BHI160B - Bosch - Datasheet.Live

Data Sheet

BHI160 / BHI160B

Ultra low-power sensor hub incl. integrated IMU

Restricted Data Sheet

Document revision

1.4

Document release date

May 2019

Document number

BST-BHI160B-DS000-03

Technical reference code(s)

BHI160: 0 273 141 230 BHI160B: 0 273 141 309

Notes

Data 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’s appearance.

Bosch Sensortec

BHI160(B)

Data sheet

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BST-BHI160B-DS000-03 | Revision 1.4 | May 2019 Bosch Sensortec

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.

Features

- All-in-one smart-hub solution for always-on motion

sensing at a fraction of current consumption which is

commonly required using discrete components.

- 32-bit floating-point microcontroller (Fuser Core).

Optimized for data fusion, motion sensing and activity

recognition at ultralow power consumption. All in order

to offload the power hungry data processing from the

main application processor to the smart-hub.

- Powerful BSX sensor fusion library integrated in ROM

for lowest design-in effort and fastest time-to-market.

- Additional software and algorithms for RAM processing,

provided as ready to use FW patch files. Visit our web

site to check available downloads.

- Onboard calculation power for data fusion, 3D- and

absolute orientation, rotation vector, quaternions and

Euler angles.

- Gesture recognition of significant motion, tilt, pickup,

wake up and glance. Enabling customer specific

gesture based HMI interfaces for smartphones and

wearables.

- Activity recognition of standing, walking, running, biking

and in vehicle. Enabling health & fitness applications or

any other use case where highly accurate and reliable

detection and/or monitoring of user activities is required.

- Step detection and step counting.

- Android 5 / L / Lollipop & Android 6 / M / Marshmallow

(non-HiFi) support, incl. batching with dual FIFO buffer

for wakeup and non-wakeup events. Implements the full

Android sensor stack although an Android OS or any

other Android environment is not required.

- High speed I2C interface, with data rates up to 3.4

MBit/s for power-efficient data transfer.

- Highly configurable internal RAM for either feature

extension and/or FIFO data buffering.

- SW / FW based functionality. Can be updated,

optimized, customized or upgraded with totally new

features to support future requirements.

- Smart-hub plus microcontroller, MEMS sensors and

software all highly integrated in one 3.0x3.0x0.95 mm3

LGA package with extension interface for additional

sensors.

Implemented Sensor Types

With integrated IMU only:

Accelerometer, Gravity, Linear acceleration, Gyroscope,

Gyroscope uncalibrated, Game rotation vector, Step

counter, Step detector, Significant motion, Tilt detector,

Pickup gesture, Wake up gesture, Glance gesture,

Activity recognition

With attached magnetometer:

Geomagnetic field, Magnetic field uncalibrated,

Orientation, Rotation vector, Geomagnetic rotation vector

General Description

The BHI160(B) is a small, low-power smart-hub

with an integrated three axis gyroscope plus an

integrated three axis accelerometer plus a

programmable microcontroller. Containing pre-

installed software and specific algorithms for

activity recognition it is specifically designed to

enable always-on motion sensing. It perfectly

matches the requirements of smartphones,

wearables or any other application which demands

highly accurate, real-time motion data at very low

power consumption.

The device integrates our best-in-class 6-axis IMU

(BMI160) with an MCU – the new Bosch Sensortec

Fuser core. It is bringing you the full Android sensor

stack inside your devices – even without having an

Android OS or an Android environment. Combining

this with the built in computing power and the highly

configurable on-board memory the BHI smart-hub

offers you a low power solution for motion sensing

and data processing.

Target applications

 Activity recognition of standing, walking,

running, biking or in vehicle

 Step-counting, indoor navigation, PDR

 HMI interfaces incl. gesture detection of

motion, tilt, pickup, wake up, glance or

other gestures for wearables

 Augmented reality, immersive gaming

 Tilt compensated eCompass

 Full 9DoF data fusion for highly accurate

3D orientation, quaternions, Euler angles,

etc.

Target devices

 Mobile phones and tablets

 Wearables such as smart watches, wrist-

or neck-bands

 Smart-sports and smart-fitness devices

 Hearables, smart earphones and other

head worn devices

 Smart-TV- or AR/VR controllers

 Smart-pens

 
BHI160(B) 
Data sheet 
Page 3 
 
BST-BHI160B-DS000-03 | Revision 1.4 | May 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. 
 
