BMI160
Preliminary data sheet
BST-BMI160-DS000-05 | Revision 0.6 | October 2014 Bosch Sensortec
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Note: Specifications within this document are preliminary and subject to change without notice.
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.
2.4.2.1 Gyroscope data processing for normal power mode
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.
Note: Lower ODR values than 25Hz are not allowed. If they are used they result in an error
code in Register (0x02) ERR_REG.
When gyr_us=0 gyr_bwp=0b010 must be set. The filter bandwidth shows a 3db cutoff frequency
shown in the following table:
When the filter mode is set to OSR2 (gyr_bwp=0b001 and gyr_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 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 and gyr_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 approximately 4
3dB Cutoff frequency [Hz]
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gyroscope数字滤波的配置可以通过参数:gyr_bwp和gyr_odr设置。对于陀螺仪来说,没
有“过疏采样”的选择。陀螺仪的数据只能在“normal power mode”模式下被处理。