BMI160 - Bosch - Datasheet.Directory

Data sheet

BMI160

Small, low power inertial measurement unit

BMI160 – Data sheet

Document revision

0.9

Document release date

October 16th, 2018

Document number

BST-BMI160-DS0001-08

Technical reference code(s)

0 273 141 187

Notes

Data and descriptions in this document are subject to change without notice.

Product photos and pictures are for illustration purposes only and may differ

from the real product appearance.

Bosch Sensortec

BMI160

Data sheet

Page 2

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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

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

BMI160

Data sheet

Page 3

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

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 30µA.

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 start-up

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.

 
BMI160 
Data sheet 
Page 4 
 
 
BST-BMI160-DS000-08 | Revision 0.9 | October 2018  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. 
 
 
    
Index of Contents 
SPECIFICATION ........................................................................................................................ 7 
1 ELECTRICAL SPECIFICATION ................................................................................................ 7 
2 ELECTRICAL AND PHYSICAL CHARACTERISTICS, MEASUREMENT PERFORMANCE ...................... 8 
3 ABSOLUTE MAXIMUM RATINGS ........................................................................................... 11 
FUNCTIONAL DESCRIPTION ................................................................................................. 12 
1 BLOCK DIAGRAM ............................................................................................................... 12 
2 POWER MODES ................................................................................................................. 13 
2.1 SUSPEND MODE (ACCELEROMETER AND GYROSCOPE) ................................................................... 13 
2.2 FAST START-UP MODE (GYROSCOPE ONLY ) ................................................................................... 14 
2.3 TRANSITIONS BETWEEN POWER MODES ......................................................................................... 14 
2.4 LOW POWER MODE (ACCELEROMETER ONLY) ................................................................................. 15 
2.5 PMU (POWER MANAGEMENT UNIT) .............................................................................................. 16 
3 SENSOR TIMING AND DATA SYNCHRONIZATION ................................................................... 18 
3.1 SENSOR TIME .............................................................................................................................. 18 
3.2 DATA SYNCHRONIZATION .............................................................................................................. 18 
4 DATA PROCESSING ........................................................................................................... 19 
4.1 DATA PROCESSING ACCELEROMETER ........................................................................................... 19 
4.2 DATA PROCESSING GYROSCOPE .................................................................................................. 20 
5 FIFO................................................................................................................................ 21 
5.1 FIFO FRAMES ............................................................................................................................. 22 
5.2 FIFO CONDITIONS AND DETAILS .................................................................................................... 26 
6 INTERRUPT CONTROLLER .................................................................................................. 27 
6.1 ANY-MOTION DETECTION (ACCEL) ................................................................................................. 27 
6.2 SIGNIFICANT MOTION (ACCEL) ...................................................................................................... 28 
6.3 STEP DETECTOR (ACCEL) ............................................................................................................ 30 
6.4 TAP SENSING (ACCEL) ................................................................................................................. 30 
6.5 ORIENTATION RECOGNITION (ACCEL) ............................................................................................ 31 
6.6 FLAT DETECTION (ACCEL) ............................................................................................................ 37 
6.7 LOW-G / FREE-FALL DETECTION (ACCEL) ....................................................................................... 38 
6.8 HIGH-G DETECTION (ACCEL) ......................................................................................................... 38 
6.9 SLOW-MOTION ALERT / NO-MOTION INTERRUPT (ACCEL) .............................................................. 39 
6.10 DATA READY DETECTION (ACCEL, GYRO AND EXTERNAL SENSORS) ............................................. 42 
6.11 PMU TRIGGER (GYRO) .............................................................................................................. 42 
6.12 FIFO INTERRUPTS (ACCEL, GYRO, AND EXTERNAL SENSORS) ...................................................... 42 
7 STEP COUNTER ................................................................................................................ 43 
8 DEVICE SELF TEST ............................................................................................................ 43 
8.1 SELF-TEST ACCELEROMETER ........................................................................................................ 43 
8.2 SELF-TEST GYROSCOPE ............................................................................................................... 44 
9 OFFSET COMPENSATION ................................................................................................... 44 
9.1 FAST OFFSET COMPENSATION ....................................................................................................... 44 
9.2 MANUAL OFFSET COMPENSATION .................................................................................................. 45 

 
BMI160 
Data sheet 
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BST-BMI160-DS000-08 | Revision 0.9 | October 2018  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. 
 
 
    
9.3 INLINE CALIBRATION ..................................................................................................................... 45 
10 NON-VOLATILE MEMORY ................................................................................................. 45 
11 REGISTER MAP ............................................................................................................... 47 
11.1 REGISTER (0X00) CHIPID ......................................................................................................... 49 
11.2 REGISTER (0X02) ERR_REG .................................................................................................... 49 
11.3 REGISTER (0X03) PMU_STATUS ............................................................................................. 50 
11.4 REGISTER (0X04-0X17) DATA ................................................................................................... 51 
11.5 REGISTER (0X18-0X1A) SENSORTIME .................................................................................... 52 
11.6 REGISTER (0X1B) STATUS ....................................................................................................... 53 
11.7 REGISTER (0X1C-0X1F) INT_STATUS ..................................................................................... 53 
11.8 REGISTER (0X20-0X21) TEMPERATURE ................................................................................. 55 
11.9 REGISTER (0X22-0X23) FIFO_LENGTH ................................................................................... 56 
11.10 REGISTER (0X24) FIFO_DATA ................................................................................................ 57 
11.11 REGISTER (0X40) ACC_CONF ................................................................................................ 57 
11.12 REGISTER (0X41) ACC_RANGE ............................................................................................. 58 
11.13 REGISTER (0X42) GYR_CONF................................................................................................ 59 
11.14 REGISTER (0X43) GYR_RANGE ............................................................................................. 60 
11.15 REGISTER (0X44) MAG_CONF ............................................................................................... 60 
11.16 REGISTER (0X45) FIFO_DOWNS ........................................................................................... 61 
11.17 REGISTER (0X46-0X47) FIFO_CONFIG .................................................................................. 62 
11.18 REGISTER (0X4B-0X4F) MAG_IF ............................................................................................ 63 
11.19 REGISTER (0X50-0X52) INT_EN .............................................................................................. 63 
11.20 REGISTER (0X53) INT_OUT_CTRL ......................................................................................... 65 
11.21 REGISTER (0X54) INT_LATCH ................................................................................................ 65 
11.22 REGISTER (0X55-0X57) INT_MAP ........................................................................................... 66 
11.23 REGISTER (0X58-0X59) INT_DATA ......................................................................................... 68 
11.24 REGISTER (0X5A-0X5E) INT_LOWHIGH ................................................................................ 69 
11.25 REGISTER (0X5F-0X62) INT_MOTION .................................................................................... 71 
11.26 REGISTER (0X63-0X64) INT_TAP............................................................................................ 73 
11.27 REGISTER (0X65-0X66) INT_ORIENT ..................................................................................... 74 
11.28 REGISTER (0X67-0X68) INT_FLAT .......................................................................................... 75 
11.29 REGISTER (0X69) FOC_CONF ................................................................................................ 76 
11.30 REGISTER (0X6A) CONF ......................................................................................................... 77 
11.31 REGISTER (0X6B) IF_CONF .................................................................................................... 77 
11.32 REGISTER (0X6C) PMU_TRIGGER ........................................................................................ 78 
11.33 REGISTER (0X6D) SELF_TEST ............................................................................................... 79 
11.34 REGISTER (0X70) NV_CONF .................................................................................................. 80 
11.35 REGISTER (0X71-0X77) OFFSET ............................................................................................ 80 
11.36 REGISTER (0X78-0X79) STEP_CNT........................................................................................ 81 
11.37 REGISTER (0X7A-0X7B) STEP_CONF .................................................................................... 82 
11.38 REGISTER (0X7E) CMD ........................................................................................................... 83 
DIGITAL INTERFACES ............................................................................................................ 86 
1 INTERFACES ..................................................................................................................... 86 
2 PRIMARY INTERFACE ......................................................................................................... 86 
2.1 PRIMARY INTERFACE I2C/SPI PROTOCOL SELECTION ................................................................... 87 
2.2 PRIMARY SPI INTERFACE ............................................................................................................. 88 
2.3 PRIMARY I2C INTERFACE ............................................................................................................. 91 
2.4 SPI AND I²C ACCESS RESTRICTIONS ............................................................................................ 95 
3 SECONDARY INTERFACE.................................................................................................... 96 
3.1 MAGNETOMETER CONNECTED TO SECONDARY INTERFACE ............................................................. 96 

 
BMI160 
Data sheet 
Page 6 
 
 
BST-BMI160-DS000-08 | Revision 0.9 | October 2018  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. 
 
 
    
3.2 CAMERA MODULE CONNECTED TO SECONDARY INTERFACE FOR OIS............................................... 98 
PIN-OUT AND CONNECTION DIAGRAMS ............................................................................ 99 
1 PIN-OUT ........................................................................................................................... 99 
2 CONNECTION DIAGRAMS TO USE PRIMARY INTERFACE ONLY .............................................. 100 
2.1 I2C AS PRIMARY INTERFACE ........................................................................................................ 100 
2.2 SPI 3-WIRE AS PRIMARY INTERFACE ............................................................................................ 100 
2.3 SPI 4-WIRE AS PRIMARY INTERFACE ............................................................................................ 101 
3 CONNECTION DIAGRAMS TO USE ADDITIONAL SECONDARY INTERFACE ................................ 101 
3.1 PRIMARY SPI 4-WIRE AND SECONDARY MAGNETOMETER INTERFACE (I2C) .................................... 101 
3.2 PRIMARY SPI 3-WIRE AND SECONDARY MAGNETOMETER INTERFACE (I2C) .................................... 102 
3.3 PRIMARY I2C AND SECONDARY MAGNETOMETER INTERFACE (I2C) ................................................ 102 
3.4 PRIMARY I2C AND SECONDARY 4-WIRE SPI AS OIS INTERFACE .................................................... 103 
3.5 PRIMARY I2C AND SECONDARY 3-WIRE SPI AS OIS INTERFACE .................................................... 103 
PACKAGE .............................................................................................................................. 104 
1 OUTLINE DIMENSIONS ..................................................................................................... 104 
2 SENSING AXES ORIENTATION ........................................................................................... 105 
3 LANDING PATTERN RECOMMENDATION ............................................................................. 106 
4 MARKING ........................................................................................................................ 107 
4.1 MASS PRODUCTION MARKING ...................................................................................................... 107 
4.2 ENGINEERING SAMPLES .............................................................................................................. 107 
5 SOLDERING GUIDELINES .................................................................................................. 108 
6 HANDLING INSTRUCTIONS ................................................................................................ 109 
7 TAPE AND REEL SPECIFICATION ....................................................................................... 109 
7.1 ORIENTATION WITHIN THE REEL ................................................................................................... 110 
8 ENVIRONMENTAL SAFETY ................................................................................................ 110 
8.1 HALOGEN CONTENT ................................................................................................................... 110 
8.2 MULTIPLE SOURCING .................................................................................................................. 110 
LEGAL DISCLAIMER ............................................................................................................. 111 
1 ENGINEERING SAMPLES .................................................................................................. 111 
2 PRODUCT USE ................................................................................................................ 111 
3 APPLICATION EXAMPLES AND HINTS ................................................................................. 111 
DOCUMENT HISTORY AND MODIFICATIONS ................................................................... 112 
   

BMI160

Data sheet

Page 7

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

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

OPERATING CONDITIONS BMI160

Parameter

Symbol

Condition

Min

Typ

Max

Unit

Supply Voltage

Internal Domains

VDD

1.71

3.0

3.6

Supply Voltage

I/O Domain

VDDIO

1.2

2.4

3.6

Voltage Input

Low Level

VIL,a

SPI

0.3VDDIO

Voltage Input

High Level

VIH,a

SPI

0.7VDDIO

Voltage Output

Low Level

VOL,a

VDDIO=1.62V, IOL=3mA, SPI

0.2VDDIO

VDDIO=1.2V, IOL=3mA, SPI

0.23VDDIO

Voltage Output

High Level

VOH,a

VDDIO=1.62V, IOH=3mA, SPI

0.8VDDIO

VDDIO=1.2V, IOH=3mA, SPI

0.62VDDIO

Operating

Temperature

-40

+85

°C

NVM write-cycles

nNVM

Non-volatile memory

Cycles

Current

consumption

IDD

Gyro in fast start-up, accel

in suspend mode, TA=25°C

500

600

µA

Gyro and accel full

operation mode, TA=25°C

925

990

Gyro full operation mode,

accel in suspend, TA=25°C

850

900

Accel full operation mode,

gyro in suspend, TA=25°C

180

300

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

BMI160

Data sheet

Page 8

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

power mode @50Hz,

TA=25°C

1.2 Electrical and physical characteristics, measurement performance

Table 2: Electrical characteristics accelerometer

OPERATING CONDITIONS ACCELEROMETER

Parameter

Symbol

Condition

Min

Typ

Max

Units

Acceleration Range

gFS2g

Selectable

via serial digital

interface

±2

gFS4g

±4

gFS8g

±8

gFS16g

±16

Start-up time

tA,su

Suspend/low power

mode to normal

mode, ODR=1.6kHz

3.2

3.8

OUTPUT SIGNAL ACCELEROMETER

Parameter

Symbol

Condition

Min

Typ

Max

Units

Resolution

bit

Sensitivity

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

gFS8g,

Nominal VDD supplies

best fit straight line

±0.03

%/K

Sensitivity change

over supply voltage

SA,VDD

TA=25°C,

VDD,min ≤ VDD ≤ VDD,max

best fit straight line

0.01

%/V

Zero-g Offset

OffA, init

gFS8g, TA=25°C, nominal

VDD supplies, component

level

±25

OffA,board

gFS8g, TA=25°C, nominal

VDD supplies, soldered,

board level

±40

OffA,MSL

gFS8g, TA=25°C, nominal

VDD supplies, after MSL1-

prec. 1 / soldered

±70

OffA,life

gFS8g, TA=25°C, nominal

VDD supplies, soldered,

over life time2

±150

Zero-g Offset

Temperature Drift

TCOA

gFS8g,

Nominal VDD supplies

best fit straight line

±1.0

mg/K

Nonlinearity

NLA

Best fit straight line, gFS8g

±0.5

%FS

Values taken from qualification, according to JEDEC J-STD-020D.1

BMI160

Data sheet

Page 9

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

Output Noise

nA,nd

gFS8g, TA=25°C, nominal

VDD, Normal mode

180

300

µg/Hz

nA,rms

Filter setting 80 Hz, ODR

200 Hz

1.8

mg-rms

Cross Axis

Sensitivity

Relative contribution

between any two of the

three axes

Alignment Error

Relative to package

outline

±0.5

Output Data rate

(set of x,y,z rate)

ODRA

12.5

1600

Output Data rate

accuracy

(set of x,y,z rate)

AODRA

Normal mode, over whole

operating temperature

range

±1

Table 3: Electrical characteristics gyroscope

OPERATING CONDITIONS GYROSCOPE

Parameter

Symbol

Condition

Min

Typ

Max

Unit

Range

RFS125

Selectable

via serial digital interface

125

°/s

RFS250

250

°/s

RFS500

500

°/s

RFS1000

1,000

°/s

RFS2000

2,000

°/s

Start-up time

tG,su

Suspend to normal mode

ODRG=1600Hz

tG,FS

Fast start-up to normal

mode

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

RFS2000,

Nominal VDD supplies

best fit straight line

±0.02

%/K

Sensitivity change

over supply voltage

SG,VDD

TA=25°C,

VDD,min ≤ VDD ≤ VDD,max

best fit straight line

0.01

%/V

Nonlinearity

NLG

Best fit straight line

RFS1000, RFS2000

0.1

%FS

g- Sensitivity

Sensitivity to acceleration

stimuli in all three axis

(frequency <20kHz)

0.1

°/s/g

BMI160

Data sheet

Page 10

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

Zero-rate offset

Off x

y and z

TA=25°C,

fast offset compensation

off

±3

°/s

Zero-Rate offset

Over temperature

Off x, oT

y, oT and

z,oT

-40°C ≤ TA ≤+85°C

±3

°/s

Zero-rate offset

change over

temperature

TCOG

-40°C ≤ TA ≤+85°C,

best fit straight line

0.05

°/s/K

Output Noise

nG,nD

@10 Hz

0.007

°/s/√Hz

nG,rms

Filter setting 74.6Hz, ODR

200 Hz

0.07

°/s rms

Output Data Rate

(set of x,y,z rate)

ODRG

3200

Output Data rate

accuracy

(set of x,y,z rate)

AODRG

Over whole operating

temperature range

±1

Cross Axis

Sensitivity

XG,S

Sensitivity to stimuli in

non-sense-direction

Table 4: Electrical characteristics temperature sensor

OPERATING CONDITIONS AND OUTPUT SIGNAL OF TEMPERATURE SENSOR

Parameter

Symbol

Condition

Min

Typ

Max

Unit

Temperature Sensor

Measurement Range

-40

°C

Temperature

Sensor Slope

dTS

0.002

K/LSB

Temperature

Sensor Offset

OTS

±2

Output Data Rate

ODRT

Accelerometer on or gyro

in fast start-up

0.8

Gyro active

100

Resolution

Accelerometer on or gyro

in fast start-up

bit

Gyro active

bit

BMI160

Data sheet

Page 11

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

1.3 Absolute maximum ratings

Table 5: Absolute maximum ratings

Parameter

Condition

Min

Max

Units

Voltage at Supply Pin

VDD Pin

-0.3

4.25

VDDIO Pin

-0.3

4.25

Voltage at any Logic Pin

Non-Supply Pin

-0.3

VDDIO+0.3

Passive Storage Temp. Range

≤65% rel. H.

-50

+150

°C

None-volatile memory (NVM)

Data Retention

T = 85°C,

after 15 cycles

Mechanical Shock

Duration 200 µs, half

sine

10,000

Duration 1.0 ms, half

sine

2,000

Free fall

onto hard surfaces

1.8

ESD

HBM, at any Pin

CDM

500

200

Note: Stresses above these listed maximum ratings may cause permanent damage to the device.

Exposure beyond specified electrical characteristics as specified in Table 1 may affect device

reliability or cause malfunction.

BMI160

Data sheet

Page 12

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

2. Functional Description

2.1 Block diagram

The figure below depicts the dataflow in BMI160 and the configuration parameters for data rates:

INTERRUPT ENGINE

Accel ADC

DIGITAL SIGNAL

CONDITIONING

select

Gyro ADC

PRIMARY

DIGITAL

INTERFACE

SENSOR DATA

AND SENSORTIME

FIFO ENGINE

LEGACY INTERRUPTS

SECONDARY DIGITAL INTERFACE CONFIGURABLE AS:

 GYRO OIS (SPI SLAVE)

 MAGNET (I2C MASTER)

SPI / I2C

INT1, INT2

OIS Controller

(SPI)

GYRO PREFILTERED DATA

EXTERNAL MAGNET DATA

RAW DATA

Magnet

SENSORTIME

STEP DETECTOR

SIGNIFICANT MOTION

INTERRUPTS

MAGNET (I2C)

Step Counter

Figure 1: Block diagram of data flow

The pre-filtered input data may be already temperature compensated or other low level correction

operations may be applied to them.

The data from the sensor are always sampled with a data rate of 6400 Hz for the gyroscope and

1600 Hz for the accelerometer. The data are filtered to an output data rate configured in the

respectively. The data processing implements a low pass filter configured in the Register (0x40)

ACC_CONF and Register (0x42) GYR_CONF for accelerometer and gyroscope, respectively. In

addition further down sampling for the interrupt engines and the FIFO is possible and configured

in the Register (0x45) FIFO_DOWNS. This down sampling discards data frames.

The sensor time is synchronized with the update of the data register. Synchronization is a purely

digital statement.

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Note: Specifications within this document are preliminary and subject to change without notice.

2.2 Power modes

By default BMI160 accel and gyro are in suspend mode after powering up the device. The device

is powering up in less than 10ms.

Three power modes are supported for accelerometer and gyroscope:

Accelerometer

 Normal mode: full chip operation

 Low power mode: duty-cycling between suspend and normal mode. FIFO data readout

are supported in lower power mode to a limited extent, see Register PMU_STATUS.

 Suspend mode: No sampling takes place, all data is retained, and delays between

subsequent I2C operations are allowed. FIFO data readout is not supported in suspend

mode.

Gyroscope

 Normal mode: same as accelerometer

 Suspend mode: same as accelerometer

 Fast start-up mode: start-up delay time to normal mode ≤10 ms

Table 6: Power modes of accelerometer and gyro in BMI160

Accelerometer

Gyroscope

external

Magnetometer

BMM150

full operation

mode

Normal mode



Sleep modes

Fast Start-up

mode



Suspend mode



Low power

modes

Low power mode



Suspend and fast start-up modes are sleep modes. Switching between normal and low power

mode will not impact the output data from the sensor. This allows the system to switch from low

power mode to normal mode to read out the sensor data in the FIFO with a data rate limited by

the serial interface.

2.2.1 Suspend mode (accelerometer and gyroscope)

In suspend mode, the MEMS sensors are powered off but the digital circuitry is still active.

Note:

When all sensors are in suspend or low power mode, burst writes are not supported, normal writes

need wait times after the write command is issued (~400 µs), and burst reads are not supported

on Register (0x24) FIFO_DATA. If all sensors (accelerometer, gyroscope or magnetometer) are

in either suspend or low power mode, the FIFO must not be read.

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2.2.2 Fast start-up mode (gyroscope only )

In fast start-up mode the sensing analog part is powered down, while the drive and the digital

part remains largely operational. No data acquisition is performed. The latest rate data and the

content of all configuration registers are kept. The fast start-up mode allows a fast transition

(≤10 ms) into normal mode while keeping power consumption significantly lower than in normal

mode.

2.2.3 Transitions between power modes

The table below for the power modes of gyroscope and accelerometer shows which power mode

combinations are supported by BMI160.

With regard to the below diagram, transitions between power modes are only allowed in horizontal

or vertical direction. Transitions in diagonal direction are not supported.

Table 7: Typical total current consumption in µA according to accel/gyro modes

Current consumption in µA

Accelerometer Mode

Suspend

Normal

Low Power

Gyroscope

Mode

Suspend

180

See Table 8

Fast Start-up

500

580

n.a.

