diff --git a/Documentation/devicetree/bindings/iio/imu/bosch,bno055.yaml b/Documentation/devicetree/bindings/iio/imu/bosch,bno055.yaml
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+# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: http://devicetree.org/schemas/iio/imu/bosch,bno055.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title: Bosch BNO055
+
+maintainers:
+  - Andrea Merello <andrea.merello@iit.it>
+
+description: |
+  Inertial Measurement Unit with Accelerometer, Gyroscope, Magnetometer and
+  internal MCU for sensor fusion
+  https://www.bosch-sensortec.com/products/smart-sensors/bno055/
+
+properties:
+  compatible:
+    enum:
+      - bosch,bno055
+
+  reg:
+    maxItems: 1
+
+  reset-gpios:
+    maxItems: 1
+
+  clocks:
+    maxItems: 1
+
+required:
+  - compatible
+
+additionalProperties: false
+
+examples:
+  - |
+    #include <dt-bindings/gpio/gpio.h>
+    serial {
+      imu {
+        compatible = "bosch,bno055";
+        reset-gpios = <&gpio0 54 GPIO_ACTIVE_LOW>;
+        clocks = <&imu_clk>;
+      };
+    };
+
+  - |
+    #include <dt-bindings/gpio/gpio.h>
+    i2c {
+      #address-cells = <1>;
+      #size-cells = <0>;
+
+      imu@28 {
+        compatible = "bosch,bno055";
+        reg = <0x28>;
+        reset-gpios = <&gpio0 54 GPIO_ACTIVE_LOW>;
+        clocks = <&imu_clk>;
+      };
+    };