x x x A x x x x x x x x NA P
Figure 7: IC multiple read

BNO055
Data sheet Page 104
4.7 UART Protocol

The BNO055 supports communication over UART interface with the following settings:
115200 bps, 8N1 (8 data bits, no parity bit, one stop bit). The maximum length support for
read and write is 128 Byte. The packet structure for register read and write are described
below.
4.7.1 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
4.7.2 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 Page 105
4.8 HID over I2C
For more details on the using the BNO055 in HID over I2C mode please contact your local
Bosch Sensortec sales representative and ask for the appropriate BNO055 HID-I2C
application note.

BNO055
Data sheet Page 106
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 Page 107
Table 5-1: Pin description
Pin No. Pin Name Function

1 PIN1 do not connect
2 GND GND
3 VDD VDD
4 BOOT_LOAD_PIN Bootloader mode select pin
5 PS1 Protocol select pin 1
6 PS0 Protocol select pin 2
7 PIN7 connect to GNDIO
9 CAP External capacitor
11 RESET RESET
14 INT Interrupt output
17 COM3 Digital interface pin 3
25 GNDIO GNDIO
26 XOUT32 Optional OSC port
27 XIN32 Optional OSC port
28 VDDIO VDDIO

BNO055
Data sheet Page 108
5.2 Connection diagram I2C
2
Figure 9: I C connection diagram

BNO055
Data sheet Page 109
5.3 Connection diagram UART
Figure 10: UART connection diagram

BNO055
Data sheet Page 110
5.4 Connection diagram HID-I2C
Figure 11 : HID via IC connection diagram

BNO055
Data sheet Page 111
5.5 XOUT32 & XIN32 Connections

The BNO055 can run from an internal or external 32kHz clock source. By default, the internal
clock is selected.External clock mode
An External clock can be selected by setting bit CLK_SEL in the SYSTEM_TRIGGER

register. An external 32kHz crystal oscillator has to be connected to the pins XIN32 and
XOUT32 as shown below.
5.5.1 External 32kHz Crystal Oscillator
Figure 12 : External 32kHz Crystal Oscillator with Load Capacitor
Table 0-1: Crystal Oscillator Source Connections
Signal Name Recommended Pin Connection Description

89
XIN Load capacitor 22pF Timer oscillator input
89
XOUT Load capacitor 22pF 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.
8
These values are given only as typical example.
9
Decoupling capacitor should be placed close to the device for each supply pin pair in the signal group.
BNO055
Data sheet Page 112
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.

BNO055
Data sheet Page 113
6.2 Sensing Axes Orientation
The default device axis orientation is shown in Figure 13 below; this orientation is valid for all
sensor outputs (physical and virtual).
Figure 13: device axis orientation
Z; z; z
X; x; x
Y; y; y
Accel; Gyro; Magnet

BNO055
Data sheet Page 114
6.3 Landing pattern recommendation

Figure 14: Landing pattern recommendation

BNO055
Data sheet Page 115
6.4 Marking
Table 6-1: Marking of mass production parts
Labeling Name Symbo Remark

l
Pin 1 identifier ---

SSS First Row S Internal use
TTTT
Second Row T Internal use
CCC
Third Row C Numerical counter
6.5 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 260C.
6.6 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.

BNO055
Data sheet Page 116
6.7 Tape and reel specification

The BNO055 is shipped in a standard cardboard box. For details please refer to the
handling, soldering and mounting instructions for BNO055.
6.8 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.
6.8.1 Halogen content

The BNO055 is halogen-free. For more details on the analysis results please contact your
Bosch Sensortec representative.
6.8.2 Internal package structure

Within the scope of Bosch Sensortecs 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 Page 117
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 products. 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 purchasers 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 Page 118
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
Preliminary version with feature set of Firmware
0.9 2014-04-25
version 0.2.B.0
1.0 Complete review 2014-07-11
Bosch Sensortec GmbH

Gerhard-Kindler-Strasse 8
72770 Reutlingen / Germany
[email protected]
www.bosch-sensortec.com
Modifications reserved | Printed in Germany

Specifications subject to change without notice
Document number: BST-BNO055-DS000-001
Revision_0.2_042014

Mouser Electronics
Authorized Distributor
Click to View Pricing, Inventory, Delivery & Lifecycle Information:
Bosch Sensortec:
0330.SBO.184

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Data sheet

BNO055: data sheet

Document revision 1.0

Key features of integrated sensors:

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer, a

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

2. ABSOLUTE MAXIMUM RATINGS .......................................................................................... 16

3. FUNCTIONAL DESCRIPTION ................................................................................................. 17

4. REGISTER DESCRIPTION ...................................................................................................... 55

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

4.3.6 SW_REV_ID_MSB 0X05 ...................................................................................................... 61

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

4.3.64 TEMP_SOURCE 0X40 ........................................................................................................ 78

4.7.2 REGISTER READ .................................................................................................................... 104

5. PIN-OUT AND CONNECTION DIAGRAM ............................................................................ 106

6. PACKAGE .............................................................................................................................. 112

7. LEGAL DISCLAIMER ............................................................................................................ 117

8. DOCUMENT HISTORY AND MODIFICATIONS ................................................................... 118

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

Table 0-1: Electrical parameter specification ........................................................................11

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

1.1 Electrical specification

Table 0-1: Electrical parameter specification

OPERATING CONDITIONS BNO055

Supply Voltage VDD -- 2.4 -- 3.6 V

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

1.2 Electrical and physical characteristics, measurement performance

Table 0-2: Electrical characteristics BNO055

OPERATING CONDITIONS BNO055

Start-Up time TSup From Off to configuration 400 ms

Data Rate DR s. Par. 3.7.3.2

Data rate tolerance DRtol 1 %

OPERATING CONDITIONS ACCELEROMETER

Parameter Symbol Condition Min Typ Max Units

Acceleration Range gFS2g Selectable 2 g

OUTPUT SIGNAL ACCELEROMETER

Sensitivity S All gFSXg Values, TA=25C 1 LSB/mg

Sensitivity tolerance Stol Ta=25C, gFS2g 1 4 %

Sensitivity Temperature TCS gFS2g, 0.03 0.02 %/K

Zero-g Offset Supply OffVDD gFS2g, TA=25C, 0.5 mg/V

Bandwidth bw8 2nd order filter, bandwidth 8 Hz

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec

Nonlinearity NL best fit straight line, gFS2g 0.5 +/-2 %FS

Output Noise Density nrms gFS2g, TA=25C 150 190 g/Hz

MECHANICAL CHARACTERISTICS ACCELEROMETER

Cross Axis Sensitivity CAS relative contribution between 1 TBD %

Alignment Error EA relative to package outline 0.5 TBD

OPERATING CONDITIONS GYROSCOPE

Parameter Symbol Condition Min Typ Max Unit

Rate Range RFS125 Selectable 125 /s

OUTPUT SIGNAL GYROSCOPE

Sensitivity SVDD TA=25C, TBD %/V

Nonlinearity NL best fit straight line 0.05 0.2 %FS

Zero-rate Offset Off x y Nominal VDD supplies -3 1 +3 /s

Zero- Offset Supply Off VDD TA=25C, TBD /s /V

Output Noise n rms, BW=47Hz 0.1 0.3 /s

BST-BNO055-DS000-10 | Revision 1.0 | July 2014 Bosch Sensortec