Bosch
Sensortec |
BMI270
Data sheet
2
|
162
Modifications reserved | Data subject
to
change without notice
Document number:
BST
-
BMI270
-
DS00
0
-
0
5
Revision_1.
3_11
2020
Basic Description
BMI270
The
device
is a highly integrated, low power inertial measurement unit (IMU) that
combines
precise
acceleration and angular
rate (gyroscopic) measurement
with intelligent on
-
chip motion
-
triggered
interrupt
features.
BMI270
in
tegrates
:
16
-
bit digital, triaxial accelerometer with
±2g/±4g/±8g/±16
g range
16
-
bit digital, triaxial gyroscope with
±
125dps/
±
250dps/
±
500dps/±1000dps/±2000dps range
Key features
C
ompact standard size LGA mold package, 14 pins, footprint
2.5x3.0mm² height 0.83mm
Output data rates (ODR): 25 Hz
... 6.4
kHz (gyroscope) and 0.78 Hz
... 1.6
kHz (accelerometer)
Programmable low
-
pass filter (accelerometer ∣ gyroscope): bandwidth 5.5 ∣ 11 ... 740 ∣ 751 Hz
Wide power supply range: Analog VDD 1.71V
...
3.6V and independent VDDIO 1.2V
...3.6
V
Ultra
-
low current consumption: typ. 685 μA (in full ODR and aliasing free operation)
Performance mode for gyroscope to minimize noise level: typ. <
7 mdps
/
√
Hz
.
Built
-
in power management unit (PMU) for advanced power
management and low power modes
Rapid startup time: 2 ms for gyroscope (in fast start mode) and 2 ms for accelerometer
Freely configurable secondary digital interface
400 kHz I²C (Fm) master interface hub for 1 I2C AUX sensor (e.g. ext. magnetometer,
pressure)
o
data synchronized to IMU
10 MHz slave SPI (4
-
wire, 3
-
wire) for high speed, calibration free OIS / Dual OIS (SPI) applications
o
Up to 6.4 kHz ODR, control register access and down to 680 μs group delay
o
Connectible latency optimized low pass
-
filter
s with programmable cut
-
off frequencies
2 KB on
-
chip FIFO buffer for accelerometer, gyroscope, timestamps, and AUX sensor data
Fast offset error compensation for accelerometer and gyroscope
Fast sensitivity error compensation for gyroscope (CRT, reducing
the error down to typ. 0.4%)
HW synchronization of accelerometer, gyroscope, and AUX sensor (< 1 μs)
Sensortime stamps for accurate system (host) and sensor (IMU) time synchronization (<40 μs)
2 independent programmable I/O pins for interrupt and synchro
nization events
RoHS compliant, halogen and lead free
BMI270 Features
o
Significant motion/Any motion/Motion detect/No motion/Stationary detect/Wrist wear
wakeup/Wrist worn step counter and detector/Activity
change recognition/Push arm
down/
Pivot up/
Wrist
jiggle/Flick in /out
Bosch
Sensortec |
BMI270
Data sheet
3
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162
Modifications reserved | Data subject
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Document number:
BST
-
BMI270
-
DS00
0
-
0
5
Revision_1.
3_11
2020
Typical A
pplications
Wearables
Hearables
Smart clothing
Augmented / virtual reality (AR/VR)
Activity & Context Recognition
Target Devices
Fitness trackers, wristbands, smart watches
Earbuds, ankle bands, neck bands
Smart
clothes
Augmented and virtual reality glasses and controllers
Bosch
Sensortec |
BMI270
Data sheet
4
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162
Modifications reserved | Data subject
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change without notice
Document number:
BST
-
BMI270
-
DS00
0
-
0
5
Revision_1.
3_11
2020
Table of contents
1.
Specifications
................................
................................
................................
................................
.
12
2.
Absolute maximum ratings
................................
................................
................................
...........
18
3.
Quick Start Guide
................................
................................
................................
...........................
19
4.
Functional Description and Features
................................
................................
...........................
25
System
Configurations
................................
................................
................................
............
25
Block Diagram
................................
................................
................................
.........................
26
Supply Voltage and Power Management
................................
................................
................
26
Power
-
On
-
Reset (POR) and Device Initialization
................................
................................
....
27
Power Modes
................................
................................
................................
...........................
28
Sensor Data
................................
................................
................................
.............................
30
Accelerometer Da
ta
................................
................................
................................
...........
30
Accelerometer Filter Settings
................................
................................
............................
30
Acce
lerometer Filter Modes
................................
................................
...............................
30
Accelerometer Data Processing in Normal and Performance Mode
................................
.
30
Accelerometer Data Processing in Low Power Mode
................................