Normal

850

925

n.a.

The power mode setting can be configures independently from the output data rate set. The main

difference between normal and low power mode is the power consumption as shown in the figure

below. If the sleep time between two configured sampling intervals becomes too short to duty

cycle between suspend and normal mode, the accelerometer stays automatically in normal mode.

In order to make the transition between low power and normal mode as transparent as possible,

an undersampling mode is defined in such a way that it mimics the behavior of the lower data rate

in low power mode in normal mode. The low power mode then only switches clock sources.

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Figure 2: low power and normal mode operation

2.2.4 Low power mode (accelerometer only)

In low power modes the accelerometer toggles between normal mode and suspend mode. The

power consumption is given by the power consumption in normal mode times the fraction of time

the sensor is in normal mode. The time in normal mode is defined by the startup time of the MEMS

element, plus the analogue settling time. This results in a minimum time in normal mode of the

settling time plus (averaged samples)/1600 Hz.

Regarding register read and write operations, the note in chapter 2.2.1 applies.

2.2.4.1 Power Consumption in accelerometer low power mode

When accelerometer and gyroscope are operated in normal mode, there is no significant

dependence on the specific settings like ODR, undersampling and bandwidth. The same applies

to the fast power up mode of the gyroscope. If the accelerometer, however, is operated in low

power mode and undersampling is enabled, the power consumption of the accel depends on the

two parameters ODR and number of averaging cycles.

In low power mode (gyroscope in suspend), the actual power consumption depends on the

selected setting in Register (0x40) ACC_CONF.

Table 8: Typical total current consumption in µA according to number of averaging cycles and

accelerometer ODR settings (gyroscope in suspend mode and accelerometer in low power

mode and undersampling)

Typical current consumption in

µA

AVG – number of averaging cycles

128

ODR

of accelerometer

0.78125

1.5625

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in low power mode

[Hz]

(gyroscope in

suspend mode)

3.125

6.25

12.5

n. m.*

normal

mode*

104

normal mode*

100

121

normal mode*

200

111

154

normal mode*

400

172

normal mode*

800

normal mode*

1600

normal mode*

* Note: Those combinations are not available in low-power mode. Cycling in suspend is not

possible. Pls. switch to normal power mode for these combinations.

2.2.4.2 Noise of accelerometer in low power mode

When acc_us=1, accelerometer is in undersampling mode. The noise is only depending on the

number of averaging cycles

Table 9: Accel noise in mg according to averaging with undersampling (range +/- 8g)

2.2.5 PMU (Power Management Unit)

The integrated PMU (Power Management Unit) allows advanced power management features by

combining power management features of all built-in sensors and externally available wake-up

devices.

See chapter 2.6.11, PMU Trigger (Gyro).

2.2.5.1 Automatic gyroscope power mode changes

To further lower the power consumption, the gyroscope may be configured to be temporarily put

into sleep mode, which is in BMI160 configurable as suspend or fast-start-up mode, when no

motion is detected by the accelerometer. This mode benefits from the accelerometer any-motion

and nomotion interrupt that is used to control the power state of the gyroscope. To configure this

feature Register (0x6C) PMU_TRIGGER is used.

2.2.5.2 Power management with external geomagnetic sensor

An external magnetometer can be connected via the secondary interface. The drivers support

Bosch Sensortec devices. The PMU allows advanced power management with the external

magnetometer.

AVG – number of averaging cycles

128

RMS-noise (typ.) [mg]

4.3

3.5

3.0

2.0

1.5

1.1

0.7

0.5

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Table 10: Supported magnetometer and accelerometer power modes (only horizontal and

vertical transitions are allowed)

Accel

Suspend

Normal

Low power

Magnetometer

Suspend

Supported

Normal

Supported

Note, for setting the magnetometer to suspend mode it is required to put the magnetometer itself

into suspend mode through the magnetometer interface manual mode mag_man_en in Register

(0x4B-0x4F) MAG_IF and to set the magnetometer interface after that to suspend using a

mag_set_pmu_mode command in the Register (0x7E) CMD. Changing the magnetometer

interface power mode to suspend does not imply any mode change in the magnetometer.

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2.3 Sensor Timing and Data synchronization

2.3.1 Sensor Time

The Register (0x18-0x1A) SENSORTIME is a free running counter, which increments with a

resolution of 39 µs. All sensor events e.g. updates of data registers are synchronous to this

in the Register (0x18-0x1A) SENSORTIME toggles where m depends on the output data rate for

the data register and the output data rate and the FIFO down sampling rate for the FIFO. The

table below shows which bit toggles for which update rate of data register and FIFO. The time

stamps in Register (0x18-0x1A) SENSORTIME are available independent of the power mode the

device is in.

Table 11: Sensor time

Bit m in sensor_time

Resolution [ms]

Update rate [Hz]

0.039

25641

0.078

12820

0.156

6400

0.3125

3200

0.625

1600

1.25

800

2.5

400

200

100

12.5

160

6.25

320

3.125

640

1.56

1280

0.78

2560

0.39

5120

0.20

10240

0.10

20480

0.049

40960

0.024

81920

0.012

163840

0.0061

327680

0.0031

2.3.2 Data synchronization

The sensor data from accelerometer and gyroscope are strictly synchronized on hardware level,

i.e. they run on exactly the same sampling rate.

BMI160 supports various level of data synchronization:

 Internal hardware synchronization of accelerometer, gyroscope and external sensor data.

 High precision synchronization of external data with sensor data through hardware

timestamps. The hardware timestamp resolution is 39 µs.

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 Hardware synchronization of the data of accelerometer, gyro and external sensor through

a unique DRDY interrupt signal.

 FIFO entries of the accelerometer, gyro and external sensor are already synchronized by

hardware. The according time stamp can be provided with each full FIFO read.

 Synchronization of external data (e.g. magnetometer data) with FIFO data at data

sampling granularity through hardware signaling

2.4 Data Processing

The accelerometer digital filter can be configured through the parameters: acc_bwp, acc_odr and

acc_us. The gyroscope digital filter can be configured through the parameters: gyr_bwp and

gyr_odr. There is no undersampling parameter for the gyroscope.

Note:

Illegal settings in configuration registers will result in an error code in the Register (0x02)

ERR_REG. The content of the data register is undefined, and if the FIFO is used, it may contain

no value.

2.4.1 Data Processing Accelerometer

The accelerometer digital filter can be configured through the parameters: acc_bwp, acc_odr and

acc_us in Register (0x40) ACC_CONF for the accelerometer. The accelerometer data can only

be processed in normal power mode or in low power mode.

2.4.1.1 Accelerometer data processing for normal power mode

When normal power mode is used, the undersampling mode should be disabled (acc_us=0b0).

In this configuration mode, the accelerometer data is sampled at equidistant points in the time,

defined by the accelerometer output data rate parameter (acc_odr). The output data rate can be

configured in one of eight different valid ODR configurations going from 12.5Hz up to 1600Hz.

Note: Lower ODR values than 12.5Hz are not allowed when undersampling mode is not enabled.

If they are used they result in an error code in Register (0x02) ERR_REG.

When acc_us=0b0, the acc_bwp parameter needs to be set to 0b010 (normal mode).

The filter bandwidth shows a 3db cutoff frequency shown in the following table:

Table 12: 3dB cutoff frequency of the accelerometer according to ODR with normal filter mode

The noise is also depending on the filter settings and ODR, see table below.

Table 13: Accelerometer noise in mg according to ODR with normal filter mode (range +/- 8g)

Accelerometer ODR [Hz]

12,5

100

200

400

800

1600

3dB Cutoff frequency [Hz]

5.06

10.12

20.25

40.5

162

(155 for

Z axis)

324

(262 for

Z axis)

684

(353 for

Z axis)

ODR in Hz

100

200

400

800

1600

RMS-Noise (typ.) [mg]

0.6

0.9

1.3

1.8

2.4

3.3

4.9

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When the filter mode is set to OSR2 (acc_bwp=0b001 and acc_us=0b0), both stages of the digital

filter are used and the data is oversampled with an oversampling rate of 2. That means that for a

certain filter configuration, the ODR has to be 2 times higher than in the normal filter mode.

Conversely, for a certain filter configuration, the filter bandwidth will be the half of the bandwidth

achieved for the same ODR in the normal filter mode. For example, for ODR=50Hz we will have

a 3dB cutoff frequency of 10.12Hz.

When the filter mode is set to OSR4 (acc_bwp=0b000 and acc_us=0b0), both stages of the digital

filter are used and the data is oversampled with an oversampling rate of 4. That means that for a

certain filter configuration, the ODR has to be 4 times higher than in the normal filter mode.

Conversely, for a certain filter configuration, the filter bandwidth will be 4 times smaller than the

bandwidth achieved for the same ODR in the normal filter mode. For example, for ODR=50Hz we

will have a 3dB cutoff frequency of 5.06Hz.

2.4.1.2 Accelerometer data processing for low power mode

When low power mode is used, the undersampling mode must be enabled (acc_us=0b1). In this

configuration mode, the accelerometer regularly changes between a suspend power mode phase

where no measurement is performed and a normal power mode phase, where data is acquired.

The period of the duty cycle for changing between suspend and normal mode will be determined

by the output data rate (acc_odr). The output data rate can be configured in one of 12 different

valid ODR configurations going from 0.78Hz up to 1600Hz.

The samples acquired during the normal mode phase will be averaged and the result will be the

output data. The number of averaged samples can be determined by the parameter acc_bwp

through the following formula:

averaged samples = 2(Val(acc_bwp))

skipped samples = (1600/ODR)-averaged samples

A higher number of averaged samples will result in a lower noise level of the signal, but since the

normal power mode phase is increased, the power consumption will also rise. This relationship

can be observed in chapter Power Consumption.

Note: When undersampling (acc_us=0b1 in Register (0x40) ACC_CONF) and the use of pre-

filtered data for interrupts or FIFO is configured an error code is flagged in Register (0x02)

ERR_REG. Pre-filtered data for interrupts are configured through int_motion_src=0b1 or

int_tap_src=0b1 in Register (0x58-0x59) INT_DATA. Pre-filtered data for the FIFO are configured

through acc_fifo_filt_data=0b0 in Register (0x45) FIFO_DOWNS.

2.4.2 Data Processing Gyroscope

The gyroscope digital filter can be configured through the parameters: gyr_bwp and gyr_odr in

GYR_CONF for the gyroscope. There is no undersampling option for the gyroscope data

processing. The gyroscope data can only be processed in normal power mode.

There are three data processing modes defined by gyr_bwp. Normal mode, OSR2, OSR4. For

details see chapter 2.11.13.

2.4.2.1 Gyroscope data processing for normal power mode

When the filter mode is set to normal (gyr_bwp=0b010), the gyroscope data is sampled at

equidistant points in the time, defined by the gyroscope output data rate parameter (gyr_odr). The

output data rate can be configured in one of eight different valid ODR configurations going from

25Hz up to 3200Hz.

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Note: Lower ODR values than 25Hz are not allowed. If they are used they result in an error code

in Register (0x02) ERR_REG.

The filter bandwidth as configured by gyr-odr shows a 3db cutoff frequency shown in the following

table:

When the filter mode is set to OSR2 (gyr_bwp=0b001), both stages of the digital filter are used

and the data is oversampled with an oversampling rate of 2. That means that for a certain filter

configuration, the ODR has to be 2 times higher than in the normal filter mode. Conversely, for a

certain filter configuration, the filter bandwidth will be the approximately half of the bandwidth

achieved for the same ODR in the normal filter mode. For example, for ODR=50Hz we will have

a 3dB cutoff frequency of 10.12Hz.

When the filter mode is set to OSR4 (gyr_bwp=0b000), both stages of the digital filter are used

and the data is oversampled with an oversampling rate of 4. That means that for a certain filter

configuration, the ODR has to be 4 times higher than in the normal filter mode. Conversely, for a

certain filter configuration, the filter bandwidth will be approximately 4 times smaller than the

bandwidth achieved for the same ODR in the normal filter mode. For example, for ODR=50Hz we

will have a 3dB cutoff frequency of 5.06Hz.

Note: the gyroscope doesn’t feature a low power mode. Therefore, there is also no undersampling

mode for the gyroscope data processing.

2.5 FIFO

A FIFO is integrated in BMI160 to support low power applications and prevent data loss in non-

real-time systems. The FIFO has a size of 1024 bytes. The FIFO architecture supports to

dynamically allocate FIFO space for accelerometer and gyroscope. For typical 6 DoF applications,

this is sufficient for approx. 0.75 s of data capture. In typical 9DoF applications – including the

magnetometer – this is sufficient for approx. 0.5 s. If not all sensors are enabled or lower ODR is

used on one or more sensors, FIFO size will be sufficient for capturing data longer, increasing

ODR of one or more sensors will reduce available capturing time. The FIFO features a FIFO full

and watermark interrupt. Details can be found in chapter 2.6.12.

Gyroscope ODR [Hz]

100

200

400

800

1600

3200

3dB Cutoff frequency [Hz]

10.7

20.8

39.9

74.6

136.6

254.6

523.9

890

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A schematic of the data path when the FIFO is used is shown in the figure below.

Accel ADC

DIGITAL SIGNAL

CONDITIONING

select

Gyro ADC

PRIMARY

DIGITAL

INTERFACE

FIFO ENGINE

SECONDARY DIGITAL INTERFACE CONFIGURABLE AS:

 GYRO OIS (SPI SLAVE)

 MAGNET (I2C MASTER)

 FIFO full INT

 watermark INT

GYRO PREFILTERED DATA

EXTERNAL MAGNET DATA

RAW DATA

Magnet

SENSORTIME

MAGNET (I2C)

FIFO frames

(regular & control) from

FIFO_DATA register

External INT signals

FIFO configuration

...

Figure 3: Block diagram of FIFO data path

2.5.1 FIFO Frames

When using the FIFO, the stored data can be read out by performing a burst read on the register

(0x24) FIFO_DATA. The data is stored in units called frames.

2.5.1.1 Frame rates

The frame rate for the FIFO is defined by the maximum output data rate of the sensors enabled

for the FIFO via the Register (0x46-0x47) FIFO_CONFIG. If pre-filtered data are selected in

accelerometer is used.

The frame rate can be reduced further via downsampling (Register (0x45) FIFO_DOWNS). This

can be done independently for each sensor. Downsampling just drops sensor data; no data

processing or filtering is performed.

2.5.1.2 Frame format

When using the FIFO, the stored data can be read out by performing a burst read on the register

(0x24) FIFO_DATA. The data will be stored in frames. The frame format is important for the

software to appropriately interpret the information read out from the FIFO.

The FIFO can be configured to store data in either header mode or in headerless mode (see

figure below). The headerless mode is usually used when neither the structure of data nor the

number of sensors change during data acquisition. In this case, the number of storable frames

can be maximized. In contrast, the header mode is intended for situations where flexibility in the

data structure is required, e.g. when sensors runs at different ODRs or when switching sensors

on or off on the fly during operation.

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FIFO Frame Format

Configuration

Headerless mode

(only data)

Header mode

(header+data)

Control frames

Regular frames

(same ODR for different sensor )

Skip frame

Sensortime frame

FIFO Input Config frame

Regular frames

(different ODR for different sensor)

Figure 4: FIFO frame configurations

In headerless mode no header byte is used and the frames consist only of data bytes. The data

bytes will always be sensor data. Only regular frames with the same ODR for all sensors are

supported and no external interrupt flags are possible. This mode has the advantage of an easy

frame format and an optimized usage of the 1024 bytes of FIFO storage. It can be selected by

disabling fifo_header in Register (0x46-0x47) FIFO_CONFIG. In case of overreading the FIFO,

non-valid frames always contain the fixed expression (magic number) 0x80 in the data frame.

In header mode every frame consists of a header byte followed by one or more data bytes. The

header defines the frame type and contains parameters for the frame. The data bytes may be

sensor data or control data. Header mode supports different ODRs for the different sensor data

and external interrupt flags. This mode therefore has the advantage of allowing maximum

flexibility of the FIFO engine. It is activated by enabling fifo_header in Register (0x46-0x47)

FIFO_CONFIG.

2.5.1.3 Header byte format

The header format is shown below:

Bit

Content

fh_mode<1:0>

fh_parm<3:2>

Bit

Read/Write

fh_parm<1:0>

fh_ext<1:0>

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The fh_mode, fh_opt and fh_ext fields are defined as

fh_mode<1:0>

Definition

fh_parm <3:0>

fh_ext<1:0>

0b10

Regular

Frame content

Tag of INT2 and

INT1

0b01

Control

Control Opcode

0b00

Reserved

0b11

Reserved

f_parm=0b0000 is invalid for regular mode, a header of 0x80 indicates an uninitialized frame.

2.5.1.4 Data bytes Format

When the FIFO is set to “headerless mode“, only sensor data will be saved into the FIFO (in the

same order as in the data register). Any combination of accelerometer, gyroscope and external

sensor data can be stored. External interrupt tags are not supported in headerless mode.

When the FIFO is set to “header mode“, the data byte format is different depending on the type

of frame. There are two basic frame types, control frames and regular data frames. Each different

type of control frame has its own data byte format. It can contain skipped frames, sensortime data

or FIFO configuration information as explained in the following chapters. If the frame type is a

regular frame (sensor data), the data byte section of the frame depend on how the data is being

transmitted in this frame (as specified in the header byte section). It can include data from only

one sensor or any combination of accelerometer, gyroscope and external sensor data.

2.5.1.5 Frame types

Regular frame (fh_mode=0b10)

Regular frames are the standard FIFO frames and contain sensor data. Regular frames can be

identified by fh_mode set to 0b10 in the header byte section. The fh_parm frame defines which

sensors are included in the data byte of the frame. The format of the fh_param is defined in the

following table:

Name

fh_parm<2:0>

Bit

Content

reserved

fifo_mag_data

fifo_gyr_data

fifo_acc_data

When fifo_<sensor x>_data is set to ‘1’(‘0’), data for sensor x is included (not included) in the data

part of the frame.

The fh_ext<1:0> field is set when an external interrupt is triggered. External interrupt tags are

configured using int<x>_output_en in Register (0x53) INT_OUT_CTRL, int<x>_input_en in

details, please refer to chapter 2.5.2.4.

The data byte part for regular data frames is identical to the format defined for the Register (0x04-

0x17) DATA. If a header indicates that not all sensors are included in the frame, these data are

skipped and do not consume space in the FIFO.

Control frame (fh_mode=0b01):

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Control frames, which are only available in header mode, are used for special or exceptional

information. All control frames contribute to the fifo_byte _counter in Register (0x22-0x23)

FIFO_LENGTH. In detail, there are three types of control frame, which can be distinguished by

the fh_parm field:

Skip frame (fh_parm=0b000):

In case of a FIFO overflow, a skip frame is prepended to the FIFO content when the next

readout is performed. A skip frame indicates the number of skipped frames since the last

readout.

In the header byte of a FIFO_input_config frame, fh_mode equals 0b01 (since it is a

control frame) and the fh_param equals 0b000 (indicating FIFO_input_config frame).

The data byte part of a skip frame consists of one byte and contains the number of skipped

frames. When more than 0xFF frames have been skipped, 0xFF is returned.

Sensortime frame (fh_parm=0b001):

If the sensortime frame functionality is activated (see description of Register (0x46-0x47)

FIFO_CONFIG) and the FIFO is overread, the last data frame is followed by a sensortime

frame. This frame contains the BMI160 timestamp content corresponding th the time at

which the last data frame was read.

In the header byte of a sensortime frame, fh_mode = 0b01 (since is a control frame) and

fh_param = 0b001 (indicating sensortime frame). The data byte part of a sensortime frame

consists of 3 bytes and contains the 24-bit sensortime. A sensortime frame does not

consume memory in the FIFO.

FIFO_input_config frame (fh_parm=0b010):

Whenever the configuration of the FIFO input data sources changes, a FIFO input config

frame is inserted into the FIFO in front of the data to which the configuration change is

applied.

In the header byte of a FIFO_input_config frame, fh_mode = 0b01 (since it is a control

frame) and fh_param = 0b010 (indicating FIFO_input_config frame). The data byte part of

a FIFO_input_config Frame consists of one byte and contains data corresponding to the

following table:

Bit

Content

reserved

mag_if_ch

mag_conf_ch

Bit

Read/Write

gyr_range_ch

gyr_conf_ch

acc_range_ch

acc_conf_ch

gyr_range_ch: A change in Register (0x43) GYR_RANGE becomes active.

gyr_conf_ch: A change in Register (0x42) GYR_CONF or gyr_fifo_filt_data or

gyr_fifo_downsampling in Register (0x45) FIFO_DOWNS becomes

active.

acc_range_ch: A change in Register (0x41) ACC_RANGE becomes active.

acc_conf_ch: A change in Register (0x40) ACC_CONF or acc_fifo_filt_data or

acc_fifo_downsampling in Register (0x45) FIFO_DOWNS becomes

active.

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mag_if_ch: Will be set if there are changes on interface configuration

(e.g. device address, read/write address). It can be used to switch

to another device or different data-set within connected device.

mag_conf_ch: A change in Register (0x44) MAG_CONF becomes active.

2.5.2 FIFO conditions and details

2.5.2.1 Overflows

In the case of overflows the FIFO will overwrite the oldest data. A skip frame will be prepended

at the next FIFO readout if the available FIFO space falls below the maximum size frame.

2.5.2.2 Overreads

If more data bytes are read from the FIFO than valid data bytes are available, ‘0x80’ is returned.

Since a header ‘0x80’ indicates an invalid frame, the SW can recognize the end of valid data.

After the invalid header the data is undefined. This is valid in both headerless and header mode.

In addition, if header mode and the sensortime frame are enabled, the last data frame is followed

by a sensortime frame. After this frame, a 0x80 header will be returned that indicates the end of

valid data.

2.5.2.3 Partial frame reads

When a frame is only partially read through, it will be repeated within the next reading operation

(including the header).

2.5.2.4 FIFO synchronization with external events

External events can be synchronized with the FIFO data by connecting the event source to one

of the BMI160 interrupt pins (which needs to be configured as an input interrupt pin). External

events can be generated e.g. by a camera module. Each frame contains the value of the interrupt

input pin at the time of the external event.