 
    
 
Table of Contents 
SPECIFICATION.................................................................................................................... 7 
1 ELECTRICAL SPECIFICATION ............................................................................................ 7 
2 ELECTRICAL AND PHYSICAL CHARACTERISTICS, MEASUREMENT PERFORMANCE .................. 7 
3 ABSOLUTE MAXIMUM RATINGS ....................................................................................... 11 
PIN CONNECTIONS AND DESCRIPTION ......................................................................... 12 
1 CONNECTION DIAGRAM ................................................................................................. 13 
OVERVIEW .......................................................................................................................... 14 
PHYSICAL INTERFACES ................................................................................................... 16 
1 HOST INTERFACE .......................................................................................................... 16 
2 SENSOR INTERFACE ...................................................................................................... 17 
DATA INTERFACE .............................................................................................................. 18 
1 GENERAL OVERVIEW ..................................................................................................... 18 
2 REGISTER MAP ............................................................................................................. 19 
DEVICE INITIALIZATION AND STARTUP ........................................................................ 21 
1 RESET.......................................................................................................................... 21 
2 BOOT MODE ................................................................................................................. 21 
3 MAIN EXECUTION MODE ................................................................................................ 21 
DEVICE CONFIGURATION ................................................................................................ 23 
FIFOS AND EVENTS .......................................................................................................... 24 
FUNCTIONAL DESCRIPTION ............................................................................................ 25 
1 DATAFLOW OF SENSOR FUSION ..................................................................................... 25 
2 SUPPORTED DATA RATES OF BSX SENSOR FUSION ENGINE ............................................ 25 
3 GESTURE RECOGNITION ................................................................................................ 26 
4 POWER MODES AND CURRENT CONSUMPTION ............................................................... 26 
5 VIRTUAL SENSORS ........................................................................................................ 27 
6 VIRTUAL SENSOR DATA TYPES ...................................................................................... 29 
7 SENSOR CONFIGURATION.............................................................................................. 30 
8 SENSOR STATUS INFORMATION ..................................................................................... 31 
9 FIFOS .......................................................................................................................... 32 
10 NON-BATCH MODE ..................................................................................................... 33 
11 BATCH MODE ............................................................................................................. 33 

 
BHI160(B) 
Data sheet 
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BST-BHI160B-DS000-03 | Revision 1.4 | May 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. 
 
 
    
REGISTER MAP DESCRIPTION ...................................................................................... 34 
1 BUFFER_OUT[0:49] .................................................................................................... 34 
2 FIFO_FLUSH .............................................................................................................. 34 
3 CHIP_CONTROL .......................................................................................................... 35 
4 HOST_STATUS ........................................................................................................... 35 
5 INT_STATUS ............................................................................................................... 36 
6 CHIP_STATUS............................................................................................................. 36 
7 BYTES_REMAINING[0:1] .............................................................................................. 37 
8 PARAMETER_ACKNOWLEDGE ...................................................................................... 37 
9 PARAMETER_READ_BUFFER[0:15] .............................................................................. 38 
10 GP[20:24] ................................................................................................................ 38 
11 PARAMETER_PAGE_SELECT ..................................................................................... 38 
12 HOST_INTERFACE_CONTROL .................................................................................... 40 
13 GP[31:36] ................................................................................................................ 42 
14 PARAMETER_WRITE_BUFFER[0:7] ............................................................................. 42 
15 PARAMETER_REQUEST ............................................................................................. 42 
16 GP[46:52] ................................................................................................................ 43 
17 ROM_VERSION[0:1] ................................................................................................. 43 
18 RAM_VERSION[0:1] .................................................................................................. 43 
19 PRODUCT_ID ........................................................................................................... 44 
20 REVISION_ID ............................................................................................................ 44 
21 UPLOAD_ADDRESS[0:1] ............................................................................................ 45 
22 UPLOAD_DATA ......................................................................................................... 45 
23 UPLOAD_CRC[0:3] ................................................................................................... 45 
24 RESET_REQUEST ..................................................................................................... 46 
PARAMETER I/O DESCRIPTION ..................................................................................... 47 
1 PARAMETER PAGE 1: SYSTEM ..................................................................................... 47 
2 PARAMETER PAGE 3: SENSORS ................................................................................... 52 
3 SENSOR INFORMATION STRUCTURE ............................................................................. 55 
4 SENSOR CONFIGURATION STRUCTURE......................................................................... 56 
5 PARAMETER PAGE 15: SOFT PASS-THROUGH .............................................................. 57 
SENSOR DATA TYPES AND OUTPUT FORMAT .......................................................... 59 
1 QUATERNION+ ............................................................................................................ 60 
2 VECTOR+ ................................................................................................................... 61 
3 VECTOR_UNCALIBRATED ............................................................................................ 62 