.......................
31
Accelerometer Data Ready Interrupt
................................
................................
.................
31
Gyroscope Data
................................
................................
................................
.................
31
Gyroscope Filter Settings
................................
................................
................................
..
32
Gyroscope Filter Modes
................................
................................
................................
....
32
Gyroscope Data Post
-
Processing
................................
................................
.....................
32
Gyroscope Data Processing in Normal and Performance Mode
................................
......
32
Gyroscope Data Processing in Low Power Mode
................................
.............................
33
Gyroscope Data Ready Interrupt
................................
................................
.......................
33
Temperature Sensor
................................
................................
................................
..........
34
Sensor Time
................................
................................
................................
.......................
35
Configuration Changes
................................
................................
................................
......
36
FIFO
................................
................................
................................
................................
.........
37
Bosch
Sensortec |
BMI270
Data sheet
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Document number:
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-
BMI270
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DS00
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-
0
5
Revision_1.
3_11
2020
Frames
................................
................................
................................
...............................
37
Conditions and Details
................................
................................
................................
.......
43
FIFO data synchronization
................................
................................
................................
44
FIFO synchronization with external interrupts
................................
................................
...
45
FIFO Interrupts
................................
................................
................................
..................
45
FIFO Reset
................................
................................
................................
........................
45
FIFO in Low Power Mode
................................
................................
................................
..
45
Advanced Features
................................
................................
................................
.................
46
Global
Configuration
................................
................................
................................
..........
46
Anymotion Detection
................................
................................
................................
.........
48
Nomotion Detection
................................
................................
................................
...........
50
Significant Motion Detection
................................
................................
..............................
52
Activity and Activity Change Recognition
................................
................................
..........
52
Wrist Wear Wakeup
................................
................................
................................
...........
53
Wrist Wear Navig
ation Gesture Detector
................................
................................
..........
55
Step counter / detector (Wrist
-
worn)
................................
................................
..................
58
General Interrupt Pin Configuration
................................
................................
.........................
59
Electrical Interrupt Pin Behavior
................................
................................
........................
59
Interrupt Pin Mapping
................................
................................
................................
........
59
Auxiliary Sensor Interface
................................
................................
................................
........
60
Structure and Concept
................................
................................
................................
.......
60
Interface Control
................................
................................
................................
................
61
Interface Config
uration
................................
................................
................................
......
61
Setup mode (AUX_IF_CONF.aux_manual_en =0b1)
................................
.......................
62
Data mode (AUX_IF_CONF.aux_manual_en=0)
................................
..............................
64
Delay (Time Offset)
................................
................................
................................
............
64
OIS Interface
................................
................................
................................
............................
65
OIS Register Map
................................
................................
................................
..............
66
Register (0x0C..0x17) OIS_DATA_0..11
................................
................................
...........
67
Register (0x40) OIS_CTRL_S
................................
................................
...........................
67
Sensor
Self
-
Test
................................
................................
................................
......................
68
Accelerometer
................................
................................
................................
....................
68
Gyroscope
................................
................................
................................
.........................
69
Bosch
Sensortec |
BMI270
Data sheet
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Modifications reserved | Data subject
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Document number:
BST
-
BMI270
-
DS00
0
-
0
5
Revision_1.
3_11
2020
Offset Compensation
................................
................................
................................
...............
70
Accelerometer
................................
................................
................................
....................
70
Gyroscope
................................
................................
................................
.........................
70
Sensitivity Error Compensation
................................
................................
...............................
72
Accelerometer
................................
................................
................................
....................
72
Gyroscope
................................
................................
................................
.........................
72
Non
-
Volatile
Memory
................................
................................
................................
...............
73
Error Reporting
................................
................................
................................
........................
74
Soft
-
Reset
................................
................................
................................
................................
74
5.
Register Description
................................
................................
................................
......................
75
General Remarks
................................
................................
................................
....................
75
Registe
r Map
................................
................................
................................
...........................
76
Register (0x00) CHIP_ID
................................
................................
................................
...
81
Register (0x02) ERR_REG
................................
................................
................................
81
Register
(0x03) STATUS
................................
................................
................................
...
82
Register (0x04) DATA_0
................................
................................
................................
....
82
Register (0x05) DATA_1
................................
................................
................................
....
82
Register (0x06) DATA_2
................................
................................
................................
....
83
Register (0x07) DATA_3
................................
................................
................................
....
83
Register (
0x08) DATA_4
................................
................................
................................
....
83
Register (0x09) DATA_5
................................
................................
................................
....
83
Register (0x0A) DATA_6
................................
................................
................................
....
84
Register (0x0B) DATA_7
................................
