BST Bno055

Data sheet
BNO055
Intelligent 9-axis absolute orientation sensor
Bosch Sensortec
• Quaternion
• Linear Acceleration
User Motion
• Rotation
• Gravity
• Robust Heading
BNO055: data sheet
Document revision 1.6

Document release date February 2019
Document number BST-BNO055-DS000-16
Technical reference code(s) 0 273 141 209
Notes Data in this document are subject to change without notice. Product photos
and pictures are for illustration purposes only and may differ from the real
product’s appearance.
BNO055
Data sheet Page 2
BNO055
INTELLIGENT ABSOLUTE ORIENTATION SENSOR, 9-AXIS SENSOR FUSION
ALL-IN-ONE WINDOWS 8.x COMPLIANT SENSOR HUB
Basic Description
Key features:
 Outputs fused sensor data Quaternion, Euler angles, Rotation vector,
Linear acceleration, Gravity, Heading
 3 sensors in one device an advanced triaxial 16bit gyroscope, a versatile,
leading edge triaxial 14bit accelerometer and a
full performance geomagnetic sensor
 Small package LGA package 28 pins
Footprint 3.8 x 5.2 mm², height 1.13 mm²
 Power Management Intelligent Power Management: normal,
low power and suspend mode available
 Common voltage supplies VDD voltage range: 2.4V to 3.6V
 Digital interface HID-I2C (Windows 8 compatible), I²C, UART
VDDIO voltage range: 1.7V to 3.6V
 Consumer electronics suite MSL1, RoHS compliant, halogen-free
Operating temperature: -40°C ... +85°C
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-DS000-16 | Revision 1.6 | February 2020 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 ±1300µT (x-, y-axis);
±2500µT (z-axis)
Magnetic field resolution of ~0.3µT
Operating modes:
- Low power
- Regular
- Enhanced regular
- High Accuracy
Power modes:
- Normal
- Sleep
- Suspend
- Force
Typical applications
 Navigation
 Robotics
 Fitness and well-being
 Augmented reality
 Context awareness
 Tablets and ultra-books

BNO055
Data sheet Page 4
General description
The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer, a triaxial
16-bit gyroscope with a range of ±2000 degrees per second, a triaxial geomagnetic sensor and
a 32-bit cortex M0+ microcontroller running Bosch Sensortec sensor fusion software, in a
single package.
The corresponding chip-sets are integrated into one single 28-pin LGA 3.8mm x 5.2mm x
1.1 mm housing. For optimum system integration the BNO055 is equipped with digital bi-
directional I2C and UART interfaces. The I2C interface can be programmed to run with the HID-
I2C protocol turning the BNO055 into a plug-and-play sensor hub solution for devices running
the Windows 8.0 or 8.1 operating system.

BNO055
Data sheet Page 5
Table of Contents
BASIC DESCRIPTION .............................................................................................................. 2
SPECIFICATION...................................................................................................................... 13
1.1 ELECTRICAL SPECIFICATION .......................................................................................... 13
1.2 ELECTRICAL AND PHYSICAL CHARACTERISTICS, MEASUREMENT PERFORMANCE ................ 14
2. ABSOLUTE MAXIMUM RATINGS ..................................................................................... 18
3. FUNCTIONAL DESCRIPTION ............................................................................................ 19
3.1 ARCHITECTURE............................................................................................................. 19
3.2 POWER MANAGEMENT ................................................................................................... 19
3.2.1 NORMAL MODE ....................................................................................................................... 20
3.2.2 LOW POWER MODE ................................................................................................................. 20
3.2.3 SUSPEND MODE ..................................................................................................................... 21
3.3 OPERATION MODES ...................................................................................................... 21
3.3.1 CONFIG MODE ........................................................................................................................ 23
3.3.2 NON-FUSION MODES .............................................................................................................. 23
3.3.3 FUSION MODES ....................................................................................................................... 23
3.4 AXIS REMAP.................................................................................................................. 26
3.5 SENSOR CONFIGURATION.............................................................................................. 28
3.5.1 DEFAULT SENSOR CONFIGURATION .......................................................................................... 28
3.5.2 ACCELEROMETER CONFIGURATION .......................................................................................... 29
3.5.3 GYROSCOPE CONFIGURATION.................................................................................................. 30
3.5.4 MAGNETOMETER CONFIGURATION............................................................................................ 31
3.6 OUTPUT DATA ............................................................................................................... 32
3.6.1 UNIT SELECTION...................................................................................................................... 32
3.6.2 DATA OUTPUT FORMAT ............................................................................................................ 32
3.6.3 FUSION OUTPUT DATA RATES .................................................................................................. 33
3.6.4 SENSOR CALIBRATION DATA..................................................................................................... 33
3.6.5 OUTPUT DATA REGISTERS ....................................................................................................... 35
3.7 DATA REGISTER SHADOWING ......................................................................................... 39
3.8 INTERRUPTS ................................................................................................................. 40
3.8.1 INTERRUPT PIN ....................................................................................................................... 40
3.8.2 INTERRUPT SETTINGS ............................................................................................................. 40
3.9 SELF-TEST ................................................................................................................... 50
3.9.1 POWER ON SELF TEST (POST) ............................................................................................... 50
3.9.2 BUILT-IN SELF-TEST (BIST) .................................................................................................... 50
3.10 BOOT LOADER ............................................................................................................ 51
3.11 CALIBRATION .............................................................................................................. 51
3.11.1 ACCELEROMETER CALIBRATION ............................................................................................. 51
3.11.2 GYROSCOPE CALIBRATION .................................................................................................... 51
3.11.3 MAGNETOMETER CALIBRATION .............................................................................................. 51
3.11.4 SOFT-IRON CALIBRATION (SIC) ............................................................................................. 52
3.11.5 REUSE OF CALIBRATION PROFILE .......................................................................................... 53
4. REGISTER DESCRIPTION ................................................................................................. 54

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Data sheet Page 6
4.1 GENERAL REMARKS ...................................................................................................... 54

4.2 REGISTER MAP ............................................................................................................. 55
4.2.1 REGISTER MAP PAGE 0 ........................................................................................................... 55
4.2.2 REGISTER MAP PAGE 1 ........................................................................................................... 58
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 ....................................................................................................... 61
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
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Data sheet Page 7
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.................................................................................................................. 75
4.3.61 OPR_MODE 0X3D .............................................................................................................. 76
4.3.62 PWR_MODE 0X3E.............................................................................................................. 76
4.3.63 SYS_TRIGGER 0X3F ......................................................................................................... 76
4.3.64 TEMP_SOURCE 0X40 ........................................................................................................ 76
4.3.65 AXIS_MAP_CONFIG 0X41 ................................................................................................. 77
4.3.66 AXIS_MAP_SIGN 0X42 ...................................................................................................... 77
4.3.67 SIC_MATRIX_LSB0 0X43................................................................................................... 77
4.3.68 SIC_MATRIX_MSB0 0X44.................................................................................................. 77
4.3.69 SIC_MATRIX_LSB1 0X45................................................................................................... 78
4.3.70 SIC_MATRIX_MSB1 0X46 .................................................................................................. 78
4.3.71 SIC_MATRIX_LSB2 0X47................................................................................................... 78
4.3.72 SIC_MATRIX_MSB2 0X48.................................................................................................. 78
4.3.73 SIC_MATRIX_LSB3 0X49................................................................................................... 78
4.3.74 SIC_MATRIX_MSB3 0X4A ................................................................................................. 79
4.3.75 SIC_MATRIX_LSB4 0X4B .................................................................................................. 79
4.3.76 SIC_MATRIX_MSB4 0X4C ................................................................................................. 79
4.3.77 SIC_MATRIX_LSB5 0X4D .................................................................................................. 79
4.3.78 SIC_MATRIX_MSB5 0X4E ................................................................................................. 80
4.3.79 SIC_MATRIX_LSB6 0X4F .................................................................................................. 80
4.3.80 SIC_MATRIX_MSB6 0X50 .................................................................................................. 80
4.3.81 SIC_MATRIX_LSB7 0X51................................................................................................... 80
4.3.82 SIC_MATRIX_MSB7 0X52.................................................................................................. 80
4.3.83 SIC_MATRIX_LSB8 0X53................................................................................................... 81
4.3.84 SIC_MATRIX_MSB8 0X54.................................................................................................. 81
4.3.85 ACC_OFFSET_X_LSB 0X55 .............................................................................................. 81
4.3.86 ACC_OFFSET_X_MSB 0X56 ............................................................................................. 82
4.3.87 ACC_OFFSET_Y_LSB 0X57 .............................................................................................. 82
4.3.88 ACC_OFFSET_Y_MSB 0X58 ............................................................................................. 82
4.3.89 ACC_OFFSET_Z_LSB 0X59 .............................................................................................. 82
4.3.90 ACC_OFFSET_Z_MSB 0X5A ............................................................................................. 83
4.3.91 MAG_OFFSET_X_LSB 0X5B ............................................................................................. 83
4.3.92 MAG_OFFSET_X_MSB 0X56C .......................................................................................... 83
4.3.93 MAG_OFFSET_Y_LSB 0X5D ............................................................................................. 83
4.3.94 MAG_OFFSET_Y_MSB 0X5E ............................................................................................ 84
4.3.95 MAG_OFFSET_Z_LSB 0X5F ............................................................................................. 84
4.3.96 MAG_OFFSET_Z_MSB 0X60............................................................................................. 84
4.3.97 GYR_OFFSET_X_LSB 0X61 .............................................................................................. 84
4.3.98 GYR_OFFSET_X_MSB 0X62 ............................................................................................. 85
4.3.99 GYR_OFFSET_Y_LSB 0X63 .............................................................................................. 85
4.3.100 GYR_OFFSET_Y_MSB 0X64 ........................................................................................... 85
4.3.101 GYR_OFFSET_Z_LSB 0X65 ............................................................................................ 85
4.3.102 GYR_OFFSET_Z_MSB 0X66 ........................................................................................... 86
4.3.103 ACC_RADIUS_LSB 0X67 ................................................................................................. 86
4.3.104 ACC_RADIUS_MSB 0X68 ................................................................................................ 86
4.3.105 MAG_RADIUS_LSB 0X69 ................................................................................................ 86
4.3.106 MAG_RADIUS_MSB 0X6A ............................................................................................... 86
4.4 REGISTER DESCRIPTION (PAGE 1).................................................................................. 87
4.4.1 PAGE ID 0X07 ........................................................................................................................ 87
BNO055
Data sheet Page 8
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 ...................................................................................................... 94
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
4.4.21 GYR_HR_Z_SET 0X1C ...................................................................................................... 97
4.4.22 GYR_DUR_Z 0X1D ............................................................................................................. 97
4.4.23 GYR_AM_THRES 0X1E ..................................................................................................... 97
4.4.24 GYR_AM_SET 0X1F ........................................................................................................... 98
4.5 DIGITAL INTERFACE....................................................................................................... 99
4.6 I2C PROTOCOL ........................................................................................................... 100
4.7 UART PROTOCOL....................................................................................................... 103
4.8 HID OVER I2C ............................................................................................................ 104
5. PIN-OUT AND CONNECTION DIAGRAM........................................................................ 105
5.1 PIN-OUT ..................................................................................................................... 105
5.2 CONNECTION DIAGRAM I2C .......................................................................................... 107
5.3 CONNECTION DIAGRAM UART ..................................................................................... 108
5.4 CONNECTION DIAGRAM HID-I2C .................................................................................. 109
5.5 XOUT32 & XIN32 CONNECTIONS................................................................................ 110
5.5.1 EXTERNAL 32KHZ CRYSTAL OSCILLATOR ............................................................................... 110
5.5.2 INTERNAL CLOCK MODE ......................................................................................................... 111
6. PACKAGE.......................................................................................................................... 112
6.1 OUTLINE DIMENSIONS.................................................................................................. 112
6.2 MARKING.................................................................................................................... 113
6.3 SOLDERING GUIDELINES ............................................................................................. 113
6.4 HANDLING INSTRUCTIONS ............................................................................................ 113
6.5 TAPE AND REEL SPECIFICATION.................................................................................... 114
6.6 ENVIRONMENTAL SAFETY ............................................................................................ 114
6.6.1 HALOGEN CONTENT............................................................................................................... 114
6.6.2 INTERNAL PACKAGE STRUCTURE ............................................................................................ 114
7. LEGAL DISCLAIMER........................................................................................................ 115
7.1 ENGINEERING SAMPLES............................................................................................... 115
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Data sheet Page 9
7.2 PRODUCT USE ............................................................................................................ 115

7.3 APPLICATION EXAMPLES AND HINTS ............................................................................. 115
8. DOCUMENT HISTORY AND MODIFICATIONS .............................................................. 116

