BNO085

CEVA

1.65V~3.6V 12bit、16bit IMU (accelerometer + gyroscope) SPI、I2C、UART X,Y,Z X,Y,Z ±2000dps ±8g LGA-28(3.8x5.2) Accelerometers ROHS

Extended

Datasheetceva/BNO085

Category: Accelerometers
Package: LGA-28(3.8x5.2)
Pins: 28

Overview

The BNO085 is an accelerometer made by CEVA in a LGA-28(3.8x5.2) package with 28 pins. 1.65V~3.6V 12bit、16bit IMU (accelerometer + gyroscope) SPI、I2C、UART X,Y,Z X,Y,Z ±2000dps ±8g LGA-28(3.8x5.2) Accelerometers ROHS.

PCBKit's library has its KiCad symbol (BNO085:BNO085, from Antmicro) and its footprint (Package_LGA:LGA-28_5.2x3.8mm_P0.5mm, from KiCad's library), ready for a KiCad board. 23 are in stock at JLCPCB (part C5189642). 89 open-source boards in 74 repositories on GitHub use it.

Symbol

BNO085:BNO085From Antmicro

Footprint

Package_LGA:LGA-28_5.2x3.8mm_P0.5mmFrom KiCad's library

From the datasheet

Supply, least: 2.4 V · VDD, recommended operating min · p. 45
Supply, most: 3.6 V · VDD, recommended operating max · p. 45
Supply, least: 1.7 V · VDDIO, recommended operating min · p. 45
Supply, absolute maximum: 4.25 V · VDD, absolute max · p. 45
Supply, absolute maximum: 3.63 V · VDDIO, absolute max · p. 45
Works from: -40 °C · Operating temperature min · p. 45
Works up to: 85 °C · Operating temperature max · p. 45
Takes working: 11 mA · sum of VDDIO and VDD typical, 6 and 9-axis sensor fusion at 100 Hz, SPI, VDDIO = 3 V, VDD = 3.3 V · p. 51
Takes at most: 14.64 mA · sum of VDDIO and VDD typical, gyro rotation vector at 1000 Hz, highest listed consumption · p. 51
Takes asleep: 130 µA · sum of VDDIO and VDD typical idle current · p. 51
Data rate, most: 3 Mbit/s · UART-SHTP interface max · p. 15

What it is and has

Core: 32-bit ARM Cortex-M0+ microcontroller · p. 7
Accelerometer: Triaxial, 12-bit, ±8g · p. 7
Gyroscope: Triaxial, 16-bit, ±2000 degrees per second · p. 7
Magnetometer: Triaxial geomagnetic sensor · p. 7
Host interfaces: SPI, I2C and UART · p. 7
Classification: Stability detector, tap detector and step counter · p. 2
Firmware upgrade: Device firmware upgrade (DFU) · p. 2
Package: 28 pin LGA, 3.8mm x 5.2mm x 1.1mm · p. 1
Accelerometer: Triaxial · p. 1
Sensors and processor: Triaxial gyroscope, magnetometer, 32-bit ARM Cortex-M0+ running CEVA SH-2 firmware · p. 1

Around it

cap 100nF: between CAP and GND; External capacitor. · p. 10
crystal 32.768 kHz: between XOUT32/CLKSEL1 and XIN32; Optional external crystal; recommended tolerance 50ppm with 12.5pF capacitor loading. · p. 10