................................
................................
....
84
Register (
0x0C) DATA_8
................................
................................
................................
...
84
Register (0x0D) DATA_9
................................
................................
................................
...
84
Register (0x0E) DATA_10
................................
................................
................................
..
85
Register (0x0F) DATA_11
................................
................................
................................
..
85
Register (
0x10) DATA_12
................................
................................
................................
..
85
Register (0x11) DATA_13
................................
................................
................................
..
85
Register (0x12) DATA_14
................................
................................
................................
..
86
Register (0x13) DATA_15
................................
................................
................................
..
86
Bosch
Sensortec |
BMI270
Data sheet
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Modifications reserved | Data subject
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Document number:
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-
BMI270
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DS00
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-
0
5
Revision_1.
3_11
2020
Register (
0x14) DATA_16
................................
................................
................................
..
86
Register (0x15) DATA_17
................................
................................
................................
..
86
Register (0x16) DATA_18
................................
................................
................................
..
87
Register (0x17) DATA_19
................................
................................
................................
..
87
Register (
0x18) SENSORTIME_0
................................
................................
.....................
87
Register (0x19) SENSORTIME_1
................................
................................
.....................
87
Register (0x1A) SENSORTIME_2
................................
................................
.....................
88
Register (0x1B) EVENT
................................
................................
................................
.....
88
Register (0x
1C) INT_STATUS_0
................................
................................
.......................
8
9
Register (0x1D) INT_STATUS_1
................................
................................
.......................
89
Register (0x1E) SC_OUT_0
................................
................................
..............................
89
Register (0x1F) SC_OUT_1
................................
................................
..............................
90
Register
(0x20) WR_GEST_ACT
................................
................................
......................
90
Register (0x21) INTERNAL_STATUS
................................
................................
...............
91
Register (0x22) TEMPERATURE_0
................................
................................
..................
92
Register (0x23) TEMPERATURE_1
................................
................................
..................
92
Regi
ster (0x24) FIFO_LENGTH_0
................................
................................
....................
92
Register (0x25) FIFO_LENGTH_1
................................
................................
....................
93
Register (0x26) FIFO_DATA
................................
................................
..............................
93
Register (0x2F) FEAT_PAGE
................................
................................
............................
93
Register
(0x30) FEATURES[16]
................................
................................
........................
94
Register (0x40) ACC_CONF
................................
................................
...........................
108
Register (0x41) ACC_RANGE
................................
................................
.........................
109
Register (0x42) GYR_CONF
................................
................................
............................
110
Register
(0x43) GYR_RANGE
................................
................................
.........................
111
Register (0x44) AUX_CONF
................................
................................
.............................
112
Register (0x45) FIFO_DOWNS
................................
................................
........................
113
Register (0x46) FIFO_WTM_0
................................
................................
.........................
113
Regist
er (0x47) FIFO_WTM_1
................................
................................
.........................
113
Register (0x48) FIFO_CONFIG_0
................................
................................
....................
114
Register (0x49) FIFO_CONFIG_1
................................
................................
....................
114
Register (0x4A) SATURATION
................................
................................
.........................
116
Bosch
Sensortec |
BMI270
Data sheet
8
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162
Modifications reserved | Data subject
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Document number:
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-
BMI270
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DS00
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-
0
5
Revision_1.
3_11
2020
Regist
er (0x4B) AUX_DEV_ID
................................
................................
.........................
116
Register (0x4C) AUX_IF_CONF
................................
................................
.......................
116
Register (0x4D) AUX_RD_ADDR
................................
................................
.....................
117
Register (0x4E) AUX_WR_ADDR
................................
................................
....................
117
Regi
ster (0x4F) AUX_WR_DATA
................................
................................
.....................
117
Register (0x52) ERR_REG_MSK
................................
................................
.....................
118
Register (0x53) INT1_IO_CTRL
................................
................................
.......................
118
Register (0x54) INT2_IO_CTRL
................................
................................
.......................
119
Regi
ster (0x55) INT_LATCH
................................
................................
.............................
119
Register (0x56) INT1_MAP_FEAT
................................
................................
..................
120
Register (0x57) INT2_MAP_FEAT
................................
................................
..................
120
Register (0x58) INT_MAP_DATA
................................
................................
....................
121
Regi
ster (0x59) INIT_CTRL
................................
................................
.............................
121
Register (0x5B) INIT_ADDR_0
................................
................................
........................
121
Register (0x5C) INIT_ADDR_1
................................
................................
.......................
122
Register (0x5E) INIT_DATA
................................
................................
.............................
122
Regist
er (0x5F) INTERNAL_ERROR
................................
................................
..............
