Data Sheet

October 2017 BNO080 Datasheet 1000-3927
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List of Figures
Figure 1-1: BNO080 block diagram ...........................................................................................................................6
Figure 1-2: BNO080 in a mobile device.....................................................................................................................7
Figure 1-3: Virtual reality head tracker ......................................................................................................................7
Figure 1-4: Robot vacuum cleaner ............................................................................................................................8
Figure 1-5: Protocol selection for BNO080 ................................................................................................................9
Figure 1-6: BNO080 pin descriptions ..................................................................................................................... 10
Figure 1-7: 32.768kHz crystal connection .............................................................................................................. 11
Figure 1-8: Clock Source Selection ........................................................................................................................ 11
Figure 1-9: External clock connection .................................................................................................................... 11
Figure 1-10: Internal clock selection ....................................................................................................................... 12
Figure 1-11: BNO080 I
2
C connection diagram ....................................................................................................... 13
Figure 1-12: BNO080 I
2
C address .......................................................................................................................... 14
Figure 1-13: I
2
C START condition .......................................................................................................................... 14
Figure 1-14: I
2
C STOP condition ............................................................................................................................ 14
Figure 1-15: Device addressing .............................................................................................................................. 15
Figure 1-16: I
2
C write cycle ..................................................................................................................................... 15
Figure 1-17: I
2
C read cycle ..................................................................................................................................... 15
Figure 1-18: BNO080 UART-SHTP connection diagram ....................................................................................... 16
Figure 1-19: UART signaling .................................................................................................................................. 17
Figure 1-20: BNO080 SPI connection diagram ...................................................................................................... 18
Figure 1-21: BNO080 SPI signaling ....................................................................................................................... 19
Figure 1-22: SPI Wake operation ........................................................................................................................... 19
Figure 1-23: BNO080 UART-RVC connection diagram ......................................................................................... 20
Figure 1-24: UART signaling .................................................................................................................................. 21
Figure 1-25: BNO080 UART-RVC packet format ................................................................................................... 21
Figure 1-26: SHTP Header ..................................................................................................................................... 22
Figure 1-27: SHTP executable commands and response...................................................................................... 23
Figure 1-28: Product ID request ............................................................................................................................. 23
Figure 1-29: Product ID Response ......................................................................................................................... 24
Figure 1-30: BNO080 Commands .......................................................................................................................... 24
Figure 1-31: FRS records ....................................................................................................................................... 25
Figure 1-32: BNO080 rotation vector metadata ..................................................................................................... 25
Figure 1-33: Set Feature command ........................................................................................................................ 27
Figure 1-34: Calibrated gyroscope input report ...................................................................................................... 28
Figure 1-35: Timebase Reference Report .............................................................................................................. 28
Figure 1-36: Timestamping example ...................................................................................................................... 28
Figure 2-1: Android co-ordinate system ................................................................................................................. 30
Figure 2-2: HMD mounted head motion prediction ................................................................................................ 33
Figure 2-3: Tap detector ......................................................................................................................................... 34
Figure 2-4: Activity classification matrix .................................................................................................................. 35
Figure 2-5: Shake gesture ...................................................................................................................................... 36
Figure 3-1: Accuracy status of sensors ................................................................................................................... 38
Figure 3-2: Calibration procedure for sensors ......................................................................................................... 39
Figure 4-1: BNO080 axis orientation ...................................................................................................................... 40
Figure 4-2: BNO080 mounted in a device .............................................................................................................. 41
Figure 4-3: Multiple 90 degree rotations ................................................................................................................. 41
Figure 5-1: BNO080 set feature report (accelerometer) including SHTP header .................................................. 44
Figure 5-2: Accelerometer & timebase input report including SHTP header ......................................................... 44
Figure 6-1: BNO080 maximum ratings ................................................................................................................... 45
Figure 6-2: BNO080 operating conditions .............................................................................................................. 45
Figure 6-3: BNO080 electrical characteristics ........................................................................................................ 46
Figure 6-4: I
2
C timing parameters .......................................................................................................................... 46
Figure 6-5: I
2
C timing .............................................................................................................................................. 46
Figure 6-6: SPI timing parameters .......................................................................................................................... 47
Figure 6-7: SPI timing ............................................................................................................................................. 47