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BMX160 Datasheet(HTML) 22 Page - Bosch Sensortec GmbH

Part No. BMX160
Description  Small, low power 9-axis sensor
Download  113 Pages
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Maker  BOSCH [Bosch Sensortec GmbH]
Homepage  https://www.bosch-sensortec.com
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BMX160 Datasheet(HTML) 22 Page - Bosch Sensortec GmbH

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BMX160
Data sheet
Page 22
BST-BMX160-DS000-12 | Revision 1.2 | January 2019
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.
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= 50 Hz
the 3 dB cutoff frequency is 5.06 Hz.
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 0.78 Hz up to 1600 Hz.
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 section 2.2.1.1.2.
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.
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
25 Hz up to 3200 Hz.
Note: Lower ODR values than 25 Hz 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 3 dB cutoff frequency shown in the
following table:


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