BNO055
Data sheet Page 10
Table of Figures
Figure 1: system architecture ...............................................................................................19
Figure 2: Principle of any-motion detection ...........................................................................44
Figure 3: High rate interrupt ..................................................................................................46
Figure 4: Principle of any-motion detection ...........................................................................48
Figure 5: I²C timing diagram ...............................................................................................101
Figure 6: I²C write ...............................................................................................................102
Figure 7: I²C multiple read ..................................................................................................102
Figure 8: Pin-out bottom view .............................................................................................105
Figure 9: I2C connection diagram .......................................................................................107
Figure 10: UART connection diagram .................................................................................108
Figure 11 : HID via IC connection diagram .........................................................................109
Figure 12 : External 32kHz Crystal Oscillator with Load Capacitor .....................................110
Figure 13: Outline dimensions ............................................................................................112

BNO055
Data sheet Page 11
List of Tables
Table 0-1: Electrical parameter specification ........................................................................13

Table 0-2: Electrical characteristics BNO055 ........................................................................14
Table 2-1: Absolute maximum ratings ..................................................................................18
Table 3-1: power modes selection ........................................................................................20
Table 3-2: Low power modes - Interrupts .............................................................................20
Table 3-3: Operating modes overview ..................................................................................21
Table 3-4: Default sensor settings ........................................................................................22
Table 3-5: operating modes selection ...................................................................................22
Table 3-6: Operating mode switching time............................................................................22
Table 3-7: Default sensor configuration at power-on ............................................................28
Table 3-8: Accelerometer configurations ..............................................................................29
Table 3-9: Gyroscope configurations ....................................................................................30
Table 3-10: Magnetometer configurations ...........................................................................31
Table 3-13: unit selection .....................................................................................................32
Table 3-14: Fusion data output format ..................................................................................32
Table 3-15: Rotation angle conventions ...............................................................................32
Table 3-16: Fusion output data rates ....................................................................................33
Table 3-17: Accelerometer Default-Reg settings ..................................................................33
Table 3-18: Accelerometer offset range settings...................................................................33
Table 3-19: Accelerometer Unit settings ...............................................................................33
Table 3-20: Magnetometer Default-Reg settings ..................................................................34
Table 3-21: Magnetometer Unit settings ...............................................................................34
Table 3-22: Gyroscope Default Reg-settings ........................................................................34
Table 3-23: Gyroscope offset range settings ........................................................................35
Table 3-24: Gyroscope unit settings .....................................................................................35
Table 3-25: Radius Default-Reg settings ..............................................................................35
Table 3-26: Radius range settings ........................................................................................35
Table 3-27: Acceleration data ...............................................................................................35
Table 3-28: Magnetic field strength data ...............................................................................36
Table 3-29: Yaw rate data ....................................................................................................36
Table 3-30: Compensated orientation data in Euler angles format........................................37
Table 3-31: Euler angle data representation .........................................................................37
Table 3-32: Compensated orientation data in quaternion format ..........................................37
Table 3-33: Quaternion data representation .........................................................................37
Table 3-34: Linear Acceleration Data ...................................................................................38
Table 3-35: Linear Acceleration data representation ............................................................38
Table 3-36: Gravity Vector Data ...........................................................................................38
Table 3-37: Gravity Vector data representation ....................................................................38
Table 3-38: Temperature Data .............................................................................................39
Table 3-39: Temperature data representation ......................................................................39
Table 3-40: Temperature Source Selection ..........................................................................39
Table 3-41: No-motion time-out periods................................................................................42
Table 3-42: Timing of No-motion interrupt ............................................................................43
Table 3-43: Any-motion Interrupt parameters and Axis selection ..........................................45
Table 3-44: High-G Interrupt parameters and Axis selection.................................................45
Table 3-45: High Rate Interrupt parameters and Axis selection ............................................47
Table 3-46: Axis selection and any motion interrupt .............................................................49
Table 3-47: Power on Self Test ............................................................................................50
Table 3-48: Built-in self-test ..................................................................................................50
Table 3-11: Soft-Iron Calibration matrix definition .................................................................52

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Data sheet Page 12
Table 3-12: Soft-Iron Calibration matrix scaling factor ..........................................................52

Table 4-1: Register Access Coding ......................................................................................55
Table 4-2: Register Map Page 0 ...........................................................................................55
Table4-3: Register Map Page 1 ............................................................................................58
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: I²C timings .........................................................................................................100
Table 5-1: Pin description ...................................................................................................106
Table 5-2: Crystal Oscillator Source Connections ...............................................................110
Table 6-1: Marking of mass production parts ......................................................................113

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Data sheet Page 13
Specification
If not stated otherwise, the given values are over lifetime and full performance temperature
and voltage ranges, minimum/maximum values are ±3 sigma.
1.1 Electrical specification
Table 0-1: Electrical parameter specification
OPERATING CONDITIONS BNO055

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

(only Sensors)
Supply Voltage VDDIO -- 1.7 -- 3.6 V
(µC and I/O Domain)
Voltage Input VDDIO_VIL VDDIO = 1.7-2.7V -- -- 0.25 VDDIO V
Low Level (UART, I2C)
VDDIO = 2.7-3.6V -- -- 0.3 VDDIO V
Voltage Input VDDIO_VIH VDDIO = 1.7-2.7V 0.7 VDDIO -- -- V
High Level (UART, I2C)
VDDIO = 2.7-3.6V 0.55 VDDIO -- -- V
Voltage Output VDDIO_VOL VDDIO > 3V , IOL =20mA -- 0.1 VDDIO 0.2 VDDIO V
Low Level (UART, I2C)
Voltage Output VDDIO_VOH VDDIO > 3V , IOH =10mA 0.8 VDDIO 0.9 VDDIO -- V
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 -- -- 12.3 mA
normal mode at TA
(9DOF @100Hz output
data rate)
Total supply current IDD_LPM VDD = 3V, VDDIO = 2.5V 0.33 2.72# mA
Low power mode at TA
Total supply current IDD_SuM VDD = 3V, VDDIO = 2.5V -- -- 0.04* mA
suspend mode at TA
# 80% suspend mode and 20% normal mode with 9DOF @100Hz output data rate
* using I2C as communication protocol

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Data sheet Page 14
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 Config mode 650 ms
Data Rate DR s. Par. Fusion Output data rates
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=25°C 1 LSB/mg
Sensitivity tolerance Stol Ta=25°C, gFS2g ±1 ±4 %
Sensitivity Temperature TCS gFS2g, ±0.03 %/K

Drift Nominal VDD supplies,
Temp operating conditions
Sensitivity SVDD gFS2g, TA=25°C, 0.065 0.2 %/V
Supply Volt. Drift VDD_min ≤ VDD ≤ VDD_max
Zero-g Offset (x,y.z) Offxyz gFS2g, TA=25°C, 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=25°C, 1.5 2.5 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 15
Nonlinearity NL best fit straight line, gFS2g 0.5 2 %FS
Output Noise Density nrms gFS2g, TA=25°C 150 190 µg/Hz

Nominal VDD supplies
Normal mode
MECHANICAL CHARACTERISTICS ACCELEROMETER

Cross Axis Sensitivity CAS relative contribution between 1 2 %

any two of the three axes
Alignment Error EA relative to package outline 0.5 2 °
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=25°C 16.0 LSB/°/s
Map 900 rad/s
Sensitivity tolerance Stol Ta=25°C, RFS2000 -- ±1 ±3 %
Sensitivity Change over TCS Nominal VDD supplies -40°C ±0.03 ±0.07 %/K
Temperature ≤ T ≤ +85°C RFS2000
A
Sensitivity SVDD TA=25°C, <0.4 %/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 and Nominal VDD supplies -3 ±1 +3 °/s

T =25°C,
z A
Slow and fast offset
cancellation off
Zero- Offset Change TCO Nominal VDD supplies -40°C ±0.015 ±0.03 °/s per K
≤ T ≤ +85°C RFS2000
over Temperature A
Zero- Offset Supply Off VDD TA=25°C, 0.1 °/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)

BNO055
Data sheet Page 16
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=25°C ±1200 ±1300 µT
Brg,z ±2000 ±2500 µT
Magnetometer heading As heading 30µT horizontal geomagnetic ±2.5 deg

accuracy2 field component, TA=25°C
MAGNETOMETER OUTPUT SIGNAL

Device Resolution Dres,m TA=25°C 0.3 µT

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

-40°C ≤ TA ≤ +85°C
Zero-B offset TCOm -40°C  TA  +85°C ±0.23 ±0.37 µT/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).
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Data sheet Page 17
Output Noise nrms,lp,m,xy Low power preset 1.0 µT

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

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

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

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

TA=25°C
Power Supply Rejection PSRRm TA=25°C ±0.5 µT/V

Rate Nominal VDD supplies

BNO055
Data sheet Page 18
2. Absolute Maximum Ratings

Table 2-1: Absolute maximum ratings
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 +150 °C

Range
Mechanical Shock MechShock200µs Duration ≤ 200µs 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 500 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.

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Data sheet Page 19
3. Functional Description
3.1 Architecture
The following figure shows the basic building blocks of the BNO055 device.
Figure 1: system architecture
3.2 Power management
The BNO055 has two distinct power supply pins:

• VDD is the main power supply for the internal sensors
• VDDIO is a separate power supply pin used for the supply of the µC and the digital interfaces
For the switching sequence of power supply VDD and VDDIO it is mandatory that VDD is powered
on and driven to the specified level before or at the same time as VDDIO is powered ON.
Otherwise there are no limitations on the voltage levels of both pins relative to each other, as
long as they are used within the specified operating range.
The sensor features a power-on reset (POR), initializing the register map with the default
values and starting in CONFIG mode. The POR is executed at every power on and can also
be triggered either by applying a low signal to the nRESET pin for at least 20ns or by setting
the RST_SYS bit in the SYS_TRIGGER register.
The BNO055 can be configured to run in one of the following power modes: normal mode, low
power mode, and suspend mode. These power modes are described in more detail in section
Power Modes

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Data sheet Page 20
Power Modes
The BNO055 support three different power modes: Normal mode, Low Power Mode, and
Suspend mode.
The power mode can be selected by writing to the PWR_MODE register as defined in the table
below. As default at start-up the BNO055 will run in Normal mode.
Table 3-1: power modes selection

Parameter Value [Reg Addr]: Reg Value
Power Mode Normal Mode [PWR_MODE]: xxxxxx00b
Low Power Mode [PWR_MODE]: xxxxxx01b
Suspend Mode [PWR_MODE]: xxxxxx10b
Invalid [PWR_MODE]: xxxxxx11b
It is recommended not to configure the invalid power mode, writing multiple register along with
PWR_MODE register and no specific value is guaranteed when read.
3.2.1 Normal Mode
In normal mode all sensors required for the selected operating mode (see section 3.3) are
always switched ON. The register map and the internal peripherals of the MCU are always
operative in this mode.
3.2.2 Low Power Mode

If no activity (i.e. no motion) is detected for a configurable duration (default 5 seconds), the
BNO055 enters the low power mode. In this mode only the accelerometer is active. Once
motion is detected (i.e. the accelerometer signals an any-motion interrupt), the system is
woken up and normal mode is entered. The following settings are possible.
Table 3-2: Low power modes - Interrupts

Description Parameter Value Reg Value Restriction
Entering to Detection No Motion [ACC_NM_SET] : xxxxxxx1b n/a

sleep: Type Detection Axis [ACC_INT_Settings] : bit4-bit2 Shares common
NO Motion bit with Any Motion
Interrupt interrupt axis
selection
Params Duration [ACC_NM_SET] : bit6-bit1 n/a
Threshold [ACC_NM_THRE] : bit7-bit0 n/a
Description Parameter Value Reg Value

Waking up: Any Detection Type Detection Axis [ACC_INT_Settings] : bit4-bit2
Motion Interrupt
Params Duration [ACC_INT_Settings] : bit1-bit0
Threshold [ACC_AM_THRES] : bit7-bit0
Additionally, the interrupt pins can also be configured to provide HW interrupt to the host.
The BNO055 is by default configured to have optimum values for entering into sleep and
waking up. To restore these values, trigger system reset by setting RST_SYS bit in
SYS_TRIGGER register.
There are some limitations to achieve the low power mode performance:
BNO055
Data sheet Page 21
 Only No and Any motion interrupts are applicable and High-G and slow motion
interrupts are not applicable in low power mode.
 Low power mode is not applicable where accelerometer is not employed.
3.2.3 Suspend Mode

In suspend mode the system is paused and all the sensors and the microcontroller are put into
sleep mode. No values in the register map will be updated in this mode. To exit from suspend
mode the mode should be changed by writing to the PWR_MODE register (see Table 3-1).
3.3 Operation Modes
The BNO055 provides a variety of output signals, which can be chosen by selecting the
appropriate operation mode. The table below lists the different modes and the available sensor
signals.
Table 3-3: Operating modes overview
Available sensor signals Fusion Data

Operating Mode
Relative Absolute
Accel Mag Gyro
orientation orientation
CONFIGMODE - - - - -
ACCONLY X - - - -
MAGONLY - X - - -
Non-fusionmodes
GYROONLY - - X - -
ACCMAG X X - - -
ACCGYRO X - X - -
MAGGYRO - X X - -
AMG X X X - -
IMU X - X X -
Fusion modes
COMPASS X X - - X
M4G X X X -
NDOF_FMC_OFF X X X - X
NDOF X X X - X
The default operation mode after power-on is CONFIGMODE.
When the user changes to another operation mode, the sensors which are required in that
particular sensor mode are powered, while the sensors whose signals are not required are set
to suspend mode.

BNO055
Data sheet Page 22
The BNO055 sets the following default settings for the sensors. The user can overwrite these
settings in the register map when in CONFIGMODE.
Table 3-4: Default sensor settings
Sensor Range Bandwidth
Accelerometer 4G 62.5 Hz
Magnetometer NA 10 Hz
Gyroscope 2000 dps 32 Hz
In any mode, the sensor data are available in the data register based on the unit selected. The
axis of the data is configured based on the axis-remap register configuration.
The operating mode can be selected by writing to the OPR_MODE register, possible register
values and the corresponding operating modes are shown in the table below.
Table 3-5: operating modes selection
Parameter Value [Reg Addr]: Reg Value

CONFIG MODE CONFIGMODE [OPR_MODE]: xxxx0000b
Non-Fusion ACCONLY [OPR_MODE]: xxxx0001b
Mode
MAGONLY [OPR_MODE]: xxxx0010b
GYROONLY [OPR_MODE]: xxxx0011b
ACCMAG [OPR_MODE]: xxxx0100b
ACCGYRO [OPR_MODE]: xxxx0101b
MAGGYRO [OPR_MODE]: xxxx0110b
AMG [OPR_MODE]: xxxx0111b
Fusion Mode IMU [OPR_MODE]: xxxx1000b
COMPASS [OPR_MODE]: xxxx1001b
M4G [OPR_MODE]: xxxx1010b
NDOF_FMC_OFF [OPR_MODE]: xxxx1011b
NDOF [OPR_MODE]: xxxx1100b
Table 3-6 below shows the time required to switch between CONFIGMODE and the other
operating modes.
Table 3-6: Operating mode switching time
From To Switching time

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

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Data sheet Page 23
3.3.1 Config Mode

This mode is used to configure BNO, wherein all output data is reset to zero and sensor fusion
is halted. This is the only mode in which all the writable register map entries can be changed.
(Exceptions from this rule are the interrupt registers (INT and INT_MSK) and the operation
mode register (OPR_MODE), which can be modified in any operation mode.)
As being said, this mode is the default operation mode after power-on or RESET. Any other
mode must be chosen to be able to read any sensor data.
3.3.2 Non-Fusion Modes

3.3.2.1 ACCONLY
If the application requires only raw accelerometer data, this mode can be chosen. In this mode
the other sensors (magnetometer, gyro) are suspended to lower the power consumption. In
this mode, the BNO055 behaves like a stand-alone acceleration sensor.
3.3.2.1 MAGONLY
In MAGONLY mode, the BNO055 behaves like a stand-alone magnetometer, with acceleration
sensor and gyroscope being suspended.
3.3.2.2 GYROONLY
In GYROONLY mode, the BNO055 behaves like a stand-alone gyroscope, with acceleration
sensor and magnetometer being suspended.
3.3.2.3 ACCMAG
Both accelerometer and magnetometer are switched on, the user can read the data from these
two sensors.
3.3.2.4 ACCGYRO
Both accelerometer and gyroscope are switched on; the user can read the data from these two
sensors.
3.3.2.5 MAGGYRO
Both magnetometer and gyroscope are switched on, the user can read the data from these
two sensors.
3.3.2.6 AMG (ACC-MAG-GYRO)
All three sensors accelerometer, magnetometer and gyroscope are switched on.
3.3.3 Fusion modes

Sensor fusion modes are meant to calculate measures describing the orientation of the device
in space. It can be distinguished between non-absolute or relative orientation and absolute
orientation. Absolute orientation means orientation of the sensor with respect to the earth and
its magnetic field. In other words, absolute orientation sensor fusion modes calculate the
direction of the magnetic north pole.
In non-absolute or relative orientation modes, the heading of the sensor can vary depending
on how the sensor is placed initially.
All fusion modes provide the heading of the sensor as quaternion data or in Euler angles (roll,
pitch and yaw angle). The acceleration sensor is both exposed to the gravity force and to
accelerations applied to the sensor due to movement. In fusion modes it is possible to separate
the two acceleration sources, and thus the sensor fusion data provides separately linear
acceleration (i.e. acceleration that is applied due to movement) and the gravity vector.

BNO055
Data sheet Page 24
For all Fusion modes, the sensors are configured with the default settings as defined in Table
3-7: Default sensor configuration at power-on in Chapter 3.5.1.
Note 1: The sensor fusion algorithm performs automatic background calibration of all sensors.
This feature cannot be disabled.
Note 2: The sensor fusion algorithm uses the accelerometer data to compensate for the
gyroscope drift over time. When the device is in motion, the accelerometer data is temporarily
ignored and the fusion relies on the gyroscope for pitch and roll. If the accelerometer data
cannot be used for an extended period of time (e.g. due to vibration, or to constant movement),
then this may cause the pitch and roll values to drift over time. Likewise, if the magnetometer
data is detected to be distorted, it will automatically be ignored by the algorithm and this may
cause the heading to drift over time (as in IMU mode).
Note 3: The sensor fusion algorithm was primarily designed to track human motion. If the
device is subjected to large accelerations for an extended period of time (e.g. in a vehicle
cornering at high speed or braking over a long distance), the device may incorrectly interpret
this large acceleration as the gravity vector. For applications where the sensor may be exposed
to significant velocities, it is recommended to test the device for the specific use-case.
3.3.3.1 IMU (Inertial Measurement Unit)

In the IMU mode the relative orientation of the BNO055 in space is calculated from the
accelerometer and gyroscope data. The calculation is fast (i.e. high output data rate).
3.3.3.2 COMPASS
The COMPASS mode is intended to measure the magnetic earth field and calculate the
geographic direction.
The earth magnetic field is a vector with the horizontal components x,y and the vertical z
component. It depends on the position on the globe and natural iron occurrence. For heading
calculation (direction of compass pointer) only the horizontal components x and y are used.
Therefore the vector components of the earth magnetic field must be transformed in the
horizontal plane, which requires the knowledge of the direction of the gravity vector. To
summarize, the heading can only be calculated when considering gravity and magnetic field
at the same time.
However, the measurement accuracy depends on the stability of the surrounding magnetic
field. Furthermore, since the earth magnetic field is usually much smaller than the magnetic
fields that occur around and inside electronic devices, the compass mode requires calibration
(see chapter 3.10)
3.3.3.3 M4G (Magnet for Gyroscope)

The M4G mode is similar to the IMU mode, but instead of using the gyroscope signal to detect
rotation, the changing orientation of the magnetometer in the magnetic field is used. Since the
magnetometer has much lower power consumption than the gyroscope, this mode is less
power consuming in comparison to the IMU mode. There are no drift effects in this mode which
are inherent to the gyroscope.
However, as for compass mode, the measurement accuracy depends on the stability of the
surrounding magnetic field.
For this mode no magnetometer calibration is required and also not available.
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Data sheet Page 25
3.3.3.4 NDOF_FMC_OFF
This fusion mode is same as NDOF mode, but with the Fast Magnetometer Calibration turned
‘OFF’.
3.3.3.5 NDOF
This is a fusion mode with 9 degrees of freedom where the fused absolute orientation data is
calculated from accelerometer, gyroscope and the magnetometer. The advantages of
combining all three sensors are a fast calculation, resulting in high output data rate, and high
robustness from magnetic field distortions. In this mode the Fast Magnetometer calibration is
turned ON and thereby resulting in quick calibration of the magnetometer and higher output
data accuracy. The current consumption is slightly higher in comparison to the
NDOF_FMC_OFF fusion mode.

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Data sheet Page 26
3.4 Axis remap

The device mounting position should not limit the data output of the BNO055 device. The axis
of the device can be re-configured to the new reference axis.
Axis configuration byte: Register Address: AXIS_MAP_CONFIG

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved Remapped Z axis 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 Remapped Remapped Remapped
X axis sign Y axis sign Z axis sign
Value Sign
0 Positive
1 Negative
The default value is 0x00.
The default values correspond to the following coordinate system
Z; Ωz; z
X; Ωx; x
Y; Ωy; y
Accel; Gyro; Magnet

BNO055
Data sheet Page 27
Some example placement for axis vs. register settings:
P0 P1 P2 P3
TOP VIEW
P4 P5 P6 P7
BOTTOM VIEW
P0
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

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Data sheet Page 28
3.5 Sensor Configuration

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

In fusion modes, the sensors settings are controlled by the BNO055 and configured as defined
in Table 3-7. In non-fusion modes, the sensor settings can be configured by the user while in
CONFIG_MODE are retained.
Table 3-7: Default sensor configuration at power-on
Sensors Parameters Value
Accelerometer Power Mode NORMAL

Range +/- 4g
Bandwidth 62.5Hz
Resolution 14 bits
Gyroscope Power Mode NORMAL
Range 2000 °/s
Bandwidth 32Hz
Resolution 16 bits
Magnetometer Power Mode FORCED
ODR 20Hz
XY Repetition 15
Z Repetition 16
Resolution x/y/z 13/13/15 bits

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Data sheet Page 29
3.5.2 Accelerometer configuration

The fusion outputs of the BNO055 are tightly linked with the accelerometer sensor settings.
Therefore the configuration possibilities are restricted when running in any of the fusion
operating modes. The accelerometer configuration can be changed by writing to the
ACC_Config register, Table below shows different Accelerometer configurations
Table 3-8: Accelerometer configurations
Parameter Values [Reg Addr]: Reg Value Restrictions

G Range 2G [ACC_Config]: xxxxxx00b
4G [ACC_Config]: xxxxxx01b
Bandwidth 7.81Hz [ACC_Config]: xxx000xxb
15.63Hz [ACC_Config]: xxx001xxb
125Hz [ACC_Config]: xxx100xxb Auto controlled in fusion
250Hz [ACC_Config]: xxx101xxb mode
500Hz [ACC_Config]: xxx110xxb
1000Hz [ACC_Config]: xxx111xxb
Operation Mode Normal [ACC_Config]: 000xxxxxb
Suspend [ACC_Config]: 001xxxxxb
Low Power 1 [ACC_Config]: 010xxxxxb
Standby [ACC_Config]: 011xxxxxb
Low Power 2 [ACC_Config]: 100xxxxxb
Deep Suspend [ACC_Config]: 101xxxxxb
The accelerometer sensor operation mode is not configurable by user when BNO power mode
is configured as low power mode. BNO rewrites the user configured value to Normal mode
when switching from config mode to any BNO operation mode. This used to achieve the BNO
low power mode performance.