The fh_ext<1:0> field is set when an external interrupt is triggered. External interrupt tags are

configured using int<x>_output_en in Register (0x53) INT_OUT_CTRL, int<x>_input_en in

2.5.2.5 FIFO Reset

A reset of the BMI160 is triggered by writing the opcode 0xB0 “fifo_flush“ to the Register (0x7E)

CMD. This will clears all data in the FIFO while keeping the FIFO settings unchanged.

Automatic resets are only done in two exceptional cases where the data would not be usable

without a reset:

 a sensor is enabled or disabled in headerless mode,

 a transition between headerless and headermode occurred.

2.5.2.6 Error Handling

In case of a configuration error in Register (0x46-0x47) FIFO_CONFIG, no data will be written

into the FIFO and the error is reported in Register (0x02) ERR_REG.

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2.6 Interrupt Controller

There are 2 interrupt output pins, to which thirteen different interrupt signals can be mapped

independently via user programmable parameters.

Available interrupts supported by accelerometer in normal mode are:

 Any-motion (slope) detection for motion detection

 Significant motion

 Step detector

 Tap sensing for detection of single or double tapping events

 Orientation detection

 Flat detection for detection of a situation when one defined plane of the sensor is

oriented parallel to the earth’s surface

 Low-g/high-g for detecting very small acceleration (e.g. free-fall) or very high

acceleration (e.g. shock events)

 No/slow-motion detection for triggering an interrupt when no (or slow) motion occurs

during a certain amount of time

In addition to that the common interrupts for accelerometer and gyroscope are

 Data ready (“new-data”) for synchronizing sensor data read-out with the MCU / host

controller

 FIFO full / FIFO watermark allows FIFO fill level and overflow handling.

All Interrupts are available only in normal (low-noise) and low-power modes, but not in suspend

mode. In suspend mode only the status (like orientation or flat) can be read out, but no interrupt

will be triggered (unless latching is used).

If latching is used the interrupts (as well as the interrupt status) will be latched also in suspend

mode, but no new interrupts will be generated.

Input Interrupt Pins: For special applications (e.g. PMU Trigger, FIFO Tag) interrupt pins can be

configured as input pins. For all other cases (standard interrupts), the pin must be configured as

an output.

Note: The direction of the interrupt pins is controlled with int<x>_output_en and int_x_input_en in

(e.g. marking fifo) is driven by the interrupt output.

2.6.1 Any-motion detection (Accel)

The any-motion detection uses the slope between two successive acceleration signals to detect

changes in motion. The interrupt is configured in the Register (0x5F-0x62) INT_MOTION. It

generates an interrupt when the absolute value of the acceleration exceeds a preset threshold

int_anym_th for a certain number int_anym_dur of consecutive slope data points is above the

slope threshold int_anym_th.

If the same number of data points falls below the threshold, the interrupt is reset. In order to avoid

acceleration data saturation, when data is at maximal value (e.g. ‘0x8000’ or ‘0X7FFF’ for a 16

bit sensor); it is considered that the slope is at maximal value, too.

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The criteria for any-motion detection are fulfilled and the slope interrupt is generated if any of the

axis exceeds the threshold int_anym_th for int_anym_dur consecutive times. As soon as all the

channels fall or stay below this threshold for int_anym_dur consecutive times the interrupt is reset.

If this interrupt is triggered in latch mode it remains blocked (disabled) until the latching is cleared.

The any-motion interrupt logic sends out the signals of the axis that has triggered the interrupt

(int_anym_first_x, int_anym_first_y, int_anym_first_z) and the signal of motion direction

(int_anym_sign).

2.6.2 Significant Motion (Accel)

The significant motion interrupt implements the interrupt required for motion detection in Android

4.3 and greater:

https://source.android.com/devices/sensors/composite_sensors.html#Significant

A significant motion is a motion due to a change in the user location.

Examples of such significant motions are walking or biking, sitting in a moving car, coach or train,

etc. Examples of situations that should not trigger significant motion include phone in pocket and

person is not moving, phone is on a table and the table shakes a bit due to nearby traffic or

washing machine.

The algorithm uses acceleration and performs the following steps to detect a significant motion:

1. Look for movement.

anym_th

INT

slope

acc(t0+dt)

acc(t0)

slope(t0+dt)= acc(t0+dt) - acc(t0)

time

anym_dur

latched

unlatched

Figure 5: Any-motion (slope) interrupt detection

acceleration

time

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2. [Movement detected] Sleep for 3 seconds.

3. Look for movement. Either option a or option b will happen:

a. [One second has passed without movement] Go back to 1.

b. [Movement detected] Report that a significant movement has been found and wake up

the application processor.

The significant motion and the anymotion interrupt are exclusive. To select the interrupt, use

int_sig_mot_sel in Register (0x5F-0x62) INT_MOTION.

The following block diagram illustrates the algorithm:

Figure 6: Block diagram of significant motion interrupt algorithm

Configurable parameters are:

sig_th = 0x14; // ~ 70mg same as anym_th

t_skip = 0x01; // 2.56s 0=1.28s, 1=2.56s, 2=5,12s 3=10.24s

t_proof = 0x02; // 0.96s 0=0.24s, 1=0.48s, 2=0.96s 3=1.92s

motion

detected?

sleep for 3s

(t_skip)

motion

detected

within 1s

significant motion

detected

yes

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2.6.3 Step Detector (Accel)

A step detection is the detection of a single step event, while the user is walking or running. The

step detector is triggered when a peak is detected in the acceleration magnitude (vector length of

3D acceleration). In order to achieve a robust step detection the peak needs to exceed a

configurable threshold min_threshold and a minimum delay time min_steptime between two

consecutive peaks needs to be observed. The step detector can be configured in three modes:

 Normal mode (default setting, recommended for most applications)

 Sensitive mode (can be used for light weighted, small persons)

 Robust mode (can be used, if many false positive detections are observed)

More details can be found in Register (0x7A-0x7B) STEP_CONF and the according step counter

application note.

The step detector is the trigger for a step counter. The step counter is described in more detail in

chapter 2.7.

2.6.4 Tap Sensing (Accel)

Double-Tap implements same functionality as two single taps in a short well-defined period of

time. If the period of time is too short or too long no interrupt is fired.

The interrupt is configured in the Register (0x63-0x64) INT_TAP. When the preset threshold

int_tap_th is exceeded, a tap is detected and a int_s_tap_int in Register (0x1C-0x1F)

INT_STATUS is set and an interrupt is fired. The double-tap interrupt is generated only when a

second tap is detected within a specified period of time. In this case, the int_d_tap_int in Register

(0x1C-0x1F) INT_STATUS is set.

The slope between two successive acceleration data is needed to detect a tap-shock and quiet-

period. The time difference between the two successive acceleration values depends on data rate

selected for the interrupt source, which depends on the configured downsampling rate in Register

(0x58-0x59) INT_DATA and the configured output data rate in Register (0x40) ACC_CONF, when

filtered data have been selected in the Register (0x58-0x59) INT_DATA. The time delay

int_tap_dur between two taps is typically between 12.5ms and 500ms. The threshold is typically

between 0.7g and 1.5g in 2g measurement range. Due to different coupling between sensor and

device shell (housing) and different measurement ranges of the sensor these parameters are

configurable.

The criteria for a double-tap are fulfilled and an interrupt is generated if the second tap occurs

after int_tap_quiet and within int_tap_dur. The tap direction is determined by the 1st tap. If during

int_tap_quiet period (30/20ms) a tap occurs, it will be considered as a new tap.

The slope detection interrupt logic stores the direction of the (first) tap-shock in a status register.

This register needs to be locked for int_tap_shock 50/75ms in order to prevent other slopes to

overwrite this information.

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The single-tap and double-tap interrupts are enabled through the int_s_tap_en and int_d_tap_en

registers.

When a tap or double-tap interrupt is triggered, the signals of the axis that has triggered the

interrupt (int_tap_first_x, int_tap_first_y, int_tap_first_z) and the signal of motion direction

(int_tap_sign) will set in Register (0x1C-0x1F) INT_STATUS.

The axis on which the biggest slope occurs will trigger the tap. The second tap will be triggered

by any axis (not necessarily same as the first tap).

If this interrupt is triggered in latch mode it remains blocked (disabled) until the latching is reset.

2.6.5 Orientation recognition (Accel)

The orientation recognition feature informs on an orientation change of the sensor with respect to

the gravitational field vector g. There are the orientations face up/face down and orthogonal to

that portrait upright, landscape left, portrait downside, and landscape right. The interrupt to face

up/face down may be enabled separately through int_orient_ud_en in Register (0x65-0x66)

INT_ORIENT.

The sensor orientation is defined by the angles phi and Theta (phi is rotation around the stationary

z axis, theta is rotation around the stationary y axis).

Int_tap_shock

= 50/75ms

single_tap_det

time

First Tap

tnt_tap_quiet

= 30/20ms

int_tap_dur = 50 ÷ 700 ms

int_tap_shock

=50/75ms

Int_tap_quiet

= 30/20ms

time

double_tap_det

time

Second Tap

slope

Figure 7: Tap detection interrupt

tap_thh

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Note: Specifications within this document are preliminary and subject to change without notice.

Figure 8: definition of coordinate system with respect to pin 1 marker

The measured acceleration vector components look as follows:

        (1)

        (2)

     (3)

(2)/(1): 

   

Figure 9: Angle-to-Orientation Mapping

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Note that the sensor measures the direction of the force which needs to be applied to keep the

sensor at rest (i.e. opposite direction than g itself).

Looking at the phone from frontside / portrait upright corresponds to the following angles:

   ,   

The orientation value is stored in the output register int_orient in Register (0x1C-0x1F)

INT_STATUS. There are three orientation calculation modes: symmetrical, high-asymmetrical

and low-asymmetrical. The mode is selected by the register int_orient_mode in Register (0x65-

0x66) INT_ORIENT as follows:

Table 14: Orientation mode

orient_mode

Orientation mode

Symmetrical

High asymmetrical

Low asymmetrical

Symmetrical

The register int_orient has the following meanings depending on the switching mode:

Table 15: Symmetrical mode

orient

Name

Angle

Condition

x00

landscape left

315°<phi<45°

|acc_y/acc_x|<1 && acc_x≥0

x01

landscape right

135°<phi<225°

|acc_y/acc_x|<1 && acc_x<0

x10

portrait upside down

45°<phi<135°

|acc_y/acc_x|≥1 && acc_y<0

x11

portrait upright

225°<phi<315°

|acc_y/acc_x|≥1 && acc_y≥0

Table 16: High asymmetrical mode

orient

Name

Angle

Condition

x00

landscape left

297°<phi<63°

|acc_y/acc_x|<2 && acc_x≥0

x01

landscape right

117°<phi<243°

|acc_y/acc_x|<2 && acc_x<0

x10

portrait upside down

63°<phi<117°

|acc_y/acc_x|≥2 && acc_y<0

x11

portrait upright

243°<phi<297°

|acc_y/acc_x|≥2 && acc_y≥0

Table 17: Low asymmetrical mode

orient

Name

Angle

Condition

x00

landscape left

333°<phi<27°

|acc_y/acc_x|<0.5 && acc_x≥0

x01

landscape right

153°<phi<207°

|acc_y/acc_x|<0.5 && acc_x<0

x10

portrait upside down

27°<phi<153°

|acc_y/acc_x|≥0.5 && acc_y<0

x11

portrait upright

207°<phi<333°

|acc_y/acc_x|≥0.5 && acc_y≥0

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The engine uses 8 bits wide acceleration data for the orientation recognition.

For upside or downside orientation, the int_orient<2> in Register (0x1C-0x1F) INT_STATUS has

the definition

Table 18: upside and downside mode

MSB acc_z

0 upside

(270° <  < 90°)  acc_z >= 0

1 downside

(90° <  < 270°)  acc_z < 0

int_orient<2> also is computed when flat interrupt is activated.

Both portrait/landscape and upside/downside recognition use a hysteresis. The hysteresis for

portrait/landscape detection is configurable and applies to all conditions as described in the tables

below.

Table 19: Symmetrical mode

orient

Name

Angle

Condition

x00

landscape left

315°+hy <phi< 45°-

|acc_y|<|acc_x|-hyst && acc_x≥0

x01

landscape right

135°+hy <phi<

225°-hy

|acc_y|<|acc_x|-hyst && acc_x<0

x10

portrait upside down

45°+hy <phi< 135°-

|acc_y|>|acc_x|+hyst && acc_y<0

x11

portrait upright

225°+hy <phi<

315°-hy

|acc_y|>|acc_x|+hyst && acc_y≥0

Figure 10: Hysteresis in symmetrical mode

x-h h

-h

m=1 y

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Table 20: High asymmetrical mode

orient

Name

Angle

Condition

x00

landscape left

297°+hy <phi<63°-hy

|acc_y|<2*(|acc_x|-hyst) && acc_x≥0

x01

landscape right

117°+hy <phi<243°-hy

|acc_y|<2*(|acc_x|-hyst) && acc_x<0

x10

portrait upside down

63°+hy <phi<117°-hy

|acc_y|>2*|acc_x|+hyst && acc_y<0

x11

portrait upright

243°+hy <phi<297°-hy

|acc_y|>2*|acc_x|+hyst && acc_y≥0

Figure 11: Hysteresis in high asymmetrical mode

Table 21: Low asymmetrical mode

orient

Name

Angle

Condition

x00

landscape left

333°+hy <phi<27°-hy

|acc_y|<(|acc_x|-hyst)/2 && acc_x≥0

x01

landscape right

153°+hy <phi<207°-hy

|acc_y|<(|acc_x|-hyst)/2 && acc_x<0

x10

portrait upside down

27°+hy <phi<153°-hy

|acc_y|>|acc_x|/2+hyst && acc_y<0

x11

portrait upright

207°+hy <phi<333°-hy

|acc_y|>|acc_x|/2+hyst && acc_y≥0

Figure 12: Hysteresis in low asymmetrical mode

x-h h

-h

m=2 y

x-h h

-h

m=½ y

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The hysteresis for upside/downside detection is fixed to 11.5° which is ~200 mg (205 LSB in 2g

mode and is scalable with the g range).

Table 22: Upside/downside hysteresis for all 3 modes

orient

Name

Angle

Condition

0xx

upside

281.5°<Theta<78.5°

acc_z>200mg (|acc_z|>200mg and

acc_z≥0)

1xx

downside

101.5°<phi<258°

acc_z<-200mg (|acc_z|>200mg and

acc_z<0)

2.6.5.1 Blocking

It is be possible to block the orientation detection (no orientation interrupt will be triggered). The

orientation interrupt blocking feature is configurable via the int_orient_blocking in Register (0x65-

0x66) INT_ORIENT bits in the following manner:

“00”  Interrupt blocking is disabled

“01”  Interrupt blocked if device close to the horizontal position or acceleration of any axis >1.5g

“10”  Interrupt blocked if device close to the horizontal position or acceleration of any axis >1.5g

or slope>0.2g (for 3 consecutive data samples)

“11”  Interrupt blocked if device close to the horizontal position or slope>0.4g or acceleration of

any axis>1.5g or another orientation change within 100ms (same orientation and acc <1.5g for

100ms)

For all states where interrupt blocking through slope detection is used, the interrupt is re-enabled

after the slope has been below the threshold for 3 times in a row.

For all states where 100ms interrupt blocking is enabled, in order to trigger the interrupt, the

orientation remains the same (stable) until the timer runs out (for ~100ms). The timer starts to

count when orientation changes between two consecutive samples. If the orientation changes

while timer is still counting, the timer is restarted.

The theta blocking (phone close to the horizontal position) is defined by the following inequality:

((theta_blk)6 * ((acc_z)SAT * (acc_z)SAT)6 )10 > ((acc_x)SAT * (acc_x)SAT)10 + ((acc_y)SAT *

(acc_y)SAT)10

where:

()6 means usage of 6-bit arithmetic (6 MSBs from a value is used);

()SAT means absolute value reduced to 6 bits saturated to 1g (MSB-1 is taken as MSB, saturation

arithmetic for this conversion)

If other than 2g range is selected, acceleration values shall be amplified before blocking

computation to have the same scale as in 2g range.

2.6.5.2 Interrupt generation and latching

The orientation interrupt is triggered at every change of the int_orient status register value. If

int_orient register, those indicating the portrait/landscape orientation, as well as those indicating

the upside/downside orientation are considered for the generation of the interrupt condition. If

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portrait/landscape orientation are considered for the generation of the interrupt condition, while

those bits indicating the upside/downside orientation are ignored. The bit indicating

upside/downside orientation is int_orient<2>, while the bit-field indicating the portrait/landscape

orientation is int_orient<1:0>. If orient_ud_en is ‘0’ then the int_orient<2> status bit is 0.

In case the orientation interrupt condition has been satisfied the orientation relevant fields in

2.6.5.3 Rotation of the Reference Coordinate System

The given specification is valid for an upright mounted PCB. In order to also enable horizontal

mounting, x and z axis can be exchanged via the register int_axes_ex for the flat and orientation

interrupt. For all other interrupts and in all other functions, e.g. data registers and FIFO, the x, y,

and z axes will not be affected. The x-, y-, z-axis will keep right-hand principle after the exchange

2.6.6 Flat Detection (Accel)

This interrupt detects flat orientation. This interrupt fires when the device gets into horizontal

position (int_flat=1  e.g. it is being placed on a table) or when it goes out of it (int_flat=0  e.g.

it is picked up).

The interrupt is configured in the Register (0x67-0x68) INT_FLAT. The condition for activating

the interrupt is:

[((theta_flat)6 * ((acc_z)SAT*(acc_z)SAT )6 )10 – (“000000” & int_flat_hy) >= ((acc_x)SAT*(acc_x)SAT

)10 + ((acc_y)SAT * (acc_y)SAT )10 AND (no_movement)

The condition to deactivate the interrupt in non-latched mode is:

[((theta_flat)6 * ((acc_z)SAT*(acc_z)SAT )6 )10 + (“000000” & int_flat_hy) < ((acc_x)SAT*(acc_x)SAT

)10 + ((acc_y)SAT * (acc_y)SAT )10] OR NOT (no_movement)

no_movement is “0” if slope > 0.2g for 3 consecutive samples when orient_blocking = “10”

no_movement is “0” if slope > 0.4g for 3 consecutive samples when orient_blocking = “11”

If no_movement is “1”, then flat interrupt is reset.

Figure 13: Flat Orientation Angles

Theta

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Before the interrupt is actually fired, the device must remain flat for a certain period (e.g.

int_flat_hold_time = 1s).

Note:

Rotation of the Reference Coordinate System is possible for the Flat interrupt, see chapter

2.6.5.3.

2.6.7 Low-g / free-fall Detection (Accel)

For freefall detection, the absolute values of the acceleration data of all axes are observed (global

with the threshold int_low_th. The interrupt will be generated if the threshold is exceeded and the

measured acceleration stays below the hysteresis level int_low_th+int_low_hy for some minimum

number of samples (int_low_dur).

2.6.8 High-g detection (Accel)

This interrupt is configured in the Register (0x5A-0x5E) INT_LOWHIGH. The interrupt is asserted

if the absolute value of acceleration data of at least one enabled axis exceeds the programmed

threshold int_high_th and the sign of the value does not change for a minimum duration of

int_high_dur. The interrupt condition is cleared when the absolute value of acceleration data of

all selected axes falls below the threshold int_high_th minus the hysteresis int_high_hy or if the

sign of the acceleration value changes. The X, Y and Z axes are enabled with the int_high_en_x,

int_high_en_y, and int_high_en_z, respectively.

time

low_th + low_hy

low_th

low_dur

INT

non-latched

latched

counter value

Figure 14: Free-fall detection

acceleration

BMI160

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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.

When the high-g interrupt is triggered, the signals of the axis that has triggered the interrupt

(int_high_first_x, int_high_first_y, int_high_first_z) and the motion direction (int_high_sign) are set

in the Register (0x1C-0x1F) INT_STATUS.

If this interrupt is triggered in latch mode it stays blocked (disabled) until the latching is cleared.

Figure 15: Free-fall detection

2.6.9 Slow-Motion Alert / No-Motion Interrupt (Accel)

This interrupt engine monitors the slopes of each axis. The interrupt is configured in the Register

(0x5F-0x62) INT_MOTION. It behaves similar to the any-motion interrupt, but with a different set

of the parameters. As the only difference between the slow-motion interrupt and the any-motion

interrupt, the slow-motion engine doesn’t store the information which axis has triggered the

interrupt and in which direction.

The slow-motion/no-motion interrupt engine can be configured in two modes. It can act as an

interrupt very similar to the any-motion interrupt, where the slope on the selected axis is monitored

and an interrupt is generated when a slope threshold is exceeded for a programmable number of

samples. The figure below illustrates the operation of the slow-motion interrupt engine in terms of

relevant signals and timing.

acceleration

INT

high_th

non-latched

latched

high_dur

time

high_dur

-high_th

counter

time

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

The interrupt engine can also be configured as a no-motion interrupt, where an interrupt is

generated when the slope on all selected axis remains smaller than a programmable threshold

for a programmable time. In order to save register space, some configuration registers have

different interpretations depending on the selected mode. The signals and timings relevant to the

no-motion interrupt functionality are depicted in the figure below.

INT

slope

acc(t0+Δt)

acc(t0)

slope(t0+

t)= acc(t0+

t) - acc(t0)

time

slo_no_mot_d

latched

unlatche

slo_no_mot_t

Figure 16: Slow motion, no motion

acceleration

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

Figure 17: Signal timings no motion interrupt

The figure below shows the differences in the logic operation between the slow-motion and no-

motion interrupt functionality.

Figure 18: Slow motion interrupt mode

Figure 19: No motion interrupt mode

acceleration

slo_no_mot_th

-slo_no_mot_th

slope

time

axis x, y, or z

slo_no_mot_dur

timer

INT

slope(t0+Δt)= acc(t0+Δt) - acc(t0)

acc(t0+Δt)

acc(t0)

slo_no_mot_th

slope_z

slope_y

slope_x

INT

Counter

Timer

slo_no_mot_dur

slo_no_mot_en_z

slo_no_mot_dur

INT

slo_no_mot_en_y

slo_no_mot_en_x

slo_no_mot_th

slope_z

slope_y

slope_x

slo_no_mot_en_z

slo_no_mot_en_y

slo_no_mot_en_x

Slow-Motion Interrupt Mode

No-Motion Interrupt Mode

slo_no_mot_th

slope_z

slope_y

slope_x

INT

Counter

Timer

slo_no_mot_dur

slo_no_mot_en_z

slo_no_mot_dur

INT

slo_no_mot_en_y

slo_no_mot_en_x

slo_no_mot_th

slope_z

slope_y

slope_x

slo_no_mot_en_z

slo_no_mot_en_y

slo_no_mot_en_x

Slow-Motion Interrupt Mode

No-Motion Interrupt Mode

BMI160

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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.

