BNO080 9-DOF Orientation Virtual / Augmented Reality IMU

Use this BNO080 Absolute Orientation Sensor to sense orientation and motion for VR, AR, IoT and robotics projects. Produces accurate rotation vector headings, excellently suited for VR and other heading applications with a static rotation error of 2 degrees or less!

Features:

IMU sensor for Virtual Reality and Augmented Reality
Produces accurate rotation vector headings, excellently suited for VR and other heading applications with a static rotation error of 2 degrees or less!
Takes care of all the Sensor Fusion calculations on the chip
Quickly get useful motion sensor information without performing the PhD level calculations yourself!
Operating Voltage: 1.65V to 3.3V
Communication Protocol: I2C / SPI (I2C recommended)
Data Measurements this Sensor Gives:
- Acceleration Vector / Accelerometer: 3 axes of acceleration (gravity + linear motion) in m/s^2
- Angular Velocity Vector / Gyro: 3 axes of 'rotation speed' in rad/s
- Magnetic Field Strength Vector / Magnetometer: 3 axes of magnetic field sensing in micro Tesla (uT)
- Linear Acceleration Vector: 3 axes of linear acceleration data (acceleration minus gravity) in m/s^2
- Gravity Vector: 3 axes of gravitational acceleration (minus any movement) in m/s^2
- Absolute Orientation/ Rotation Vector: 4 point quaternion output
- Application Optimized Rotation Vectors: For AR/VR, low latency, and low power consumption
- Additional Base Sensor Reports: Separate and simultaneous outputs of Calibrated, Uncalibrated + Correction, and Raw ADC outputs for the Accelerometer, Gyro, and Magnetometer
- Detection and Classification reports:
  - Stability Detection and Classification
  - Significant Motion Detector
  - Tap, Step, and Shake Detectors
  - Activity Classification
- Stability Detection and Classification
- Tap Detector
- Step Detector
- Step Counter
- Activity Classification
- Significant Motion Detector
- Shake Detector
Pinout:

VCC_3V3: 1.65V to 3.6V Power
GND: Ground 0V
SCL/SCK/RX: Clock, Receive
SDA/MISO/TX: Data, Master In Slave Out, Transmit
ADDR/MOSI: Address, Master Out Slave In
CS: Chip Select
INT: Interrupt
RST: Reset
PS1: Protocol Selection Pin (use table below to set serial protocol to I2C, UART-RVC, UART or SPI)
PS0: Protocol Selection Pin (use table below to set serial protocol to I2C, UART-RVC, UART or SPI)

PS0	PS1	Interface
0	0	I²C
1	0	UART-RVC
0	1	UART
1	1	SPI

Chipset: BNO080
9 Degrees of Freedom
Compatible with 3.3V Arduino boards, Raspberry Pi and other 1.65V to 3.6V microprocessors.
Also has a simpler UART-RVC mode: simpler mode for collecting heading and acceleration useful for Robot Vacuum Cleaners that don't need all the advanced measurements so you can use simpler software to retrieve just the data you need.
Works with Arduino and Python BNO080 / BNO085 libraries (BNO08x)

Functions you can use to retrieve data:

float getQuatI(); --- Retrieves the i-axis quaternion from the IMU.
float getQuatJ(); --- Retrieves the j-axis quaternion from the IMU.
float getQuatK(); --- Retrieves the k-axis quaternion from the IMU.
float getQuatReal(); --- Retrieves the real component of the quaternion from the IMU.
float getQuatRadianAccuracy(); --- Retrieves the accuracy of the quaternion from the IMU in radians.
uint8_t getQuatAccuracy(); --- Retrieves the accuracy of the quaternion from the IMU.
float getAccelX(); --- Retrieves the x-axis acceleration.
float getAccelY(); --- Retrieves the y-axis acceleration.
float getAccelZ(); --- Retrieves the z-axis acceleration.
uint8_t getAccelAccuracy(); --- Retrieves the accuracy of the accelerometer readings.
float getGyroX(); --- Retrieves the x-axis gyroscope reading.
float getGyroY(); --- Retrieves the y-axis gyroscope reading.
float getGyroZ(); --- Retrieves the z-axis gyroscope reading.
uint8_t getGyroAccuracy(); --- Retrieves the accuracy of the gyroscope reading.
float getMagX(); --- Retrieves the x-axis magnetometer reading.
float getMagY(); --- Retrieves the y-axis magnetometer reading.
float getMagZ(); --- Retrieves the z-axis magnetometer reading.
uint8_t getMagAccuracy(); --- Retrieves the accuracy of the magnetometer reading.

uint16_t getStepCount(); --- Gets the number of steps from the BNO080's onboard pedometer.
uint8_t getStabilityClassifier();--- Retrieves the stability classification, a number between 0 and 6.
- 0 --- Unknown classification
- 1 --- On table
- 2 --- Stationary
- 3 --- Stable
- 4 --- Motion
- 5 --- Reserved
uint8_t getActivityClassifier();--- Retrieves the Activity classification, a number between 0 and 8, based on a comparison of the confidence levels in each activity.
- 0 --- Unknown
- 1 --- In Vehicle
- 2 --- On Bicycle
- 3 --- On Foot
- 4 --- Still
- 5 --- Tilting
- 6 --- Walking
- 7 --- Running
- 8 --- On stairs