BMI160

Data sheet BMI160 Small, low power inertial measurement unit Bosch Sensortec BMI160 – Data sheet Document revision 0.8 Document release date February 10 , 2015 Document number BST-BMI160-DS000-07 Technical reference code(s) 0 273 141 187 Notes Data and descriptions in this document are subject to change without notice. th Product photos and pictures are for illustration purposes only and may differ from the real product appearance. BMI160 Data sheet Page 2 BMI160 Small, low Power Inertial Measurement Unit The BMI160 is a highly integrated, low power inertial measurement unit (IMU) that provides precise acceleration and angular rate (gyroscopic) measurement. The BMI160 integrates:  16 bit digital, triaxial accelerometer  16 bit digital, triaxial gyroscope Key features  High performance accelerometer and gyroscope (hardware synchronized)  Very low power consumption: typ. 925 µA (accelerometer and gyroscope in full operation)  Android Lollipop compatible: significant motion and step detector / step counter (5 µA each)  Very small 2.5 x 3.0 mm2 footprint, height 0.83 mm  Built-in power management unit (PMU) for advanced power management  Power saving with fast start-up mode of gyroscope  Wide power supply range: 1.71V … 3.6V  Allocatable FIFO buffer of 1024 bytes (capable of handling external sensor data)  Hardware sensor time-stamps for accurate sensor data fusion  Integrated interrupts for enhanced autonomous motion detection  Flexible digital primary interface to connect to host over I2C or SPI  Extended I2C mode with clock frequencies up to 1 MHz  Additional secondary high speed interface for OIS application  Capable of handling external sensor data (e.g. geomagnetic or barometric pressure sensors by Bosch Sensortec) Typical applications  Augmented Reality  Indoor navigation  3D scanning / indoor mapping  Advanced gesture recognition  Immersive gaming  9-axis motion detection  Air mouse applications and pointers  Pedometer / step counting  Advanced system power management for mobile applications  Optical image stabilization of camera modules  Free-fall detection and warranty logging Target Devices  Smart phones, tablet and transformer PCs  Game controllers, remote controls and pointing devices  Head tracking devices  Wearable devices, e.g. smart watches or augmented reality glasses  Sport and fitness devices  Cameras, camera modules  Toys, e.g. toy helicopters BST-BMI160-DS000-07 | Revision 0.8 | February 2015 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMI160 Data sheet Page 3 General Description The BMI160 is an inertial measurement unit (IMU) consisting of a state-of-the-art 3-axis, low-g accelerometer and a low power 3-axis gyroscope. It has been designed for low power, high precision 6-axis and 9-axis applications in mobile phones, tablets, wearable devices, remote controls, game controllers, head-mounted devices and toys. The BMI160 is available in a compact 14-pin 2.5 × 3.0 × 0.83 mm3 LGA package. When accelerometer and gyroscope are in full operation mode, power consumption is typically 925 µA, enabling always-on applications in battery driven devices. The BMI160 offers a wide VDD voltage range from 1.71V to 3.6V and a VDDIO range from 1.2V to 3.6V, allowing the BMI160 to be powered at 1.8V for both VDD and VDDIO. Due to its built-in hardware synchronization of the inertial sensor data and its ability to synchronize data of external devices such as geomagnetic sensors, BMI160 is ideally suited for augmented reality, gaming and navigation applications, which require highly accurate sensor data fusion. The BMI160 provides high precision sensor data together with the accurate timing of the corresponding data. The timestamps have a resolution of only 39 µs. Further Bosch Sensortec sensors, e.g. geomagnetic (BMM150) can be connected as slave via a secondary I2C interface. In this configuration, the BMI160 controls the data acquisition of the external sensor and the synchronized data of all sensors is stored the register data and can be additionally stored in the built-in FIFO. The integrated 1024 byte FIFO buffer supports low power applications and prevents data loss in non-real-time systems. The intelligent FIFO architecture allows dynamic reallocation of FIFO space for accelerometer, gyroscope and external sensors, respectively. For typical 6-DoF applications, this is sufficient for approx. 0.75 s of data capture. In a typical 9-DoF application – including the geomagnetic sensor – this is sufficient for approx. 0.5 s. Like its predecessors, the BMI160 features an on-chip interrupt engine enabling low-power motion-based gesture recognition and context awareness. Examples of interrupts that can be issued in a power efficient manner are: any- or no-motion detection, tap or double tap sensing, orientation detection, free-fall or shock events. The BMI160 is Android 5.0 (Lollipop) compatible, and in the implementation of the Significant Motion and Step Detector interrupts, each consumes less than 20µA. The smart built-in power management unit (PMU) can be configured, for example, to further lower the power consumption by automatically sending the gyroscope temporarily into fast startup mode and waking it up again by internally using the any-motion interrupt of the accelerometer. By allowing longer sleep times of the host, the PMU contributes to significant further power saving on system level. Besides the flexible primary interface (I2C or SPI) that is used to connect to the host, BMI160 provides an additional secondary interface. This secondary interface can be used in SPI mode for OIS (optical image stabilization) applications in conjunction with camera modules, or in advanced gaming use cases. When connected to a geomagnetic sensor, BMI160 will trigger autonomous read-out of the sensor data from magnetometer without the need for intervention by the host processor. BST-BMI160-DS000-07 | Revision 0.8 | February 2015 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMI160 Data sheet Page 4 Index of Contents 1. SPECIFICATION ........................................................................................................................ 