Data Sheet
BNO055
Data sheet
Page 31
BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec
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Note: Specifications within this document are subject to change without notice.
3.6.3 Fusion Output data rates
Table 3-14: Fusion output data rates
BNO055 Operating
Mode
Data input rate
Algo
calling
rate
Data output rate
Accel
Mag
Gyro
Accel
Mag
Gyro
Fusion
data
IMU
100Hz
NA
100Hz
100Hz
100Hz
NA
100Hz
100Hz
COMPASS
20Hz
20Hz
NA
20Hz
20Hz
20Hz
NA
20Hz
M4G
50Hz
50Hz
NA
50Hz
50Hz
50Hz
NA
50Hz
NDOF_FMC_OFF
100Hz
20Hz
100Hz
100Hz
100Hz
20Hz
100Hz
100Hz
NDOF
100Hz
20Hz
100Hz
100Hz
100Hz
20Hz
100Hz
100Hz
3.6.4 Sensor calibration data
The following section describes the register holding the calibration data of the sensors (see
chapter 3.11). 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 varies based on the G-range of accelerometer sensor.
Table 3-16: Accelerometer G-range settings
Accelerometer G-range
Maximum Offset range in mg
2G
+/- 2000
4G
+/- 4000
8G
+/- 8000
16G
+/- 16000
Table 3-17: Accelerometer Unit settings
Unit
Representation
m/s
2
1 m/s
2
= 100 LSB
mg
1 mg = 1 LSB