BNO055

Data sheet BNO055 Intelligent 9-axis absolute orientation sensor Bosch Sensortec • • • • • User Motion Quaternion Linear Acceleration Rotation Gravity Robust Heading BNO055: data sheet Document revision 1.4 Document release date June 2016 Document number BST-BNO055-DS000-14 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  3 sensors in one device  Small package  Power Management   Common voltage supplies Digital interface  Consumer electronics suite Quaternion, Euler angles, Rotation vector, Linear acceleration, Gravity, Heading an advanced triaxial 16bit gyroscope, a versatile, leading edge triaxial 14bit accelerometer and a full performance geomagnetic sensor LGA package 28 pins Footprint 3.8 x 5.2 mm², height 1.13 mm² Intelligent Power Management: normal, low power and suspend mode available VDD voltage range: 2.4V to 3.6V HID-I2C (Windows 8 compatible), I²C, UART VDDIO voltage range: 1.7V to 3.6V MSL1, RoHS compliant, halogen-free Operating temperature: -40°C ... +85°C Key features of integrated sensors: Accelerometer features  Programmable functionality  On-chip interrupt controller BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Acceleration ranges ±2g/±4g/±8g/±16g Low-pass filter bandwidths 1kHz - 3V , IOL =20mA -- 0.1 VDDIO 0.2 VDDIO V Voltage Output High Level (UART, I2C) POR Voltage threshold on VDDIO-IN rising POR Voltage threshold on VDDIO-IN falling Operating Temperature VDDIO_VOH VDDIO > 3V , IOH =10mA 0.8 VDDIO 0.9 VDDIO -- V VDDIO_POT+ VDDIO falls at 1V/ms or slower -- 1.45 -- V -- 0.99 -- V VDDIO_POTTA -- -40 -- +85 °C Total supply current normal mode at TA (9DOF @100Hz output data rate) Total supply current Low power mode at TA IDD + IDDIO VDD = 3V, VDDIO = 2.5V -- -- 12.3 mA IDD_LPM VDD = 3V, VDDIO = 2.5V 0.33 2.72# Total supply current suspend mode at TA IDD_SuM VDD = 3V, VDDIO = 2.5V -- -- mA 0.04* mA # 80% suspend mode and 20% normal mode with 9DOF @100Hz output data rate * using I2C as communication protocol 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. BNO055 Data sheet Page 13 1.2 Electrical and physical characteristics, measurement performance Table 0-2: Electrical characteristics BNO055 OPERATING CONDITIONS BNO055 Parameter Symbol Condition Min Typ Max Unit Start-Up time TSup From Off to configuration mode 400 ms POR time TPOR From Reset to Config mode 650 ms Data Rate DR Data rate tolerance 9DOF @100Hz output data rate (if internal oscillator is used) DRtol Parameter Symbol Condition Acceleration Range gFS2g Selectable via serial digital interface s. Par. Fusion Output data rates ±1 % OPERATING CONDITIONS ACCELEROMETER Min Typ Max Units ±2 g ±4 g gFS8g ±8 g gFS16g ±16 g gFS4g OUTPUT SIGNAL ACCELEROMETER (ACCELEROMETER ONLY MODE) Parameter Symbol Condition Min Typ Sensitivity S All gFSXg Values, TA=25°C 1 Sensitivity tolerance Stol Ta=25°C, gFS2g ±1 Sensitivity Temperature Drift TCS ±0.03 Sensitivity Supply Volt. Drift SVDD gFS2g, Nominal VDD supplies, Temp operating conditions gFS2g, TA=25°C, VDD_min ≤ VDD ≤ VDD_max Zero-g Offset (x,y.z) Offxyz gFS2g, TA=25°C, nominal VDD supplies, over life-time Zero-g Offset Temperature Drift TCO Zero-g Offset Supply Volt. Drift Bandwidth Max Units LSB/mg ±4 % %/K 0.065 0.2 %/V ±80 +150 mg gFS2g, Nominal VDD supplies ±1 +/-3.5 mg/K OffVDD gFS2g, TA=25°C, VDD_min ≤ VDD ≤ VDD_max 1.5 2.5 mg/V bw8 2nd order filter, bandwidth programmable 8 Hz 16 Hz bw31 31 Hz bw63 63 Hz bw125 125 Hz bw250 250 Hz bw500 500 Hz bw1000 1,000 Hz bw16 BST-BNO055-DS000-14 | Revision 1.4 | June 2016 -150 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 14 Nonlinearity NL best fit straight line, gFS2g 0.5 2 %FS Output Noise Density nrms gFS2g, TA=25°C Nominal VDD supplies Normal mode 150 190 µg/Hz MECHANICAL CHARACTERISTICS ACCELEROMETER Symbol Condition Min Typ Max Units Parameter Cross Axis Sensitivity CAS relative contribution between any two of the three axes 1 2 % Alignment Error EA relative to package outline 0.5 2 ° Parameter Symbol Condition Typ Max Unit Rate Range RFS125 Selectable via serial digital interface OPERATING CONDITIONS GYROSCOPE Min 125 °/s 250 °/s RFS500 500 °/s RFS1000 1,000 °/s RFS2000 2,000 °/s RFS250 OUTPUT SIGNAL GYROSCOPE (GYRO ONLY MODE) Sensitivity via register Map Sensitivity tolerance S Ta=25°C Stol Ta=25°C, RFS2000 Sensitivity Change over TCS Nominal VDD supplies -40°C Temperature Sensitivity ±3 LSB/°/s rad/s % ±0.03 ±0.07 %/K ≤ T ≤ +85°C RFS2000 A TA=25°C, SVDD Supply Volt. Drift Nonlinearity -- 16.0 900 ±1