Data Sheet

BNO055
Data sheet
Page 5
BST-BNO055-DS000-14 | Revision 1.4 | June 2016 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.
Contents
BASIC DESCRIPTION ........................................................................................................... 2
SPECIFICATION .................................................................................................................. 12
1.1 ELECTRICAL SPECIFICATION .......................................................................................... 12
1.2 ELECTRICAL AND PHYSICAL CHARACTERISTICS, MEASUREMENT PERFORMANCE ................ 13
2. ABSOLUTE MAXIMUM RATINGS .................................................................................. 17
3. FUNCTIONAL DESCRIPTION ......................................................................................... 18
3.1 ARCHITECTURE ............................................................................................................. 18
3.2 POWER MANAGEMENT ................................................................................................... 18
3.2.1 NORMAL MODE ....................................................................................................................... 19
3.2.2 LOW POWER MODE ................................................................................................................. 19
3.2.3 SUSPEND MODE ..................................................................................................................... 20
3.3 OPERATION MODES ...................................................................................................... 20
3.3.1 CONFIG MODE ........................................................................................................................ 22
3.3.2 NON-FUSION MODES .............................................................................................................. 22
3.3.3 FUSION MODES ....................................................................................................................... 22
3.4 AXIS REMAP.................................................................................................................. 24
3.5 SENSOR CONFIGURATION.............................................................................................. 26
3.5.1 DEFAULT SENSOR CONFIGURATION .......................................................................................... 26
3.5.2 ACCELEROMETER CONFIGURATION .......................................................................................... 27
3.5.3 GYROSCOPE CONFIGURATION .................................................................................................. 28
3.5.4 MAGNETOMETER CONFIGURATION............................................................................................ 29
3.6 OUTPUT DATA ............................................................................................................... 30
3.6.1 UNIT SELECTION...................................................................................................................... 30
3.6.2 DATA OUTPUT FORMAT ............................................................................................................ 30
3.6.3 FUSION OUTPUT DATA RATES .................................................................................................. 31
3.6.4 SENSOR CALIBRATION DATA ..................................................................................................... 31
3.6.5 OUTPUT DATA REGISTERS ....................................................................................................... 33
3.7 DATA REGISTER SHADOWING ......................................................................................... 37
3.8 INTERRUPTS ................................................................................................................. 38
3.8.1 INTERRUPT PIN ....................................................................................................................... 38
3.8.2 INTERRUPT SETTINGS ............................................................................................................. 38
3.9 SELF-TEST ................................................................................................................... 46
3.9.1 POWER ON SELF TEST (POST) ............................................................................................... 46
3.9.2 BUILD IN SELF TEST (BIST) ..................................................................................................... 46
3.10 BOOT LOADER ............................................................................................................ 46
3.11 CALIBRATION .............................................................................................................. 47
3.11.1 ACCELEROMETER CALIBRATION ............................................................................................. 47
3.11.2 GYROSCOPE CALIBRATION .................................................................................................... 47
3.11.3 MAGNETOMETER CALIBRATION .............................................................................................. 47
3.11.4 REUSE OF CALIBRATION PROFILE .......................................................................................... 48