7Semi BNO055 9-DOF Absolute Orientation Sensor Breakout I2C Qwiic

Smart 9-DOF IMU with integrated accelerometer, gyroscope, and magnetometer.

Smart 9-DOF IMU with integrated accelerometer, gyroscope, and magnetometer.

Explore the Sensor in Interactive 3D

Why Choose the 7Semi BNO055 Breakout?

• Bosch BNO055 intelligent 9-axis absolute orientation sensor
• Integrated 3-axis accelerometer, gyroscope, and magnetometer
• Built-in sensor fusion processor for ready-to-use orientation data
• Outputs Euler angles, quaternions, gravity vector, linear acceleration, and heading
• I2C interface for easy connection with microcontrollers and development boards
• Qwiic-compatible connector for solderless prototyping
• Supports absolute orientation and motion tracking applications
• Configurable accelerometer ranges up to ±16g
• Configurable gyroscope ranges up to ±2000°/s
• Magnetometer support for compass and heading applications
• Compact breakout board with mounting holes
• Suitable for Arduino, ESP32, STM32, Raspberry Pi, and embedded systems

Understanding the BNO055

The 7Semi BNO055 9-DOF Absolute Orientation Sensor Breakout I2C Qwiic is an intelligent motion sensing module based on the Bosch BNO055 sensor. It combines a 3-axis accelerometer, gyroscope, magnetometer, and onboard sensor fusion processor to provide ready-to-use orientation data, including Euler angles, quaternions, gravity vectors, and linear acceleration. Featuring a Qwiic-compatible I²C interface, the module offers easy integration with Arduino, ESP32, STM32, Raspberry Pi, and other microcontrollers. Its built-in sensor fusion significantly reduces development complexity, making it ideal for robotics, motion tracking, navigation, wearables, drones, and industrial automation applications.

Technical Specification

Pinouts

I²C Wiring (Arduino UNO)

• Connect the 7Semi BNO055 9-DOF IMU Breakout to the 7Semi ESP32-S3 EC200U 4G LTE Smart Modem using the I²C interface as shown below.
• BNO055 Pin ESP32-S3 EC200U Pin Function
• 3V3 3V3 Power Supply
• GND GND Ground
• SDA SDA I²C Data Line
• SCL SCL I²C Clock Line
• Connection Description
• The BNO055 communicates with the ESP32-S3 using the I²C protocol, requiring only four connections: power, ground, SDA, and SCL. The sensor is powered directly from the 3.3V output of the ESP32-S3 EC200U board, while the SDA and SCL lines provide bidirectional communication between the microcontroller and the sensor.
• Once connected, the ESP32-S3 can read orientation, acceleration, gyroscope, magnetometer, quaternion, and sensor fusion data from the BNO055 through the I²C interface.

BNO055 Complete Sensor Fusion Demo

• Install the 7Semi_BNO055 library before uploading the sketch. Connect the sensor via I2C and open the Serial Monitor at 115200 baud. For best orientation accuracy, move the sensor through different positions during startup to allow the accelerometer, gyroscope, and magnetometer to calibrate. The example automatically detects the sensor at either I2C address 0x28 or 0x29 and operates in NDOF sensor fusion mode.

/***************************************************************
 * @file    Basic.ino
 * @brief   Comprehensive example for the 7Semi BNO055 IMU sensor
 *          demonstrating orientation, raw data, calibration, and
 *          quaternion features via I2C.
 *
 * Features demonstrated:
 * - Initialization and NDOF mode selection
 * - Reading Euler angles (heading, roll, pitch)
 * - Reading raw accelerometer, gyroscope, magnetometer data
 * - Reading linear acceleration and gravity vector
 * - Reading quaternion data
 * - Reading temperature and calibration status
 *
 * Sensor Configuration:
 * - Operation Mode : NDOF (Fusion mode)
 * - I2C Address     : Auto-detect (0x28 or 0x29)
 * - External Crystal: Enabled
 *
 * Connections:
 * - VIN  -> 3.3V / 5V
 * - GND  -> GND
 * - SDA  -> A4 (Uno) or custom SDA pin
 * - SCL  -> A5 (Uno) or custom SCL pin
 * - ADR  -> GND (for 0x28) or VCC (for 0x29)
 *
 * Library     : 7Semi_BNO055
 * Author      : 7Semi
 * Version     : 1.0
 * Date        : 19 September 2025
 * License     : MIT
 ***************************************************************/