7 1.1 ELECTRICAL SPECIFICATION ................................................................................................ 7 1.2 ELECTRICAL AND PHYSICAL CHARACTERISTICS, MEASUREMENT PERFORMANCE ...................... 8 1.3 ABSOLUTE MAXIMUM RATINGS ........................................................................................... 11 2. FUNCTIONAL DESCRIPTION ................................................................................................. 12 2.1 BLOCK DIAGRAM ............................................................................................................... 12 2.2 POWER MODES ................................................................................................................. 13 2.2.1 SUSPEND MODE (ACCELEROMETER AND GYROSCOPE) ................................................................... 13 2.2.2 FAST START-UP MODE (GYROSCOPE ONLY ) ................................................................................... 13 2.2.3 TRANSITIONS BETWEEN POWER MODES ......................................................................................... 14 2.2.4 LOW POWER MODE (ACCELEROMETER ONLY) ................................................................................. 15 2.2.5 PMU (POWER MANAGEMENT UNIT) .............................................................................................. 16 2.3 SENSOR TIMING AND DATA SYNCHRONIZATION ................................................................... 16 2.3.1 SENSOR TIME .............................................................................................................................. 16 2.3.2 DATA SYNCHRONIZATION .............................................................................................................. 17 2.4 DATA PROCESSING ........................................................................................................... 18 2.4.1 DATA PROCESSING ACCELEROMETER ........................................................................................... 18 2.4.2 DATA PROCESSING GYROSCOPE .................................................................................................. 19 2.5 FIFO................................................................................................................................ 20 2.5.1 FIFO FRAMES ............................................................................................................................. 21 2.5.2 FIFO CONDITIONS AND DETAILS .................................................................................................... 24 2.6 INTERRUPT CONTROLLER .................................................................................................. 25 2.6.1 ANY-MOTION DETECTION (ACCEL) ................................................................................................. 26 2.6.2 SIGNIFICANT MOTION (ACCEL) ...................................................................................................... 27 2.6.3 STEP DETECTOR (ACCEL) ............................................................................................................ 28 2.6.4 TAP SENSING (ACCEL) ................................................................................................................. 28 2.6.5 ORIENTATION RECOGNITION (ACCEL) ............................................................................................ 29 2.6.6 FLAT DETECTION (ACCEL) ............................................................................................................ 35 2.6.7 LOW-G / FREE-FALL DETECTION (ACCEL)....................................................................................... 36 2.6.8 HIGH-G DETECTION (ACCEL) ......................................................................................................... 37 2.6.9 SLOW-MOTION ALERT / NO-MOTION INTERRUPT (ACCEL) .............................................................. 37 2.6.10 DATA READY DETECTION (ACCEL, GYRO AND EXTERNAL SENSORS) ............................................. 40 2.6.11 PMU TRIGGER (GYRO) .............................................................................................................. 40 2.6.12 FIFO INTERRUPTS (ACCEL, GYRO, AND EXTERNAL SENSORS) ...................................................... 40 2.7 STEP COUNTER ................................................................................................................ 41 2.8 DEVICE SELF TEST ............................................................................................................ 41 2.8.1 SELF-TEST ACCELEROMETER ........................................................................................................ 41 2.8.2 SELF-TEST GYROSCOPE ............................................................................................................... 