2.6.9.1 Register slo_no_mot_dur

The meaning of register int_slo_no_mot_dur changes depending on the state of the no_mot_sel

configuration bit. If int_no_mot_sel =’0’, register int_slo_no_mot_dur defines the number of

consecutive slope data points of the selected axis which must exceed the threshold value

int_slo_no_mot_th for an interrupt to be asserted. The functionality is compliant to the original

slow-motion interrupt and also the any-motion interrupt. Register (0x5F-0x62) INT_MOTION lists

the relationship between the setting of int_slo_no_mot_dur and the number of slope data points

filtered prior to asserting the interrupt.

However, if no_mot_sel =’1’, register int_slo_no_mot_dur defines the time no slope data point of

any of the selected axis must exceed the threshold value int_slo_no_mot_th for an interrupt to be

asserted. The tick times of 1.28s, 5.12s and 10.24s depend on the value programmed into

int_slo_no_mot_dur<5:0>. By means of using variable tick times, a no-motion delay between 1s

and 430s may be adjusted with a register with a width of six bits.

2.6.9.2 Register slo_no_mot_th

The int_slo_no_mot_th register defines the threshold against which the calculated slope values

of each axis are compared. The scaling is independent on the selected interrupt mode. The user

must scale the int_slo_no_mot_th value according to the adjusted range.

2.6.10 Data Ready Detection (Accel, Gyro and external sensors)

This interrupt fires whenever a new data sample from accel and gyro is complete. This allows a

low latency data readout.

The data update detection monitors the data_update signals for all axes and sensors. It generates

an interrupt as soon as the values for all axes and sensors which are required for the configured

output data rates have been updated.

The interrupt is cleared automatically when the update for the next sample starts or the data is

read out from the data register.

2.6.11 PMU Trigger (Gyro)

Whenever a PMU (power management unit) trigger (either wakeup or sleep) is issued,

wakeup_int in Register (0x6C) PMU_TRIGGER configures if an interrupt is send to the application

processor. If the AP wants to trigger sleeps itself for the gyro, the gyr_wakeup_trigger is

configured accordingly and no wakeup triggers are issued.

The PMU trigger interrupt is from the system perspective used in a similar manner as the

anymotion and nomotion interrupts. The PMU trigger interrupt follows the Register (0x54)

INT_LATCH configuration for resetting the interrupt.

2.6.12 FIFO Interrupts (Accel, Gyro, and external sensors)

The FIFO supports two interrupts, a FIFO full interrupt and a watermark interrupt. The FIFO full

interrupt is issued when the FIFO is full and the next full data sample would cause a FIFO

overflow, which may lead to samples being deleted. Technically, that means that a FIFO full

interrupt is issued, whenever less space than two maximum size frames is left in the FIFO. The

FIFO watermark interrupt is fired, when the FIFO fill level in fifo_byte_counter in Register (0x22-

0x23) FIFO_LENGTH is above a pre-configured watermark, defined in fifo_watermark in Register

(0x46-0x47) FIFO_CONFIG.

Note: The unit of fifo_watermark is 4 bytes whereas the unit of fifo_byte_counter is single bytes.

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

2.7 Step Counter

The step counter implements the function required for step counting in Android 4.4 and greater:

https://source.android.com/devices/sensors/sensor-types#step_counter

The step counter accumulates the steps detected by the step detector interrupt. Based on more

sophisticated algorithms, the step counter features a higher accuracy and reporting latency than

the step detector interrupt described in Chapter 2.6.3.

The step counter is configurable to the following modes through the step detector settings:

 Normal mode (default setting, recommended for most applications)

 Sensitive mode (can be used for light weighted, small persons)

 Robust mode (can be used, if many false positive detections are observed)

In order to read out the step counter values it is recommended to switch to normal mode

The step counter is enabled and reset with step_cnt_en in Register (0x7A-0x7B) STEP_CONF.

It shares its configuration with the step detector interrupt in Register (0x7A-0x7B) STEP_CONF.

The step counter can be used in low-power mode. In order to receive the most recent number of

counted steps, it is recommended to switch to normal mode prior to reading out the Register

(0x78-0x79) STEP_CNT.

More details can be found in the step counter field test report.

2.8 Device self test

This feature permits to check the sensor functionality via a built-in self-test (BIST). The

accelerometer has a comprehensive self test function for the MEMS element, the gyroscope

implements a simple self-test/life-test.

2.8.1 Self-test accelerometer

By applying electrostatic forces to the sensor core instead of external accelerations, the entire

signal path of the sensor can be tested. Activating the self-test results in a static offset of the

acceleration data; any external acceleration or gravitational force applied to the sensor during

active self-test will be observed in the output as a superposition of both acceleration and self-test

signal. All three axes are activated at the same time.

Before the self-test is enabled the g-range should be set to 8 g. The Register (0x40) ACC_CONF

has to be set to value 0x2C (acc_odr=1600Hz; acc_bwp=2; acc_us=0). Otherwise the

accelerometer self-test mode will not function correctly.

The self-test is activated by writing the value ´0b01´ to the acc_self_test_enable bits in the

through the bit acc_self_test_sign. The excitations occurs in negative (positive) direction if

self_test_sign = ´0b0´ (´0b1´). The amplitude of the deflection has to be set high by writing

acc_self_test_amp=´0b1´. After the self-test is enabled, the user should wait 50 ms before

interpreting the acceleration data

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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.

In order to ensure a proper interpretation of the self-test signal it is recommended to perform the

self-test for both (positive and negative) directions and then to calculate the difference of the

resulting acceleration values. The table below shows the minimum absolute differences for each

axis. The actually measured absolute signal differences can be significantly larger.

Table 23: Accelerometer self test minimum difference values

x-axis signal

y-axis signal

z-axis signal

Minimum

difference signal

2 g

It is recommended to perform a reset of the device after a self-test has been performed. If the

reset cannot be performed, the following sequence must be kept to prevent unwanted interrupt

generation: disable interrupts, change parameters of interrupts, wait for at least 50ms, enable

desired interrupts.

2.8.2 Self-test gyroscope

The gyroscope BIST can be triggered during normal operation mode. It checks the sensors drive

amplitude, its frequency and the stability of the drive control loop. Hence, disturbances of the

movement by particles, mechanical damage or pressure loss can be detected.

The self-test for the gyroscope will be started by writing a ‘1’ to gyr_self_test_enable in Register

(0x6D) SELF_TEST. The result will be in gyr_self_test_ok in

In addition, any particles or damages can be easily identified in a „Manual Performance Check“.

Due to the outstanding offset and noise performance the measured values at zero-rate fit the

specified performance.

2.9 Offset Compensation

BMI160 offers fast and manual compensation as well as inline calibration.

Fast offset compensation is performed with pre-filtered data, and the offset is then applied to both,

pre-filtered and filtered data. If necessary the result of this computation is saturated to prevent

any overflow errors (the smallest or biggest possible value is set, depending on the sign).

The public offset compensation Register (0x71-0x77) OFFSET are images of the corresponding

registers in the NVM. With each image update (see chapter 2.10 for details) the contents of the

NVM registers are written to the public registers. The public registers can be overwritten by the

user at any time. Offset compensation needs to be enabled through gyr_off_en and acc_off_en

in Register (0x71-0x77) OFFSET.

2.9.1 Fast offset compensation

Fast offset compensation (FOC) is a one-shot process that compensates offset errors of

accelerometer and gyro by setting the offset compensation registers to the negated offset error.

This is best suited for “end-of-line trimming” with the customers device positioned in a well-defined

orientation.

Before triggering, the FOC needs to be configured via the Register (0x69) FOC_CONF.

Accelerometer and gyroscope FOC can be separately disabled or enabled. Gyroscope target

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Note: Specifications within this document are preliminary and subject to change without notice.

value is always 0 dps, for the accelerometer the target value has to be defined for each channel

(-1g, 0g, +1g) depending on sensor position relative to the earth gravity field.

FOC is triggered by issuing a start_foc command to Register (0x7E) CMD. Once triggered, the

status of the fast correction process is reflected in the status bit foc_rdy in

and gyroscope values are measured with preset filter settings. This will take a maximum time of

250 ms.

The negated measured values are written to Register (0x71-0x77) OFFSET automatically

(overwriting previous offset register values), cancelling out offset errors if “gyr_off_en” and

“acc_off_en” in Register (0x71-0x77) OFFSET are activated.

For the accelerometer offset, the accuracy is 3.9 mg.

Fast compensation should not be used in combination with the low-power mode. In low-power

mode the conditions (availability of necessary data) for proper function of fast compensation are

not fulfilled.

Fast offset compensation does not clear the data ready bit in

completes, to remove a stall data ready bit from before the FOC.

2.9.2 Manual offset compensation

The contents of the public compensation Register (0x71-0x77) OFFSET may be set manually via

the digital interface. After modifying the Register (0x71-0x77) OFFSET the next data sample is

not valid.

Writing to the offset compensation registers is not allowed while the fast compensation procedure

is running.

“gyr_off_en” and “acc_off_en” in Register (0x71-0x77) OFFSET need to be activated as well.

2.9.3 Inline calibration

For certain applications, it is often desirable to calibrate the offset once and to store the

compensation values permanently. This can be achieved by using fast or manual offset

compensation to determine the proper compensation values and then storing these values

permanently in the NVM.

Each time the device is reset, the compensation values are loaded from the non-volatile memory

into the image registers and used for offset compensation.

2.10 Non-Volatile Memory

The entire memory of the BMI160 consists of volatile and non-volatile registers. Part of it can be

both read and written by the user. Access to non-volatile memory is only possible through

(volatile) image registers.

We support a maximum number of write cycles equal or less than 14.

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

The Register (0x70) NV_CONF and Register (0x71-0x77) OFFSET have an NVM backup which

is accessible by the user.

The content of the NVM is loaded to the image registers after a reset (either POR or softreset).

As long as the image update is in progress, bit nvm_rdy in

The image registers can be read and written like any other register.

Writing to the NVM is a three-step procedure:

Write the new contents to the image registers.

Write ´1´ to bit nvm_prog_en in the Register (0x6A) CONF register in order to unlock the NVM.

Write prog_nvm (0xA0) to the Register (0x7E) CMD to trigger the write process.

Writing to the NVM always renews the entire NVM contents. It is possible to check the write status

by reading bit nvm_rdy. While nvm_rdy = ´0´, the write process is still in progress; if nvm_rdy =

´1´, then writing is completed. As long as the write process is ongoing, no change of power mode

and image registers is allowed. An NVM write cycle can only be initiated, when the accelerometer

is in normal mode.

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Note: Specifications within this document are preliminary and subject to change without notice.

2.11 Register Map

This chapter contains register definitions. REG[x]<y> denotes bit y in byte x in register REG.

Val(Name) is the value contained in the register interpreted as non-negative binary number. When

writing to reserved bits, ‘0’ should be written when not stated different.

Read/write

read only

write only

reserved

Address

Default

Value

bit7

bit6

bit5

bit4

bit3

bit2

bit1

bit0

0x7E

CMD

0x00

cmd

0x7D

reserved

0x7C

reserved

0x7B

STEP_CONF_1

0x03

reserved

step_cnt_en

step_conf_10_8

0x7A

STEP_CONF_0

0x15

step_conf_7_0

0x79

STEP_CNT_1

0x00

step_cnt_15_8

0x78

STEP_CNT_0

0x00

step_cnt_7_0

0x77

OFFSET_6

0x00

gyr_off_en

acc_off_en

off_gyr_z_9_8

off_gyr_y_9_8

off_gyr_x_9_8

0x76

OFFSET_5

0x00

off_gyr_z_7_0

0x75

OFFSET_4

0x00

off_gyr_y_7_0

0x74

OFFSET_3

0x00

off_gyr_x_7_0

0x73

OFFSET_2

0x00

off_acc_z

0x72

OFFSET_1

0x00

off_acc_y

0x71

OFFSET_0

0x00

off_acc_x

0x70

NV_CONF

0x00

reserved

u_spare_0

i2c_wdt_en

i2c_wdt_sel

spi_en

0x6F

reserved

0x6E

reserved

0x6D

SELF_TEST

0x00

reserved

gyr_self_test_

enable

acc_self_test_

amp

acc_self_test_

sign

acc_self_test_enable

0x6C

PMU_TRIGGER

0x00

reserved

wakeup_int

gyr_sleep_state

gyr_wakeup_trigger

gyr_sleep_trigger

0x6B

IF_CONF

0x00

reserved

if_mode

reserved

spi3

0x6A

CONF

0x00

reserved

nvm_prog_en

reserved

0x69

FOC_CONF

0x00

reserved

foc_gyr_en

foc_acc_x

foc_acc_y

foc_acc_z

0x68

INT_FLAT_1

0x11

reserved

int_flat_hold

reserved

int_flat_hy

0x67

INT_FLAT_0

0x08

reserved

int_flat_theta

0x66

INT_ORIENT_1

0x48

int_orient_axes

_ex

int_orient_ud_

int_orient_theta

0x65

INT_ORIENT_0

0x18

int_orient_hy

int_orient_blocking

int_orient_mode

0x64

INT_TAP_1

0x0A

reserved

int_tap_th

0x63

INT_TAP_0

0x04

int_tap_quiet

int_tap_shock

reserved

int_tap_dur

0x62

INT_MOTION_3

0x24

reserved

int_sig_mot_proof

int_sig_mot_skip

int_sig_mot_

sel

int_slo_nomo_

sel

0x61

INT_MOTION_2

0x14

int_slo_nomo_th

0x60

INT_MOTION_1

0x14

int_anymo_th

0x5F

INT_MOTION_0

0x00

int_slo_nomo_dur

int_anym_dur

0x5E

INT_LOWHIGH_4

0xC0

int_high_th

0x5D

INT_LOWHIGH_3

0x0B

int_high_dur

0x5C

INT_LOWHIGH_2

0x81

int_high_hy

reserved

int_low_hy

0x5B

INT_LOWHIGH_1

0x30

int_low_th

0x5A

INT_LOWHIGH_0

0x07

int_low_dur

0x59

INT_DATA_1

0x00

int_motion_src

reserved

0x58

INT_DATA_0

0x00

int_low_high_sr

reserved

int_tap_src

reserved

0x57

INT_MAP_2

0x00

int2_flat

int2_orient

int2_s_tap

int2_d_tap

int2_nomotion

int2_anymotion

int2_highg

int2_lowg_step

0x56

INT_MAP_1

0x00

int1_drdy

int1_fwm

int1_ffull

int1_pmu_trig

int2_drdy

int2_fwm

int2_ffull

int2_pmu_trig

0x55

INT_MAP_0

0x00

int1_flat

int1_orient

int1_s_tap

int1_d_tap

int1_nomotion

int1_anymotion

int1_highg

int1_lowg_step

0x54

INT_LATCH

0x00

reserved

int2_input_en

int1_input_en

int_latch

0x53

INT_OUT_CTRL

0x00

int2_output_en

int2_od

int2_lvl

int2_edge_ctrl

int1_output_en

int1_od

int1_lvl

int1_edge_ctrl

0x52

INT_EN_2

0x00

reserved

int_step_det_en

int_nomoz_en

int_nomoy_en

int_nomox_en

0x51

INT_EN_1

0x00

reserved

int_fwm_en

int_ffull_en

int_drdy_en

int_low_en

int_highg_z_en

int_highg_y_en

int_highg_x_en

0x50

INT_EN_0

0x00

int_flat_en

int_orient_en

int_s_tap_en

int_d_tap_en

reserved

int_anymo_z_

int_anymo_y_

int_anymo_x_

0x4F

MAG_IF_4

0x00

write_data

0x4E

MAG_IF_3

0x4C

write_addr

0x4D

MAG_IF_2

0x42

read_addr

0x4C

MAG_IF_1

0x80

mag_manual_

reserved

mag_offset

mag_rd_burst

0x4B

MAG_IF_0

0x20

i2c_device_addr

reserved

0x4A

reserved

0x48

reserved

0x47

FIFO_CONFIG_1

0x10

fifo_gyr_en

fifo_acc_en

fifo_mag_en

fifo_header_en

fifo_tag_int1_en

fifo_tag_int2_en

fifo_time_en

reserved

0x46

FIFO_CONFIG_0

0x80

fifo_water_mark

0x45

FIFO_DOWNS

0x88

acc_fifo_filt_

data

acc_fifo_downs

gyr_fifo_filt_

data

gyr_fifo_downs

0x44

MAG_CONF

0x0B

reserved

mag_odr

0x43

GYR_RANGE

0x00

reserved

gyr_range

0x42

GYR_CONF

0x28

reserved

gyr_bwp

gyr_odr

0x41

ACC_RANGE

0x03

reserved

acc_range

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0x40

ACC_CONF

0x28

acc_us

acc_bwp

acc_odr

0x3F

reserved

0x25

reserved

0x24

FIFO_DATA

0x00

fifo_data

0x23

FIFO_LENGTH_1

0x00

reserved

fifo_byte_counter_10_8

0x22

FIFO_LENGTH_0

0x00

fifo_byte_counter_7_0

0x21

TEMPERATURE_1

0x80

temperature_15_8

0x20

TEMPERATURE_0

0x00

temperature_7_0

0x1F

INT_STATUS_3

0x00

flat

orient_2

orient_1_0

high_sign

high_first_z

high_first_y

high_first_x

0x1E

INT_STATUS_2

0x00

tap_sign

tap_first_z

tap_first_y

tap_first_x

anym_sign

anym_first_z

anym_first_y

anym_first_x

0x1D

INT_STATUS_1

0x00

nomo_int

fwm_int

ffull_int

drdy_int

lowg_int

highg_int

reserved

0x1C

INT_STATUS_0

0x00

flat_int

orient_int

s_tap_int

d_tap_int

pmu_trigger_int

anym_int

sigmot_int

step_int

0x1B

STATUS

0x01

drdy_acc

drdy_gyr

drdy_mag

nvm_rdy

foc_rdy

mag_man_op

gyr_self_test_

reserved

0x1A

SENSORTIME_2

0x00

sensor_time_23_16

0x19

SENSORTIME_1

0x00

sensor_time_15_8

0x18

SENSORTIME_0

0x00

sensor_time_7_0

0x17

DATA_19

0x00

acc_z_15_8

0x16

DATA_18

0x00

acc_z_7_0

0x15

DATA_17

0x00

acc_y_15_8

0x14

DATA_16

0x00

acc_y_7_0

0x13

DATA_15

0x00

acc_x_15_8

0x12

DATA_14

0x00

acc_x_7_0

0x11

DATA_13

0x00

gyr_z_15_8

0x10

DATA_12

0x00

gyr_z_7_0

0x0F

DATA_11

0x00

gyr_y_15_8

0x0E

DATA_10

0x00

gyr_y_7_0

0x0D

DATA_9

0x00

gyr_x_15_8

0x0C

DATA_8

0x00

gyr_x_7_0

0x0B

DATA_7

0x00

rhall_15_8

0x0A

DATA_6

0x00

rhall_7_0

0x09

DATA_5

0x00

mag_z_15_8

0x08

DATA_4

0x00

mag_z_7_0

0x07

DATA_3

0x00

mag_y_15_8

0x06

DATA_2

0x00

mag_y_7_0

0x05

DATA_1

0x00

mag_x_15_8

0x04

DATA_0

0x00

mag_x_7_0

0x03

PMU_STATUS

0x00

reserved

acc_pmu_status

gyr_pmu_status

mag_pmu_status

0x02

ERR_REG

0x00

mag_drdy_err

drop_cmd_err

i2c_fail_err

err_code

fatal_err

0x01

reserved

0x00

CHIP_ID

0xD1

chip_id

Figure 20: BMI160 register map

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

2.11.1 Register (0x00) CHIPID

ADDRESS 0x00

RESET na

MODE R

DESCRIPTION The register contains the chip identification code.

DEFINITION

Name

Bit

Read/Write

Reset Value

Content

chip_id<7:4>

Bit

Read/Write

Reset Value

Content

chip_id<3:0>

2.11.2 Register (0x02) ERR_REG

ADDRESS 0x02

RESET 0b00000000

MODE RW

DESCRIPTION Reports sensor error flags. Flags are reset when read.

DEFINITION

Bit

Acronym

Definition

Reserved

drop_cmd_err

Dropped command to Register

Reserved

4:1

error_code

0000: no error

0001: error

0010: error

0011: low-power mode and interrupt uses pre-

filtered data

0100: reserved

0101: reserved

0110: ODRs of enabled sensors in header-less

mode do not match

0111: pre-filtered data are used in low power

mode

1000-1111: reserved

The first reported error will be shown in the

error code.

fatal_err

Chip not operable

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The register is meant for debug purposes, not for regular verification if an operation completed

successfully.

Extensions under consideration:

fatal_err: Error during bootup. Broken hardware (e.g. NVM error, see ASIC spec for

details). This flag will not be cleared after reading the register. The only way

to clear the flag is a POR.

Acc_conf_err: Accelerometer ODR and BW not compatible

gyr_conf_err: Gyroscope ODR and BW not compatible

Error flags (bits 7:4) store error event until they are reset by reading the register.

2.11.3 Register (0x03) PMU_STATUS

ADDRESS 0x03

RESET 0b0000-0000

MODE R

DESCRIPTION Shows the current power mode of the sensor.