 
BHI160(B) 
Data sheet 
Page 5 
 
BST-BHI160B-DS000-03 | Revision 1.4 | May 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. 
 
 
    
4 SCALAR DATA ............................................................................................................. 62 
5 SENSOR EVENT DATA (PARAMETERLESS SENSORS) ..................................................... 63 
6 ACTIVITY RECOGNITION DATA (SENSOR_ACTIVITY_REC_DATA) .................................... 63 
7 DEBUG ....................................................................................................................... 63 
8 SENSOR DATA SCALING ............................................................................................... 64 
9 META EVENTS ............................................................................................................ 65 
9.1 SELF-TEST RESULTS ............................................................................................................. 66 
9.2 INITIALIZED ........................................................................................................................... 67 
READING FIFO DATA ...................................................................................................... 68 
1 HOST INTERRUPT BEHAVIOR........................................................................................ 68 
2 PAUSE AND RESUME MECHANISM ................................................................................ 69 
3 FIFO OVERFLOW HANDLING ........................................................................................ 70 
4 HOST SUSPEND PROCEDURE ...................................................................................... 70 
5 HOST WAKEUP PROCEDURE ........................................................................................ 70 
6 NON-COMPLIANT HOSTS ............................................................................................. 70 
7 RECOVERY FROM LOSS OF SYNC ................................................................................. 71 
8 PADDING DATA ........................................................................................................... 71 
9 ABORTING A TRANSFER ............................................................................................... 71 
10 FIFO PARSING EXAMPLES ......................................................................................... 71 
10.1 ACCELEROMETER & STEP COUNTER .................................................................................... 71 
PACKAGE ......................................................................................................................... 74 
1 OUTLINE DIMENSIONS ................................................................................................. 74 
2 SENSING AXES ORIENTATION AND AXIS REMAPPING ..................................................... 74 
3 LANDING PATTERN RECOMMENDATION ......................................................................... 76 
4 MARKING .................................................................................................................... 77 
4.1 MASS PRODUCTION ............................................................................................................... 77 
4.1 ENGINEERING SAMPLES ......................................................................................................... 77 
5 SOLDERING GUIDELINES .............................................................................................. 78 
6 HANDLING INSTRUCTIONS ............................................................................................ 79 
7 TAPE AND REEL SPECIFICATION .................................................................................... 79 
7.1 ORIENTATION WITHIN THE REEL .............................................................................................. 80 
8 ENVIRONMENTAL SAFETY ............................................................................................ 80 
9 HALOGEN CONTENT .................................................................................................... 80 
10 MULTIPLE SOURCING ................................................................................................. 80 
LEGAL DISCLAIMER ........................................................................................................ 81 
1 ENGINEERING SAMPLES ............................................................................................... 81 

BHI160(B)

Data sheet

Page 6

BST-BHI160B-DS000-03 | Revision 1.4 | May 2019 Bosch Sensortec

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.

15.2 PRODUCT USE ............................................................................................................ 81

15.3 APPLICATION EXAMPLES AND HINTS ............................................................................. 81

16. DOCUMENT HISTORY AND MODIFICATIONS .............................................................. 82

BHI160(B)

Data sheet

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BST-BHI160B-DS000-03 | Revision 1.4 | May 2019 Bosch Sensortec

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.

