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BMX160 Datasheet(HTML) 51 Page - Bosch Sensortec GmbH

Part No. BMX160
Description  Small, low power 9-axis sensor
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Maker  BOSCH [Bosch Sensortec GmbH]
Homepage  https://www.bosch-sensortec.com
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BMX160 Datasheet(HTML) 51 Page - Bosch Sensortec GmbH

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BMX160
Data sheet
Page 51
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.
2.9 Offset Compensation
BMX160 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
value is always 0 dps, for the accelerometer the target value has to be defined for each channel
(-1 g, 0 g, +1 g) 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
Register (0x1B) STATUS. Foc_rdy is “0” while the measurement is in progress. Accelerometer
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
Register (0x1B) STATUS. It is recommended to read the Register (0x04-0x17) DATA after FOC
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.


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