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Data sheet Page 30
3.5.3 Gyroscope configuration

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 below shows different Gyroscope configurations
Table 3-9: Gyroscope configurations
Parameter Values [Reg Addr]: Register value Restrictions

Range 2000 dps [GYR_Config_0]: xxxxx000b
1000 dps [GYR_Config_0]: xxxxx001b
500dps [GYR_Config_0]: xxxxx010b
Bandwidth 523Hz [GYR_Config_0]: xx000xxxb
230Hz [GYR_Config_0]: xx001xxxb
Auto controlled in fusion mode
Operation Mode Normal [GYR_Config_1]: xxxxx000b
Fast Power up [GYR_Config_1]: xxxxx001b
Deep Suspend [GYR_Config_1]: xxxxx010b
Suspend [GYR_Config_1]: xxxxx011b
Advanced [GYR_Config_1]: xxxxx100b
Powersave

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Data sheet Page 31
3.5.4 Magnetometer configuration

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 below shows different Magnetometer configurations.
Table 3-10: Magnetometer configurations
[Reg Addr]: Register

Parameter Values Restrictions
value
Data output rate 2Hz [MAG_Config]: xxxxx000b
6Hz [MAG_Config]: xxxxx001b
Operation Mode Low Power [MAG_Config]: xxx00xxxb Auto controlled in fusion mode
Regular [MAG_Config]: xxx01xxxb

Enhanced
[MAG_Config]: xxx10xxxb
Regular
High Accuracy [MAG_Config]: xxx11xxxb
Power Mode Normal [MAG_Config]: x00xxxxxb
Sleep [MAG_Config]: x01xxxxxb
Suspend [MAG_Config]: x10xxxxxb
Force Mode [MAG_Config]: x11xxxxxb

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Data sheet Page 32
3.6 Output data

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

The measurement units for the various data outputs (regardless of operation mode) can be
configured by writing to the UNIT_SEL register as described in Table 3-9.
Table 3-11: unit selection
Data Units [Reg Addr]: Register Value

2
Acceleration m/s [UNIT_SEL] : xxxxxxx0b
mg [UNIT_SEL] : xxxxxxx1b
2
Linear Acceleration, m/s [UNIT_SEL] : xxxxxxx0b
Gravity 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
3.6.2 Data output format

The data output format can be selected by writing to the UNIT_SEL register, this allows user
to switch between the orientation definition described by Windows and Android operating
systems.
Table 3-12: Fusion data output format
Parameter Values [Reg Addr]: Register value

Fusion data output Windows [UNIT_SEL]: 0xxxxxxxb
format Android [UNIT_SEL]: 1xxxxxxxb
The output data format is based on the following convention regarding the rotation angles for
roll, pitch and heading / yaw (compare also section 3.4):
Table 3-13: Rotation angle conventions
Rotation angle Range (Android format) Range (Windows format)

Pitch +180° to -180° (turning -180° to +180° (turning clock-
clockwise decreases values) wise increases values)
Roll -90° to +90° (increasing with increasing inclination)
Heading / Yaw 0° to 360° (turning clockwise increases values)

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Data sheet Page 33
3.6.3 Fusion Output data rates

Table 3-14: Fusion output data rates
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
3.6.4 Sensor calibration data

The following section describes the register holding the calibration data of the sensors (see
chapter 3.11). The offset and radius data can be read from these registers and stored in the
host system, which could be later used to get the correct orientation data after ‘Power on Reset’
of the sensor.
3.6.4.1 Accelerometer offset
The accelerometer offset can be configured in the following registers, shown in the table below.
There are 6 bytes required to configure the accelerometer offset (2 bytes for each of the 3 axis
X, Y and Z). Configuration will take place only when the user writes the last byte (i.e.,
ACC_OFFSET_Z_MSB).
Table 3-15: Accelerometer Default-Reg settings
Reg Name Default Reg Value (Bit 0 – Bit 7)
ACC_OFFSET_X_LSB 0x00
ACC_OFFSET_X_MSB 0x00
ACC_OFFSET_Y_LSB 0x00
ACC_OFFSET_Y_MSB 0x00
ACC_OFFSET_Z_LSB 0x00
ACC_OFFSET_Z_MSB 0x00
The range of the offsets for Accelerometer is +/-500 in LSB. .

Table 3-16: Accelerometer offset range settings
Offset for Sensor Maximum Offset range in LSB
Accelerometer +/- 500
Table 3-17: Accelerometer Unit settings

Unit Representation
2
m/s 1 m/s2 = 100 LSB
mg 1 mg = 1 LSB
3.6.4.2 Magnetometer offset
The magnetometer offset can be configured in the following registers,

BNO055
Data sheet Page 34
Table 3-18: Magnetometer Default-Reg settings

MAG_OFFSET_X_LSB 0x00
MAG_OFFSET_X_MSB 0x00
MAG_OFFSET_Y_LSB 0x00
MAG_OFFSET_Y_MSB 0x00
MAG_OFFSET_Z_LSB 0x00
MAG_OFFSET_Z_MSB 0x00
There are 6 bytes required to configure the magnetometer offset (bytes (2 bytes for each of
the 3 axis X, Y and Z). Configuration will take place only when the user writes the last byte
(i.e., MAG_OFFSET_Z_MSB). Therefore the last byte must be written whenever the user
wants to changes the configuration. The range of the magnetometer offset is +/-6400 in LSB.
Table 3-19: Magnetometer Unit settings
Unit Representation
µT 1 µT = 16 LSB
3.6.4.3 Gyroscope offset
The gyroscope offset can be configured in the following registers, shown in the table below
Table 3-20: Gyroscope Default Reg-settings

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 for Gyroscope is +/-2000 in LSB.

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Table 3-21: Gyroscope offset range settings
Offset for Sesnor Maximum Offset range in LSB

Gyroscope +/- 2000
Table 3-22: Gyroscope unit settings
Unit Representation
Dps 1 Dps = 16 LSB
Rps 1 Rps = 900 LSB
3.6.4.4 Radius
The radius of accelerometer and magnetometer can be configured in the following registers,
Table 3-23: Radius Default-Reg settings

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 +/-2048 in LSB,
magnetometer is from 144 to 1280 in LSB and Gyroscope is NA.
Table 3-24: Radius range settings
Radius for sensor Maximum Range in LSB

Accelerometer +/- 2048
Magnetometer 144 to 1280
3.6.5 Output data registers

3.6.5.1 Acceleration data
In non-fusion mode uncompensated acceleration data for each axis X/Y/Z, can be read from
the appropriate ACC_DATA_<axis>_LSB and ACC_DATA_<axis>_MSB registers.
In fusion mode the fusion algorithm output offset compensated acceleration data for each axis
X/Y/Z, the output data can be read from the appropriate ACC_DATA_<axis>_LSB and
ACC_DATA_<axis>_MSB registers. Refer table below for information regarding the data types
for the acceleration data.
Table 3-25: Acceleration data
Parameter Data type bytes

Accel_Data_X signed 2
Accel_Data_Y signed 2

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Accel_Data_Z signed 2
3.6.5.2 Magnetic Field Strength
In non-fusion mode uncompensated field strength data for each axis X/Y/Z, can be read from
the appropriate MAG_DATA_<axis>_LSB and MAG_DATA_<axis>_MSB registers.
In fusion mode the fusion algorithm output offset compensated magnetic field strength data for
each axis X/Y/Z, the output data can be read from the appropriate MAG_DATA_<axis>_LSB
and MAG_DATA_<axis>_MSB registers. Refer table below for information regarding the data
types for the magnetic field strength.
Table 3-26: Magnetic field strength data

Mag_Data_X signed 2
Mag_Data_Y signed 2
Mag_Data_Z signed 2
3.6.5.3 Angular Velocity
In non-fusion mode uncompensated angular velocity (yaw rate) data for each axis X/Y/Z, can
be read from the appropriate GYR_DATA_<axis>_LSB and GYR_DATA_<axis>_MSB
registers.
In fusion mode the fusion algorithm output offset compensated angular velocity (yaw rate) data
for each axis X/Y/Z, the output data can be read from the appropriate GYR_DATA_<axis>_LSB
and GYR_DATA_<axis>_MSB registers. Refer table below for information regarding the data
types for the angular velocity.
Table 3-27: Yaw rate data

Gyr_Data_X signed 2
Gyr_Data_Y signed 2
Gyr_Data_Z signed 2

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3.6.5.4 Orientation (Euler angles)
Orientation output only available in fusion operation modes.
The fusion algorithm output offset and tilt compensated orientation data in Euler angles format
for each DOF Heading/Roll/Pitch, the output data can be read from the appropriate
EUL<dof>_LSB and EUL_<dof>_MSB registers. Refer table below for information regarding
the data types and the unit representation for the Euler angle format.
Table 3-28: Compensated orientation data in Euler angles format

EUL_Heading Signed 2
EUL_Roll Signed 2
EUL_Pitch Signed 2
Table 3-29: Euler angle data representation
Unit Representation
Degrees 1 degree = 16 LSB
Radians 1 radian = 900 LSB
3.6.5.5 Orientation (Quaternion)
Orientation output only available in fusion operating modes.
The fusion algorithm output offset and tilt compensated orientation data in quaternion format
for each DOF w/x/y/z, the output data can be read from the appropriate
QUA_DATA_<dof>_LSB and QUA_DATA_<dof>_MSB registers. Refer table below for
information regarding the data types and the unit representation for the Orientation output.
Table 3-30: Compensated orientation data in quaternion format

QUA_Data_w Signed 2
QUA_Data_x Signed 2
QUA_Data_y Signed 2
QUA_Data_z Signed 2
Table 3-31: Quaternion data representation
Unit Representation
Quaternion (unit less) 1 Quaternion (unit less) = 2^14 LSB

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Data sheet Page 38
3.6.5.6 Linear Acceleration
Linear acceleration output only available in fusion operating modes.
The fusion algorithm output linear acceleration data for each axis x/y/z, the output data can be
read from the appropriate LIA_DATA_<axis>_LSB and LIA_DATA_<axis>_MSB registers.
Refer to the table below for further information regarding the data types and the unit
representation for Linear acceleration.
Note: The linear acceleration signal typically cannot be integrated to recover velocity, or
double-integrated to recover position. The error typically becomes larger than the signal within
less than 1 second if other sensor sources are not used to compensate this integration error.
Table 3-32: Linear Acceleration Data

LIA_Data_X signed 2
LIA_Data_Y signed 2
LIA_Data_Z signed 2
Table 3-33: Linear Acceleration data representation
Unit Representation
2
m/s 1 m/s2 = 100 LSB
mg 1 mg = 1 LSB
3.6.5.7 Gravity Vector
Gravity Vector output only available in fusion operating modes.
The fusion algorithm output gravity vector data for each axis x/y/z, the output data can be read
from the appropriate GRV_DATA_<axis>_LSB and GRV_DATA_<axis>_MSB registers. Refer
table below for further information regarding the data types and the unit representation for the
Gravity vector.
Table 3-34: Gravity Vector Data

GRV_Data_X signed 2
GRV_Data_Y signed 2
GRV_Data_Z signed 2
Table 3-35: Gravity Vector data representation
Unit Representation
2
m/s 1 m/s2 = 100 LSB
mg 1 mg = 1 LSB

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Data sheet Page 39
Temperature
The temperature output data can be read from the TEMP register. The table below describes
the output data type and data representation (depending on selected unit).
The temperature can be read from one of two sources, the temperature source can be selected
by writing to the TEMP_SOURCE register as detailed below.
Table 3-36: Temperature Data

TEMP signed 1
Table 3-37: Temperature data representation
Unit Representation
°C 1°C = 1 LSB
F 2 F = 1 LSB
Table 3-38: Temperature Source Selection
Source [Reg Addr]: Register Value

Accelerometer [TEMP_SOURCE]: xxxxxx00b
Gyroscope [TEMP_SOURCE]: xxxxxx01b
3.7 Data register shadowing

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

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Data sheet Page 40
3.8 Interrupts
3.8.1 Interrupt Pin
INT is configured as interrupt pin for signaling an interrupt to the host. The interrupt trigger is
configured as raising edge and is latched on to the INT pin. Once an interrupt occurs, the INT
pin is set to high and will remain high until it is reset by host. This can be done by setting
RST_INT in SYS_TRIGGER register.
Interrupts can be enabled by setting the corresponding bit in the interrupt enable register
(INT_EN) and disabled when it is cleared.
Interrupt Pin Masking
Interrupts can be routed to the INT pin by setting the corresponding interrupt bit in the
INT_MSK register.
Interrupt Status
Interrupt occurrences are stored in the interrupt status register (INT_STA). All bits in this
register are cleared on read.
3.8.2 Interrupt Settings

3.8.2.1 Data Ready Interrupt (DRDY INT)
Note: Data ready interrupt is only available on software versions 03.14 and above
Data Ready Interrupt is a signal to host about the data availability in the register map, so that
host can read the sensor data immediately when the sensor data is available in the register
map.
The following data ready interrupts are available,

1. Accelerometer or fusion data ready interrupt (ACC_BSX_DRDY)
2. Magnetometer data ready interrupt (MAG_DRDY)
3. Gyroscope data ready interrupt (GYR_DRDY)
In Non-fusion mode:
 In Non-fusion mode the data ready interrupt is signaled based on individual sensor
data rate configured to the sensors.
 The data ready interrupt “ACC_BSX_DRDY“ is set/triggered when the Accelerometer
data is available in the register map at the configured data rate of sensor in the
operation mode where Accelerometer is ON.
 The data ready interrupt “MAG_DRDY“ is set/triggered when the Magnetometer data
is available in the register map at the configured data rate of sensor in the operation
mode where Magnetometer is ON.

