Data Sheet

October 2017 BNO080 Datasheet 1000-3927
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Table of Contents
LIST OF FIGURES .......................................................................................................................... 4
1 FUNCTIONAL OVERVIEW ................................................................................................ 6
1.1 Reference Design Configurations ................................................................................... 7
1.1.1 Standalone Sensor Hub Solution in Mobile Devices ................................................... 7
1.1.2 Virtual Reality Head Tracker ........................................................................................ 7
1.1.4 Robot Vacuum Cleaner ................................................................................................ 8
1.3 BNO080 Connectivity ..................................................................................................... 9
1.3.1 Pin Descriptions ......................................................................................................... 10
1.3.2 I
2
C interface ................................................................................................................ 12
1.3.3 UART-SHTP interface ................................................................................................ 15
1.3.4 SPI Interface .............................................................................................................. 17
1.3.5 UART-RVC interface .................................................................................................. 19
1.4 Host Communication .................................................................................................... 21
1.4.1 SHTP .......................................................................................................................... 21
1.4.2 Report Structure ......................................................................................................... 23
1.4.3 BNO080 Configuration ............................................................................................... 24
1.4.4 Sensor Metadata ........................................................................................................ 25
1.4.5 Sensor Reports .......................................................................................................... 26
1.5 Bootloader .................................................................................................................... 29
2 SENSOR DATA PROCESSING ...................................................................................... 30
2.1 Motion Outputs ............................................................................................................. 30
2.1.1 Acceleration Outputs .................................................................................................. 30
2.1.2 Angular Velocity Outputs............................................................................................ 31
2.1.3 Magnetometer Processing ......................................................................................... 31
2.2 Orientation Outputs ....................................................................................................... 31
2.2.1 Geomagnetic Rotation Vector .................................................................................... 31
2.2.2 Game Rotation Vector................................................................................................ 31
2.2.3 AR/VR Stabilized Game Rotation vector ................................................................... 32
2.2.4 Rotation Vector .......................................................................................................... 32
2.2.5 AR/VR Stabilized Rotation Vector .............................................................................. 32
2.2.6 Gyro rotation Vector ................................................................................................... 32
2.2.7 Gyro rotation Vector Prediction .................................................................................. 32
2.3 Environmental Sensors................................................................................................. 33
2.4 Classification System .................................................................................................... 33
2.4.1 Stability Detection and Classification ......................................................................... 33
2.4.2 Tap Detector .............................................................................................................. 34
2.4.3 Step Detector ............................................................................................................. 34
2.4.4 Step Counter .............................................................................................................. 35
2.4.5 Activity Classification .................................................................................................. 35
2.4.6 Significant Motion Detector ........................................................................................ 36
2.4.7 Shake Detector .......................................................................................................... 36
3 CALIBRATION AND INTERPRETATION ....................................................................... 37
3.1 Calibration Effects ......................................................................................................... 37
3.1.1 Calibration Command ................................................................................................ 38
3.1.2 Accelerometer ............................................................................................................ 38
3.1.3 Gyroscope .................................................................................................................. 38
3.1.4 Magnetometer ............................................................................................................ 38
3.1.5 Calibration Accuracy .................................................................................................. 38