Data Sheet

October 2017 BNO080 Datasheet 1000-3927
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SHTP Channel
Use
Direction
1 (executable)
0 – reserved
1 – reset
2 – on
3 – sleep
4-255 – reserved
Write
0 – reserved
1 – reset complete
2-255 – reserved
Read
Figure 1-27: SHTP executable commands and response
The use of the ‘on’ and ‘sleep’ commands provides support when the host is entering and exiting sleep. When the
‘sleep’ command is issued all sensors that are configured as always on or wake (see 1.4.5.1) will continue to
operate all, other sensors will be disabled. All configured sensors will be enabled when the host issues the ’on’
command.
The sensor hub control channel is used to configure the BNO080. Responses from the BNO080 in reaction to
configuration requests are also sent over this channel.
The input sensor report channel is unidirectional, passing data from the BNO080 to the host. All input reports
pass over this channel except for sensors that are configured as wake sensors and the gyro rotation vector. A
wake sensor is defined in Android as a sensor that will remain awake during periods when a mobile device is
asleep and can wake the processor when a particular event occurs (the event being defined by the sensor).
The wake input sensor report channel is used for sensors that are configured as wake sensors.
The gyro rotation vector is a channel used for the gyro rotation vector. A separate channel is provided to allow
applications on a host processor to prioritize this data over others to ensure low latency.
1.4.2 Report Structure
The BNO080 runs Hillcrest’s SH2 protocol. Full details are available in [1].
All commands, responses, sensor input reports are prefixed with a report number. The report number follows the
SHTP header.
For example, the command to read the Product ID is:
Byte
Description
0
Report ID = 0xF9
1
Reserved
Figure 1-28: Product ID request
The BNO080 will respond to the Product ID request with the following response:
Byte
Description
0
Report ID = 0xF8
1
Reset Cause
2
SW Version Major
3
SW Version Minor
4
SW Part Number LSB
5
SW Part Number …
6
SW Part Number …
7
SW Part Number MSB
8
SW Build Number LSB
9
SW Build Number …