Data Sheet

October 2017 BNO080 Datasheet 1000-3927
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Byte
Description
13
0
14
0
15
0
16
0
17
0
18
0
19
0
20
0
Figure 5-1: BNO080 set feature report (accelerometer) including SHTP header
Once set the BNO080 will issue a get feature response report and then provide input reports at the period set in
the get feature response report. Note that the get feature response may provide a different period than was
requested due to the supported rates in the underlying physical sensor. The BNO080 will also respond with a Get
Feature Response if the sensor’s reporting period is changed. The reporting period can change if a sensor is
turned on/off or if as a result of another sensor being enabled or disabled the sensor’s rate must be modified.
The sensor input report will be preceded by a timebase reference packet. A report including SHTP header will
have the format as seen in
Byte
Description
Packet type
0
Length LSB = 19
SHTP header
1
Length MSB = 0
2
Channel = 3
3
Sequence Number
4
Report ID = 0xFB (Timebase Reference)
Timebase reference
5
Base Delta LSB
6
Base Delta
7
Base Delta
8
Base Delta MSB
9
Report ID = 0x01(accelerometer)
Accelerometer input report
10
Sequence number
11
Status
12
Delay
13
Accelerometer Axis X LSB
14
Accelerometer Axis X MSB
15
Accelerometer Axis Y LSB
16
Accelerometer Axis Y MSB
17
Accelerometer Axis Z LSB
18
Accelerometer Axis Z MSB
Figure 5-2: Accelerometer & timebase input report including SHTP header