1. Specification

1.1 Electrical specification

Table 1: Operating Conditions

OPERATING CONDITIONS BHI

Parameter

Symbol

Condition

Min

Typ

Max

Unit

Supply Voltage

Internal Domains

VDD

1.71

1.8

3.6

Supply Voltage

I/O Domain

VDDIO

1.6

1.8

3.3

Voltage Input

Low Level

VIL,a

0.3VDDIO

Voltage Input

High Level

VIH,a

0.7VDDIO

VDDIO

Voltage Output

Low Level

VOL,a

IOL=1mA

0.3V

Voltage Output

High Level

VOH,a

IOH=-1mA,

VDDIO-0.3V

Operating

Temperature

-40

+85

°C

1.2 Electrical and physical characteristics, measurement performance

All parameters defined for operating conditions (unless otherwise specified).

Table 2: Electrical characteristics Fuser Core

OPERATING CONDITIONS FUSER CORE

Parameter

Symbol

Condition

Min

Typ

Max

Units

REGULATOR OUTPUT

VOLTAGE

VREG

1.0

1.1

1.2

POWER ON RESET

THRESHOLD

VPOR

VREG>VPOR

VREG-

125MV

CURRENT

CONSUMPTION,

RUN1

IRUN

0°C TO +40°C, (1)

800

CURRENT

CONSUMPTION,

NORMAL

OPERATION2

IOPER

0°C TO +40°C, (2)

300

CURRENT

CONSUMPTION,

SLEEP3

ISLEEP

0°C TO +40°C, (3)

CURRENT

CONSUMPTION,

DEEP SLEEP4

IDSLEEP

0°C TO +40°C, (4)

CURRENT

CONSUMPTION,

IDLE5

IIDLE

0°C TO +40°C, (5)

Notes:

(1) Current consumption when CPU is running and executing from ROM.

BHI160(B)

Data sheet

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BST-BHI160B-DS000-03 | Revision 1.4 | May 2019 Bosch Sensortec

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) Current consumption in normal operation is average consumption for 9DoF Sensor

Fusion with ODR of 100 Hz

(3) Sleep mode is entered when CPU and I2C are idle and timer and system clock are

enabled

(4) In Deep Sleep mode, only timer is enabled while system clock is disabled

(5) In Idle mode, no operations are performed, all oscillators are disabled

Table 3: 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

3.2

OUTPUT SIGNAL ACCELEROMETER

Parameter

Symbol

Condition

Min

Typ

Max

Units

Resolution

bit

Sensitivity

S2g

gFS2g, TA=25°C

16384

LSB/g

S4g

gFS4g, TA=25°C

8192

LSB/g

S8g

gFS8g, TA=25°C

4096

LSB/g

S16g

gFS16g, TA=25°C

2048

LSB/g

Sensitivity

Temperature Drift

TCSA

gFS2g,

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

gFS2g, TA=25°C, nominal

VDD supplies,

component level

±40

OffA,board

gFS2g, TA=25°C, nominal

VDD supplies, soldered,

board level

±60

OffA,MSL

gFS2g, TA=25°C, nominal

VDD supplies, after

MSL1-prec. 1 / soldered

±70

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

BHI160(B)

Data sheet

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BST-BHI160B-DS000-03 | Revision 1.4 | May 2019 Bosch Sensortec

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.

OffA,life

gFS2g, TA=25°C, nominal

VDD supplies, soldered,

over life time2

±150

Zero-g Offset

Temperature Drift

TCOA

gFS2g,

Nominal VDD supplies

best fit straight line

±1.0

mg/K

Nonlinearity

NLA

Best fit straight line,

gFS2g

±0.5

%FS

Output Noise

nA,nd

gFS2g, TA=25°C, nominal

VDD, Normal mode

180

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 4: 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

16.4

LSB/°/s

RFS1000

Ta=25°C

32.8

LSB/°/s

RFS500

Ta=25°C

65.6

LSB/°/s

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

BHI160(B)

Data sheet

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BST-BHI160B-DS000-03 | Revision 1.4 | May 2019 Bosch Sensortec

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.

RFS250

Ta=25°C

131.2

LSB/°/s

RFS125

Ta=25°C

262.4

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)

°/s/g

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

Bias stability

BSG

°/h

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 5: 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

±5

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

BHI160(B)

Data sheet

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BST-BHI160B-DS000-03 | Revision 1.4 | May 2019 Bosch Sensortec

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.