Specifications

136

Parameter	Conditions	As printed	Page
Voltage at supply pin VDDIO		min -0.3 · max 3.63 V	45
Voltage at supply pin VDD		min -0.3 · max 4.25 V	45
Storage temperature Trps	≤ 65% rel. H	min -50 · max 150 °C	45
Mechanical shock MechShock200us	Duration ≤ 200us	max 10000 g	45
Mechanical shock MechShock1ms	Duration ≤ 1.0ms	max 2000 g	45
Mechanical shock MechShockfreefall	Free fall onto hard surfaces	max 1.8 m	45
ESD ESDHBM	HBM at any pin	max 2 kV	45
ESD ESDCDM	CDM	max 500 V	45
ESD ESDMM	MM	max 200 V	45
Supply voltage (uC and I/O Domain) VDDIO		min 1.7 · max 3.6 V	45
Supply voltage (only sensors) VDD		min 2.4 · max 3.6 V	45
Operating temperature		min -40 · max 85 °C	45
POR Voltage threshold on VDDIO-IN rising VDDIO_POT+	VDDIO falls at 1V/ms or slower	typ 1.45 V	46
POR Voltage threshold on VDDIO-IN falling VDDIO_POT-	VDDIO falls at 1V/ms or slower	typ 0.99 V	46
SCL clock frequency		max 400 kHz	46
SCL high period thigh		min 0.6 us	46
SCL low period tlow		min 1.3 us	46
SDA setup time tsu		min 0.1 us	46
SDA hold time th		min 0 us	46
Hold time for start condition thst		min 0.6 us	46
Setup time for a stop condition tsusp		min 0.6 us	46
Idle time between accesses tbf		min 1.3 us	46
SPI (CLK) clock frequency		max 3 MHz	47
SPI clock period tck		min 0.33 us	47
CS setup to CLK tcssu		min 0.1 us	47
CS hold tcssh		min 16.83 Ns	47
CS to MISO out tcsso		max 31 ns	47
CLK to MISO out valid tsov		max 35 ns	47
MISO hold tsoh		min 13.7 ns	47
MISO hold after CS tcssoh		min 7.4 ns	47
MOSI setup time tsisu		min 25 ns	47
MOSI hold time tsih		min 5.4 ns	47
Reset signal tnrst	I2C and SPI modes	min 10 ns	47
Internal Initialization t1	I2C and SPI modes	min 90 ms	47
Internal configuration t2	I2C and SPI modes	typ 4 ms	47
I2C address recognize to H_INTN dessert tclid		typ 10 us	48
BNO08X wakeup from wake signal assert twk		typ 150 us	48
H_CSN to H_INTN de-assert tcsid		typ 800 ns	48
H_INTN assert to UART transmission tiatx		typ 7.7 us	48
H_INTN deassertion to H_INTN reassert tidia		min 1 us	48
Rotation Error	Rotation Vector; Nominal calibration; Dynamic; external clock or crystal; simulation	typ 3.5 °	49
Rotation Error	Rotation Vector; Nominal calibration; Static; external clock or crystal; simulation	typ 2 °	49
Non-heading Error	Gaming Rotation Vector; Nominal calibration; Dynamic; external clock or crystal; simulation	typ 2.5 °	49
Non-heading Error	Gaming Rotation Vector; Nominal calibration; Static; external clock or crystal; simulation	typ 1.5 °	49
Heading Drift	Gaming Rotation Vector; Nominal calibration; Dynamic; external clock or crystal; simulation	typ 0.5 °/min	49
Rotation Error	Geomagnetic Rotation Vector; Nominal calibration; Dynamic; external clock or crystal; simulation	typ 4.5 °	49
Rotation Error	Geomagnetic Rotation Vector; Nominal calibration; Static; external clock or crystal; simulation	typ 3 °	49
Angle Error	Gravity; Nominal calibration; Static; external clock or crystal; simulation	typ 1.5 °	49
Accuracy	Linear Acceleration; Nominal calibration; Dynamic; external clock or crystal; simulation	typ 0.35 m/s2	49
Accuracy	Accelerometer; Nominal calibration; Dynamic; external clock or crystal; simulation	typ 0.3 m/s2	49
Accuracy	Gyroscope; Nominal calibration; Dynamic; external clock or crystal; simulation	typ 3.1 °/s	49
Accuracy	Magnetometer; Either calibration; Dynamic; external clock or crystal; simulation	typ 1.4 uT	49
Gyro rotation vector	100Hz	typ 6.6 ms	50
Gyro rotation vector	200Hz	typ 3.7 ms	50
Rotation vector	100Hz	typ 6.6 ms	50
Rotation vector	200Hz	typ 3.7 ms	50
Game rotation vector	100Hz	typ 6.6 ms	50
Game rotation vector	200Hz	typ 3.7 ms	50
Gyro rotation Vector	Individual sensor maximum	max 1000 Hz	50
Rotation Vector	Individual sensor maximum	max 400 Hz	50
Gaming Rotation Vector	Individual sensor maximum	max 400 Hz	50
Geomagnetic Rotation Vector	Individual sensor maximum	max 90 Hz	50
Gravity	Individual sensor maximum	max 400 Hz	50
Linear Acceleration	Individual sensor maximum	max 400 Hz	50
Accelerometer	Individual sensor maximum	max 500 Hz	50
Gyroscope	Individual sensor maximum	max 400 Hz	50
Magnetometer	Individual sensor maximum	max 100 Hz	50