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 The data ready interrupt “GYR_DRDY“ is set/triggered when the Gyroscope data is
available in the register map at the configured data rate of sensor in the operation
mode where Gyroscope is ON.
In fusion mode:
 In fusion mode the data ready interrupt is signaled based on primary sensor data rate.
 The data ready interrupt “ACC_BSX_DRDY“ is set/triggered when the
calibrated/fusion data available in the register map at the primary rate of the sensor.
Here, the data ready interrupt ”ACC_BSX_DRDY” is shared between non-fusion and fusion
mode for Accelerometer and fusion data respectively.
Data Ready Interrupt Behavior:

Once an interrupt occurs, the INT pin is set to high and will remain high until it is reset or read
by host. The INT is set to low and high immediately when multiple interrupt occurs before host
reset or read.
Data Ready Interrupt behavior when host reads the interrupt status:
Data Ready Interrupt behavior when the interrupt status is not read:

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Data sheet Page 42
3.8.2.2 Accelerometer Slow/No Motion Interrupt
The slow-motion/no-motion interrupt engine can be configured in two modes.
Slow-motion Interrupt is triggered when the measured slope of at least one enabled axis
exceeds the programmable slope threshold for a programmable number of samples. Hence
the engine behaves similar to the any-motion interrupt, but with a different set of parameters.
In order to suppress false triggers, the interrupt is only generated (cleared) if a certain number
N of consecutive slope data points is larger (smaller) than the slope threshold given by
slo_no_mot_dur<1:0>. The number is N = slo_no_mot_dur<1:0> + 1.
In no-motion mode an interrupt is generated if the slope on all selected axes remains smaller
than a programmable threshold for a programmable delay time. Figure 11 shows the timing
diagram for the no-motion interrupt. The scaling of the threshold value is identical to that of
the slow-motion interrupt. However, in no-motion mode register slo_no_mot_dur defines the
delay time before the no-motion interrupt is triggered.
Table 3-39 lists the delay times adjustable with register slo_no_mot_dur. The timer tick period
is 1 second. Hence using short delay times can result in considerable timing uncertainty.
If bit SM/NM is set to ‘1’ (‘0’), the no-motion/slow-motion interrupt engine is configured in the
no-motion (slow-motion) mode. Common to both modes, the engine monitors the slopes of
the axes that have been enabled with bits AM/NM_X_AXIS, AM/NM_Y_AXIS, and
AM/NM_Z_AXIS for the x-axis, y-axis and z-axis, respectively. The measured slope values are
continuously compared against the threshold value defined in register ACC_NM_THRES. The
scaling is such that 1 LSB of ACC_NM_THRES corresponds to 3.91 mg in 2g-range (7.81 mg
in 4g-range, 15.6 mg in 8g-range and 31.3 mg in 16g-range). Therefore the maximum value is
996 mg in 2g-range (1.99g in 4g-range, 3.98g in 8g-range and 7.97g in 16g-range). The time
difference between the successive acceleration samples depends on the selected bandwidth
and equates to 1/(2 * bw).
Table 3-39: 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

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Data sheet Page 43
acceleration acc(t0+Δt)
acc(t0)
axis x, y, or z
slope slope(t0+Δt)= acc(t0+Δt) - acc(t0)

axis x, y, or z
slo_no_mot_th
-slo_no_mot_th
slo_no_mot_dur
timer
INT
time
Table 3-40: Timing of No-motion interrupt
Params Value [Reg Addr]: Register Value

No Motion [ACC_NM_SET]: xxxxxxx1b
Detection Type
Slow Motion [ACC_NM_SET]: xxxxxxx0b
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
3.8.2.3 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.

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Data sheet Page 44
acceleration
acc(t0)
acc(t0−1/(2*bw))
time
slope(t0)=acc(t0)−acc(t0−1/(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.

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Data sheet Page 45
Enabling (disabling) for each axis:
Any-motion detection can be enabled (disabled) for each axis separately by writing ´1´ (´0´) to
bits AM/NM_X_AXIS, AM/NM_Y_AXIS, AM/NM_Z_AXIS. The criteria for any-motion detection
are fulfilled and the slope interrupt is generated if the slope of any of the enabled axes exceeds
the threshold ACC_AM_THRES for [AM_DUR +1] consecutive times. As soon as the slopes
of all enabled axes fall or stay below this threshold for [AM_DUR +1] consecutive times the
interrupt is cleared unless interrupt signal is latched.
Table 3-41: Any-motion Interrupt parameters and Axis selection

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
3.8.2.4 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 (ór´ 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 (ánd´ relation) is lower than the threshold for at least the time defined by
the ACC_HG_DURATION register. The interrupt status is stored in bit ACC_HIGH_G in the
INT_STA register. The relation between the content of ACC_HG_DURATION and the actual
delay of the interrupt generation is delay [ms] = [ACC_HG_DURATION + 1] * 2 ms. Therefore,
possible delay times range from 2 ms to 512 ms.
Table 3-42: High-G Interrupt parameters and Axis selection

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

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Data sheet Page 46
3.8.2.5 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 (ór´ 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 (ánd´ relation) is lower than the threshold minus the hysteresis. In bit
GYR_HIGH_RATE in the INT_STA the interrupt status is stored. The relation between the
content of GYR_DUR_<axis> and the actual delay of the interrupt generation is delay [ms] = [
GYR_DUR_<axis> + 1] * 2.5 ms. Therefore, possible delay times range from 2.5 ms to 640
ms.
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Data sheet Page 47
Table 3-43: High Rate Interrupt parameters and Axis selection

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

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Data sheet Page 48
3.8.2.6 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(t0−1/(4*fs))
time
slope(t0)=gyro(t0)−gyro(t0−1/(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).

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Data sheet Page 49
3.8.2.7 Enabling (disabling) for each axis

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

The interrupt status is stored in bit GYRO_AM in the INT_EN register. The Any-motion interrupt
supplies additional information about the detected slope.
Table 3-44: Axis selection and any motion interrupt

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

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3.9 Self-Test
3.9.1 Power On Self Test (POST)
During the device startup, a power on self test is executed. This feature checks that the
connected sensors and microcontroller are responding / functioning correctly. Following tests
are executed
Table 3-45: Power on Self Test
Components Test type

Accelerometer Verify chip ID
Magnetometer Verify chip ID
Gyroscope Verify chip ID
Microcontroller Memory Build In Self Test
The results of the POST are stored at register ST_RESULT, where a bit set indicates test
passed and cleared indicates self test failed.
3.9.2 Built-In Self-Test (BIST)
The host can trigger a self-test from CONFIG MODE. The test can be triggered by setting bit
SELF_TEST in the in the SYS_TRIGGER register, the results are stored in the ST_RESULT
register. During the execution of the system test, all other features are paused.
It is recommended to only trigger the self-test config mode.
During the self-test:
 When triggering the BIST, the SYS_STATUS changes to “executing selftest”, but the
SYS_STATUS will be updated only in case of failure, not in case of success.
 To know if the BIST succeeded/failed you should:
o Trigger BIST
o Wait for 400ms
o Read SYS_ERROR register (0x3A):
 SYS_ERROR will remain at 0 in case of success (0 = No error)
 SYS_ERROR will show 3 in case of self-test failure (3 = Self-test result
failed)
o In case of failed BIST (SYS_ERROR != 0 above), you can see which sensor
failed by reading the ST_RESULT (0x36) register (bit of the corresponding
sensor is ‘1’ if self-test was successful, but will show ‘0’ if the self-test failed).
Table 3-46: Built-in self-test

Components Test type
Accelerometer built in self-test
Magnetometer built in self-test
Gyroscope built in self-test
No test
Microcontroller
performed

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3.10 Boot loader
The boot loader is located at the start of the program memory and it is executed at each reset
/ power-on sequence. It first checks the status of the nBOOT_LOAD_PIN.
If the nBOOT_LOAD_PIN is pulled low during reset / power-on sequence, it continues

execution in boot loader mode. Otherwise the device continues to boot in application mode.
In case there is a firmware update, then an application note would be available in time with the
necessary information to upgrade at the host side. Nevertheless it is recommended that the
nBOOT_LOAD_PIN is connected as shown in section 5.
3.11 Calibration
Though the sensor fusion software runs the calibration algorithm of all the three sensors
(accelerometer, gyroscope and magnetometer) in the background to remove the offsets, some
preliminary steps had to be ensured for this automatic calibration5 to take place.
The accelerometer and the gyroscope are relatively less susceptible to external disturbances,
as a result of which the offset is negligible. Whereas the magnetometer is susceptible to
external magnetic field and therefore to ensure proper heading accuracy, the calibration steps
described below have to be taken.
Depending on the sensors been selected in the fusion mode, the following simple steps had
to be taken after every ‘Power on Reset’ for proper calibration of the device.
3.11.1 Accelerometer Calibration

 Place the device in 6 different stable positions for a period of few seconds to allow the
accelerometer to calibrate.
 Make sure that there is slow movement between 2 stable positions
 The 6 stable positions could be in any direction, but make sure that the device is lying at
least once perpendicular to the x, y and z axis.
 The register CALIB_STAT can be read to see the calibration status of the accelerometer.
3.11.2 Gyroscope Calibration

 Place the device in a single stable position for a period of few seconds to allow the
gyroscope to calibrate
 The register CALIB_STAT can be read to see the calibration status of the gyroscope.
3.11.3 Magnetometer Calibration

Magnetometer in general are susceptible to both hard-iron and soft-iron distortions, but
majority of the cases are rather due to the former. And the steps mentioned below are to
calibrate the magnetometer for hard-iron distortions.
Nevertheless certain precautions need to be taken into account during the positioning of the
sensor in the PCB which is described in our HSMI (Handling, Soldering and Mounting
Instructions) application note to avoid unnecessary magnetic influences.
5
It is not possible to disable the automatic calibration which runs in the background
BNO055
Data sheet Page 52
Compass, M4G & NDOF_FMC_OFF:

 Make some random movements (for example: writing the number ‘8’ on air) until the
CALIB_STAT register indicates fully calibrated.
 It takes more calibration movements to get the magnetometer calibrated than in the NDOF
mode.
NDOF:
 The same random movements have to be made to calibrate the sensor as in the FMC_OFF
mode, but here it takes relatively less calibration movements (and slightly higher current
consumption) to get the magnetometer calibrated.
 The register CALIB_STAT can be read to see the calibration status of the magnetometer.
3.11.4 Soft-Iron Calibration (SIC)
The BNO055 supports SIC via a 3x3 calibration matrix. At startup, the identity matrix is used
as coefficients to the magnetometer signal. An SIC compensation matrix can efficiently
compensate for distortions due to soft magnetic material in close vicinity of the sensor. The
magnetometer data is first multiplied by this SIC matrix, before being used in the sensor fusion
algorithm.
Table 3-47: Soft-Iron Calibration matrix definition
Msb0Lsb0 Msb1Lsb1 Msb2Lsb2

[Msb3Lsb3 Msb4Lsb4 Msb5Lsb5]
Msb6Lsb6 Msb7Lsb7 Msb8Lsb8
Each value of the matrix is represented by a 16-bit signed integer, and can represents a value
in the range of -2.0000 to 1.9999 by using the conversion factor (1/214).
Table 3-48: Soft-Iron Calibration matrix scaling factor
User Value Conversion Factor Actual Value

-32768 1/214 -2.0000
… …
-16384 1/214 -1.0000
… …
0 1/214 0.0000
… …
16384 1/214 1.0000
… …
32767 1/214 1.9999
3.11.4.1 SIC matrix generation
The preferred method for generating the soft-iron calibration matrix is to use Helmholtz coils,
although a less precise field calibration using the earth’s magnetic field is also possible. The
generation of the SIC matrix is the sole responsibility of the customer.

