BNO055 data ready interrupt reset motion status

[pansori]

Hi, we have upgraded our BNO055 sensor's firmware to use the data ready interrupt.

Before that, the motion/no-motion interrupt worked as expected: when you move, the motion interrupt fires, when you stop, the no-motion interrupt fires.

However, after enabling data ready interrput, we notice that whenever there is new data coming (like acc, gyro data etc), the motion interrupt bit is immediately reset.

for example, when motion set the motion bit to 1 at moment A, when the next sensor data comes at moment B(only ~10 ms after A) , the motion bit is 0 again, even when the sensor is still in motion.

Is this the expected behavior of data ready interrupt?

[BSTRobin]

Hi pansori,

Thank for your inquiry.
Mentioned in BNO055 data sheet, both data read interrupt and motion interrupt are supported.
According to your feedback, is the motion status bit cleared or the motion enable bit cleared after the data read interrupt occurs?

[BSTRobin]

Hi pansori,

If you mean motion status bit was cleared after data ready interrupt occurred, you need to check whether the corresponding bit is triggered by the corresponding interrupt after reading the status register, because reading the interrupt status once will clear all bits.