DEFINITION

Name

Bit

Read/Write

Reset Value

Content

reserved

acc_pmu_status

Bit

Read/Write

Reset Value

Content

gyr_pmu_status

mag_pmu_status

acc_pmu_status

Accel Mode

0b00

Suspend

0b01

Normal

0b10

Low Power

gyr_pmu_status

Gyro Mode

0b00

Suspend

0b01

Normal

0b10

Reserved

0b11

Fast Start-Up

mag_pmu_status

Magnet Mode

0b00

Suspend

0b01

Normal

0b10

Low Power

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

The register reflects the current power modes of all sensor configured as soon as they are

effective. If a sensor is enabled, the new sensor mode is reported as soon as the MEMS is up

and before digital filters have settled. The settling time depends on filter settings. The power

modes may be changed through the Register (0x7E) CMD. In addition, for the gyroscope through

In low power mode the FIFO is not accessible. For read outs of the FIFO the sensor has to be set

to normal mode, after read-out the sensor can be set back to low power mode.

2.11.4 Register (0x04-0x17) DATA

ADDRESS 0x04 (20 byte)

RESET (BYTEWISE) 0b0000-0000

MODE R

DESCRIPTION Register for accelerometer, gyroscope and magnetometer data. DATA[0-19] are

treated as atomic update unit with respect to an I2C/SPI operation. A read operation on the

DEFINITION

DATA[0-19] contains the latest data for the x, y, and z axis of magnetometer MAG_[X-Z],

gyroscope GYR_[X-Z], and accelerometer ACC_[X-Z]. The rationale for the ordering is the

probability for these configurations is decreasing

 Readout of accel and sensortime

 Readout of gyro, accel, and sensortime

 Readout of magnetometer, gyro, accel, and sensortime

 Readout of magnetometer, accel, and sensortime

If the secondary interface is in OIS mode, from the OIS interface the OIS data are accessible

through Register (0x04-0x17) DATA [8-13].

REG (0x04 – 0x17)

DATA[X]

Acronym

0x04

X=0

MAG_X<7:0> (LSB)

0x05

X=1

MAG_X<15:8> (MSB )

0x06

X=2

MAG_Y<7:0> (LSB)

0x07

X=3

MAG_Y<15:8> (MSB)

0x08

X=4

MAG_Z<7:0> (LSB)

0x09

X=5

MAG_Z<15:8> (MSB)

0x0A

X=6

RHALL<7:0> (LSB)

0x0B

X=7

RHALL<15:8> (MSB)

0x0C

X=8

GYR_X<7:0> (LSB)

0x0D

X=9

GYR_X<15:8> (MSB)

0x0E

X=10

GYR_Y<7:0> (LSB)

0x0F

X=11

GYR_Y<15:8> (MSB)

0x10

X=12

GYR_Z<7:0> (LSB)

0x11

X=13

GYR_Z<15:8> (MSB)

0x12

X=14

ACC_X<7:0> (LSB)

0x13

X=15

ACC_X<15:8> (MSB)

0x14

X=16

ACC_Y<7:0> (LSB)

BMI160

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0x15

X=17

ACC_Y<15:8> (MSB)

0x16

X=18

ACC_Z<7:0> (LSB)

0x17

X=19

ACC_Z<15:8> (MSB)

2.11.5 Register (0x18-0x1A) SENSORTIME

ADDRESS 0x18 (3 byte)

RESET 0x0000

MODE R

DESCRIPTION Sensortime is a 24 bit counter available in suspend, low power, and normal mode.

The value of the register is shadowed when it is read in a burst read with the data register at the

beginning of the operation and the shadowed value is returned. When the FIFO is read the

DEFINITION The sensortime increments with 39 µs. The accuracy of the counter is the same as

for the output data rate as described in section 2.3. The sensortime is unique for approx. 10 min

and 54 seconds. I.e. the register value starts at 0x000000 and wraps after 0xFFFFFF has been

reached.

Name

Bit

Read/Write

R/W

Reset Value

Content

sensor_time<7:4>

Bit

Read/Write

R/W

Reset Value

Content

sensor_time<3:0>

Name

Bit

Read/Write

R/W

Reset Value

Content

sensor_time<15:11>

Bit

Read/Write

R/W

Reset Value

Content

sensor_time<10:8>

Name

Bit

Read/Write

R/W

Reset Value

Content

sensor_time<23:19>

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

Bit

Read/Write

R/W

Reset Value

Content

sensor_time<19:16>

2.11.6 Register (0x1B) STATUS

ADDRESS 0x1B

RESET 0b00000000

MODE R

DESCRIPTION Reports sensor status flags.

DEFINITION

Bit

Acronym

Definition

drdy_acc

Data ready (DRDY) for accelerometer in register

drdy_gyr

Data ready (DRDY) for gyroscope in register

drdy_mag

Data ready (DRDY) for magnetometer in register

nvm_rdy

NVM controller status

foc_rdy

FOC completed

mag_man_op

‘0’ indicates no manual magnetometer interface

operation

‘1’ indicates a manual magnetometer interface

operation

triggered via MAG_IF[2] or MAG_IF[3]

gyr_self_test_ok

‘0’ when gyroscope self-test is running or failed.

‘1’ when gyroscope self-test completed

successfully.

Drdy_*: gets reset when one byte of the register for sensor * is read.

Nvm_rdy: status of NVM controller: ´0´  NVM write operation is in progress; ´1´  NVM

is ready to accept a new write trigger

foc_rdy: Fast offset compensation completed

2.11.7 Register (0x1C-0x1F) INT_STATUS

ADDRESS 0x1C (4 byte)

RESET

MODE R

DESCRIPTION The register contains interrupt status flags.

DEFINITION

Each flag is associated with a specific interrupt function. It is set when the associated interrupt

triggers. The setting of Register (0x54) INT_LATCH <3:0> controls if the interrupt signal and

hence the respective interrupt flag will be permanently latched, temporarily latched or not latched.

The interrupt function associated with a specific status flag must be enabled.

BMI160

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Acronym

definition

flat_int

Flat interrupt

orient_int

Orientation interrupt

s_tap_int

Single tap interrupt

d_tap_int

Double tap interrupt

pmu_trigger_int

pmu trigger interrupt

anym_int

Anymotion

sigmot_int

Significant motion interrupt

step_int

Step detector interrupt

‘0’ interrupt inactive, ‘1’ interrupt active.

definition

nomo_int

Nomotion

fwm_int

Fifo watermark

ffull_int

Fifo full

drdy_int

Data ready

lowg_int

Low g

highg_z_int

High g

Reserved

‘0’ interrupt inactive, ‘1’ interrupt active.

INT_STATUS [2]

Definition

tap_sign

sign of single/double tap triggering signal was

‘0’positive / ‘1’ negative

tap_first_z

single/double tap interrupt: ‘1’  triggered by, or

‘0’not triggered by z-axis

tap_first_y

single/double tap interrupt: ‘1’  triggered by, or

‘0’not triggered by y-axis

tap_first_x

single/double tap interrupt: ‘1’  triggered by, or

‘0’not triggered by x-axis

anym_sign

slope sign of slope tap triggering signal was

‘0’positive, or ‘1’ negative

anym_first_z

Anymotion interrupt: ‘1’  triggered by, or ‘0’not

triggered by z-axis

anym_first_y

Anymotion interrupt: ‘1’  triggered by, or ‘0’not

triggered by y-axis

anym_first_x

Anymotion interrupt: ‘1’  triggered by, or ‘0’not

triggered by z-axis

BMI160

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INT_STATUS [3]

acronym

definition

flat

device is in ‘1’  flat, or ‘0’ non flat position;

only valid if (0x16) int_flat_en = ‘1’

orient<2>

Orientation value of z-axis: ´0´  upward looking, or

´1´  downward looking. The flag always reflect the

current orientation status, independent of the setting

of <3:0>. The flag is not updated as long as an

orientation blocking condition is active.

<5:4>

orient<1:0>

orientation value of xx-y-plane:

‘00’portrait upright;

‘01’portrait upside down;

‘10’landscape left;

‘11’landscape right;

The flags always reflect the current orientation

status, independent of the setting of <3:0>. The flag

is not updated as long as an orientation blocking

condition is active.

high_sign

sign of acceleration signal that triggered high-g

interrupt was ‘0’positive, ‘1’ negative

high_first_z

high-g interrupt: ‘1’  triggered by, or ‘0’not

triggered by z-axis

high_first_y

high-g interrupt: ‘1’  triggered by, or ‘0’not

triggered by y-axis

high_first_x

high-g interrupt: ‘1’  triggered by, or ‘0’not

triggered by x-axis

The status bits in [2] and [3] are only meaningful if the corresponding interrupt in [0] or [1] is active.

2.11.8 Register (0x20-0x21) TEMPERATURE

ADDRESS 0x20 (2 byte)

RESET na

MODE R

DESCRIPTION Contains the temperature of the sensor

DEFINITION

The temperature is disabled when all sensors are in suspend mode. The output word of the 16-

bit temperature sensor is valid if the gyroscope is in normal mode, i.e. gyr_pmu_status=0b01. The

resolution is typically ½9 K/LSB. The absolute accuracy of the temperature is in the order of

Value

Temperature

0x7FFF

87 – ½9 °C

…

0x0000

23 °C

…

0x8001

-41 + ½9 °C

0x8000

Invalid

If the gyroscope is in normal mode (see Register (0x03) PMU_STATUS), the temperature is

updated every 10 ms (+-12%). If the gyroscope is in suspend mode or fast-power up mode, the

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

temperature is updated every 1.28 s aligned with bit 15 of the Register (0x20-0x21)

TEMPERATURE.

2.11.9 Register (0x22-0x23) FIFO_LENGTH

ADDRESS 0x22 (2 byte)

RESET see definition

MODE see definition

DESCRIPTION FIFO data readout register.

DEFINITION

The register contains FIFO status flags.

Name

Bit

Read/Write

Reset Value

n/a

Content

fifo_byte_counter<7:4>

Bit

Read/Write

Reset Value

n/a

Content

fifo_byte_counter<3:0>

Name

Bit

Read/Write

Reset Value

n/a

Content

Reserved

Bit

Read/Write

Reset Value

n/a

Content

reserved

fifo_byte_counter<10:8>

fifo_byte_counter: Current fill level of FIFO buffer. This includes the skip frame for a full FIFO. An

empty FIFO corresponds to 0x000. The byte counter may be reset by reading

out all frames from the FIFO buffer or when the FIFO is reset through the

read or written.

BMI160

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2.11.10 Register (0x24) FIFO_DATA

ADDRESS 0x24

RESET see definition

MODE see definition

DESCRIPTION FIFO data readout register.

DEFINITION

The FIFO data are organized in frames as described in chapter 2.5.1. The new data flag is

preserved. Read burst access must be used, the address will not increment when the read burst

reads at the address of FIFO_DATA. When a frame is only partially read out, it is retransmitted

including the header at the next readout.

Name

Bit

Read/Write

Reset Value

n/a

Content

fifo_data<7:4>

Bit

Read/Write

Reset Value

n/a

Content

fifo_data<3:0>

fifo_data<7:0>: FIFO data readout; data format depends on the setting of

2.11.11 Register (0x40) ACC_CONF

ADDRESS 0x40

RESET 0b00101000

MODE RW

DESCRIPTION Sets the output data rate, the bandwidth, and the read mode of the acceleration

sensor.

DEFINITION

Name

Bit

Read/Write

R/W

Reset Value

Content

acc_us

acc_bwp

Bit

Read/Write

R/W

Reset Value

Content

acc_odr

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

acc_us: undersampling parameter. The undersampling parameter is typically used in low

power mode

acc_bwp: bandwidth parameter determines filter configuration (acc_us=0) and averaging for

undersampling mode (acc_us=1). For details see chapter 2.2.4.

acc_odr: define the output data rate in Hz is given by 100/28-val(acc_odr). The output data rate

is independent of the power mode setting for the sensor

acc_odr

Output data rate in Hz

0b0000

Reserved

0b0001

25/32

0b0010

25/16

…

0b1000

100

...

0b1011

800

0b1100

1600

0b1101-0b1111

Reserved

When acc_us is set to ‘0’ and the accelerometer is in low-power mode, it will change to normal

mode. If the acc_us is set to ‘0’ and an command to enter low-power mode is send to the Register

(0x7E) CMD, this command is ignored.

Configurations without a bandwidth number are illegal settings and will result in an error code in

the Register (0x02) ERR_REG.

2.11.12 Register (0x41) ACC_RANGE

ADDRESS 0x41

RESET see definition

MODE see defintion

DESCRIPTION The register allows the selection of the accelerometer g-range.

DEFINITION

Name

Bit

Read/Write

R/W

Reset Value

Content

Reserved

Bit

Read/Write

R/W

Reset Value

Content

acc_range<3:0>

acc_range<3:0>: Selection of accelerometer g-range:

´0b0011´  ±2g range;

´0b0101´  ±4g range;

´0b1000´  ±8g range;

BMI160

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´0b1100´  ±16g range;

all other settings  ±2g range

reserved: write ‘0’

Changing the range of the accelerometer does not clear the data ready bit in the Register (0x1B)

STATUS. It is recommended to read the Register (0x04-0x17) DATA after the

range change to remove a stall data ready bit from before the range change.

2.11.13 Register (0x42) GYR_CONF

ADDRESS 0x42

RESET 0b00101000

MODE RW

DESCRIPTION Sets the output data rate, the bandwidth, and the read mode of the gyroscope in

the sensor. DEFINITION

Name

Bit

Read/Write

R/W

Reset Value

Content

reserved

gyr_bwp

Bit

Read/Write

R/W

Reset Value

Content

gyr_odr

gyr_odr: defines the output data rate of the gyro in the sensor. This is independent of the power

mode setting for the sensor. The output data rate in Hz is given by

100/28-val(gyr_odr).

gyr_odr

Output data rate in Hz

0b0110

...

0b1000

100

...

0b1100

1600

0b1101

3200

0b111x

Reserved

gyr_bwp: the gyroscope bandwidth coefficient defines the 3 dB cutoff frequency of the low pass

filter for the sensor data. For details see Section 2.4.2.

Configurations without a bandwidth number are illegal settings and will result in an error code in

the Register (0x02) ERR_REG.

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

2.11.14 Register (0x43) GYR_RANGE

ADDRESS 0x43

RESET 0b00000000

MODE RW

DESCRIPTION Defines the BMI160 angular rate measurement range

DEFINITION

A measurement range is selected by setting the range bits as follows:

Name

Bit

Read/Write

R/W

Reset Value

Content

Reserved

Bit

Read/Write

R/W

Reset Value

Content

reserved

gyr_range<2:0>

range[2:0]

Full Scale

Resolution

‘000’

±2000°/s

16.4 LSB/°/s  61.0 m°/s / LSB

‘001’

±1000°/s

32.8 LSB/°/s  30.5 m°/s / LSB

‘010’

±500°/s

65.6 LSB/°/s  15.3 m°/s / LSB

‘011’

±250°/s

131.2 LSB/°/s  7.6 m°/s / LSB

‘100’

±125°/s

262.4 LSB/°/s  3.8m°/s / LSB

‘101’, ´110´, ´111´

reserved

gyr_range<2:0>: Angular Rate Range and Resolution.

reserved: write ‘0’

Changing the range of the gyroscope does not clear the data ready bit in the Register (0x1B)

STATUS. It is recommended to read the Register (0x04-0x17) DATA after the range change to

remove a stall data ready bit from before the range change.

2.11.15 Register (0x44) MAG_CONF

ADDRESS 0x44

RESET 0b1000-1000

MODE RW

DESCRIPTION Sets the output data rate of the magnetometer interface in the sensor.

Name

Bit

Read/Write

R/W

Reset Value

Content

Reserved

BMI160

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Note: Specifications within this document are preliminary and subject to change without notice.

Bit

Read/Write

R/W

Reset Value

Content

mag_odr <3:0>

DEFINITION

Bits <3:0> define the poll rate for the magnetometer attached to the magnetometer interface. This

is independent of the power mode setting for the sensor. The output data rate in Hz is given by

50/27-val(ODR<3:0>). In addition to setting the poll rate, it is required to configure the magnetometer

properly using the Register (0x4B-0x4F) MAG_IF.

Bit<3:0>

mag_odr

Output data rate in Hz

0b0000

reserved

0b0001

25/32

0b0010

25/16

...

0b0110

...

0b1000

100

...

0b1011

800

0b1100 - 0b1111

reserved

Bit <7:4> reserved

2.11.16 Register (0x45) FIFO_DOWNS

ADDRESS 0x45 (1 byte)

RESET 0b0000-0000

MODE RW

DESCRIPTION Used to configure the down sampling ratios of the accel and gyro data for FIFO.

DEFINITION The downsampling ratio for the gyro data are given by 2Val(gyr_fifo_downs), the

downsampling ratio for accel data are given by 2Val(acc_fifo_downs). [acc,gyr]_fifo_filt_data=0 (1)

selects pre-filtered (filtered) data for the FIFO for accelerometer and gyroscope, respectively.

Name

Bit

Read/Write

R/W

Reset Value

Content

acc_fifo_filt_data

acc_fifo_downs

Bit

Read/Write

R/W

Reset Value

Content

gyr_fifo_filt_data

gyr_fifo_downs

BMI160

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2.11.17 Register (0x46-0x47) FIFO_CONFIG

ADDRESS 0x46 (2 bytes)

RESET see definition

MODE see definition

DESCRIPTION The Register (0x46-0x47) FIFO_CONFIG is a read/write register and can be used

for reading or setting the current FIFO watermark level. This register can also be used for setting

the different modes of operation of the FIFO, e.g. which data is going to be stored in it and which

format is going to be used (header or headerless mode).

DEFINITION

Name

Bit

Read/Write

R/W

Reset Value

Content

fifo_water_mark <7:4>

Bit

Read/Write

R/W

Reset Value

Content

fifo_water_mark <3:0>

fifo_water_mark <7:0>: fifo_water_mark defines the FIFO watermark level. An interrupt will be

generated, when the number of entries in the FIFO exceeds

fifo_water_mark. The unit of fifo_water_mark are 4 bytes.

Name

Bit

Read/Write

R/W

Reset Value

Content

fifo_gyr_en

fifo_acc_en

fifo_mag_en

fifo_header_en

Bit

Read/Write

R/W

Reset Value

Content

fifo_tag_int1_en

fifo_tag_int2_en

fifo_time_en

reserved

When all the sensors are disabled, the FIFO is disabled and no headers are written. The sensors

can be disabled via fifo_gyr_en, fifo_acc_en and fifo_mag_en, respectively.

fifo_gyr_en: ‘0’ no gyro data are stored in FIFO, ‘1’ gyro data are stored in FIFO (all 3 axes)

fifo_acc_en: ‘0’ no acc data are stored in FIFO, ‘1’ acc data are stored in FIFO (all 3 axes)

fifo_mag_en: ‘0’ no mag data are stored in FIFO, ‘1’ mag data are stored in FIFO (all 3 axes)

fifo_header_en: If ‘1’ each frame contains a header as defined in chapter 2.5. If ‘0’ the frame

format will be headerless. In this case, the output data rates of all enabled

sensors for the FIFO need to be identical.

fifo_tag_int1_en: 1’ (‘0’) enables (disables) FIFO tag (interrupt)

fifo_tag_int2_en: 1’ (‘0’) enables (disables) FIFO tag (interrupt)

fifo_time_en: ‘1’(‘0’) returns (does not return) a sensortime frame after the last valid frame

when more data are read than valid frames are in the FIFO.

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2.11.18 Register (0x4B-0x4F) MAG_IF

ADDRESS 0x4B (5 byte)

RESET

[0]: 0b0010-0000

[1]: 0b1000-0000

[2]: 0b0100-0010

[3]: 0b0100-1100

[4]: 0b0000-0000

MODE RW

DESCRIPTION Register for indirect addressing of the magnetometer connected to the

magnetometer interface. This register allows read and write operations on the magnetometer

read loop are exclusive to each other, i.e. during the read loop no registers in the magnetometer

may be accessed.

DEFINITION

7:1

I2C device address

reserved

0x4F) MAG_IF [1]

bit definition

Acronym

mag_manual_en

Enable magnetometer register access on

MAG_IF[2] (read operations) or MAG_IF[3] (write

operations). This implies that the Register (0x04-

0x17) DATA are not updated with magnetometer

values. Accessing magnetometer requires the

magnetometer in normal mode in Register (0x03)

PMU_STATUS.

reserved

<5:2>

mag_offset

Trigger-readout offset in units 2.5 ms. If set to

zero, the offset is maximum, i.e. after readout a

trigger is issued immediately.

<1:0>

mag_rd_burst

Data length of read burst operation, which reads

out data from magnetometer

(0b00=1,0b01=2,0b10=6,0b11=8 byte).

Setup mode

Trigger and Readout mode

MAG_IF[2]

Address to read

MAG_IF[3]

Address to write

MAG_IF[4]

Data to write

2.11.19 Register (0x50-0x52) INT_EN

ADDRESS 0x50 (3 byte)

RESET

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[0] 0b0000-0000

[1] 0b0000-0000

[2] 0b0000-0000

MODE RW

DESCRIPTION Controls which interrupt engines are enabled.

DEFINITION

Acronym

Definition

int_flat_en

Flat interrupt

int_orient_en

Orientation interrupt

int_s_tap_en

Single tap interrupt

int_d_tap_en

Double tap interrupt

Reserved

int_anymo_z_en

Anymotion z

int_anymo_y_en

Anymotion y

int_anymo_x_en

Anymotion x

‘0’ disables the interrupt, ‘1’ enables it.

acronym

definition

Reserved

int_fwm_en

FIFO watermark

int_ffull_en

FIFO full

int_drdy_en

Data ready

int_low_en

Low g

int_highz_en

High g z

int_highy_en

High g y

int_highx_en

High g x

‘0’ disables the interrupt, ‘1’ enables the interrupt.

acronym

definition

Reserved

int_step_det_en

Step detector

int_nomoz_en

No/slow motion z

int_nomoy_en

No/slow motion y

int_nomox_en

No/slow motion x

‘0’ disables the interrupt, ‘1’ enables the interrupt.

Note: Step_cnt_en and step_cnt_clr enable and clear the step counter (which is not related to

interrupts).

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2.11.20 Register (0x53) INT_OUT_CTRL

ADDRESS 0x53

RESET 0b0000-0000

MODE RW

DESCRIPTION Contains the behavioral configuration (electrical definition of the interrupt pins.