BNO055
Data sheet Page 53
3.11.5 Reuse of Calibration Profile
Once the device is calibrated, the calibration profile can be reused to get the correct orientation
data immediately after ‘Power of Reset’ (prior to going through the steps mentioned in the
above section). However, once the sensor enters the internal calibration routine, the calibration
profile is overwritten with the newly obtained sensor offsets and sensor radius. Depending on
the application, necessary steps had to be ensured for proper calibration of the sensor.
Reading Calibration profile

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

It is important that the correct offsets and corresponding sensor radius are used. Incorrect
offsets may result in unreliable orientation data even at calibration accuracy level 3. To set the
calibration profile the following steps need to be taken
1. Select the operation mode to CONFIG_MODE
2. Write the corresponding sensor offsets and radius data
3. Change operation mode to fusion mode

BNO055
Data sheet Page 54
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 55
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 N/A
MAG_RADIUS_
6A 0x01 Magnetometer Radius
MSB
MAG_RADIUS_
69 0xE0 Magnetometer Radius
LSB
ACC_RADIUS_
68 0x00 Accelerometer Radius
MSB
ACC_RADIUS_
67 0x00 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

BNO055
Data sheet Page 56
Register Default
Address Value
SIC_MATRIX_
54 0x40 SIC_MATRIX_MSB8
MSB8
SIC_MATRIX_L
53 0x00 SIC_MATRIX_LSB8
SB8
SIC_MATRIX_
MSB7
SIC_MATRIX_L
SB7
SIC_MATRIX_
MSB6
SIC_MATRIX_L
4F 0x00 SIC_MATRIX_LSB6
SB6
SIC_MATRIX_
4E 0x00 SIC_MATRIX_MSB5
MSB5
SIC_MATRIX_L
4D 0x00 SIC_MATRIX_LSB5
SB5
SIC_MATRIX_
4C 0x40 SIC_MATRIX_MSB4
MSB4
SIC_MATRIX_L
4B 0x00 SIC_MATRIX_LSB4
SB4
SIC_MATRIX_
4A 0x00 SIC_MATRIX_MSB3
MSB3
SIC_MATRIX_L
SB3
SIC_MATRIX_
MSB2
SIC_MATRIX_L
SB2
SIC_MATRIX_
MSB1
SIC_MATRIX_L
SB1
SIC_MATRIX_
MSB0
SIC_MATRIX_L
SB0
Remappe Remappe Remappe
AXIS_MAP_SI
42 0x00 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 0x24
NFIG value value value
TEMP_SOURC
40 0x00 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 0x10 Operation Mode <3:0>
3C Reserved
ORI_An
TEMP_U
3B UNIT_SEL 0x80 droid_W EUL_Unit GYR_Unit ACC_Unit
nit
indows
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_DR GYR_HIG GYRO_A MAG_DR ACC_BS
37 INT_STA 0x00
M M GH_G DY6 H_RATE M DY6 X_DRDY6
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
6
This field is only available with software versions 03.14 and above
BNO055
Data sheet Page 57
Register Default
Address Value
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_L
30 0x00 Gravity Vector Data Y <7:0>
SB
GRV_Data_X_
2F 0x00 Gravity Vector Data X <15:8>
MSB
GRV_Data_X_L
2E 0x00 Gravity Vector Data X <7:0>
SB
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_LS
2A 0x00 Linear Acceleration Data Y <7:0>
B
LIA_Data_X_M
29 0x00 Linear Acceleration Data X <15:8>
BS
LIA_Data_X_LS
28 0x00 Linear Acceleration Data X <7:0>
B
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_L
20 0x00 Quaternion w Data <7:0>
SB
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

BNO055
Data sheet Page 58
Register Default
Address Value
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 0x15 Bootloader Version
SW_REV_ID_M
5 0x037 SW Revision ID <15:8>
SB
SW_REV_ID_L
4 0x118 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
4.2.2 Register map Page 1

Table4-3: Register Map Page 1
Register Default
Address Value
7F-60 Reserved
5F - 50 UNIQUE_ID N/A BNO unique ID
4F - 20 Reserved
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_FIL HR_Z_ HR_Y_A HR_X_A AM_Z_A AM_Y_A
17 0x00 AM_X_AXIS
ING T T 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
7
The current pre-programmed software version is 3.11 and therefore the SW_REV_ID_MSB is 0x03. However the
register default value is subject to change with respect to the updated software.
8
The current pre-programmed software version is 3.11 and therefore the SW_REV_ID_LSB is 0x11. However the
register default value is subject to change with respect to the updated software.

BNO055
Data sheet Page 59
Register Default
Address Value
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 GYR_DR GYRO_A MAG_DR ACC_BSX_D
10 INT_EN 0x00 GH_RAT
M M IGH_G DY6 M DY6 RDY6
E
GYR_HI
ACC_N ACC_A ACC_H GYR_DR GYRO_A MAG_DR ACC_BSX_D
F INT_MSK 0x00 GH_RAT
M M IGH_G DY6 M DY6 RDY6
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 0x0B 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 0x00 Page ID
6-0 Reserved

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

BNO055
Data sheet Page 61
4.3.5 SW_REV_ID_LSB 0x04

Reset 0x11
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 0x03
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 0x15
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 Z <7:0> Lower byte of Z axis Gyroscope data, read only
<7:0> The output units can be selected using the UNIT_SEL register and data output type can be
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 Z <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
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

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 0
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 of the calibration status of the orientation, and is
<0:1> available for the fusion modes with absolute orientation, read-only
Read: 3 indicates fully calibrated; 0 indicates not calibrated
GYR Calib Status <5:4> Current offset calibration status of Gyroscope, read-only
<0:1> Read: 3 indicates fully calibrated; 0 indicates not calibrated
ACC Calib Status <3:2> Current offset calibration status of Accelerometer, read-only
MAG Calib Status <1:0> Current offset calibration status of Magnetometer, read-only
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 0 0 0
Content ACC_NM ACC_AM ACC_HIG GYR_DRD GYR_HIG MAG_DRD ACC_BSX
GYRO_AM
H_G Y6 H_RATE Y6 _DRDY6

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_DRDY6 4 Status of gyroscope data ready 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
MAG_DRDY6 1 Status of magnetometer data ready interrupt, read only
ACC_BSX_DRDY6 0 Status of Accelerometer/BSX data ready 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 0x00
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
4.3.60 UNIT_SEL 0x3B

Reset 1 0 0 0 0 0 0 0
Content ORI_Andro
TEMP_Uni
id_Window reserved reserved EUL_Unit GYR_Unit ACC_Unit
t
s

ORI_Android_Win 7 Read: Current selected orientation mode
dows Write: Select orientation mode
0: Windows orientation
1: Android orientation
See section 3.6.2 for more details
TEMP_Unit 5 Read: Current selected temperature units
Write: Select temperature units
0: Celsius
1: Fahrenheit
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 76
4.3.61 OPR_MODE 0x3D

Reset 0 0 0 1 0 0 0 0
Content Reserved Operation Mode <3:0>

Operation Mode <3:0> Read: Current selected operation mode
<3:0> Write: Select operation mode
See Table 3-5 for details
4.3.62 PWR_MODE 0x3E

Reset 0 0 0 0 0 0 0 0
Content Reserved Power Mode <1:0>

Power Mode <1:0> Read: Current selected power mode
<1:0> Write: Select power mode
See Table 3-1 for details
4.3.63 SYS_TRIGGER 0x3F

Access r/w r/w w r/w r/w r/w r/w w
Reset 0 0 0 0 0 0 0 0
Content CLK_SEL RST_INT RST_SYS Reserved 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

Reset 0 0 0 0 0 0 0 0
Content Reserved TEMP_Source <1:0>

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

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Data sheet Page 77
4.3.65 AXIS_MAP_CONFIG 0x41

Reset 0 0 1 0 0 1 0 0
Content Reserved Remapped Z axis value Remapped Y axis value Remapped X axis value

Remapped Z axis <5:4> See section 3.4 for details
value
Remapped Y axis <3:2> See section 3.4 for details
value
Remapped X axis <1:0> See section 3.4 for details
value
4.3.66 AXIS_MAP_SIGN 0x42

Reset 0 0 0 0 0 0 0 0
Content Reserved Remapped Remapped Remapped
X axis sign Y axis sign Z axis sign

Remapped X axis 2 See section 3.4 for details
sign
Remapped Y axis 1 See section 3.4 for details
sign
Remapped Z axis 0 See section 3.4 for details
sign
4.3.67 SIC_MATRIX_LSB0 0x43

Reset 0x00
Content SIC_MATRIX_LSB0<7:0>

SIC_MATRIX_LS <7:0> See Section 3.11.4 for details
B0 <7:0>
4.3.68 SIC_MATRIX_MSB0 0x44

Reset 0x00
Content SIC_MATRIX_MSB0<7:0>

SIC_MATRIX_MS <7:0> See Section 3.11.4 for details
B0 <7:0>

BNO055
Data sheet Page 78

Reset 0x00

B1 <7:0>

Reset 0x00

B1 <7:0>

Reset 0x00

B2 <7:0>

Reset 0x00

B2 <7:0>

Reset 0x00

BNO055
Data sheet Page 79

B3 <7:0>
4.3.74 SIC_MATRIX_MSB3 0x4A

Reset 0x00

B3 <7:0>
4.3.75 SIC_MATRIX_LSB4 0x4B

Reset 0x00

B4 <7:0>
4.3.76 SIC_MATRIX_MSB4 0x4C

Reset 0x00

B4 <7:0>
4.3.77 SIC_MATRIX_LSB5 0x4D

Reset 0x00

B5 <7:0>

BNO055
Data sheet Page 80
4.3.78 SIC_MATRIX_MSB5 0x4E

Reset 0x00

B5 <7:0>
4.3.79 SIC_MATRIX_LSB6 0x4F

Reset 0x00

B6 <7:0>

Reset 0x00

B6 <7:0>

Reset 0x00

B7 <7:0>

Reset 0x00

BNO055
Data sheet Page 81

B7 <7:0>

Reset 0x00

B8 <7:0>

Reset 0x00

B8 <7:0>
4.3.85 ACC_OFFSET_X_LSB 0x55

Reset 0x00
Content Accelerometer Offset X <7:0>

Accelerometer <7:0> See section 3.6.4 for details
Offset X <7:0>

BNO055
Data sheet Page 82
4.3.86 ACC_OFFSET_X_MSB 0x56

Reset 0x00
Content Accelerometer Offset X <15:8>

Offset X <15:8>
4.3.87 ACC_OFFSET_Y_LSB 0x57

Reset 0x00
Content Accelerometer Offset Y <7:0>

Offset Y <7:0>
4.3.88 ACC_OFFSET_Y_MSB 0x58

Reset 0x00
Content Accelerometer Offset Y <15:8>

Offset Y <15:8>
4.3.89 ACC_OFFSET_Z_LSB 0x59

Reset 0x00
Content Accelerometer Offset Z <7:0>

Offset Z <7:0>

BNO055
Data sheet Page 83
4.3.90 ACC_OFFSET_Z_MSB 0x5A

Reset 0x00
Content Accelerometer Offset Z <15:8>

Offset Z <15:8>
4.3.91 MAG_OFFSET_X_LSB 0x5B

Reset 0x00

Magnetometer <7:0> See section 3.6.4 for details
Offset X <7:0>
4.3.92 MAG_OFFSET_X_MSB 0x56C

Reset 0x00
Content Magnetometer Offset X <15:8>

Offset X <15:8>
4.3.93 MAG_OFFSET_Y_LSB 0x5D

Reset 0x00
Content Magnetometer Offset Y <7:0>

Offset Y <7:0>

BNO055
Data sheet Page 84
4.3.94 MAG_OFFSET_Y_MSB 0x5E

Reset 0x00
Content Magnetometer Offset Y <15:8>

Offset Y <15:8>
4.3.95 MAG_OFFSET_Z_LSB 0x5F

Reset 0x00
Content Magnetometer Offset Z <7:0>

Offset Z <7:0>
4.3.96 MAG_OFFSET_Z_MSB 0x60

Reset 0x00
Content Magnetometer Offset Z <15:8>

Offset Z <15:8>
4.3.97 GYR_OFFSET_X_LSB 0x61

Reset 0x00

Gyroscope Offset <7:0> See section 3.6.4 for details
X <7:0>

BNO055
Data sheet Page 85
4.3.98 GYR_OFFSET_X_MSB 0x62

Reset 0x00
Content Gyroscope Offset X <15:8>

X <15:8>
4.3.99 GYR_OFFSET_Y_LSB 0x63

Reset 0x00
Content Gyroscope Offset Y <7:0>

Y <7:0>
4.3.100 GYR_OFFSET_Y_MSB 0x64

Reset 0x00
Content Gyroscope Offset Y <15:8>

Y <15:8>
4.3.101 GYR_OFFSET_Z_LSB 0x65

Reset 0x00
Content Gyroscope Offset Z <7:0>

Z <7:0>

BNO055
Data sheet Page 86
4.3.102 GYR_OFFSET_Z_MSB 0x66

Reset 0x00
Content Gyroscope Offset Z <15:8>

Z <15:8>
4.3.103 ACC_RADIUS_LSB 0x67

Reset 0x00
Content Accelerometer Radius <7:0>
Gyroscope Offset <7:0> See section 3.6.4for details

Z <7:0>
4.3.104 ACC_RADIUS_MSB 0x68

Reset 0x00
Content Accelerometer Radius <15:8>

Z <15:8>
4.3.105 MAG_RADIUS_LSB 0x69

Reset 0xE0
Content Magnetometer Radius <7:0>

Z <7:0>
4.3.106 MAG_RADIUS_MSB 0x6A

Reset 0x01
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 3.5.2
ACC_BW <2:0> <4:3> Read: current selected bandwidth
Write: can only be changed in sensor mode, see section 3.5.2
ACC_Range <1:0> <2:0> Read: current selected range
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 3.5.4
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 3.5.4

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> <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 3.5.3

BNO055
Data sheet Page 89
4.4.6 ACC_Sleep_Config 0x0C

Reset 0 0 0 0 0 0 0 0
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 1000 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 0 0 0 0 0 0 0 0
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 GYR_DRD GYR_HIG MAG_DRD ACC_BSX
ACC_NM ACC_AM GYRO_AM

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 INT_STA
register and trigger a change on the INT pin, when disabled only the INT_STA register will be
updated.
GYR_DRDY6 4 Masking of gyroscope data ready interrupt, when enabled together with 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.
GYR_HIGH_RATE 3 Masking of gyroscope high rate interrupt, when enabled the interrupt will update the INT_STA
updated.
GYRO_AM 2 Masking of gyroscope any motion interrupt, when enabled the interrupt will update the INT_STA
updated.
MAG_DRDY6 1 Masking of magnetometer data ready interrupt, when enabled together with 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_BSX_DRDY6 0 Masking of Accelerometer or BSX data ready interrupt, when enabled together with 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.