42 2.9 OFFSET COMPENSATION ................................................................................................... 42 2.9.1 FAST OFFSET COMPENSATION....................................................................................................... 42 2.9.2 MANUAL OFFSET COMPENSATION .................................................................................................. 43 2.9.3 INLINE CALIBRATION ..................................................................................................................... 43 BST-BMI160-DS000-07 | Revision 0.8 | February 2015 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMI160 Data sheet Page 5 2.10 NON-VOLATILE MEMORY ................................................................................................. 43 2.11 REGISTER MAP ............................................................................................................... 45 2.11.1 REGISTER (0X00) CHIPID ......................................................................................................... 47 2.11.2 REGISTER (0X02) ERR_REG .................................................................................................... 47 2.11.3 REGISTER (0X03) PMU_STATUS ............................................................................................. 48 2.11.4 REGISTER (0X04-0X17) DATA ................................................................................................... 49 2.11.5 REGISTER (0X18-0X1A) SENSORTIME .................................................................................... 50 2.11.6 REGISTER (0X1B) STATUS ....................................................................................................... 51 2.11.7 REGISTER (0X1C-0X1F) INT_STATUS ..................................................................................... 51 2.11.8 REGISTER (0X20-0X21) TEMPERATURE ................................................................................. 53 2.11.9 REGISTER (0X22-0X23) FIFO_LENGTH ................................................................................... 54 2.11.10 REGISTER (0X24) FIFO_DATA ................................................................................................ 55 2.11.11 REGISTER (0X40) ACC_CONF ................................................................................................ 55 2.11.12 REGISTER (0X41) ACC_RANGE ............................................................................................. 56 2.11.13 REGISTER (0X42) GYR_CONF................................................................................................ 57 2.11.14 REGISTER (0X43) GYR_RANGE ............................................................................................. 58 2.11.15 REGISTER (0X44) MAG_CONF ............................................................................................... 58 2.11.16 REGISTER (0X45) FIFO_DOWNS ........................................................................................... 59 2.11.17 REGISTER (0X46-0X47) FIFO_CONFIG .................................................................................. 60 2.11.18 REGISTER (0X4B-0X4F) MAG_IF ............................................................................................ 61 2.11.19 REGISTER (0X50-0X52) INT_EN.............................................................................................. 62 2.11.20 REGISTER (0X53) INT_OUT_CTRL ......................................................................................... 63 2.11.21 REGISTER (0X54) INT_LATCH ................................................................................................ 63 2.11.22 REGISTER (0X55-0X57) INT_MAP ........................................................................................... 64 2.11.23 REGISTER (0X58-0X59) INT_DATA ......................................................................................... 66 2.11.24 REGISTER (0X5A-0X5E) INT_LOWHIGH ................................................................................ 67 2.11.25 REGISTER (0X5F-0X62) INT_MOTION .................................................................................... 69 2.11.26 REGISTER (0X63-0X64) INT_TAP............................................................................................ 71 2.11.27 REGISTER (0X65-0X66) INT_ORIENT ..................................................................................... 72 2.11.28 REGISTER (0X67-0X68) INT_FLAT .......................................................................................... 73 2.11.29 REGISTER (0X69) FOC_CONF ................................................................................................ 74 2.11.30 REGISTER (0X6A) CONF ......................................................................................................... 75 2.11.31 REGISTER (0X6B) IF_CONF .................................................................................................... 75 2.11.32 REGISTER (0X6C) PMU_TRIGGER ........................................................................................ 76 2.11.33 REGISTER (0X6D) SELF_TEST ............................................................................................... 77 2.11.34 REGISTER (0X70) NV_CONF .................................................................................................. 78 2.11.35 REGISTER (0X71-0X77) OFFSET ............................................................................................ 