DEFINITION

INT_OUT_CTRL

Acronym

definition

int2_output_en

Output enable for INT2 pin, select ‘0’output

disabled, or ‘1’ output enabled

int2_od

select ‘0’push-pull, or ‘1’ open drain behavior

for INT2 pin. Only valid if int2_output_en=1.

int2_lvl

‘0’active low, or ‘1’active high level for INT2

pin. If int2_output_en=1 this applies for interrupt

outputs, if int2_output_en=0 this applies to trigger

PMU configured in Register (0x6C)

PMU_TRIGGER. For tagging a frame in FIFO

through fifo_tag_int2_en in Register (0x46-0x47)

FIFO_CONFIG the setting of int2_lvl is not

relevant.

int2_edge_crtl

‘1’ (‘0’) is edge (level) triggered for INT2 pin. This

configuration is only meaningful when the pin is

enabled as input.

int1_output_en

Output enable for INT1 pin, select ‘0’output

disabled, or ‘1’ output enabled

int1_od

select ‘0’push-pull, or ‘1’ open drain behavior

for INT1 pin. Only valid if int1_output_en=1

int1_lvl

select ‘0’active low, or‘1’active high level for

INT1 pin. If int1_output_en=1 this applies for

interrupt outputs, if int1_output_en=0 this applies

to trigger PMU configured in Register (0x6C)

PMU_TRIGGER. For tagging in FIFO through

fifo_tag_int2_en in Register (0x46-0x47)

FIFO_CONFIG the setting of int2_lvl is not

relevant. For tagging a frame in FIFO through

fifo_tag_int1_en in Register (0x46-0x47)

FIFO_CONFIG the setting of int1_lvl is not

relevant.

int1_edge_crtl

‘1’ (‘0’) is edge (level) triggered for INT1 pin. This

configuration is only meaningful when the pin is

enabled as input.

int<x>_edge_crtl is only relevant for int<x>_output_en =’1’

2.11.21 Register (0x54) INT_LATCH

ADDRESS 0x54

RESET 0b0000-0000

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MODE RW

DESCRIPTION Contains the interrupt reset bit and the interrupt mode selection.

DEFINITION

Not applied to new data, orientation, and flat interrupt.

MODE

Definition

<7:6>

n/a

Reserved

Input enable for INT2 pin, select ‘0’input

disabled, or ‘1’ input enabled

Input enable for INT1 pin, select ‘0’input

disabled, or ‘1’ input enabled

<3:0>

Latched/non-latched/temporary interrupt

modes

<3:0>

Interrupt mode

0b0000

non-latched

0b0001

temporary, 312.5µs

0b0010

temporary, 625µs

0b0011

temporary, 1.25ms

0b0100

temporary, 2.5 ms

0b0101

temporary, 5ms

0b0110

temporary, 10ms

0b0111

temporary 20ms

0b1000

temporary, 40ms

0b1001

temporary, 80ms

0b1010

temporary, 160ms

0b1011

temporary, 320ms

0b1100

temporary, 640ms

0b1101

temporary, 1.28s

0b1110

temporary, 2.56s

0b1111

latched

The times for the temporary modes have been selected to be 50% of the pre-filtered data rate

and then power of two increments.

2.11.22 Register (0x55-0x57) INT_MAP

ADDRESS 0x55 (3 bytes)

RESET

[0] 0b0000-0000

[1] 0b0000-0000

[2] 0b0000-0000

MODE RW

DESCRIPTION Controls which interrupt signals are mapped to the INT1 and INT2 pin.

DEFINITION

The tables show bit number of a register and meaning of the interrupt pin.

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The times for the temporary modes have been selected to be 50% of the pre-filtered data rate

and then power of two increments.

Interrupt mapped to pin INT1

Flat

Orientation

Single tap

Double tap

No motion

Anymotion / Significant motion

High-g

Low-g / Step detection

Interrupt mapped to pin INT1

Data ready

FIFO watermark

FIFO full

PMU trigger

Interrupt mapped to pin INT2

Data ready

FIFO watermark

FIFO full

PMU trigger

Interrupt mapped to pin INT2

Flat

Orientation

Single tap

Double tap

No motion

Anymotion / Significant motion

High-g

Low-g / Step detection

‘1’ means mapping is active, ‘0’ means mapping is inactive.

When the external interrupt is mapped to an interrupt pin, all other interrupt mappings are disabled

for this interrupt. When an external interrupt is mapped to an interrupt pin, no other interrupts may

be enabled.

Application Note: There are two interrupt types defined in BMI160: Data driven interrupts

(fifo_watermark, fifo_full, data ready) and physical interrupts (all others). If edge triggered

interrupts are used and the user relies on a new edge if after servicing the interrupt the interrupt

condition still holds, only one type of interrupt should be mapped to an interrupt pin, if edge

triggered interrupts are needed.

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2.11.23 Register (0x58-0x59) INT_DATA

ADDRESS 0x58 (2 byte)

RESET

[0] 0b0000-0000

[1] 0b0000-0000

MODE RW

DESCRIPTION Contains the data source definition for the two interrupt groups.

DEFINITION

Name

Bit

Read/Write

R/W

Reset Value

Content

int_lowhigh_src

Reserved

Bit

Read/Write

R/W

Reset Value

Content

int_tap_src

Reserved

Name

Bit

Read/Write

R/W

Reset Value

Content

int_motion_src

Reserved

Bit

Read/Write

R/W

Reset Value

Content

Reserved

int_lowhighg_src: ‘0’ (‘1’) selects filtered (pre-filtered) data for the interrupt engine for the low

and high g interrupts. Pre-filtered data are not supported in low-power

mode.

int_tap_src: ‘0’ (‘1’) selects filtered (pre-filtered) data for the interrupt engine for the

single and double tap interrupts. Pre-filtered data are not supported in low-

power mode.

int_motion_src: ‘0’ (‘1’) selects filtered (pre-filtered) data for the interrupt engine for the

nomotion and anymotion interrupts. Pre-filtered data are not supported in

low-power mode.

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2.11.24 Register (0x5A-0x5E) INT_LOWHIGH

ADDRESS 0x5A (5 bytes)

RESET see definition

MODE see definition

DESCRIPTION Contains the configuration for the low g interrupt

DEFINITION

Name

Bit

Read/Write

R/W

Reset Value

Content

int_low_dur<7:4>

Bit

Read/Write

R/W

Reset Value

Content

int_low_dur<3:0>

int_low_dur<7:0>: low-g interrupt trigger delay according to [int_low_dur<7:0> + 1] • 2.5 ms in a

range from 2.5 ms to 640 ms; the default corresponds to a delay of 20 ms. If

data, the sensor must not be in low power mode.

Name

Bit

Read/Write

R/W

Reset Value

Content

int_low_th<7:4>

Bit

Read/Write

R/W

Reset Value

Content

int_low_th<3:0>

int_low_th<7:0>: low-g interrupt trigger threshold according to Val(int_low_th<7:0>) • 7.81 mg

for Val(int_low_th<7:0>)>0 and 3.91 mg for Val(int_low_th<7:0>)=0. The

range of the threshold is from 3.91 mg to 2.000 g; the default value

corresponds to an acceleration of 375 mg

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interrupt hysteresis setting, and the high-g interrupt hysteresis setting.

Name

Bit

Read/Write

R/W

Reset Value

Content

int_high_hy<1:0>

Reserved

Bit

Read/Write

R/W

Reset Value

Content

reserved

int_low_hy<1:0>

int_high_hy<1:0>: hysteresis of high-g interrupt according to Val(int_high_hy<1:0>) · 125 mg (2-

g range), Val(int_high_hy<1:0>) · 250 mg (4-g range), Val(int_high_hy<1:0>)

· 500 mg (8-g range), or Val(int_high_hy<1:0>) · 1000 mg (16-g range)

int_low_hy<1:0>: hysteresis of low-g interrupt according to int_low_hy<1:0> · 125 mg

independent of the selected accelerometer g-range

Name

Bit

Read/Write

R/W

Reset Value

Content

int_high_dur<7:4>

Bit

Read/Write

R/W

Reset Value

Content

int_high_dur<3:0>

int_high_dur<7:0>: high-g interrupt trigger delay according to [int_high_dur<7:0> + 1] • 2.5 ms in

a range from 2.5 ms to 640 ms; the default corresponds to a delay of 30 ms.

If Register (0x58-0x59) INT_DATA configures that this interrupt uses pre-

filtered data, the sensor is not entering low-power mode.

Name

Bit

Read/Write

R/W

Reset Value

Content

high_th<7:4>

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Bit

Read/Write

R/W

Reset Value

Content

high_th<3:0>

int_high_th<7:0>: threshold of high-g interrupt according to Val(int_high_th<7:0>) · 7.81 mg (2g

range), Val(int_high_th<7:0>) · 15.63 mg (4g range), Val(int_high_th<7:0>) ·

31.25 mg (8g range), or Val(int_high_th<7:0>) · 62.5 mg (16g range).

For Val(int_high_th<7:0>)=0, the thresholds are defined by 3.91 mg (2g range), 7.81 mg (4g

range), 15.63 mg (8g range), 31.25 mg (16g range)

2.11.25 Register (0x5F-0x62) INT_MOTION

ADDRESS 0x5F (4 byte)

RESET

[0] 0000-0000

[1] 0001-0100

[2] 0001-0100

[3] 0001-0100

MODE see definition

DESCRIPTION Contains the configuration for the anymotion and nomotion interrupts

DEFINITION

evaluated for the anymotion interrupt and the slow/no-motion interrupt trigger delay.

Name

Bit

Read/Write

R/W

Reset Value

Content

int_slo_no_mot_dur<5:2>

Bit

Read/Write

R/W

Reset Value

Content

int_slo_no_mot_dur<1:0>

int_anym_dur<1:0>

int_slo_no_mot_dur<5:0>: Function depends on whether the slow-motion or no-motion

interrupt function has been selected. If the slow-motion interrupt function has

been enabled (int_no_mot_sel = ‘0’) then [int_slo_no_mot_dur<1:0>+1]

consecutive slope data points must be above the slow/no-motion threshold

(int_slo_no_mot_th) for the slow-/no-motion interrupt to trigger. If the no-

motion interrupt function has been enabled (int_no_mot_sel = ‘1’) then

int_slo_no_motion_dur<5:0> defines the time for which no slope data points

must exceed the slow/no-motion threshold (int_slo_no_mot_th) for the

slow/no-motion interrupt to trigger. The delay time in seconds may be

calculated according with the following equation:

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int_slo_no_mot_dur<5:4>=’b00’  [int_slo_no_mot_dur<3:0> + 1] · 1.28 s -> [1.28 – 20.48] s

int_slo_no_mot_dur<5:4>=’b01’  [int_slo_no_mot_dur<3:0> + 5] 5.12 s-> [25.6 – 102.4] s

int_slo_no_mot_dur<5>=’1’  [int_slo_no_mot_dur<4:0> + 11] · 10.24 s-> [112.64 – 430.08] s

int_anym_dur<1:0>: slope interrupt triggers if [int_anym_dur<1:0>+1] consecutive slope data

points are above the slope interrupt threshold int_anym_th<7:0>

interrupt.

Name

Bit

Read/Write

R/W

Reset Value

Content

int_anym_th<7:4>

Bit

Read/Write

R/W

Reset Value

Content

int_anym_th<3:0>

Int_anymo_th<7:0>: Threshold of the any-motion interrupt. It is range-dependent and defined as

a sample-to-sample difference according to

int_anym_th<7:0> · 3.91 mg (2-g range) /

int_anym_th<7:0> · 7.81 mg (4-g range) /

int_anym_th<7:0> · 15.63 mg (8-g range) /

int_anym_th<7:0> · 31.25 mg (16-g range)

For int_anym_th<7:0>=0x00 the threshold is

1.95 mg (2g range) / 3.91 mg (4g range) /

7.81 mg (8g range) / 15.63 mg (16g range)

interrupt.

Name

Bit

Read/Write

R/W

Reset Value

Content

int_slo_no_mot_th<7:4>

Bit

Read/Write

R/W

Reset Value

Content

int_slo_no_mot_th<3:0>

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int_slo_no_mot_th<7:0>: Threshold of slow/no-motion interrupt. It is range-dependent and

defined as a sample-to-sample difference according to

int_slo_no_mot_th<7:0> · 3.91 mg (2-g range),

int_slo_no_mot_th<7:0> · 7.81 mg (4-g range),

int_slo_no_mot_th<7:0> · 15.63 mg (8-g range),

int_slo_no_mot_th<7:0> · 31.25 mg (16-g range)

For int_slo_no_mot_th<7:0>=0x00 the threshold is 1.95 mg (2g range) / 3.91 mg (4g range) / 7.81

mg (8g range) / 15.63 mg (16g range)

Name

Bit

Read/Write

R/W

Reset Value

Content

reserved

int_sig_mot_proof<1:0>

Bit

Read/Write

R/W

Reset Value

Content

int_sig_mot_skip <1:0>

int_sig_mot_sel

int_no_mot_sel

int_no_mot_sel: ‘1’ (‘0’) selects no-motion (slow-motion) interrupt function

int_sig_mot_sel: ‘1’ (‘0’) selects significant (anymotion) interrupt function

int_sig_mot_skip: set the skip time of the significant motion interrupt: 0=1.5s, 1=3s, 2=6s, 3=12s

int_sig_mot_proof: set the proof time of the significant motion interrupt: 0=0.25s, 1=0.5s, 2=1s,

3=2s

2.11.26 Register (0x63-0x64) INT_TAP

ADDRESS 0x63 (2 byte)

RESET see definition

MODE see definition

DESCRIPTION Contains the configuration for the tap interrupts

DEFINITION

interrupts.

Name

Bit

Read/Write

R/W

Reset Value

Content

int_tap_quiet

int_tap_shock

reserved

Bit

Read/Write

R/W

Reset Value

Content

reserved

int_tap_dur<2:0>

int_tap_quiet: selects a tap quiet duration of ‘0’ 30 ms, ‘1’ 20 ms

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int_tap_shock: selects a tap shock duration of ‘0’ 50 ms, ‘1’75 ms

reserved: write ‘0’

int_tap_dur<2:0>: selects the length of the time window for the second shock event for double

tap detection according to ´0b000´  50 ms, ´0b001´  100 ms, ´0b010´ 

150 ms, ´0b011´  200 ms, ´0b100´  250 ms, ´0b101´  375 ms, ´0b110´

 500 ms, ´0b111´  700 ms.

If Register (0x58-0x59) INT_DATA configures that this interrupt uses pre-filtered data, the sensor

is not entering low-power mode.

interrupts.

Name

Bit

Read/Write

R/W

Reset Value

Content

reserved

int_tap_th<4>

Bit

Read/Write

R/W

Reset Value

Content

int_tap_th<3:0>

reserved: write ‘0’

int_tap_th<3:0>: threshold of the single/double-tap interrupt corresponding to an acceleration

difference of val(int_tap_th<3:0>) · 62.5mg (2g-range), val(int_tap_th<3:0>) ·

125mg (4g-range), val(int_tap_th<3:0>) · 250mg (8g-range), and

val(int_tap_th<3:0>) · 500mg (16g-range). Int_tap_th<3:0>=0b0000,

val(int_tap_th<3:0>)=0.5 is used in the above formulas, e.g.

int_tap_th<3:0>=0b0000 means 31.25mg in 2g-range.

2.11.27 Register (0x65-0x66) INT_ORIENT

ADDRESS 0x65 (2 byte)

RESET see definition

MODE see definition

DESCRIPTION Contains the configuration for the orientation interrupt

DEFINITION

for the orientation interrupt

Name

Bit

Read/Write

R/W

Reset Value

Content

int_orient_hyst<3:0>

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Bit

Read/Write

R/W

Reset Value

Content

int_orient_blocking<1:0>

int_orient_mode<1:0>

reserved: write ‘0’

int_orient_hyst<3:0>: sets the hysteresis of the orientation interrupt; 1 LSB corresponds to

62.5 mg irrespective of the selected g-range

int_orient_blocking<1:0>: selects the blocking mode that is used for the generation of the

orientation interrupt. The following blocking modes are available:

´0b00´  no blocking,

´0b01´  theta blocking or acceleration in any axis > 1.5g,

´0b10´  ,theta blocking or acceleration slope in any axis > 0.2 g or

acceleration in any axis > 1.5g

´0b11´  theta blocking or acceleration slope in any axis > 0.4 g or

acceleration in any axis > 1.5g and value of orient is not stable for at

least 100ms

int_orient_mode<1:0>: sets the thresholds for switching between the different orientations.

The settings: ´0b00´  symmetrical, ´0b01´  high-asymmetrical,

´0b10´  low-asymmetrical, ´0b11´ symmetrical.

masking, and the theta blocking angle for the orientation interrupt.

Name

Bit

Read/Write

R/W

Reset Value

n/a

Content

int_axes_ex

int_orient_ud_en

int_orient_theta<5:4>

Bit

Read/Write

R/W

Reset Value

Content

int_orient_theta<3:0>

int_axes_ex: axes remapping of x-, y- and z-axis

value=0: xreg=xsensor, yreg=ysensor, zreg=zsensor

value=1: xregysensor, yregzsensor, zregxsensor

int_orient_ud_en: change of up/down-bit ´1´  generates an orientation interrupt, ´0´  is

ignored and will not generate an orientation interrupt

int_orient_theta<5:0>:defines a blocking angle between 0° and 44.8°

2.11.28 Register (0x67-0x68) INT_FLAT

ADDRESS 0x67 (2 byte)

RESET see definition

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MODE see definition

DESCRIPTION Contains the configuration for the flat interrupt

DEFINITION

interrupt.

Name

Bit

Read/Write

R/W

Reset Value

n/a

Content

reserved

int_flat_theta<5:4>

Bit

Read/Write

R/W

Reset Value

Content

int_flat_theta<3:0>

reserved: write ‘0’

int_flat_theta<5:0>: defines threshold for detection of flat position in range from 0° to 44.8°.

interrupt hysteresis.

Name

Bit

Read/Write

R/W

Reset Value

Content

reserved

int_flat_hold_time<1:0>

Bit

Read/Write

R/W

Reset Value

Content

reserved

int_flat_hy<2:0>

reserved: write ‘0’

int_flat_hold_time<1:0>: delay time for which the flat value must remain stable for the flat

interrupt to be generated: ´0b00´  0 ms, ´0b01´  640 ms, ´0b10´ 

1280 ms, ´0b11´  2560 ms

int_flat_hy<2:0>: defines flat interrupt hysteresis.

2.11.29 Register (0x69) FOC_CONF

ADDRESS 0x69

RESET 0b00000000

MODE RW

DESCRIPTION Contains configuration settings for the fast offset compensation for the

accelerometer and the gyroscope

DEFINITION

Name

Bit

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Read/Write

R/W

Reset Value

Content

Reserved

foc_gyr_en

foc_acc_x<1:0>

Bit

Read/Write

R/W

Reset Value

Content

foc_acc_y<1:0>

foc_acc_z<1:0>

reserved: write ‘0’

foc_gyr_en: enables fast offset compensation for all three axis of the gyro.

foc_acc_x: offset compensation target value for x-axis is ´0b00´  disabled, ´0b01´  +1

g, ´0b10´  -1 g, or ´0b11´  0 g.

foc_acc_y: offset compensation target value for y-axis is ´0b00´  disabled, ´0b01´  +1

g, ´0b10´  -1 g, or ´0b11´  0 g.

foc_acc_z: offset compensation target value for z-axis is ´0b00´  disabled, ´0b01´  +1

g, ´0b10´  -1 g, or ´0b11´  0 g.

2.11.30 Register (0x6A) CONF

ADDRESS 0x6A

RESET 0b00000000

MODE RW

DESCRIPTION Configuration of the sensor

DEFINITION

Bit

Acronym

Definition

reserved

nvm_prog_en

Enable NVM programming

reserved

nvm_prog_en: ‘1’(‘0’) enables (disables) that the NVM may be programmed

2.11.31 Register (0x6B) IF_CONF

ADDRESS 0x6B

RESET see definition

MODE RW

DESCRIPTION Contains settings for the digital interface.

DEFINITION

Name

Bit

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Read/Write

R/W

Reset Value

Content

reserved

if_mode<1:0>

Bit

Read/Write

R/W

Reset Value

Content

reserved

spi3

reserved: write ‘0’

spi3: select ´0´  4-wire SPI, or ´1´  3-wire SPI mode for primary

if_mode: 00: primary interface: autoconfig / secondary interface: off

01: Primary interface:I2C / secondary interface:OIS

02: Primary interface: autoconfig / secondary interface: Magnetometer

11: reserved

2.11.32 Register (0x6C) PMU_TRIGGER

ADDRESS 0x6C

RESET 0b0000-0000

MODE RW

DESCRIPTION Used to set the trigger conditions to change the gyro power modes

DEFINITION

The pmu_gyr_mode in Register (0x03) PMU_STATUS is updated with each transition triggered.

Name

Bit

Read/Write

Reset Value

Content

Reserved

wakeup_int

gyr_sleep_state

gyr_wakeup_trigg

er<1>

Bit

Read/Write

Reset Value

Content

gyr_wakeup_trigg

er<0>

gyr_sleep_trigger <2:0>

gyr_wakeup_trigger: when both trigger conditions are enabled, both conditions must be active

to trigger the transition.

gyr_wakeup_trigger

anymotion

INT1 pin

0b00

0b01

yes

0b10

yes

0b11

yes

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gyr_sleep_trigger: when more than one trigger condition is enabled, one is sufficient to trigger the

transition.

gyr_sleep_trigger

nomotion

Not INT1 pin

INT2 pin

0b000

0b001

yes

0b010

yes

0b011

Yes

yes

0b100

yes

0b101

yes

0b110

yes

0b111

Yes

yes

If gyr_sleep_trigger and gyr_wakeup_trigger are active at the same time, the gyr_wakeup_trigger

wins.

The INTx pin takes into account the edge/level triggered setting in the Register (0x53)

INT_OUT_CTRL.

gyr_sleep_state: ‘1’(‘0’) transitions to suspend (fast start-up) state

wakeup_int: ‘1’(‘0’) triggers an interrupt, when a gyro wakeup is triggered

2.11.33 Register (0x6D) SELF_TEST

ADDRESS 0x6D

RESET 0b0000-0000

MODE RW

DESCRIPTION Contains the settings for the sensor self-test configuration and trigger.