BNO055
Data sheet Page 92
4.4.9 INT_EN 0x10

Reset 0 0 0 0 0 0 0
Content ACC_HIG GYR_DRD GYR_HIG MAG_DRD ACC_BSX
ACC_NM ACC_AM GYRO_AM

ACC_NM 7 Enable and disable of Accelerometer no motion or slow motion interrupt
Write: 1: Enable / 0: Disable interrupt
ACC_AM 6 Enable and disable of Accelerometer any motion interrupt
ACC_HIGH_G 5 Enable and disable of Accelerometer high-g interrupt
GYR_DRDY6 4 Enable and disable of Gyroscope data ready interrupt
GYR_HIGH_RATE 3 Enable and disable of gyroscope high rate interrupt
GYRO_AM 2 Enable and disable of gyroscope any motion interrupt
MAG_DRDY6 1 Enable and disable of magnetometer data ready interrupt
ACC_BSX_DRDY6 0 Enable or disable of Accelerometer or BSX data ready 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)

BNO055
Data sheet Page 94
4.4.14 ACC_NM_THRES 0x15

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 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

0: Slow motion; 1: 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_HY <6:5> High rate hysteresis for X axis = (255 + 256 * HR_X_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_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_HY <6:5> High rate hysteresis for Y axis = (255 + 256 * HR_Y_THRES_HYST) *4 LSB
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 = 62.5°/s in 2000°/s-range
1 LSB = 31.25°/s in 1000°/s-range
1 LSB = 15.625°/s in 500°/s -range
…
4.4.20 GYR_DUR_Y 0x1B

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
4.4.21 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
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 = 62.5°/s in 2000°/s-range
1 LSB = 31.25°/s in 1000°/s-range
1 LSB = 15.625°/s in 500°/s -range
…
4.4.22 GYR_DUR_Z 0x1D

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
4.4.23 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 = 0.5°/s in 1000°/s-range
1 LSB = 0.25°/s in 500°/s -range
…

BNO055
Data sheet Page 98
4.4.24 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
device: I2C which supports the HID-I2C protocol and I2C Standard and Fast modes; and the
UART interface.
The active interface is selected by the state of the protocol select pins (PS1 and PS0), Table
4-4 shows the mapping between the protocol select pins and the selected interface mode.
Table 4-4: protocol select pin mapping
PS1 PS0 Functionality

0 0 Standard/Fast I2C Interface
0 1 HID over I2C
1 0 UART Interface
1 1 Reserved
It is not allowed to keep the protocol select pins floating.
Both digital interfaces share partially the same pins, the pin mapping for each interface is
shown in Table 4-5.
Table 4-5: Mapping of digital interface pins
PIN I2C Interfaces 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
I²C Bus Load
Capacitance (max. CI2C_Load 400 pF
drive capability)

BNO055
Data sheet Page 100
4.6 I2C Protocol

The I²C bus uses SCL (= SCx pin, serial clock) and SDA (= SDx pin, serial data input and
output) signal lines. Both lines are connected to VDDIO externally via pull-up resistors so that
they are pulled high when the bus is free.
The I²C interface of the BNO055 is compatible with the I²C Specification UM10204 Rev. 03 (19
June 2007), available at http://www.nxp.com. The BNO055 supports I²C standard mode and
fast mode, only 7-bit address mode is supported. The BNO055 I²C interface uses clock
stretching.
The default I²C address of the BNO055 device is 0101001b (0x29). The alternative address
0101000b (0x28), in I2C mode the input pin COM3 can be used to select between the primary
and alternative I2C address as shown in Table 4-7.
Table 4-7: I2C address selection
I2C COM3_state I2C address

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

Clock Frequency fSCL 400 kHz
SCL Low Period tLOW 1.3
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 µs
standby mode, low-
power mode 2
Idle time between write
accesses, suspend tIDLE_wacc_su
450 µs
mode, low-power mode m
1

BNO055
Data sheet Page 101
Figure 5: I²C timing diagram shows the definition of the I²C timings given in Table 4-8:
SDA
tBUF
tf
tLOW
SCL
tHIGH
tHDSTA tr tHDDAT
tSUDAT
SDA
tSUSTA
tSUSTO
Figure 5: I²C timing diagram
The I²C protocol works as follows:
START: Data transmission on the bus begins with a high to low transition on the SDA line
while SCL is held high (start condition (S) indicated by I²C bus master). Once the START signal
is transferred by the master, the bus is considered busy.
STOP: Each data transfer should be terminated by a Stop signal (P) generated by master. The
STOP condition is a low to HIGH transition on SDA line while SCL is held high.
ACK: Each byte of data transferred must be acknowledged. It is indicated by an acknowledge
bit sent by the receiver. The transmitter must release the SDA line (no pull down) during the
acknowledge pulse while the receiver must then pull the SDA line low so that it remains stable
low during the high period of the acknowledge clock cycle.
In the following diagrams these abbreviations are used:

S Start
P Stop
ACKS Acknowledge by slave
ACKM Acknowledge by master
NACKM Not acknowledge by master
RW Read / Write
A START immediately followed by a STOP (without SCL toggling from ´VDDIO´ to ´GND´) is
not supported. If such a combination occurs, the STOP is not recognized by the device.
I²C write access:

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

BNO055
Data sheet Page 102
sends the one byte register address. The slave again acknowledges the transmission and
waits for the 8 bits of data which shall be written to the specified register address. After the
slave acknowledges the data byte, the master generates a stop signal and terminates the
writing protocol.
Example of an I²C write access to the BNO055 (i2c address in this case: 0101000b = 0x28):
dummy
ACKS
ACKS
ACKS
Stop
Start Slave address RW Register address (0x00 .. 0x7F) Data
S 0 1 0 1 0 0 0 0 A x x x x x x x x A x x x x x x x x A P
Figure 6: I²C write
I²C read access:

I²C read access also can be used to read one or multiple data bytes in one sequence. A read
sequence consists of a one-byte I²C write phase followed by the I²C read phase. The two parts
of the transmission must be separated by a repeated start condition (Sr). The I²C write phase
addresses the slave and sends the register address to be read. After slave acknowledges the
transmission, the master generates again a start condition and sends the slave address
together with a read bit (RW = 1). Then the master releases the bus and waits for the data
bytes to be read out from slave. After each data byte the master has to generate an
acknowledge bit (ACK = 0) to enable further data transfer. A NACKM (ACK = 1) from the
master stops the data being transferred from the slave. The slave releases the bus so that the
master can generate a STOP condition and terminate the transmission.
The register address is automatically incremented and, therefore, more than one byte can be
sequentially read out. Once a new data read transmission starts, the start address will be set
to the register address specified in the latest I²C write command. By default the start address
is set at 0x00. In this way repetitive multi-bytes reads from the same starting address are
possible.
Example of an I²C read access to the BNO055:

dummy
ACKS
ACKS
Start Slave address RW Register address (0x08)
S 0 1 0 1 0 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 1 0 1 0 0 0 1 A x x x x x x x x A x x x x x x x x A …
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: I²C multiple read

BNO055
Data sheet Page 103
4.7 UART Protocol

The BNO055 supports UART interface with the following settings: 115200 bps, 8N1 (8 data
bits, no parity bit, one stop bit). The maximum length support for read and write is 128 Byte.
The packet structure for register read and write are described below.
Register write
Command:
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 ….. Byte (n+4)
Start Byte Write Reg addr Length Data 1 ….. Data n
0xAA 0x00 <..> <..> <..> ….. <..>
Acknowledge Response:
Byte 1 Byte 2
Response Header Status
0xEE 0x01: WRITE_SUCCESS
0x03: WRITE_FAIL
0x04: REGMAP_INVALID_ADDRESS
0x05: REGMAP_WRITE_DISABLED
0x06: WRONG_START_BYTE
0x07: BUS_OVER_RUN_ERROR
0X08: MAX_LENGTH_ERROR
0x09: MIN_LENGTH_ERROR
0x0A: RECEIVE_CHARACTER_TIMEOUT
Register read
Command:
Byte 1 Byte 2 Byte 2 Byte 3
Start Byte Read Reg addr Length
0xAA 0x01 <..> <..>
Read Success Response:

Byte 1 Byte 2 Byte 3 ….. Byte (n+2)
ResponseByte length Data 1 ….. Data n
0xBB <..>
Read Failure or Acknowledge Response:

Byte 1 Byte 2
Response Header Status
0xEE 0x02: READ_FAIL
0x04: REGMAP_INVALID_ADDRESS
0x05: REGMAP_WRITE_DISABLED
0x06: WRONG_START_BYTE
0x07: BUS_OVER_RUN_ERROR
0X08: MAX_LENGTH_ERROR
0x09: MIN_LENGTH_ERROR
0x0A: RECEIVE_CHARACTER_TIMEOUT
Limitation:
 The command is rejected and no acknowledgement is sent when an invalid start byte
is sent. The maximum character timeout is 30ms when receiving successive
characters.

BNO055
Data sheet Page 104
4.8 HID over I2C

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

BNO055
Data sheet Page 105
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 106
Table 5-1: Pin description
Pin # Name I/O Type Description Function

I2C UART HID-I2C
1 PIN1 -- Do not connect DNC
2 GND Ground GND GND
3 VDD Supply VDD VDD
4 nBOOT_LOAD_PIN Digital In Bootloader mode nBOOT_LOAD_PIN
select pin (active
low)
5 PS1 Digital In Protocol select pin 1 GNDIO VDDIO GNDIO
6 PS0 Digital In Protocol select pin 2 GNDIO GNDIO VDDIO
7 SWDIO Digital I/O Debugger interface SWDIO
8 SWCLK Digital In Debugger interface SWCLK
9 CAP -- External capacitor CAP
10 BL_IND Digital Boot loader DNC
Out indicator
11 nRESET -- Reset pin (active nRESET
low)
14 INT Digital Interrupt output Interrupt
Out
17 COM3 Digital In Digital interface pin I2C GNDIO GNDIO
3 address
select
18 COM2 Digital I/O Digital interface pin GNDIO
2
19 COM1 Digital I/O Digital interface pin SCL Rx SCL
1
20 COM0 Digital I/O Digital interface pin SDA Tx SDA
0
25 GNDIO Ground GNDIO GNDIO
26 XOUT32 Digital Optional OSC port OSC Output
Out
27 XIN32 Digital In Optional OSC port OSC Input
28 VDDIO Supply VDDIO VDDIO

BNO055
Data sheet Page 107
5.2 Connection diagram I2C
Figure 9: I2C connection diagram
VDDIO VDD
Optional
OSC input RPULL SDA
Optional
OSC input 120nF
XOUT32
GNDIO
VDDIO
COM0
PIN24
PIN23
PIN22
PIN21
XIN32
PIN1
Pull-up
10kΩ
25
28
27
26
24
23
22
21
20
1
RPULL
GND COM1 SCL
2 19
100nF
VDD
3 BNO 055 18
COM2
nBOOT_LOAD_PIN
Top View I²C_ADDR_SEL
COM3
4 17
(Pads not visible!)
PS1 PIN16
5 16
10
11
12
13
14
15
6
9
(GNDIO)
SWCLK
SWDIO
INT
nRESET
PIN10
PIN13
PS0
PIN12
CAP
PIN15
Optional INT
1uF
10kΩ
BL_IND
nRESET
Optional
Debugger
Connection

BNO055
Data sheet Page 108
5.3 Connection diagram UART
Figure 10: UART connection diagram
VDDIO VDD
Optional
OSC input
Optional
OSC input 120nF
XOUT32
TX
GNDIO
VDDIO
COM0
PIN24
PIN23
PIN22
PIN21
XIN32
PIN1
Pull-up
10kΩ
25
28
27
26
24
23
22
21
20
1
GND COM1 RX
2 19
100nF
VDD
3 BNO 055 18
COM2
nBOOT_LOAD_PIN
Top View
COM3
4 17
(Pads not visible!)
PS1 PIN16
5 16
10
11
12
13
14
15
6
9
(GNDIO)
SWCLK
SWDIO
nRESET
INT
PIN10
PIN13
PS0
PIN12
CAP
PIN15
INT
Optional
1uF
10kΩ
BL_IND
nRESET
Optional
Debugger
Connection