1.3 Absolute maximum ratings

Table 6: Absolute maximum ratings

PARAMETER

Condition

Min

Max

Units

Voltage at Supply Pin

VDD Pin

-0.3

4.25

VDDIO Pin

-0.3

3.6

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,

VDD to VDDIO,

any other combination

CDM

500

100

NOTE: Stress above these limits may cause damage to the device. Exceeding the specified electrical

limits may affect the device reliability or cause malfunction.

BHI160(B)

Data sheet

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BST-BHI160B-DS000-03 | Revision 1.4 | May 2019 Bosch Sensortec

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. Pin Connections and description

Figure 1: Pin Connections

Table 7: Pin description

Name

Description

Not connected

DNC

Do not connect (reserved)

GPIO1

Application specific I/O pin

RESV2

Do not connect (reserved)

RESV3

Do not connect (reserved)

Not connected

ASCK

I2C Master serial clock, for connection of external

sensors

VDDIO

Digital I/O power supply voltage (1.6 V … 3.3 V)

SA_GPIO7

Select I2C address & Application specific I/O pin

refer to section 4.1 page 16

VREG

Regulator filter capacitor connection

GPIO2

Application specific I/O pin

INT

Host interrupt

VDD

Analog power supply voltage (1.71 V…3.6 V)

Not connected

GND

Analog power supply ground

Not connected

GNDIO

Digital I/O power supply ground

ASDA

I2C Master serial data, for connection of external

sensors

RESV4

Do not connect (reserved)

SCK

I2C serial clock (Host interface)

SDA

I2C serial data (Host interface)

Bottom view

(Pads visible)

BHI160(B)

Data sheet

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BST-BHI160B-DS000-03 | Revision 1.4 | May 2019 Bosch Sensortec

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.

2.1 Connection Diagram

Figure 2: Reference Diagram

Table 8: Typical values for external circuit components

Component

Value

Remarks

4.7 k

Pull-up resistor for SDA, Host Interface

4.7 k

Pull-up resistor for SCK, Host Interface

4.7 k

Pull-up resistor for ASDA, Aux Interface

4.7 k

Pull-up resistor for ASCK, Aux Interface

100 nF

Filter capacitor AVDD

1 µF

Filter capacitor VDDIO

100 nF

Filter capacitor VDDIO

470 nF

Filter capacitor VREG

NOTE: R3 and R4 are mandatory, even if no external sensor is attached.

BHI

For R3, R4 refer to below given note!

BHI160(B)

Data sheet

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BST-BHI160B-DS000-03 | Revision 1.4 | May 2019 Bosch Sensortec

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. Overview

The BHI Sensor hub is a small multichip system in a LGA package consisting of

• a 32-bit floating-point microcontroller (Fuser Core)

optimized for sensor fusion and activity recognition

• 96 KByte of ROM including the BSX sensor fusion library

• 48 KByte of RAM for

• feature extension

(e.g. for additional drivers of externally attached sensors)

• local data buffering

(implementing a wake-up and a non-wake-up FIFO as defined in Android)

• feature updates

(allowing the updates of features implemented in RAM or ROM to meet

future requirement)

• a high speed I2C host interface, with data rates up to 3.4 MBit/s and a host interrupt line

• a fast I2C sensor interface, with data rates up to 1 MBit/s for connection

of external sensors

• up to 3 additional GPIO pins

Figure 3: Block Diagram

With these integrated hardware and software features, the low power consumption and the sensor

extension interface, the BHI provides an ideal all-in-one solution for always-on sensor applications.

MEMS

BHI160(B)

Data sheet

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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.

Without any additionally attached sensors the BHI provides a six degrees of freedom (6-DoF) inertial

motion unit (IMU) measurement system out of the box, implementing the following Android

sensor

types:

 Accelerometer

 Gravity

 Linear acceleration

 Gyroscope

 Gyroscope uncalibrated

 Game rotation vector

 Step counter

 Step detector

 Significant motion

 Tilt detector

 Pickup gesture

 Wake up gesture

 Glance gesture

 Activity recognition

By attaching an external magnetometer to the sensor interface (and configuring the RAM firmware patch

to include the sensor driver for the magnetometer) the BHI provides additionally the following sensor

types:

 Geomagnetic field

 Magnetic field uncalibrated

 Orientation

 Rotation vector

 Geomagnetic rotation vector

offering a full 9-DoF solution to the user.

With further attachment of additional sensors to the sensor interface, as e.g.