DEFINITION

Name

Bit

Read/Write

R/W

Reset Value

Content

reserved

gyr_self_test_

enable

Bit

Read/Write

R/W

Reset Value

Content

acc_self_test_amp

acc_self_test_sign

acc_self_test-enable<1:0>

reserved: write ‘0x0’

gyr_self_test_enable: starts self-test of the gyroscope. The result can be obtained from

acc_self_test_amp; select amplitude of the selftest deflection ´1´  high,

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default value is low (´0´),

acc_self_test_sign: select sign of self-test excitation as ´1´  positive, or ´0´  negative

acc_self_test_enable: starts self-test of the accel: ´0b00´  self-test disabled, ´0b01´ 

self-test enabled. After the self-test has been enabled a delay of a least 50 ms is necessary for

the read-out value to settle The result can be obtained from

In addition, for the accel self test the Register (0x40) ACC_CONF has to be set to value 0x2C

(acc_odr=1600Hz; acc_bwp=2; acc_us=0), otherwise the accelerometer selftest will not function

correctly. It is enabled for all 3 axis at the same time.

2.11.34 Register (0x70) NV_CONF

ADDRESS 0x70

RESET see definition

MODE RW

DESCRIPTION Contains settings for the digital interface.

DEFINITION

This register is backed by NVM and loaded from NVM during bootup.

Name

Bit

Read/Write

R/W

Reset Value

Content

reserved

Bit

Read/Write

R/W

Reset Value

Content

reserved

i2c_wdt_en

i2c_wdt_sel

spi_en

reserved: write ‘0’

i2c_wdt_en: if I²C interface mode is selected then ‘1´  enable, or ‘0’  disables the

watchdog at the SDI pin (= SDA for I²C)

i2c_wdt_sel: select an I²C watchdog timer period of ‘0’  1 ms, or ‘1’  50 ms

spi_en: disable the I2C and only enable SPI for the primary interface, when it is in

autoconfig if_mode.

2.11.35 Register (0x71-0x77) OFFSET

ADDRESS 0x71 (7 byte)

RESET Reads from NVM

MODE RW

DESCRIPTION Contains the offset compensation values for accelerometer and gyroscope

DEFINITION

Offset values, which are added to the internal filtered and pre-filtered data for gyroscope and

accelerometer if the function is enabled with gyr_off_en and acc_off_en in the register; the offset

values are represented with two’s complement notation; the content of the register may be written

to the NVM; it is automatically restored from the NVM after each power-on or soft reset; offset

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values may be written directly by the user; it is generated automatically after triggering the fast

offset compensation procedure.

[0]

acc_off_x<7:0>

[1]

acc_off_y<7:0>

[2]

acc_off_z<7:0>

[3]

off_gyr_x<7:0>

[4]

off_gyr_y<7:0>

[5]

off_gyr_z<7:0>

Name

Bit

Read/Write

R/W

Reset Value

Content

gyr_off_en

acc_off_en

off_gyr_z<9:8>

Bit

Read/Write

R/W

Reset Value

Content

off_gyr_y<9:8>

off_gyr_x<9:8>

The offset of the accelerometer off_acc_[xyz] is a 8 bit two-complement number in units of 3.9 mg

independent of the range selected for the accelerometer.

The offset of the gyroscope off_gyr_[xyz] is a 10 bit two-complement number in units of 0.061 °/s.

Therefore a maximum range that can be compensated is -31.25 °/s to +31.25 °/s. The

configuration is done in the Register (0x70) NV_CONF.

The MSBs for the gyro offset setting are also contained in OFFSET[6]. Aside from this, the register

also contains the two bits gyr_off_en and acc_off_en, which can be set to 1 in order to enable

gyro and accel offset compensation, respectively.

2.11.36 Register (0x78-0x79) STEP_CNT

ADDRESS 0x78 (2 byte)

RESET

[0] 0b0000-0000

[1] 0b0000-0000

MODE R

DESCRIPTION Contains the number of steps.

DEFINITION

Name

Bit

Read/Write

Reset Value

Content

step_cnt<15:12>

Bit

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Read/Write

Reset Value

Content

step_cnt<11:8>

Name

Bit

Read/Write

Reset Value

Content

step_cnt<7:4>

Bit

Read/Write

Reset Value

Content

step_cnt<3:0>

step_cnt: number of steps counted since last POR or step counter reset

2.11.37 Register (0x7A-0x7B) STEP_CONF

ADDRESS 0x7A (2 byte)

RESET na

MODE R

DESCRIPTION Contains configuration of the step detector

DEFINITION

Name

Bit

Read/Write

R/W

Reset Value

Content

step_conf<7:4>

Bit

Read/Write

R/W

Reset Value

Content

step_conf<3:0>

Name

Bit

Read/Write

R/W

Reset Value

Content

reserved

Bit

Read/Write

R/W

Reset Value

Content

step_cnt_en

step_conf<10:8>

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There are three settings to balance between sensitivity (false negatives) and robustness (false

positives):

Normal mode:

Recommended for most applications. Well balanced between false positives and false negatives.

STEP_CONF[0]: 0x15 (0b0001 0101)

STEP_CONF[1]: 0x03 (0b0000 0011) (the step_cnt_en bit is set to 0)

Sensitive mode:

Recommended for light weighted persons. Will give few false negatives but eventually more false

positives.

STEP_CONF[0]: 0x2D (0b0010 1101)

STEP_CONF[1]: 0x00 (0b0000 0000) (the step_cnt_en bit is set to 0)

Robust mode:

Will give few false positives but eventually more false negatives.

STEP_CONF[0]: 0x1D (0b0001 1101)

STEP_CONF[1]: 0x07 (0b0000 0111) (the step_cnt_en bit is set to 0)

The step counter register can be read out at Register (0x78-0x79) STEP_CNT. The step counter

can be reset by sending the command 0xB2 to the Register (0x7E) CMD.

2.11.38 Register (0x7E) CMD

ADDRESS 0x7E

RESET na

MODE R

DESCRIPTION Command register triggers operations like softreset, NVM programming, etc.

DEFINITION

Name

Bit

Read/Write

Reset Value

Content

cmd<7:4>

Bit

Read/Write

Reset Value

Content

cmd<3:0>

During the time a command is executed, it occupies the Register (0x7E) CMD. All new writes to

this register are dropped during this time with the exception of the softreset command. If a write

to the Register (0x7E) CMD is dropped, drop_cmd_err in Register (0x02) ERR_REG is set.

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Table 24: Typical and max. execution times for which the CMD register is occupied

Description

Command

code

Typ.

time3 in

Max.

time4 in

Set PMU mode of accelerometer to normal or low

power

0x11-0x12

3.2

3.8

Set PMU mode of gyroscope to normal or fast start-up

from suspend mode

0x15; 0x17

Set PMU mode of magnetometer interface to suspend,

normal, or low-power

0x18-0x1B

0.35

0.5

The time it takes to perform a soft reset in conjunction with re-starting a sensor is essentially given

by the corresponding PMU command execution time in Table 24 (to be more exact, a system

start-up time of 300 µs has to be added to the times given for PMU switching).

cmd:

start_foc: 0x03

Starts Fast Offset Calibration for the accel and gyro as configured in Register (0x69)

FOC_CONF and stores the result into the Register (0x71-0x77) OFFSET register.

acc_set_pmu_mode: 0b0001 00nn

Sets the PMU mode for the accelerometer. The encoding for ‘nn’ is identical to

acc_pmu_status in Register (0x03) PMU_STATUS.

gyr_set_pmu_mode: 0b0001 01nn

Sets the PMU mode for the gyroscope. The encoding for ‘nn’ is identical to

gyr_pmu_status in Register (0x03) PMU_STATUS

mag_set_pmu_mode: 0b0001 10nn

Sets the PMU mode for the mag interface. The encoding for ‘nn’ is identical to

mag_pmu_status in Register (0x03) PMU_STATUS.

prog_nvm: 0xA0

Writes the NVM backed registers into NVM.

fifo_flush: 0xB0

clears all data in the FIFO, does not change the Register (0x46-0x47) FIFO_CONFIG and

When accelerometer, gyroscope, and magnetometer interface are all in suspend or low power

mode, another 0.3 ms need to be added.

When accelerometer, gyroscope, and magnetometer interface are all in suspend or low power

mode, another 0.3 ms need to be added.

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int_reset: 0xB1

resets the interrupt engine, the Register (0x1C-0x1F) INT_STATUS and the interrupt pin.

softreset: 0xB6

triggers a reset including a reboot. Other values are ignored. Following a delay, all user

configuration settings are overwritten with their default state or the setting stored in the

NVM, wherever applicable. This register is functional in all operation modes.

step_cnt_clr: 0xB2

triggers a reset of the step counter. This register is functional in all operation modes.

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3. Digital interfaces

3.1 Interfaces

Beside the standard primary interface (I2C and SPI configurable), where sensor acts as a slave

to the application processor, BMI160 supports a secondary interface. The secondary interface

can be configured either as MAG-Interface (I2C) or as a OIS-Interface (SPI). See picture below.

If the secondary interface is configured as MAG-Interface, the BMI160 can be connected to an

external sensor (e.g. a magnetometer) in order to build a 9-DoF solution. Then the BMI160 will

act as a master to the external sensor, reading the sensor data automatically and providing it to

the application processor via the primary interface.

Alternatively, the secondary interface can be used as an OIS-Interface to be connected to an

external OIS-Control unit, where the OIS controller will act as a master and the BMI160 as a slave.

BMI160

BMM150

I2C / SPI

MAG Interface

I2C

9 DoF

primary interface

secondary interface

BMI160

Camera

module

I2C

SPI

IMU + OIS

Figure 21: Examples for secondary interface usage

3.2 Primary Interface

By default, the BMI160 operates in I2C mode. The BMI160 interface can also be configured to

operate in a SPI 4-wire configuration. It can be re-configured by software to work in 3-wire mode

instead of 4-wire mode.

All 3 possible digital interfaces share partly the same pins (see Chapter 4). The mapping for the

primary interface of the BMI160 is given in the following table:

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Table 25: Mapping of the primary interface pins

Pin#

Name

I/O Type

Description

Connect to (Primary IF)

SPI4W

SPI3

in I2C

SDO

Digital

I/O

Serial data output in SPI

Address select in I2C mode

MISO

DNC

(float)

SA0

(GND for

default

addr.)

INT1

Digital

I/O

Interrupt pin 1 *)

INT1

INT2

Digital

I/O

Interrupt pin 2 *)

INT2

CSB

Digital in

Chip select for SPI mode / Protocol

selection pin

CSB

VDDIO

SCx

Digital in

SCK for SPI serial clock

SCL for I²C serial clock

SCK

SCL

SDx

Digital

I/O

SDA serial data I/O in I2C

SDI serial data input in SPI 4W

SDA serial data I/O in SPI 3W

MOSI

SISO

SDA

The following table shows the electrical specifications of the interface pins:

Table 26: Electrical specification of the interface pins

Parameter

Symbol

Condition

Min

Typ

Max

Units

Pull-up Resistance,

CSB pin

Rup

Internal Pull-up

Resistance to

VDDIO

100

150

k

Input Capacitance

Cin

I²C Bus Load

Capacitance (max.

drive capability)

CI2C_Load

400

3.2.1 Primary Interface I2C/SPI Protocol Selection

The protocol is automatically selected based on the chip select CSB pin behavior after power-up.

At reset / power-up, BMI160 is in I2C mode. If CSB is connected to VDDIO during power-up and

not changed the sensor interface works in I2C mode. For using I2C, it is recommended to hard-

wire the CSB line to VDDIO. Since power-on-reset is only executed when, both VDD and VDDIO are

established, there is no risk of incorrect protocol detection due to power-up sequence.

If CSB sees a rising edge after power-up, the BMI160 interface switches to SPI until a reset or

the next power-up occurs. Therefore, a CSB rising edge is needed before starting the SPI

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communication. Hence, it is recommended to perform a SPI single read access to the ADDRESS

0x7F before the actual communication in order to use the SPI interface.

If toggling of the CSB bit is not possible without data communication, there is in addition the spi_en

bit in Register (0x70) NV_CONF, which can be used to permanently set the primary interface to

SPI without the need to toggle the CSB pin at every power-up or reset.

3.2.2 Primary SPI Interface

The timing specification for SPI of the BMI160 is given in the following table:

Table 27: SPI timing, valid at VDDIO ≥ 1.71V

Parameter

Symbol

Condition

Min

Max

Units

Clock Frequency

fSPI

Max. Load on

SDI or SDO =

25pF, VDDIO ≥

1.71 V

MHz

VDDIO < 1.71V

7.5

MHz

SCK Low Pulse

tSCKL

SCK High Pulse

tSCKH

SDI Setup Time

tSDI_setup

SDI Hold Time

tSDI_hold

SDO Output Delay

tSDO_OD

Load = 30pF,

VDDIO ≥ 1.62V

CSB Setup Time

tCSB_setup

CSB Hold Time

tCSB_hold

Idle time between

write accesses,

suspend mode, low-

power mode 1

tIDLE_wacc_sum

450

µs

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The following figure shows the definition of the SPI timings:

tSDI_hold

tSCKH

tCSB_hold

tCSB_setup

tSDI_setup

tSCKL

tSDO_OD

CSB

SCK

SDI

SDO

Figure 22: SPI timing diagram

The SPI interface of the BMI160 is compatible with two modes, ´00´ [CPOL = ´0´ and CPHA = ´0´]

and ´11´ [CPOL = ´1´ and CPHA = ´1´]. The automatic selection between ´00´ and ´11´ is

controlled based on the value of SCK after a falling edge of CSB.

Two configurations of the SPI interface are supported by the BMI160: 4-wire and 3-wire. The

same protocol is used by both configurations. The device operates in 4-wire configuration by

default. It can be switched to 3-wire configuration by writing ´1´ to Register (0x6B) IF_CONF spi3.

Pin SDI is used as the common data pin in 3-wire configuration.

For single byte read as well as write operations, 16-bit protocols are used. The BMI160 also

supports multiple-byte read and write operations.

In SPI 4-wire configuration CSB (chip select low active), SCK (serial clock), SDI (serial data

input), and SDO (serial data output) pins are used. The communication starts when the CSB is

pulled low by the SPI master and stops when CSB is pulled high. SCK is also controlled by SPI

master. SDI and SDO are driven at the falling edge of SCK and should be captured at the rising

edge of SCK.

The basic write operation waveform for 4-wire configuration is depicted in the following figure.

During the entire write cycle SDO remains in high-impedance state.

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CSB

SCK

SDI

R/W

AD6

AD5

AD4

AD3

AD2

AD1

AD0

DI5

DI4

DI3

DI2

DI1

DI0

DI7

DI6

SDO

tri-state

Figure 23: 4-wire basic SPI write sequence (mode ´11´)

The basic read operation waveform for 4-wire configuration is depicted in the figure below:

CSB

SCK

SDI

R/W

AD6

AD5

AD4

AD3

AD2

AD1

AD0

SDO

DO5

DO4

DO3

DO2

DO1

DO0

DO7

DO6

tri-state

Figure 24: 4-wire basic SPI read sequence (mode ´11´)

The data bits are used as follows:

Bit0: Read/Write bit. When 0, the data SDI is written into the chip. When 1, the data SDO from

the chip is read.

Bit1-7: Address AD(6:0).

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Bit8-15: when in write mode, these are the data SDI, which will be written into the address. When

in read mode, these are the data SDO, which are read from the address.

Multiple read operations are possible by keeping CSB low and continuing the data transfer. Only

the first register address has to be written. Addresses are automatically incremented after each

read access as long as CSB stays active low.

The principle of multiple read is shown in figure below:

Start

RW Stop

10000010XXXXXXXXXXXXXXXXXXXXXXXX

CSB

Data byte

Data register - adress 03h

Data register - adress 04h

Control byte

Data byte

Data register - adress 02h

Figure 25: SPI multiple read

In SPI 3-wire configuration CSB (chip select low active), SCK (serial clock), and SDI (serial data

input and output) pins are used. While SCK is high, the communication starts when the CSB is

pulled low by the SPI master and stops when CSB is pulled high. SCK is also controlled by SPI

master. SDI is driven (when used as input of the device) at the falling edge of SCK and should be

captured (when used as the output of the device) at the rising edge of SCK.

The protocol as such is the same in 3-wire configuration as it is in 4-wire configuration. The basic

operation wave-form (read or write access) for 3-wire configuration is depicted in the figure below:

CSB

SCK

SDI

AD6

AD5

AD4

AD3

AD2

AD1

AD0

DI5

DI4

DI3

DI2

DI1

DI0

DI7

DI6

Figure 26: 3-wire basic SPI read or write sequence (mode ´11´)

3.2.3 Primary I2C Interface

The I²C bus uses SCL (= SCx pin, serial clock) and SDA (= SDx pin, serial data input and output)

signal lines. Both lines are connected to VDDIO externally via pull-up resistors so that they are

pulled high when the bus is free.

The I²C addresses are identical to BMG160. The default I²C address of the device is 0b1101000

(0x68). It is used if the SDO pin is pulled to ´GND´. The alternative address 0b1101001 (0x69) is

selected by pulling the SDO pin to ´VDDIO´.

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Note: Specifications within this document are preliminary and subject to change without notice.

The I²C interface of the BMI160 is compatible with the I²C Specification UM10204 Rev. 03 (19

June 2007), available at http://www.nxp.com. The BMI160 supports I²C standard mode and fast

mode, only 7-bit address mode is supported. For VDDIO = 1.2V to 1.62 V the guaranteed voltage

output levels are slightly relaxed as described in Table 1 of the electrical specification section.

BMI160 also supports an extended I²C mode that allows using clock frequencies up to 1 MHz.

In this mode all timings of the fast mode apply and it additionally supports clock frequencies up

to 1MHz.

The timing specification for I²C of the BMI160 is given in the following table:

Table 28: Primary I²C timings

Parameter

Symbol

Condition

Min

Max

Units

Clock Frequency

fSCL

1000

kHz

SCL Low Period

tLOW

1.3

µs

SCL High Period

tHIGH

0.6

SDA Setup Time

tSUDAT

0.1

SDA Hold Time

tHDDAT

0.0

Setup Time for a

repeated Start

Condition

tSUSTA

0.6

Hold Time for a Start

Condition

tHDSTA

0.6

Setup Time for a Stop

Condition

tSUSTO

0.6

Time before a new

Transmission can

start

tBUF

low power

mode

400

normal mode

1.3

Idle time between

write accesses,

normal mode, standby

mode, low-power

mode

tIDLE_wacc_n

low power

mode

400

normal mode

1.3

Idle time between

write accesses,

suspend mode, low-

power mode

tIDLE_wacc_s

400

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The figure below shows the definition of the I²C timings given in Table 28:

Figure 27: I²C timing diagram

The I²C protocol works as follows:

START: Data transmission on the bus begins with a high to low transition on the SDA line while

SCL is held high (start condition (S) indicated by I²C bus master). Once the START signal is

transferred by the master, the bus is considered busy.

STOP: Each data transfer should be terminated by a Stop signal (P) generated by master. The

STOP condition is a low to HIGH transition on SDA line while SCL is held high.

ACKS: Each byte of data transferred must be acknowledged. It is indicated by an acknowledge

bit sent by the receiver. The transmitter must release the SDA line (no pull down) during the

acknowledge pulse while the receiver must then pull the SDA line low so that it remains stable

low during the high period of the acknowledge clock cycle.

In the following diagrams these abbreviations are used:

S Start

P Stop

ACKS Acknowledge by slave

ACKM Acknowledge by master

NACKM Not acknowledge by master

RW Read / Write

A START immediately followed by a STOP (without SCL toggling from ´VDDIO´ to ´GND´) is not

supported. If such a combination occurs, the STOP is not recognized by the device.

tHDDAT

tBUF

SDA

SCL

SDA

tLOW

tHDSTA

tSUSTA

tHIGH

tSUDAT

tSUSTO

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I²C write access:

I²C write access can be used to write a data byte in one sequence.

The sequence begins with start condition generated by the master, followed by 7 bits slave

address and a write bit (RW = 0). The slave sends an acknowledge bit (ACKS = 0) and releases

the bus. Then the master sends the one byte register address. The slave again acknowledges

the transmission and waits for the 8 bits of data which shall be written to the specified register

address. After the slave acknowledges the data byte, the master generates a stop signal and

terminates the writing protocol.

Example of an I²C write access:

Start RW ACKS ACKS ACKS Stop

11010000 01110000 11010101

Slave Adress

Control byte

Data byte

Data (0x09)

Figure 28: I²C write

I²C read access:

I²C read access also can be used to read one or multiple data bytes in one sequence.

A read sequence consists of a one-byte I²C write phase followed by the I²C read phase. The two

parts of the transmission must be separated by a repeated start condition (S). The I²C write phase

addresses the slave and sends the register address to be read. After slave acknowledges the

transmission, the master generates again a start condition and sends the slave address together

with a read bit (RW = 1). Then the master releases the bus and waits for the data bytes to be read

out from slave. After each data byte the master has to generate an acknowledge bit (ACKS = 0)

to enable further data transfer. A NACKM (ACKS = 1) from the master stops the data being

transferred from the slave. The slave releases the bus so that the master can generate a STOP

condition and terminate the transmission.

The register address is automatically incremented and, therefore, more than one byte can be

sequentially read out. Once a new data read transmission starts, the start address will be set to

the register address specified since the latest I²C write command. By default the start address is

set at 0x00. In this way repetitive multi-bytes reads from the same starting address are possible.

In order to prevent the I²C slave of the device to lock-up the I²C bus, a watchdog timer (WDT) is

implemented. The WDT observes internal I²C signals and resets the I²C interface if the bus is

locked-up by the BMI160. The activity and the timer period of the WDT can be configured through

the bits i2c_wdt_en and i2c_wdt_sel at Register (0x70) NV_CONF.

Writing ´1´ (´0´) to Register (0x70) NV_CONF i2c_wdt_en activates (de-activates) the WDT.

Writing ´0´ (´1´) to Register (0x70) NV_CONF i2c_wdt_en selects a timer period of 1 ms (50 ms).