#include <Wire.h>
#include <7Semi_BNO055.h>

BNO055_7Semi imu;  

void printCalib() {
  uint8_t sys, gyr, acc, mag;
  imu.calibBreakdown(sys, gyr, acc, mag);
  Serial.print(F("Calib SYS:"));
  Serial.print(sys);
  Serial.print(F(" G:"));
  Serial.print(gyr);
  Serial.print(F(" A:"));
  Serial.print(acc);
  Serial.print(F(" M:"));
  Serial.println(mag);
}

void setup() {
  Serial.begin(115200);
  delay(500);
  Serial.println(F("\nBNO055 demo"));

  // Initialize (Wire, address, use external crystal)
  if (!imu.begin()) {
    Serial.println(F("ERROR: BNO055 not found"));
    while (1) { delay(1000); }
  }

  imu.setMode(Mode::NDOF);

  // Optional: wait for calibration
  Serial.print(F("Calibrating"));
  if (!imu.waitCalibrated(10000, 200)) {
    Serial.println(F(" - timeout"));
  } else {
    Serial.println(F(" - done"));
  }
  printCalib();

  Serial.println(F("Ready!\n"));
}

void loop() {
  // // Orientation (degrees or radians depending on UNIT_SEL; defaults to degrees)
  float heading, roll, pitch;
  if (imu.readEuler(heading, roll, pitch)) {
    Serial.print(F("Euler H/R/P: "));
    Serial.print(heading, 1);
    Serial.print('\t');
    Serial.print(roll, 1);
    Serial.print('\t');
    Serial.println(pitch, 1);
  }

  // Raw sensor data
  int16_t ax, ay, az, gx, gy, gz, mx, my, mz;
  if (imu.readAccel(ax, ay, az)) {
    Serial.print(F("Accel raw: "));
    Serial.print(ax);
    Serial.print(", ");
    Serial.print(ay);
    Serial.print(", ");
    Serial.println(az);
  }
  if (imu.readGyro(gx, gy, gz)) {
    Serial.print(F("Gyro raw : "));
    Serial.print(gx);
    Serial.print(", ");
    Serial.print(gy);
    Serial.print(", ");
    Serial.println(gz);
  }
  if (imu.readMag(mx, my, mz)) {
    Serial.print(F("Mag  raw : "));
    Serial.print(mx);
    Serial.print(", ");
    Serial.print(my);
    Serial.print(", ");
    Serial.println(mz);
  }

  // Optional: linear acceleration / gravity
  int16_t lx, ly, lz, gxv, gyv, gzv;
  if (imu.readLinear(lx, ly, lz)) {
    Serial.print(F("LinAcc raw: "));
    Serial.print(lx);
    Serial.print(", ");
    Serial.print(ly);
    Serial.print(", ");
    Serial.println(lz);
  }
  if (imu.readGravity(gxv, gyv, gzv)) {
    Serial.print(F("Grav  raw: "));
    Serial.print(gxv);
    Serial.print(", ");
    Serial.print(gyv);
    Serial.print(", ");
    Serial.println(gzv);
  }

  // Optional: quaternion
  float qw, qx, qy, qz;
  if (imu.readQuat(qw, qx, qy, qz)) {
    Serial.print(F("Quat WXYZ: "));
    Serial.print(qw, 4);
    Serial.print(", ");
    Serial.print(qx, 4);
    Serial.print(", ");
    Serial.print(qy, 4);
    Serial.print(", ");
    Serial.println(qz, 4);
  }
  int temp = imu.temperatureC();
  Serial.print("Temperature: ");
  Serial.print(temp);
  Serial.println(" °C");
  // Show calibration every ~2s
  static uint32_t tCal = 0;
  if (millis() - tCal > 2000) {
    tCal = millis();
    printCalib();
  }

  Serial.println();
  delay(500);
}

Alert/Note

Dimension of the product

Dimension of the product

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