 Barometic pressure

 Humidity

 Ambient temperature

 Proximity

 Ambient Light

the BHI can provide the full Android sensor stack to the application.

See http://source.android.com/devices/sensors/sensor-types.html for details on defined Android

Sensor Types.

Activity recognition is also implemented as a Sensor Type in BHI, despite not being defined in

Android’s “sensors.h”, but in “activity_recognition.h”.

BHI160(B)

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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.

4. Physical Interfaces

4.1 Host interface

According to the interface concept introduced from Android 5 onwards, the BHI provides a high speed

I2C interface and a single interrupt line as main interface to the application processor.

The available GPIO pins can be used to implement additional interrupt lines, in case this is necessary

for specific applications.

The host interface is implemented as an I2C slave interface, as described in the I2C bus specification

created from NXP

and implements data transfer rates up to 3.4 Mbit/s in the high-speed mode.

The I2C bus consists of 2 wires, SCK (Serial Clock) and SDA (Serial Data). Both bus lines are bi-

directional. The BHI can be connected to this bus via SDA and SCL pads with open drain drivers

within the device. The bus lines must be externally connected to a positive supply voltage (VDDIO) via

a pull-up resistor or current-source.

A data transfer via the I2C slave interface is always initiated by the host. The I2C slave interface can

operate as either a transmitter or receiver only, if a valid device address has been received from the

host.

The BHI responds to device addresses, depending on the logic level applied on the SA_GPIO7. To

select the corresponding I2C address keep the desired level for min 10 ns after reset release as

described in Table 9. By default there are 2 application specific I/O pins GPIO1 and GPIO2 available

and recommended. Special cases might require additional I/O pins. Therefore SA_GPIO was designed

to be operated as a third application specific I/O pin, once the I2C address was successfully selected.

For details and technical support please refer to corresponding application notes or contact our regional

offices, distributors and sales representatives.

Table 9: I2C address selection

SA_GPIO7

I2C address

HIGH

0x29

LOW

0x28

The address and data are transferred between master and slave serially through the data line (SDA) in

an 8-bit oriented transfer format. The transfer is synchronized by the serial clock line (SCK). The

supported transfer formats are single byte read, multiple byte read, single byte write, multiple byte write.

The data line (SDA) can be driven either by the host or the BHI. The serial clock line (SCK) is driven by

the host only.

Figure 3 illustrates an example of how to write data to registers in single-byte or multiple-byte mode.

Figure 4: I2C write example

Figure 4 illustrates an example of how to read data to registers in single-byte or multiple-byte mode.

See http://www.nxp.com/documents/user_manual/UM10204.pdf for details

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Figure 5: I2C read example

4.2 Sensor interface

The BHI implements a fast-mode plus I2C master interface for connections of external sensors.

This sensor interface is directly connected to the internal BMI160 IMU sensor and also available on the

auxiliary serial clock (ASCK) and auxiliary serial data (ASDA) pins of the BHI.

The bus lines must be externally connected to a positive supply voltage (VDDIO) via a pull-up resistor

or current-source, even if no additional external sensor is attached to the device, in order to enable the

proper I2C communication between the Fuser core and the integrated BMI160 IMU sensor.

A common use-case of the sensor interface is the connection of an external magnetometer.

The following external magnetometers are currently supported:

Table 10: Supported Magnetometers

Alternative magnetometers can be supported on customer request.

Vendor

Device

Bosch Sensortec

BMM150

AKM

AK09911/12

Yamaha

YAS532/537

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

5. Data interface

5.1 General overview

Figure 5 provides a general overview of the BHI data interface. The software running on the Fuser core

obtains the raw sensor from the I2C sensor interface, performs the necessary computations and provides

the results into a register map, which forms the main I/O interface to the host from a programmer’s point

of view.

Figure 6: Data interface

The register map consists of 4 main sections:

 Sensor Data Buffer

 Fuser Core Config & Status Buffer

 Configuration Parameter I/O

 User specific I/O Buffer

The Sensor Data Buffer consists of 50 register (I2C addresses 0x00:0x31) providing an interface to the

Fuser Core’s internal Event FiFOs which contain the sensor event data.

Per default the data of both FIFOs (the wake-up and the non-wake-up FIFO) will be mapped to the

Sensor Data Buffer, so that the host can read all available data in a burst and identify and separate the

data afterwards.