Idle Power — VDDIO Rail current	BNO085; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.12 mA	51
Idle Power — VDD Rail current	BNO085; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.01 mA	51
Idle Power — Power	BNO085; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.39 mW	51
Gyro rotation Vector — VDDIO Rail current	BNO085; 1000 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.14 mA	51
Gyro rotation Vector — VDD Rail current	BNO085; 1000 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.5 mA	51
Gyro rotation Vector — Power	BNO085; 1000 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 46.17 mW	51
Gyro rotation Vector — VDDIO Rail current	BNO085; 400 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.1 mA	51
Gyro rotation Vector — VDD Rail current	BNO085; 400 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.5 mA	51
Gyro rotation Vector — Power	BNO085; 400 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 46.05 mW	51
6 and 9-Axis Sensor Fusion (Rotation Vector, Linear Acceleration, Gravity, Game Rotation Vector) — VDDIO Rail current	BNO085; 100 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 3.5 mA	51
6 and 9-Axis Sensor Fusion (Rotation Vector, Linear Acceleration, Gravity, Game Rotation Vector) — VDD Rail current	BNO085; 100 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.5 mA	51
6 and 9-Axis Sensor Fusion (Rotation Vector, Linear Acceleration, Gravity, Game Rotation Vector) — Power	BNO085; 100 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 35.25 mW	51
6 and 9-Axis Sensor Fusion (Rotation Vector, Linear Acceleration, Gravity, Game Rotation Vector) — VDDIO Rail current	BNO085; 200 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 5.34 mA	51
6 and 9-Axis Sensor Fusion (Rotation Vector, Linear Acceleration, Gravity, Game Rotation Vector) — VDD Rail current	BNO085; 200 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.5 mA	51
6 and 9-Axis Sensor Fusion (Rotation Vector, Linear Acceleration, Gravity, Game Rotation Vector) — Power	BNO085; 200 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 40.77 mW	51
6 and 9-Axis Sensor Fusion (Rotation Vector, Linear Acceleration, Gravity, Game Rotation Vector) — VDDIO Rail current	BNO085; 400 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 6.9 mA	51
6 and 9-Axis Sensor Fusion (Rotation Vector, Linear Acceleration, Gravity, Game Rotation Vector) — VDD Rail current	BNO085; 400 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.5 mA	51
6 and 9-Axis Sensor Fusion (Rotation Vector, Linear Acceleration, Gravity, Game Rotation Vector) — Power	BNO085; 400 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 45.45 mW	51
Calibrated Gyroscope — VDDIO Rail current	BNO085; 100 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 3.22 mA	51
Calibrated Gyroscope — VDD Rail current	BNO085; 100 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.5 mA	51
Calibrated Gyroscope — Power	BNO085; 100 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 34.41 mW	51
Calibrated Gyroscope — VDDIO Rail current	BNO085; 200 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 4.83 mA	51
Calibrated Gyroscope — VDD Rail current	BNO085; 200 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.5 mA	51
Calibrated Gyroscope — Power	BNO085; 200 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 39.24 mW	51
Calibrated Gyroscope — VDDIO Rail current	BNO085; 400 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 6.56 mA	51
Calibrated Gyroscope — VDD Rail current	BNO085; 400 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.5 mA	51
Calibrated Gyroscope — Power	BNO085; 400 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 44.43 mW	51
Geomagnetic Rotation Vector — VDDIO Rail current	BNO085; 100 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 2.51 mA	51
Geomagnetic Rotation Vector — VDD Rail current	BNO085; 100 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 4.7 mA	51
Geomagnetic Rotation Vector — Power	BNO085; 100 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 23.04 mW	51