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Example of an I²C read access (reading gyro data):

Start RW ACKS

dummy

ACKS

11010000 X0001100

Start RW ACKS ACKM

ACKM

1 1 0 1 0 0 0 1 X X X X X X X X X X X X X X X X …

ACKM

…XXXXXXXX XXXXXXXX …

ACKM NACK Stop

…XXXXXXXX XXXXXXXX

Slave Adress

Read Data (0x02)

Control byte

Data byte

Read Data (0x03)

Data byte

Read Data (0x04)

Read Data (0x05)

Data byte

Read Data (0x06)

Read Data (0x07)

Figure 29: I²C multiple read

3.2.4 SPI and I²C Access Restrictions

In order to allow for the correct internal synchronization of data written to the BMI160, certain

access restrictions apply for consecutive write accesses or a write/read sequence through the

SPI as well as I2C interface. The required waiting period depends on whether the device is

operating in normal mode or other modes.

As illustrated in the figure below, an interface idle time of at least 2 µs is required following a write

operation when the device operates in normal mode. In suspend mode an interface idle time of

least 450 µs is required

Figure 30: Post-Write Access Timing Constraints

The times are preliminary and need to be verified.

X-after-Write

(> 2us / 450us)

Write-Operation X-Operation

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3.3 Secondary Interface

The secondary interface can be used in two different classes of use cases:

 Magnetometer Interface (I2C) for connecting to a MAG-sensor

In this case the secondary interface is used as a two-wire interface where an external

sensor (MAG-sensor) would be connected as a slave to BMI160. The typical application is

connecting a Bosch Sensortec geomagnetic sensor (BMM150).

 OIS Interface (SPI) for connecting to a OIS control unit

In this case the secondary interface is used as a SPI interface where an external control

unit is connected as a master to BMI160. External control unit can be e.g. OIS controllers.

The mapping for the secondary interface of the BMI160 is given in the following table:

Table 29: Mapping of the secondary interface pins

Pin#

Name

I/O Type

Description

Connect to (secondary IF)

in SPI4W

in SPI3W

in I2C

ASDx

Digital I/O

Secondary Magnetometer interface

MOSI

SISO

SDA

ASCx

Digital out

Secondary Magnetometer interface

SCK

SCL

OCSB

Digital I/O

Secondary OIS interface

CSB

DNC

OSDO

Digital I/O

Secondary OIS interface

MISO

DNC

3.3.1 Magnetometer connected to secondary interface

The BMI160 allows attaching an external sensor (MAG-sensor) to a BMI160 via the secondary

interface (magnetometer interface), as shown in Figure 21. The connection diagrams for the

magnetometer interface are depicted in the chapter 4. The timings of the secondary I2C interface

are the same as for the primary I2C interface, see chapter 3.2.3.

BMI160 acts as a master of the secondary interface, controls the data acquisition of the MAG-

sensor (slave of the secondary interface) and presents the data to the application processor (AP)

in the user registers of the BMI160 through the primary interface. External pull-up resistors need

to be connected and no additional I2C master or slave devices must be attached to the

magnetometer interfaces.

The BMI160 autonomously reads out the sensor data from BMM150 without intervention of the

AP and stores the data in its data registers (per default) and FIFO (see Register (0x46-0x47)

FIFO_CONFIG). The initial setup of the BMM150 after power-on is done through indirect

addressing in the BMI160. From a system perspective the initialization for BMM150 when

attached to BMI160 should be possible within 100ms.

The main benefits of the magnetometer interface are:

1. to synchronize sensor data from the magnetometer and the IMU; this improves the quality

of sensor data fusion

2. to use the IMU-FIFO for storing the magnetometer data; this can be important for

monitoring applications.

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3.3.1.1 Configuration options of the secondary interface as magnetometer interface

The secondary interface configured as a magnetometer interface is a I2C master interface

supporting Fast-Mode I²C communication.

In this mode the ASCx pad is output only, since both master and slave don’t support clock

stretching and only master can drive the clock. ASCx is configured as push-pull output when

magnetometer interface is enabled. The ASDx pad is used for data transfer between master and

slave devices and is bidirectional.

There are two basis configurations of the magnetometer interface that can be configured using

the Register (0x4B-0x4F) MAG_IF: Setup mode and Data mode.

1. Setup mode (also manual mode): In this mode, the application processor can access every

mode is usually used to configure the MAG-sensor and the way the secondary interface reads

the data. The Setup mode has to be executed after each POR (power on reset) previous to

the first data acquisition in Data mode (see below).

The Setup mode is enabled by setting the MAG_IF[1]<7> = 1. The magnetometer may be

accessed through the primary interface using indirect addressing. The data for the I2C write to

magnetometer is stored in MAG_IF[4]. MAG_IF[2] defines the first address of the register to

read (MAG_IF[3] define the address for write access) in the magnetometer register map and

triggers the operation itself, when the magnetometer interface is in normal mode.

For reads, the number of data bytes defined in mag_rd_burst in register MAG_IF[1]<0:1> are

read from the magnetometer and written into the MAG_[X-Z] and RHALL fields of the register

DATA. For write accesses, no burst write is supported, independent of the settings in

mag_rd_burst in Register (0x4B-0x4F) MAG_IF.

When a read or write operation is triggered by writing to MAG_IF[2] or MAG_IF[3], a bit

indicator mag_man_op in

In case a measurement trigger is necessary (i.e. BMM150), the MAG-sensor register address

and data should be specified by writing the appropriate value (i.e. 0x06) in the required

external sensor register address (i.e. 0x44) through the last indirect write access in setup mode

before changing to Data mode.

The time delay between triggering a magnetometer measurement and reading the measured

data is specified in mag_offset in MAG_IF[1].

The data rate used for the autonomous reading of the MAG-sensor data in Data mode should

be first specified by configuring the mag_odr in Register (0x44) MAG_CONF<0:3>.

2. Data mode: When collecting sensor data in Data mode, the BMI160 autonomously triggers

the measurement of the magnetometer, reads the data from the magnetometer and copies it

into the BMI160 user register. Once the data mode is running, the application processor can

access the data of the secondary sensor simply by reading from the BMI160 user Register

(0x04-0x17) DATA_0 Register (0x04-0x17) DATA_7 0x0b. In case of BMM150, the data read

is the magnetometer data MAG_[X-Z] and Hall resistance RHALL.

The data mode mode is enabled by setting the MAG_IF_1<7> = 0.

MAG_IF[2] defines the lowest address of the register data bytes to read from the MAG-sensor

and the data will be stored in the BMI160 register MAG-DATA. The data ready status is set via

drdy_mag in

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through reading the Register (0x04-0x17) DATA. If DRDY is not active the error bit

mag_drdy_err in Register (0x02) ERR_REG is set. MAG_IF[3] defines the register address of

the magnetometer to start a measurement in forced mode in the magnetometer register map.

Reading of the data is done in a single I2C read operation with a burst length of 8 bytes.

3.3.2 Camera module connected to secondary interface for OIS

BMI160 supports specific optical image stabilization (OIS) applications with a dedicated interface.

This interface is used for direct access to pre-filtered gyroscope data with minimum latency. Pre-

filtered gyroscope data is available at output data rate (ODR) of 6.4 kHz and can be read out via

OIS fast mode SPI interface at 10MHz maximum speed.

The OIS SPI interface supports 3-wire SPI as well as 4-wire SPI.

The timings of the secondary SPI interface are the same as for the primary SPI interface, see

chapter 3.2.2. The connection diagrams are depicted in chapter 4.3.

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4. Pin-out and Connection diagrams

4.1 Pin-out

Pin1

Top View BMI160

(Pads not visible!)

8 (VDD)

9 (INT2)

10 (OSCB)

11 (OSDO)1 (SDO)

4 (INT1)

3 (ASCx)

2 (ASDx)

12 (CSB)

14 (SDX)

13 (SCX)

5 (VDDIO)

6 (GNDIO)

7 (GND)

Bottom View BMI160

(Pads visible!)

Pin1

marker

8 (VDD)

9 (INT2)

10 (OSCB)

11 (OSDO)

12 (CSB)

14 (SDX)

13 (SCX)

5 (VDDIO)

6 (GNDIO)

7 (GND)

1 (SDO)

4 (INT1)

3 (ASCX)

2 (ASDX)

Figure 31: Pin-out top view Figure 32: Pin-out bottom view

Table 30: BMI160 Pin-out and pin connections are described in the table below

Pin#

Name

I/O

Type

Interface

Description

SDO

Digital

I/O

Primary

Serial data output in SPI

Address select in I2C mode

ASDx

Digital

I/O

Secondary

Magnetometer interface**)

ASCx

Digital

out

Secondary

Magnetometer interface**)

INT1

Digital

I/O

Primary

Interrupt pin 1 *)

VDDIO

Supply

Digital I/O supply voltage

(1.2 … 3.6V)

GNDIO

Ground

Ground for I/O

GND

Ground

Ground for digital & analog

VDD

Supply

Power supply analog & digital domain (1.71V – 3.6V)

INT2

Digital

I/O

Primary

Interrupt pin 2 *)

OCSB

Digital

I/O

Secondary

OIS interface**)

OSDO

Digital

I/O

Secondary

OIS interface**)

CSB

Digital in

Primary

Chip select for SPI mode / Protocol selection pin

SCx

Digital in

Primary

SCK for SPI serial clock

SCL for I²C serial clock

SDx

Digital

I/O

Primary

SDA serial data I/O in I2C

MOSI serial data input in SPI 4W

SISO serial data I/O in SPI 3W

*) If INT1 and/or INT2 are not used, please do not connect them (DNC)

*)) If pins ASDX, ASCX, OCSB, OSDO are not used, they will be high impedance status

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4.2 Connection diagrams to use primary interface only

4.2.1 I2C as primary interface

VDD

INT2

OSCB

OSDO

ASDx

ASCx

INT1

SDO

VDDIO

GNDIO

GND CSB

SDX

SCX

BMI160

Top View

(Pads not visible!)

VDDVDDIO

100nF

SCL

SDA

SA0

INT1

INT2

Figure 33: Only I2C as primary interface

4.2.2 SPI 3-wire as primary interface

VDD

INT2

OSCB

OSDO

ASDx

ASCx

INT1

SDO

VDDIO

GNDIO

GND CSB

SDX

SCX

BMI160

Top View

(Pads not visible!)

VDDVDDIO

100nF

SCK

SDA

INT1

INT2

CSB

Figure 34: Only SPI 3-wire as primary interface

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4.2.3 SPI 4-wire as primary interface

VDD

INT2

OSCB

OSDO

ASDx

ASCx

INT1

SDO

VDDIO

GNDIO

GND CSB

SDX

SCX

BMI160

Top View

(Pads not visible!)

VDDVDDIO

100nF

SCK

MOSI

MISO

INT1

INT2

CSB

Figure 35: Only SPI 4-wire as primary interface

4.3 Connection diagrams to use additional secondary interface

4.3.1 Primary SPI 4-wire and secondary magnetometer interface (I2C)

VDD

INT2

OSCB

OSDO

ASDx

ASCx

INT1

SDO

VDDIO

GNDIO

GND CSB

SDX

SCX

BMI160

Top View

(Pads not visible!)

VDDVDDIO

100nF

CSB

SCK

MOSI

MISO

INT1

INT2

SCL

SDA

to BMM

VDDIO

Figure 36: Using SPI 4-wire and the magnetometer interface

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4.3.2 Primary SPI 3-wire and secondary magnetometer interface (I2C)

VDD

INT2

OSCB

OSDO

ASDx

ASCx

INT1

SDO

VDDIO

GNDIO

GND CSB

SDX

SCX

BMI160

Top View

(Pads not visible!)

VDDVDDIO

100nF

CSB

SCK

SISO

INT1

INT2

SCL

SDA

to BMM

VDDIO

R R

Figure 37: Using SPI 3-wire and the magnetometer interface

4.3.3 Primary I2C and secondary magnetometer interface (I2C)

SCL

SDA

to BMM

VDD

INT2

OSCB

OSDO

ASDx

ASCx

INT1

SDO

VDDIO

GNDIO

GND CSB

SDX

SCX

BMI160

Top View

(Pads not visible!)

VDDVDDIO

100nF

SCL

SDA

SA0

INT1

INT2

VDDIO

R R

VDDIO

Figure 38: Using I2C and the magnetometer interface

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4.3.4 Primary I2C and secondary 4-wire SPI as OIS interface

MISO

MOSI

SCK

OIS Interface

CSB

VDD

INT2

OSCB

OSDO

ASDx

ASCx

INT1

SDO

VDDIO

GNDIO

GND CSB

SDX

SCX

BMI160

Top View

(Pads not visible!)

VDDVDDIO

100nF

SCL

SDA

SA0

INT1

INT2

OIS Interface

Figure 39: Using I2C and 4-wire SPI as OIS interface

4.3.5 Primary I2C and secondary 3-wire SPI as OIS interface

SISO

SCK

VDD

INT2

OSCB

OSDO

ASDx

ASCx

INT1

SDO

VDDIO

GNDIO

GND CSB

SDX

SCX

BMI160

Top View

(Pads not visible!)

VDDVDDIO

100nF

SCL

SDA

SA0

INT1

INT2

OIS Interface

CSB

OIS Interface

Figure 40: Using I2C and 3-wire SPI as OIS interface

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5. Package

5.1 Outline Dimensions

The package dimension is LGA 2.5mm x 3.0mm x 0.83mm.

Unit of the following drawing is mm. Note: Unless otherwise specified tolerance = decimal

±0.05 mm.

Figure 41: Packaging outline dimensions

Note: Pin1 marker is internally connected to Pin1. It must not be connected to a different signal

than Pin1.

0.83 ±0.05

0.70 ±0.05

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Note: Specifications within this document are preliminary and subject to change without notice.

5.2 Sensing axes orientation

If the sensor is accelerated and/or rotated in the indicated directions, the corresponding channels

of the device will deliver a positive acceleration and/or yaw rate signal (dynamic acceleration). If

the sensor is at rest without any rotation and the force of gravity is acting contrary to the indicated

directions, the output of the corresponding acceleration channel will be positive and the

corresponding gyroscope channel will be “zero” (static acceleration).

Example: If the sensor is at rest or at uniform motion in a gravity field according to the figure given

below, the output signals are:

• ± 0g for the X ACC channel and ± 0°/sec for the ΩX GYR channel

• ± 0g for the Y ACC channel and ± 0°/sec for the ΩY GYR channel

• + 1g for the Z ACC channel and ± 0°/sec for the ΩZ GYR channel

Figure 42: definition of sensing axes orientation

For reference the figure below shows the Android device orientation with an integrated BMI160.

Figure 43: Android axis definition with BMI160

ΩZ

ΩX

ΩY

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Note: Specifications within this document are preliminary and subject to change without notice.

5.3 Landing pattern recommendation

The following landing pad recommendation is given for maximum stability of the solder

connections.

Figure 44: Landing pattern recommendation for BMI160

Note: Pin1 marker is internally connected to Pin1. It must not be connected to a different signal

than Pin1.

The size of the landing pads may be further reduced in order to minimize solder-stress induced

effects if sufficient control over the soldering process is given. Please contact your sales

representative for further details.

0.25

2.50.5

0.475

0.925

3.0

1314 12

65 7

0.675

Pin 1 marker

Pin 1 Marker

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5.4 Marking

5.4.1 Mass production marking

Table 31: Marking of mass samples

Labeling

Name

Symbol

Remark

Counter ID

CCC

3 alphanumeric digits, variable

to generate trace-code

First letter of

second row

Product identifier V = “T” denoting

BMI160

Second letter of

second row

Internal use

Pin 1 identifier

•

5.4.2 Engineering samples

Table 32: Marking of engineering samples

Labeling

Name

Symbol

Remark

Internal ID

VLE

Product identifier V = “T” denoting

BMI160 and “E” denotes engineering

status

L – internal use

Second row

–C - internal revision ID

Pin 1 identifier

•

VLE

CCC

BMI160

Data sheet

Page 108

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

5.5 Soldering guidelines

The moisture sensitivity level of the BMI160 sensors corresponds to JEDEC Level 1, see also

 IPC/JEDEC J-STD-020C “Joint Industry Standard: Moisture/Reflow Sensitivity Classification for

non-hermetic Solid State Surface Mount Devices”

 IPC/JEDEC J-STD-033A “Joint Industry Standard: Handling, Packing, Shipping and Use of

Moisture/Reflow Sensitive Surface Mount Devices”

The sensor fulfils the lead-free soldering requirements of the above-mentioned IPC/JEDEC

standard, i.e. reflow soldering with a peak temperature up to 260°C.

Figure 45: Soldering profile

260 °C

BMI160

Data sheet

Page 109

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

5.6 Handling instructions

Micromechanical sensors are designed to sense acceleration with high accuracy even at low

amplitudes and contain highly sensitive structures inside the sensor element. The MEMS sensor

can tolerate mechanical shocks up to several thousand g’s. However, these limits might be

exceeded in conditions with extreme shock loads such as e.g. hammer blow on or next to the

sensor, dropping of the sensor onto hard surfaces etc.

We recommend to avoid g-forces beyond the specified limits during transport, handling and

mounting of the sensors in a defined and qualified installation process.

This device has built-in protections against high electrostatic discharges or electric fields (e.g.

2kV HBM); however, anti-static precautions should be taken as for any other CMOS component.

Unless otherwise specified, proper operation can only occur when all terminal voltages are kept

within the supply voltage range. Unused inputs must always be tied to a defined logic voltage

level.

5.7 Tape and reel specification

The BMI160 is shipped in a standard cardboard box.

The box dimension for 1 reel is: L × W × H = 35 cm × 35 cm × 6 cm.

BMI160 quantity: 5,000pcs per reel, please handle with care.

A0 = 3.30, B0 = 2.80, K0 = 1.10

Note:

 Tolerances unless noted: ±0.1

 Sprocket hole pitch cumulative tolerance ±0.1

 Camber in compliance with EIA481

 Pocket position relative to sprocket hole measured as true position of pocket, not pocket hole

 A0 and B0 are calculated on a plane at a distance “R” above the bottom of the pocket

Figure 46: Tape and reel dimensions in mm

BMI160

Data sheet

Page 110

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

5.7.1 Orientation within the reel

 Processing direction 

Figure 47: Orientation of the BMI160 devices relative to the tape

5.8 Environmental safety

The BMI160 sensor meets the requirements of the EC restriction of hazardous substances

(RoHS) directive, see also:

Directive 2002/95/EC of the European Parliament and of the Council of 27 January 2003

on the restriction of the use of certain hazardous substances in electrical and electronic

equipment.

5.8.1 Halogen content

The BMI160 is halogen-free. For more details on the analysis results please contact your Bosch

Sensortec representative.

5.8.2 Multiple sourcing

Within the scope of Bosch Sensortec’s ambition to improve its products and secure the mass

product supply, Bosch Sensortec employs multiple sources in the supply chain.

While Bosch Sensortec takes care that all of technical parameters are described above are 100%

identical for all sources, there can be differences in device marking and bar code labeling.

However, as secured by the extensive product qualification process of Bosch Sensortec, this has

no impact to the usage or to the quality of the product.

BMI160

Data sheet

Page 111

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

6. Legal disclaimer

6.1 Engineering samples

Engineering Samples are marked with an asterisk (*) or (e) or (E). Samples may vary from the

valid technical specifications of the product series contained in this data sheet. They are therefore

not intended or fit for resale to third parties or for use in end products. Their sole purpose is

internal client testing. The testing of an engineering sample may in no way replace the testing of

a product series. Bosch Sensortec assumes no liability for the use of engineering samples. The

Purchaser shall indemnify Bosch Sensortec from all claims arising from the use of engineering

samples.

6.2 Product use

Bosch Sensortec products are developed for the consumer goods industry. They may only be

used within the parameters of this product data sheet. They are not fit for use in life-sustaining or

security sensitive systems. Security sensitive systems are those for which a malfunction is

expected to lead to bodily harm or significant property damage. In addition, they are not fit for use

in products which interact with motor vehicle systems.

The resale and/or use of products are at the purchaser’s own risk and his own responsibility. The

examination of fitness for the intended use is the sole responsibility of the Purchaser.

The purchaser shall indemnify Bosch Sensortec from all third party claims arising from any

product use not covered by the parameters of this product data sheet or not approved by Bosch

Sensortec and reimburse Bosch Sensortec for all costs in connection with such claims.

The purchaser must monitor the market for the purchased products, particularly with regard to

product safety, and inform Bosch Sensortec without delay of all security relevant incidents.

6.3 Application examples and hints

With respect to any examples or hints given herein, any typical values stated herein and/or any

information regarding the application of the device, Bosch Sensortec hereby disclaims any and

all warranties and liabilities of any kind, including without limitation warranties of non-infringement

of intellectual property rights or copyrights of any third party. The information given in this

document shall in no event be regarded as a guarantee of conditions or characteristics. They are

provided for illustrative purposes only and no evaluation regarding infringement of intellectual

property rights or copyrights or regarding functionality, performance or error has been made.

BMI160

Data sheet

Page 112

BST-BMI160-DS000-08 | Revision 0.9 | October 2018 Bosch Sensortec

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.

7. Document history and modifications

Rev. No

Chapter

Description of modification/changes

Date

0.9

2.2.4

Table 8 updated

16th Oct 2018

2.5.1.5

2.5.2.4

Explanation updated how to configure external

interrupt tags, Description of FIFO config frame

updated

2.7

Description of Step Counter updated

Updated hyperlink

2.11

2.11.37

2.5.1.5

Description updated

2.4.1

Table 13 updated

2.6.2

Flow diagram updated

3.2.2

SDO output delay time added

3.3.2

Max. speed of OIS I/F updated

2.2.4

Current consumption in Table 8 corrected

1.1

Current consumption in Table 1 corrected

Current consumption in General Description

corrected

3.3.1

3.3.1.1

External pull-up resistors need to be connected

Updated content

2.11.15

Updated ODR formula

4.3.1

4.3.2

4.3.3

Updated pull-ups in the recommended

connection diagrams

5.3

Updated landing pattern

2.6.7

2.11.24

Updated low-g feature description

Updated register description

4.1

Updated comments in Table 30

Bosch Sensortec GmbH

Gerhard-Kindler-Strasse 8

72770 Reutlingen / Germany

contact@bosch-sensortec.com

www.bosch-sensortec.com

Modifications reserved | Printed in Germany

Subject to change without notice

Document number: BST-BMI160-DS000-08

Revision_0.9_102018