BNO055
Data sheet Page 109
5.4 Connection diagram HID-I2C
Figure 11 : HID via IC connection diagram
VDDIO VDD
Optional
OSC input RPULL SDA
Optional
OSC input 120nF
XOUT32
GNDIO
VDDIO
COM0
PIN24
PIN23
PIN21
PIN22
XIN32
PIN1
Pull-up
10kΩ
25
28
27
26
24
23
22
21
20
1
RPULL
GND COM1 SCL
2 19
100nF
VDD
3 BNO 055 18
COM2
nBOOT_LOAD_PIN
Top View
COM3
4 17
(Pads not visible!)
PS1 PIN16
5 16
10
11
12
13
14
15
6
9
(GNDIO)
SWCLK
SWDIO
INT
PIN10
PIN13
PS0
PIN12
CAP
nRESET
PIN15
Optional INT
1uF
10kΩ
BL_IND
nRESET
Optional
Debugger
Connection

BNO055
Data sheet Page 110
5.5 XOUT32 & XIN32 Connections

The BNO055 can run from an internal or external 32 KHz clock source. By default, the internal
clock is selected.
An External clock can be selected by setting bit CLK_SEL in the SYS_TRIGGER register. It is
recommended to only trigger the clock selection in config mode. An external 32 KHz crystal
oscillator has to be connected to the pins XIN32 and XOUT32 as shown below.
To get the best performance out of BNO055, it is recommended to use the external crystal.
The typical 32KHz crystal voltage amplitude to be around 500-700mV.
5.5.1 External 32kHz Crystal Oscillator
Figure 12 : External 32kHz Crystal Oscillator with Load Capacitor
Table 5-2: Crystal Oscillator Source Connections
Pin Name Recommended Pin Connection Description

XIN32 Load capacitor 22pF910 Timer oscillator input
XOUT32 Load capacitor 22pF910 Timer oscillator output
When switching to the external clock source, the BNO055 will check for integrity of the crystal’s
signal. In case of improper signal (e.g. crystal damaged, broken/missing…), the BNO055 will
automatically switch back to its internal clock source and clear the CLK_SEL bit in
SYS_TRIGGER register.
It takes minimum ~600ms to configure the external crystal and startup the BNO055.
How to detect the external crystal is started and running:

 Poll the bit ST_MAIN_CLK in the register SYS_CLK_STATUS till it becomes cleared.
9
These values are given only as typical example.
10
Decoupling capacitor should be placed close to the device for each supply pin pair in the signal group.
BNO055
Data sheet Page 111
 Then read the bit CLK_SEL in the register SYS_TRIGGER which will be set if
external crystal is configured successfully otherwise the internal crystal is configured
and CLK_SEL bit is cleared due to some error with external crystal.
5.5.2 Internal clock mode
The internal clock can be selected by clearing bit CLK_SEL in the SYSTEM_TRIGGER
register. When an internal clock is used, both pins XIN32 and XOUT32 can be left open. The
internal clock of the BNO055 can have clock deviation up to +3%

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.
The chapter 3.4 provides information regarding the sensor axis orientation.
Figure 13: Outline dimensions

BNO055
Data sheet Page 113
6.2 Marking
Table 6-1: Marking of mass production parts
Labeling Name Symbol Remark

Pin 1 identifier ---
•
 701 Product number 701 3 numeric digits, internal
TTTT identification for product type
Second Row T Internal use
CCC
Third Row C Numerical counter
6.3 Soldering Guidelines

The moisture sensitivity level of the BNO055 sensors corresponds to JEDEC Level 1, see also
- IPC/JEDEC J-STD-020E "Joint Industry Standard: Moisture/Reflow Sensitivity

Classification for non-hermetic Solid State Surface Mount Devices"
- IPC/JEDEC J-STD-033D "Joint Industry Standard: Handling, Packing, Shipping and Use
of Moisture/Reflow Sensitive Surface Mount Devices"
The sensor fulfils the lead-free soldering requirements of the above-mentioned IPC/JEDEC
standard, i.e. reflow soldering with a peak temperature up to 260°C.
6.4 Handling instructions

Micromechanical sensors are designed to sense acceleration with high accuracy even at low
amplitudes and contain highly sensitive structures inside the sensor element. The MEMS
sensor can tolerate mechanical shocks up to several thousand g's. However, these limits might
be exceeded in conditions with extreme shock loads such as e.g. hammer blow on or next to
the sensor, dropping of the sensor onto hard surfaces etc.
We recommend avoiding g-forces beyond the specified limits during transport, handling and
mounting of the sensors in a defined and qualified installation process.
This device has built-in protections against high electrostatic discharges or electric fields (e.g.
2kV HBM); however, anti-static precautions should be taken as for any other CMOS
component. Unless otherwise specified, proper operation can only occur when all terminal
voltages are kept within the supply voltage range. Unused inputs must always be tied to a
defined logic voltage level.
For more details on recommended handling, soldering and mounting please contact your local
Bosch Sensortec sales representative and ask for the “Handling, soldering and mounting
instructions” document.

BNO055
Data sheet Page 114
6.5 Tape and reel specification

The BNO055 is shipped in a standard cardboard box. For details please refer to the ‘Shipment
packaging details’ document.
6.6 Environmental safety

The BNO055 sensor meets the requirements of the EC restriction of hazardous substances
(RoHS, RoHS2 and RoHS3) directive, see also:
Directive 2015/863/EU on the restriction of the use of certain hazardous substances

in electrical and electronic equipment.
6.6.1 Halogen content

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

Within the scope of Bosch Sensortec’s ambition to improve its products and secure the mass
product supply, Bosch Sensortec qualifies additional sources (e.g. 2nd source) for the LGA
package of the BNO055.
While Bosch Sensortec took care that all of the technical packages parameters are described
above are 100% identical for all sources, there can be differences in the chemical content and
the internal structural between the different package sources.
However, as secured by the extensive product qualification process of Bosch Sensortec, this
has no impact to the usage or to the quality of the BNO55 product.

BNO055
Data sheet Page 115
7. Legal disclaimer
7.1 Engineering samples
Engineering Samples are marked with an asterisk (*) 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 safety-critical systems. Safety-critical systems are those for which a malfunction is expected
to lead to bodily harm, death or severe property damage. In addition, they shall not be used
directly or indirectly for military purposes (including but not limited to nuclear, chemical or
biological proliferation of weapons or development of missile technology), nuclear power, deep
sea or space applications (including but not limited to satellite technology).
The resale and/or use of Bosch Sensortec products are at the purchaser’s own risk and his
own responsibility. The examination of fitness for the intended use is the sole responsibility of
the purchaser.
The purchaser shall indemnify Bosch Sensortec from all third party claims arising from any
product use not covered by the parameters of this product data sheet or not approved by Bosch
Sensortec and reimburse Bosch Sensortec for all costs in connection with such claims.
The purchaser accepts the responsibility to monitor the market for the purchased products,
particularly with regard to product safety, and to inform Bosch Sensortec without delay of all
safety-critical 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 116
8. Document history and modifications
Rev. Chapter Description of modification/changes Date

No
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
Rearrangement of subsections in chapter 3 for better
3
readability.
Table 3.1 is updated for better readability and all the
3.3
operation modes are elaborated
3.11 Chapter on calibration included
1.1 2014-11-05
3.7, 3.10 Update
4.2 The default value of the UNIT_SEL register is updated
4.6 I2C communication example figures are updated.
5.1, 5.2, 5.3, Included table 5.1 Pin description.
5.4 Connection diagram updated
5 Updated pin description and connection diagram
6.1 Updated outline dimensions
1.2 Chapter removed and the respective information is 2014-11-30
6.2 updated in the Handling, soldering and mounting
instructions application note.
1.1 Supply current in low power mode is updated
1.2 Table 0-2 is updated for POR time description
3.5 Accelerometer restrictions updated in table 3.8
1.3 New section called ‘Data Register Shadowing’ is 2015-08-19
3.7
included to explain the concept shadowing
The SMNM bit field for Slow motion and no motion
4.4.15
updated in the register description
1.1 Representation of voltage in the table 0-1 is updated
2 The max value for ESD is updated
ACC_Sleep_Config register is updated for
1.4 4.4.6 2016-06-02
Accelerometer Sleep Phase Duration
Table 5-1: Pin description together with all the 3
5.1
connection diagrams are updated.
2 Removed preliminary wording
3.2 Added recommendation to avoid invalid power mode

3.3.3 Added notes on sensor fusion limitations
Clarified sensor config is only available in non-fusion
3.5.1
mode
3.6.1 Minor corrections to units
1.5 2019-07-30
3.6.4.1
3.6.4.3 Changed offset range definition
3.6.4.4
3.6.4.4 Minor corrections
3.6.5.6 Added note on integration
3.8.2.1 Added Data Ready interrupt
3.9.2 Updated Self-test result readout
BNO055
Data sheet Page 117
3.11.4, 4 Added Soft-Iron calibration description

-Updated default values
-Aded Data-Ready interrupt
4.2.1
-Fixed minor mistakes
-update pre-programmed software revision to 3.11
4.3.x Added missing default values
5.5 Added more information on external crystal
7 Legal disclaimer update
- Updated recommendation for pin 15 and 16
5.1
1.6 - Added SWD interface description for debugger 2020-02-19
5.2, 5.3, 5.4
- Updated connection diagrams

BNO055
Data sheet Page 118
Bosch Sensortec GmbH

Gerhard-Kindler-Strasse 9
72770 Reutlingen / Germany
[email protected]
www.bosch-sensortec.com
Modifications reserved | Printed in Germany

Specifications subject to change without notice
Document number: BST-BNO055-DS000-16
Revision_1.6_202002


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Data sheet

BNO055: data sheet

Document revision 1.6

Key features of integrated sensors:

BST-BNO055-DS000-16 | Revision 1.6 | February 2020 Bosch Sensortec

BST-BNO055-DS000-16 | Revision 1.6 | February 2020 Bosch Sensortec

BST-BNO055-DS000-16 | Revision 1.6 | February 2020 Bosch Sensortec

BST-BNO055-DS000-16 | Revision 1.6 | February 2020 Bosch Sensortec

4.1 GENERAL REMARKS ...................................................................................................... 54

4.3.52 GRV_DATA_Z_MSB 0X33.................................................................................................. 72

4.4.2 ACC_CONFIG 0X08 ................................................................................................................ 87

7.2 PRODUCT USE ............................................................................................................ 115

BST-BNO055-DS000-16 | Revision 1.6 | February 2020 Bosch Sensortec

BST-BNO055-DS000-16 | Revision 1.6 | February 2020 Bosch Sensortec

Table 0-1: Electrical parameter specification ........................................................................13

BST-BNO055-DS000-16 | Revision 1.6 | February 2020 Bosch Sensortec

Table 3-12: Soft-Iron Calibration matrix scaling factor ..........................................................52

BST-BNO055-DS000-16 | Revision 1.6 | February 2020 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-DS000-16 | Revision 1.6 | February 2020 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. Fusion Output data rates

Data rate tolerance DRtol ±1 %

OPERATING CONDITIONS ACCELEROMETER

Acceleration Range gFS2g Selectable ±2 g

OUTPUT SIGNAL ACCELEROMETER

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

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

Sensitivity Temperature TCS gFS2g, ±0.03 %/K

Zero-g Offset Supply OffVDD gFS2g, TA=25°C, 1.5 2.5 mg/V

Bandwidth bw8 2nd order filter, bandwidth 8 Hz

BST-BNO055-DS000-16 | Revision 1.6 | February 2020 Bosch Sensortec

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

Output Noise Density nrms gFS2g, TA=25°C 150 190 µg/Hz

MECHANICAL CHARACTERISTICS ACCELEROMETER

Cross Axis Sensitivity CAS relative contribution between 1 2 %

Alignment Error EA relative to package outline 0.5 2 °

OPERATING CONDITIONS GYROSCOPE

Rate Range RFS125 Selectable 125 °/s

RFS500 500 °/s

RFS1000 1,000 °/s

RFS2000 2,000 °/s

OUTPUT SIGNAL GYROSCOPE

Sensitivity SVDD TA=25°C, <0.4 %/V

Nonlinearity NL best fit straight line ±0.05 ±0.2 %FS

Zero-rate Offset Off x y and Nominal VDD supplies -3 ±1 +3 °/s

Zero- Offset Supply Off VDD TA=25°C, 0.1 °/s /V

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

BST-BNO055-DS000-16 | Revision 1.6 | February 2020 Bosch Sensortec

MECHANICAL CHARACTERISTICS GYROSCOPE

OPERATING CONDITIONS MAGNETOMETER

Magnetic field range1 Brg,xy TA=25°C ±1200 ±1300 µT

Brg,z ±2000 ±2500 µT