BNO055 absolute orientation sensor with ESP32

Supply 3.3-5 V Bus I2C I2C address 0x28 / 0x29 Measures orientation, acceleration, rotation, magnetic field

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
VIN	Power	3V3
3VO	Not wired to the ESP32	—	Output of the on-board regulator. Leave unconnected
GND	Ground	GND
SDA	I2C data (SDA)	D21
SCL	I2C clock (SCL)	D22
RST	Input (the ESP32 drives it)	D25	Reset, active LOW. Optional
INT	Interrupt	D35
ADR	Not wired to the ESP32	—	Address select: LOW = 0x28, HIGH = 0x29
PS0	Not wired to the ESP32	—	Protocol select. Leave LOW for I2C
PS1	Not wired to the ESP32	—	Protocol select. Leave LOW for I2C

Suggested wiring for the 30-pin ESP32 DevKit, avoiding flash, input-only and strapping pins. BoardPilot checks it for you as you wire.

Check it is the real chip

Read register 0x00: a genuine part answers 0xA0. BoardPilot does this automatically in “Debug a problem”.

Starter code (Arduino)

#include <Wire.h>

void setup() {
  Serial.begin(115200);
  Wire.begin(21, 22);  // SDA = GPIO 21, SCL = GPIO 22
  Wire.beginTransmission(0x28);
  bool found = Wire.endTransmission() == 0;
  Serial.println(found ? "BNO055 absolute orientation sensor found at 0x28" : "Not found: check power, GND and SDA/SCL");
}

void loop() {}

Sources

Bosch BNO055 datasheet, Register 0x00 CHIP_ID (reads 0xA0)
Bosch BNO055 datasheet, I2C address 0x28 (COM3 LOW) / 0x29 (COM3 HIGH)

Try it in 3D in BoardPilot

BoardPilot Part data (JSON)

Part data: CC BY 4.0, free to reuse with credit to BoardPilot.