78 2.11.36 REGISTER (0X78-0X79) STEP_CNT........................................................................................ 79 2.11.37 REGISTER (0X7A-0X7B) STEP_CONF .................................................................................... 80 2.11.38 REGISTER (0X7E) CMD ........................................................................................................... 81 3. DIGITAL INTERFACES ............................................................................................................ 84 3.1 INTERFACES ..................................................................................................................... 84 3.2 PRIMARY INTERFACE ......................................................................................................... 84 3.2.1 PRIMARY INTERFACE I2C/SPI PROTOCOL SELECTION ................................................................... 85 3.2.2 PRIMARY SPI INTERFACE ............................................................................................................. 86 3.2.3 PRIMARY I2C INTERFACE ............................................................................................................. 89 3.2.4 SPI AND I²C ACCESS RESTRICTIONS ............................................................................................ 93 3.3 SECONDARY INTERFACE.................................................................................................... 94 3.3.1 MAGNETOMETER CONNECTED TO SECONDARY INTERFACE ............................................................. 94 3.3.2 CAMERA MODULE CONNECTED TO SECONDARY INTERFACE FOR OIS............................................... 96 BST-BMI160-DS000-07 | Revision 0.8 | February 2015 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMI160 Data sheet Page 6 4. PIN-OUT AND CONNECTION DIAGRAMS ............................................................................ 97 4.1 PIN-OUT ........................................................................................................................... 97 4.2 CONNECTION DIAGRAMS TO USE PRIMARY INTERFACE ONLY ................................................ 98 2 4.2.1 I C AS PRIMARY INTERFACE .......................................................................................................... 98 4.2.2 SPI 3-WIRE AS PRIMARY INTERFACE.............................................................................................. 98 4.2.3 SPI 4-WIRE AS PRIMARY INTERFACE.............................................................................................. 99 4.3 CONNECTION DIAGRAMS TO USE ADDITIONAL SECONDARY INTERFACE .................................. 99 2 4.3.1 PRIMARY SPI 4-WIRE AND SECONDARY MAGNETOMETER INTERFACE (I C) ...................................... 99 2 4.3.2 PRIMARY SPI 3-WIRE AND SECONDARY MAGNETOMETER INTERFACE (I C) .................................... 100 2 2 4.3.3 PRIMARY I C AND SECONDARY MAGNETOMETER INTERFACE (I C) ................................................ 100 2 4.3.4 PRIMARY I C AND SECONDARY 4-WIRE SPI AS OIS INTERFACE .................................................... 101 2 4.3.5 PRIMARY I C AND SECONDARY 3-WIRE SPI AS OIS INTERFACE .................................................... 101 5. PACKAGE .............................................................................................................................. 102 5.1 OUTLINE DIMENSIONS ..................................................................................................... 102 5.2 SENSING AXES ORIENTATION ........................................................................................... 103 5.3 LANDING PATTERN RECOMMENDATION ............................................................................. 104 5.4 MARKING........................................................................................................................ 105 5.4.1 MASS PRODUCTION MARKING...................................................................................................... 105 5.4.2 ENGINEERING SAMPLES .............................................................................................................. 105 5.5 SOLDERING GUIDELINES .................................................................................................. 106 5.6 HANDLING INSTRUCTIONS ................................................................................................ 107 5.7 TAPE AND REEL SPECIFICATION ....................................................................................... 107 5.7.1 ORIENTATION WITHIN THE REEL................................................................................................... 108 5.8 ENVIRONMENTAL SAFETY ................................................................................................ 108 5.8.1 HALOGEN CONTENT ................................................................................................................... 108 5.8.2 MULTIPLE SOURCING .................................................................................................................. 108 6. LEGAL DISCLAIMER............................................................................................................. 109 6.1 ENGINEERING SAMPLES .................................................................................................. 109 6.2 PRODUCT USE ................................................................................................................ 