Calibrated Accelerometer — VDDIO Rail current	BNO085; 125 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 1.23 mA	51
Calibrated Accelerometer — VDD Rail current	BNO085; 125 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.15 mA	51
Calibrated Accelerometer — Power	BNO085; 125 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 4.19 mW	51
Calibrated Accelerometer — VDDIO Rail current	BNO085; 250 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 2.42 mA	51
Calibrated Accelerometer — VDD Rail current	BNO085; 250 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.15 mA	51
Calibrated Accelerometer — Power	BNO085; 250 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.76 mW	51
Calibrated Accelerometer — VDDIO Rail current	BNO085; 500 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 4.81 mA	51
Calibrated Accelerometer — VDD Rail current	BNO085; 500 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.15 mA	51
Calibrated Accelerometer — Power	BNO085; 500 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 14.93 mW	51
Significant Motion Detector — VDDIO Rail current	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.4 mA	51
Significant Motion Detector — VDD Rail current	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.14 mA	51
Significant Motion Detector — Power	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 1.66 mW	51
Step counter/detector — VDDIO Rail current	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.42 mA	51
Step counter/detector — VDD Rail current	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.14 mA	51
Step counter/detector — Power	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 1.72 mW	51
Tap detector — VDDIO Rail current	BNO085; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.13 mA	51
Tap detector — VDD Rail current	BNO085; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.15 mA	51
Tap detector — Power	BNO085; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.89 mW	51
Shake gesture — VDDIO Rail current	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.32 mA	51
Shake gesture — VDD Rail current	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.14 mA	51
Shake gesture — Power	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 1.42 mW	51
Stability Classifier — VDDIO Rail current	BNO085; sensor rate 100/62.5 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 2.85 mA	51
Stability Classifier — VDD Rail current	BNO085; sensor rate 100/62.5 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 7.5 mA	51
Stability Classifier — Power	BNO085; sensor rate 100/62.5 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 33.3 mW	51
Stability detector — VDDIO Rail current	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.12 mA	51
Stability detector — VDD Rail current	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.01 mA	51
Stability detector — Power	BNO085; 31.25 Hz; SPI; VDDIO = 3V, VDD = 3.3V	typ 0.39 mW	51
Rotation Error	Rotation Vector; Nominal calibration; Dynamic; external clock or crystal	typ 3.5 °	49
Rotation Error	Rotation Vector; Nominal calibration; Static; external clock or crystal	typ 2 °	49
Non-heading Error	Gaming Rotation Vector; Nominal calibration; Dynamic; external clock or crystal	typ 2.5 °	49
Non-heading Error	Gaming Rotation Vector; Nominal calibration; Static; external clock or crystal	typ 1.5 °	49
Heading Drift	Gaming Rotation Vector; Nominal calibration; Dynamic; external clock or crystal	typ 0.5 °/min	49
Rotation Error	Geomagnetic Rotation Vector; Nominal calibration; Dynamic; external clock or crystal	typ 4.5 °	49
Rotation Error	Geomagnetic Rotation Vector; Nominal calibration; Static; external clock or crystal	typ 3 °	49
Angle Error	Gravity; Nominal calibration; Static; external clock or crystal	typ 1.5 °	49
Accuracy	Linear Acceleration; Nominal calibration; Dynamic; external clock or crystal	typ 0.35 m/s2	49
Accuracy	Accelerometer; Nominal calibration; Dynamic; external clock or crystal	typ 0.3 m/s2	49
Accuracy	Gyroscope; Nominal calibration; Dynamic; external clock or crystal	typ 3.1 °/s	49
Accuracy	Magnetometer; Either calibration; Dynamic; external clock or crystal	typ 1.4 uT	49

