Hi,
Thanks for your inquiry. Please check the app note https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-bno055-an007.pdf for more informaiton.
Please check the BNO055 I2C 7-bit slave address in your code and make sure that the MCU you are using supports I2C clock streching which is mentioned on page 91 of BNO055 datasheet.
Thanks.
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