BNO085.h File Reference

Interfacing the BNO085 IMU. More...

Go to the source code of this file.

Functions
void	BNO085_Reset (uint32_t time)
	Reset the BNO085. More...
void	BNO085_Init (void(*function)(int16_t data[6]))
	Initialize 9-DOF BNO085 IMU. More...

Detailed Description

Interfacing the BNO085 IMU.

The BNO085 is a 9-DOF IMU
The BNO085 could be connected to any UART Rx pin.
The accelerometer could be interfaced to either the sensor or the motor board
Tested here is the BNO085 connected to UART3 PB13 on the robot board
To determine the actual orientation of the module, the rotations should be applied in the order yaw, pitch then roll.
In UART-RVC (remote vacuum cleaner) mode, a 19-byte message is sent every 10us (100Hz). The message contains six 16-bit signed measurements

• Yaw 0.01 deg (-180.00 to +180.00 deg)
  
• Pitch 0.01 deg (-90.00 to +90.00 deg)
  
• Roll 0.01 deg (-180.00 to +180.00 deg)
  
• X-acceleration 0.001g
  
• Y-acceleration 0.001g
  
• Z-acceleration 0.001g
  

  Version

  ECE445M RTOS V1.2

  Author

  Jonathan Valvano

  Copyright

  Copyright 2026 by Jonathan W. Valvano, valva.nosp@m.no@m.nosp@m.ail.u.nosp@m.texa.nosp@m.s.edu,

  Warning

  AS-IS

  Note

  For more information see http://users.ece.utexas.edu/~valvano/

  Date

  May 11, 2026

  Warning

  BNO085 was not tested in the presence of running motors

  BNO085 pins on the MSPM0G3507

  BNO085	MSPM0
  Vcc	3.3V Power
  GND	GND
  SCL	left not connected
  SDA	PB13 RxD: is UART3 Rx (BNO085 to MSPM0) baud=115200 bps
  AD0	left not connected
  CS	left not connected
  INT	left not connected
  RST	PB12 GPIO output (drive low to reset)
  PS1	left not connected (pulled low)
  PS0	3.3V to select UART-RVC mode (there is a solder jumper on back)