BNO085 / BNO08x 9-axis orientation sensor with ESP32

Supply 3.3-5 V Bus I2C I2C address 0x4A / 0x4B Measures orientation, acceleration, rotation, magnetic field

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
VIN	Power	3V3	Adafruit-style pin order. Other BNO08x boards differ: check the silkscreen
3VO	Not wired to the ESP32	—	Output of the on-board 3.3 V regulator. Leave unconnected
GND	Ground	GND
SCL	I2C clock (SCL)	D22
SDA	I2C data (SDA)	D21
INT	Interrupt	D35	LOW when the sensor has data. Recommended
RST	Input (the ESP32 drives it)	D25	Reset, active LOW. Recommended
CS	Not wired to the ESP32	—	SPI chip select. Leave unconnected or HIGH for I2C
DI	Not wired to the ESP32	—	SPI data in / address select in I2C mode. Leave unconnected for 0x4A
P0	Not wired to the ESP32	—	Protocol select. Leave LOW for I2C
P1	Not wired to the ESP32	—	Protocol select. Leave LOW for I2C
BT	Not wired to the ESP32	—	Boot pin. Leave unconnected

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

Starter code (Arduino)

#include <Wire.h>

void setup() {
  Serial.begin(115200);
  Wire.begin(21, 22);  // SDA = GPIO 21, SCL = GPIO 22
  Wire.beginTransmission(0x4A);
  bool found = Wire.endTransmission() == 0;
  Serial.println(found ? "BNO085 / BNO08x 9-axis orientation sensor found at 0x4A" : "Not found: check power, GND and SDA/SCL");
}

void loop() {}

Sources

CEVA / Hillcrest BNO08X datasheet, I2C address 0x4A (SA0 LOW) / 0x4B (SA0 HIGH); SHTP protocol, no simple ID register
CEVA / Hillcrest BNO08X datasheet, Host interface select with PS0/PS1

Try it in 3D in BoardPilot

BoardPilot Part data (JSON)

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

BNO085 / BNO08x 9-axis orientation sensor with ESP32

Pins and ESP32 wiring

Starter code (Arduino)

Sources

Try it in 3D in BoardPilot

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