The BMX055 (data-sheet) by Bosch SensorTec combines 9-DOF IMU (9 degrees of freedom inertial measurement unit) with a 3-axis acceleration sensor, a 3-axis gyroscope and a 3-axis geomagnetic sensor.
However, it only provides raw data, and does not include any MCU to fusion data and compute angles.
Another sensors on the extensive range of Bosch SensorTec are the BNO055 (data-sheet) and BNO080 (data-sheet), which offer the same 9-DOF IMU but include a built-in MCU for data fusion and angle computation, including Euler angles, quaternion, rotation vector, linear acceleration.
The smartIMU sensor is based on the BNO055.
The smartIMU relies on a limited set of two commands: