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7Semi BNO08x Arduino Library

Arduino library for the 7Semi BNO08x IMU sensor (BNO080/BNO085) with I2C, SPI, and UART support. Works over I²C, SPI, and UART, enabling common SH-2 sensor reports and providing cached sensor data for non-blocking reads.
Tiny footprint — suitable for AVR, ESP32, and ESP8266 boards.

✨ Features

✅ Supports I²C, SPI, and UART transports
✅ Supports common SH-2 sensor reports:

  • Accelerometer
  • Gyroscope
  • Magnetometer
  • Linear Acceleration
  • Gravity
  • Rotation Vector
  • Game Rotation Vector
  • Geomagnetic Rotation Vector

✅ Simple API:

  • enableReport(reportId, intervalMs)
  • processData() inside loop()

✅ Non-blocking driver using processData()
✅ Cached getters:

  • getAccelerometer()
  • getGyroscope()
  • getQuaternion()

⚡ Getting Started

🔌 Hardware Connections

✅ I²C

BNO08x Arduino
VIN 3.3V (or 5V if supported)
GND GND
SDA SDA (A4 on UNO)
SCL SCL (A5 on UNO)

📌 Default address is 0x4B (some breakouts use 0x4A).

✅ SPI

BNO08x Arduino
VIN 3.3V
GND GND
SCK SCK (13)
MOSI MOSI (12)
MISO MISO (11)
CS Any digital pin (ex: 10)
INTN Optional (LOW = data ready)
RST Optional

📌 INTN is recommended for efficient SPI polling.
📌 RST is optional but useful for resetting the sensor.

✅ UART (for framed SHTP breakouts)

BNO08x Arduino
VIN 3.3V
GND GND
TX(MISO) RX (Serial1 RX)
RX(SCL) TX (Serial1 TX)
INTN Optional
Interface Mode PS1 PS0 Notes
I²C 0 0 Default mode on most breakouts
Reserved / Undefined 0 1 Not recommended / not used
UART 1 0 Uses TX(MISO)/RX(SCL)
SPI 1 1 Requires CS + SCK + MOSI + MISO

📦 Installation

  1. Download this repository as a ZIP
  2. In Arduino IDE:
    Sketch → Include Library → Add .ZIP Library…
  3. Select the downloaded ZIP file

📁 Library Files

Core driver:

  • 7Semi_BNO08x.h
  • 7Semi_BNO08x.cpp

Transport interface:

  • BnoBus.h