Pins, by the datasheet

1 RESV_NC: Reserved. No connect. · p. 10
2 GND: Ground. · p. 10
3 VDD: Supply voltage for sensors, 2.4V to 3.6V. · p. 10
4 BOOTN: Bootloader mode select. · p. 10
5 PS1: Protocol Select pin 1. · p. 10
6 PS0/WAKE: Protocol Select pin 0; also used to wake processor in SPI mode. · p. 10
7 RESV_NC: Reserved. No connect. · p. 10
8 RESV_NC: Reserved. No connect. · p. 10
9 CAP: External capacitor, 100nF to GND. · p. 10
10 CLKSEL0: Clock source selection with internal pulldown. · p. 10
11 NRST: Active low reset. · p. 10
12 RESV_NC: Reserved. No connect. · p. 10
13 RESV_NC: Reserved. No connect. · p. 10
14 H_INTN: Interrupt to host device. · p. 10
15 ENV_SCL: Environmental sensor I2C clock. · p. 10
16 ENV_SDA: Environmental sensor I2C data. · p. 10
17 SA0/H_MOSI: Lower address bit of device address; data input in SPI mode. · p. 10
18 H_CSN: SPI chip select, active low. · p. 10
19 H_SCL/SCK/RX: Host Interface I2C clock, SPI clock or UART RX. · p. 10
20 H_SDA/H_MISO/TX: Host Interface I2C data, SPI data out or UART TX. · p. 10
21 RESV_NC: Reserved. No connect. · p. 10
22 RESV_NC: Reserved. No connect. · p. 10
23 RESV_NC: Reserved. No connect. · p. 10
24 RESV_NC: Reserved. No connect. · p. 10
25 GND: Ground. · p. 10
26 XOUT32/CLKSEL1: 32K crystal output / clock source selection with internal pulldown. · p. 10
27 XIN32: 32K crystal input / external clock. · p. 10
28 VDDIO: Supply voltage for core and I/O domain; use the recommended operating range on page 45. · p. 10

Parameters

Acceleration Measurement Range (MAX): ±8g
Accelerometer Sensing Axis: X,Y,Z
Current - Supply: 11mA
Current - Supply(Max): 14.64mA
Data Rate: 3Mbps
Gyroscope Measurement Range (MAX): ±2000dps
Gyroscope Sensing Axis: X,Y,Z
Interface: UART
Operating Temperature: -40℃~+85℃
Output Bits: 12bit
Sensor Type: IMU (accelerometer + gyroscope)
Standby Current: 130uA
Voltage - Supply: 1.7V~3.6V
Voltage - Supply(Absolute Max): 4.25V

Order codes

BNO085LCSC C5189642

Pinout

The pins of the BNO085
Pin	Name	Type
1	RESV_NC	Not connected
2	GND	Power in
3	VDD	Power in
4	BOOTN	Input
5	PS1	Input
6	PS0	Input
7	RESV_NC	Not connected
8	RESV_NC	Not connected
9	CAP	Passive
10	CLKSEL0	Passive
11	NRST	Input
12	RESV_NC	Not connected
13	RESV_NC	Not connected
14	H_INTN	Output
15	ENV_SCL	Passive
16	ENV_SDA	Passive
17	SA0	Input
18	H_CSN	Input
19	H_SCL	Input
20	H_SDA	Input
21	RESV_NC	Not connected
22	RESV_NC	Not connected
23	RESV_NC	Not connected
24	RESV_NC	Not connected
25	GND	Passive
26	XOUT32	Output
27	XIN32	Input
28	VDDIO	Power in

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Questions

Is there a KiCad symbol and footprint for the BNO085?

Yes. The symbol is BNO085:BNO085 and the footprint Package_LGA:LGA-28_5.2x3.8mm_P0.5mm, both drawn on this page. PCBKit places them on a board for you when you design with it.

What package is the BNO085?

LGA-28(3.8x5.2), with 28 pins. Its footprint is drawn on this page.

Where is the BNO085 datasheet?

CEVA publishes it: the Datasheet link on this page opens it.

Where can I order the BNO085?

JLCPCB lists it as part C5189642, with 23 in stock; the sellers' links on this page open their listings.

What can replace the BNO085?

Parts like it in the library: the BNO055 by Bosch Sensortec, the BMF055 by Bosch Sensortec, the LSM303DLH by STMicroelectronics and the BNO080 by CEVA. Check their datasheets: a part that fits the footprint may still differ in its ratings.

Which open-source boards use the BNO085?

89 boards in 74 repositories on GitHub; the most starred are listed on this page, with their KiCad files.