122
Register (0x68) AUX_IF_TRIM
................................
................................
........................
123
Register (0x69) GYR_CRT_CONF
................................
................................
..................
123
Register (0x6A) NVM_CONF
................................
................................
..........................
124
Register
(0x6B) IF_CONF
................................
................................
...............................
124
Register (0x6C) DRV
................................
................................
................................
.......
124
Register (0x6D) ACC_SELF_TEST
................................
................................
.................
125
Register (0x6E) GYR_SELF_TEST_AXES
................................
................................
.....
125
Register (0x70) NV_CONF
................................
................................
..............................
126
Register (0x71) OFFSET_0
................................
................................
.............................
126
Register (0x72) OFFSET_1
................................
................................
.............................
127
Register (0x73) OFFSET_2
................................
................................
.............................
127
Register
(0x74) OFFSET_3
................................
................................
.............................
127
Register (0x75) OFFSET_4
................................
................................
.............................
127
Register (0x76) OFFSET_5
................................
................................
.............................
128
Register (0x77) OFFSET_6
................................
................................
.............................
128
Bosch
Sensortec |
BMI270
Data sheet
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Modifications reserved | Data subject
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Document number:
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-
BMI270
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-
0
5
Revision_1.
3_11
2020
Register
(0x7C) PWR_CONF
................................
................................
..........................
128
Register (0x7D) PWR_CTRL
................................
................................
...........................
129
Register (0x7E) CMD
................................
................................
................................
......
130
6.
Digital Interfaces
................................
................................
................................
..........................
131
Interfaces
................................
................................
................................
...............................
131
Primary Interface
................................
................................
................................
...................
132
Primary Interface Digital Protocol Selection
................................
................................
..........
133
Primary Interface SPI
................................
................................
................................
............
133
Primary Interface I²C
................................
................................
................................
.............
138
Secondary Interface
................................
................................
................................
..............
142
Auxiliar
y Interface
................................
................................
................................
............
142
OIS Interface
................................
................................
................................
....................
143
7.
Pinout and Conn
ection Diagram
................................
................................
................................
.
144
Pin
-
out
................................
................................
................................
................................
...
144
Connection Diagrams without Secondary Interface
................................
..............................
147
Primary: 3
-
wire SPI Secondary: None
................................
................................
..........
147
Primary: 4
-
wire SPI Secondary: None
................................
................................
..........
147
Connection Diagrams with I2C Auxiliary Interface
................................
................................
149
Primary: 3
-
wire SPI Secondary: Auxiliary interface I2C (e.g.
BMM150 sensor)
..........
149
Primary: 4
-
wire SPI Secondary: Auxiliary interface I2C (e.g. BMM150 sensor)
..........
149
Primary: I2C Secondary: Auxiliary interface I2C (e.g. BMM150 sensor)
......................
150
Connection Diagrams with OIS Interface
................................
................................
..............
151
Primary: 3
-
wire SPI Secondary: 4
-
wire SPI for OIS interface
................................
......
151
Primary: 3
-
wire SPI Secondary: 3
-
wire SPI for OIS interface
................................
......
151
Primary: 4
-
wire SPI Secondary:
4
-
wire SPI for OIS interface
................................
......
152
Primary: 4
-
wire SPI Secondary: 3
-
wire SPI for OIS interface
................................
......
152
Primary: I2C Secondary: 4
-
wire SPI for OIS interface
................................
.................
153
Primary: I2C Secondary: 3
-
wire SPI for OIS interface
................................
.................
153
8.
Package
................................
................................
................................
................................
.........
154
Bosch
Sensortec |
BMI270
Data sheet
10
|
162
Modifications reserved | Data subject
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change without notice
Document number:
BST
-
BMI270
-
DS00
0
-
0
5
Revision_1.
3_11
2020
Package outline dimensions
................................
................................
................................
..
154
Sensing axis orientation
................................
................................
................................
........
155
Landing pattern recommendation
................................
................................
..........................
157
Marking
................................
................................
................................
................................
..
158
Mass production
................................
................................
................................
..............
158
Engineering samples
................................
................................
................................
.......
158
Soldering guidelines
................................
................................
................................
..............
159
Handling instructions
................................
................................
................................
.............
159
E
nvironmental safety
................................
................................
................................
.............
159
Halogen content
................................
................................
................................
...............
159
Internal package structure
................................
................................
...............................
159
9.
Leg
al disclaimer
................................
................................
................................
...........................
160
Engineering samples
................................
................................
................................
.............
160
Product use
................................
................................
................................
............................
160
Application
examples and hints
................................
................................
.............................
160
10.
Document history and modifications
................................
................................
.........................
161