BNO080 Data Sheet The BNO080 is a System in Package (SiP) that integrates a triaxial accelerometer, triaxial gyroscope, magnetometer and a 32-bit ARM Cortex-M0+ microcontroller running Hillcrests SH-2 firmware. The SH-2 includes the MotionEngine software, which provides sophisticated signal processing algorithms to process sensor data and provide precise real-time 3D orientation, heading, calibrated acceleration and calibrated angular velocity, as well as more advanced contextual outputs. The BNO080 is integrated into a single 28 pin LGA 3.8mm x 5.2mm x 1.1mm package. It is compatible with Android and provides a turn-key sensor hub solution, eliminating the complexity and investment associated with a discrete design. Turn-key Sensor Hub Solution BNO080 SH-2 MotionEngine Host Interface Block Accelerometer Power Management Gyroscope Always-on Sensor Host Device Calibration Features Batching I/F Drivers Magnetometer SPI Sensor Report I2C Fusion Management Activity Sensor Classification Configuration & Rate Management Android compliant 4.4 KitKat and above Variety of 3D orientation outputs (including linear acceleration, rotation vectors, gravity) Includes always-on and classification features (step counter, stability and tap detectors, and a variety of gestures) Dynamically calibrates sensor data for temperature and aging Low latency, 1kHz gyro rotation vector for AR/VR Sensor Hub Features applications Always-on and Classification Features Three sensors and microcontroller in a single device Built-in stability detector, tap detector, and step counter Supports new sensors and features in Android 4.4 Applications KitKat Wearables such as head trackers for AR/VR Includes power management to optimize power applications, smartwatches, fitness bands, audio Support for device firmware upgrade (DFU) headsets Extensive Data Modes Smartphones Linear acceleration Tablets Angular velocity Ultrabooks Angular position (quaternion) Robotics Data returned at configurable sample rates Timestamps attached to sensor reports AR/VR stabilization applied to rotation vectors provides visually improved angular position output October 2017 BNO080 Datasheet Revision 1.3 1 / 57 Copyright 2017, Hillcrest Laboratories, Inc. All rights reserved www.hillcrestlabs.com October 2017 BNO080 Datasheet 1000-3927 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 2 1.3.2 I 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 www.hillcrestlabs.com 2017 Hillcrest Laboratories, Inc. 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