109 6.3 APPLICATION EXAMPLES AND HINTS ................................................................................. 109 7. DOCUMENT HISTORY AND MODIFICATIONS ................................................................... 110 BST-BMI160-DS000-07 | Revision 0.8 | February 2015 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMI160 Data sheet Page 7 1. Specification If not stated otherwise, the given values are over lifetime and full performance temperature and voltage ranges, minimum/maximum values are ±3. The specifications are split into accelerometer and gyroscope sections of the BMI160. 1.1 Electrical specification VDD and VDDIO can be ramped in arbitrary order without causing the device to consume significant currents. The values of the voltage at VDD and the VDDIO pins can be chosen arbitrarily within their respective limits. The device only operates within specifications if the both voltages at VDD and VDDIO pins are within the specified range. The voltage levels at the digital input pins must not fall below GNDIO-0.3V or go above VDDIO+0.3V to prevent excessive current flowing into the respective input pin. BMI160 contains a brownout detector, which ensures integrity of data in the non-volatile memory under all operating conditions. Table 1: Electrical parameter specification Parameter Supply Voltage Internal Domains Supply Voltage I/O Domain Voltage Input Low Level Voltage Input High Level Voltage Output Low Level Voltage Output High Level Operating Temperature NVM write-cycles Current consumption OPERATING CONDITIONS BMI160 Condition Min Symbol Typ Max Unit VDD 1.71 3.0 3.6 V VDDIO 1.2 2.4 3.6 V 0.3VDDIO - VIL,a SPI VIH,a SPI VOL,a VOH,a IDD - VDDIO=1.62V, IOL=3mA, SPI 0.2VDDIO - VDDIO=1.2V, IOL=3mA, SPI 0.23VDDIO - VDDIO=1.62V, IOH=3mA, SPI 0.8VDDIO - VDDIO=1.2V, IOH=3mA, SPI 0.62VDDIO - TA nNVM 0.7VDDIO -40 Non-volatile memory Gyro in fast start-up, accel in suspend mode, TA=25°C Gyro and accel full operation mode, TA=25°C Gyro full operation mode, accel in suspend, TA=25°C Accel full operation mode, gyro in suspend, TA=25°C Gyro and accel in suspend mode, TA=25°C Significant motion detector, gyro in suspend, accel in low power mode @50Hz, TA=25°C Step detector, gyro in suspend, accel in low power mode @50Hz, TA=25°C BST-BMI160-DS000-07 | Revision 0.8 | February 2015 +85 14 °C Cycles 500 600 925 990 850 900 180 300 3 10 µA 20 20 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMI160 Data sheet Page 8 1.2 Electrical and physical characteristics, measurement performance Table 2: Electrical characteristics accelerometer OPERATING CONDITIONS ACCELEROMETER Parameter Symbol Condition Min gFS2g Acceleration Range Selectable via serial digital interface gFS4g gFS8g gFS16g Start-up time Suspend/low power mode to normal mode, ODR=1.6kHz tA,su Typ Max Units ±2 g ±4 g ±8 g ±16 g 3.2 3.8 ms Typ Max Units OUTPUT SIGNAL ACCELEROMETER Parameter Symbol Condition Min Resolution Sensitivity 16 S2g gFS2g, TA=25°C 15729 16384 17039 LSB/g S4g gFS4g, TA=25°C 7864 8192 8520 LSB/g S8g gFS8g, TA=25°C 3932 4096 4260 LSB/g S16g gFS16g, TA=25°C 1966 2048 2130 LSB/g Sensitivity Temperature Drift TCSA Sensitivity change over supply voltage SA,VDD gFS8g, Nominal VDD supplies best fit straight line T =25°C, A VDD,min ≤ VDD ≤ VDD,max best fit straight line gFS8g, TA=25°C, nominal VDD supplies, component level gFS8g, TA=25°C, nominal VDD supplies, soldered, board level gFS8g, TA=25°C, nominal VDD supplies, after MSL11 prec. / soldered gFS8g, TA=25°C, nominal VDD supplies, soldered, 2 over life time gFS8g, Nominal VDD supplies best fit straight line OffA, init OffA,board Zero-g Offset OffA,MSL OffA,life 1 2 bit ±0.03 %/K 0.01 %/V ±25 mg ±40 mg ±70 mg ±150 mg ±1.0 mg/K %FS Zero-g Offset Temperature Drift TCOA Nonlinearity NLA Best fit straight line, gFS8g ±0.5 Output Noise nA,nd gFS8g, TA=25°C, nominal VDD, Normal mode 180 300 µg/Hz Values taken from qualification, according to JEDEC J-STD-020D.1 Values taken from qualification, according to JEDEC J-STD-020D.1 BST-BMI160-DS000-07 | Revision 0.8 | February 2015 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMI160 Data sheet Page 9 nA,rms Filter setting 80 Hz, ODR 200 Hz 1.8 mg-rms Cross Axis Sensitivity SA Relative contribution between any two of the three axes 1 % Alignment Error EA Relative to package outline ±0.5 ° Output Data rate (set of x,y,z rate) Output Data rate accuracy (set of x,y,z rate) ODRA AODRA 12.5 Normal mode, over whole operating temperature range 1600 ±1 Hz % Table 3: Electrical characteristics gyroscope OPERATING CONDITIONS GYROSCOPE Parameter Symbol Condition Min RFS125 Max Unit 125 °/s 250 °/s 500 °/s RFS1000 1,000 °/s RFS2000 2,000 °/s RFS250 Range Typ RFS500 Selectable via serial digital interface tG,su Suspend to normal mode ODRG=1600Hz 55 ms tG,FS Fast start-up to normal mode 10 ms Start-up time OUTPUT SIGNAL GYROSCOPE Sensitivity RFS2000 Ta=25°C 15.9 16.4 16.9 LSB/°/s RFS1000 Ta=25°C 31.8 32.8 33.8 LSB/°/s RFS500 Ta=25°C 63.6 65.6 67.6 LSB/°/s RFS250 Ta=25°C 127.2 131.2 135.2 LSB/°/s RFS125 Ta=25°C 254.5 262.4 270.3 LSB/°/s Sensitivity change over temperature TCSG Sensitivity change over supply voltage SG,VDD Nonlinearity A VDD,min ≤ VDD ≤ VDD,max best fit straight line Best fit straight line RFS1000, RFS2000 NLG g- Sensitivity Zero-rate offset RFS2000, Nominal VDD supplies best fit straight line T =25°C, Off x y and z ±0.02 %/K 0.01 %/V 0.1 %FS Sensitivity to acceleration stimuli in all three axis (frequency