Data Sheet

Serial mode
Communication settings
The Serial mode operates over a link with a default baud rate of 9600 bps (no parity, 2 stop bits) and
3.3v-5v signal levels. This is not RS232. Do not connect RS232 to the module, the high RS232
voltages will irreversibly damage the module.
Commands for Serial
Command Name
Bytes
returned
Returned data description
0x11 GET VERSION 1 Software version
0x12 GET BEARING 8 BIT 1 Bearing as a single byte 0-255
0x13 GET BEARING 16 BIT 2 Bearing (16 bit), high byte first 0-3599
0x14 GET PITCH 1 Pitch angle +/- 0-90°
0x15 GET ROLL 1 Roll angle +/- 0-90°
0x19 GET MAG RAW 6
Raw magnetic data, 16 bit signed: X high, X
low, Y high, Y low, Z high, Z low
0x20 GET ACCEL RAW 6
Raw accelerometer data, 16 bit signed: X
high, X low, Y high, Y low, Z high, Z low
0x21 GET GYRO RAW 6
Raw gyro data, 16 bit signed: X high, X low,
Y high, Y low, Z high, Z low
0x22 GET TEMP 2
BNO055 reported temperature as two bytes,
high byte first and scaled in °C
0x23 GET ALL 4
Angle high, angle low (0-3599), pitch (+/- 0-
90), roll (+/- 0-90)
0x24 GET CALIBRATION STATE 1
Bits 0 and 1 reflect the calibration status (0
un-calibrated, 3 fully calibrated)
0x25
GET BOSCH BEARING 16
BIT
2
Bearing (16 bit), high byte first (0-5759),
divide by 16 for degrees
0x26 GET PITCH 180 2
Pitch angle (16 bit) high bytes first +/- 0-
180°
0xF0
STORE CALIBRATION BYTE
1
1 Returns ok (0x55)
0xF5
STORE CALIBRATION BYTE
2
1 Returns ok (0x55)
0xF6
STORE CALIBRATION BYTE
3
1 Returns ok (0x55)
0xE0
DELETE CALIBRATION
BYTE 1
1 Returns ok (0x55)
0xE5
DELETE CALIBRATION
BYTE 2
1 Returns ok (0x55)
0xE2
DELETE CALIBRATION
BYTE 3
1 Returns ok (0x55)
0xA0 BAUD 19200 1 Returns ok (0x55)
0xA1 BAUD 38400 1 Returns ok (0x55)