The FIFO_FLUSH register of the Fuser Core Config & Status Buffer can be used to adjust the behavior

of the sensor data buffer in a more specific way.

The Fuser Core & Status Buffer consist of a register set, which allows the host to control the

fundamental behavior of the fuser core as well as getting information on the current status.

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The Configuration Parameter I/O interface provides a window in the various configuration options of

the sensor system. It consists of the 16 Byte deep Par_Read_Buffer (I2C addresses 0x3B:0x4A) and

the 8 Byte deep Par_Write_Buffer (I2C addresses 0x5C:0x63) and some additional registers for selecting

and mapping the desired parameters into these 2 buffers.

The User Specific I/O Buffer is reserved for application specific purposes and can be used to serve

the needs of individual applications. It consist of 3 different I2C address areas (0x4B:0x4F, 0x56:0x5B

and 0x65:0x6B) where the first one is read-only, while the others are read-write for the host.

5.2 Register Map

Table 11: Register Map

I2C Adress

Access mode

Map section

0x00 – 0x31

Buffer Out[00:49]

Read only

Sensor Data Buffer

0x32

FIFO Flush

Read write

Fuser Core

Config & Status

0x33

Reserved

0x34

0x35

0x36

0x37

Chip Control

Host Status

Int Status

Chip Status

Read write

Read only

Fuser Core

Config & Status

0x38

0x39

Bytes Remaining LSB

Bytes Remaining MSB

Read only

Sensor Data Buffer

0x3A

Parameter Acknowledge

Read only

Config Parameter

I/O Interface

0x3B – 0x4A

Parameter Read Buffer[0:15]

Read only

Config Parameter

I/O Interface

0x4B – 0x4F

GP20 – GP24

Read only

User specific I/O

0x50 – 0x53

Reserved

0x54

Parameter Page Select

Read write

Config Parameter

I/O Interface

0x55

Host Interface Control

Read write

Fuser Core

Config & Status

0x56 – 0x5B

GP31 – GP36

Read write

User specific I/O

0x5C – 0x63

Parameter Write Buffer[0:7]

Read write

Config Parameter

I/O Interface

0x64

Parameter Request

Read write

Config Parameter

I/O Interface

0x65 – 0x6B

GP46 – GP52

Read write

User specific I/O

0x6C – 0x6F

Host IRQ Timestamp

Read only

Fuser Core

Config & Status

0x70 – 0x71

0x72 – 0x73

ROM Version

RAM Version

Read only

Fuser Core

Config & Status

0x74 – 0x8F

Reserved

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0x90

0x91

Product ID

Revision ID

Read only

Chip specific IDs

0x92 – 0x93

Reserved

0x94 – 0x95

0x96

0x97 – 0x9A

Upload Address

Upload Data

Upload CRC

Read write

Read only

Fuser Core

Config & Status

(Firmware upload

interface)

0x9B

Reset Request

Read write

Fuser Core

Config & Status

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6. Device Initialization and Startup

The procedure in order to initialization and startup the BHI until it reaches its normal operation mode

consist mainly of the following steps:

1. Power on or reset the device

2. Wait for Interrupt

3. Upload the Firmware (RAM patch)

4. Switch into main execution mode

5. Wait for Interrupt

6. Configure the sensors and meta events

7. Configure the FIFO buffers

8. Configure the host interrupt setting

Once this procedure is successfully finished, the host can go into sleep mode and wait for the BHI’s

interrupt, according to the defined conditions (see step 6).

If the host receives an interrupt request from the BHI, it can simply read out the FIFO buffer and parse

the obtained data. (See section 13 for details on how to read the FIFO buffer)

6.1 Reset

The BHI does not provide a specific hardware pin for a reset. A reset can be triggered due to

 Power On Reset

 Watchdog Reset

 Host initiated Reset Request

In order to trigger a reset request, the host has to write a 1 into the Reset_Request register (Address

0x9B in the register map). This bit automatically clears to 0 after reset.

6.2 Boot Mode

The ROM is split into two parts, a small boot loader and the larger set of libraries and drivers which can

be used by a RAM-based firmware or “patch.”

It is this latter part of the ROM which provides most of the functionality required for sensor fusion, host

interface interactions, data batching, and so on. However, without a RAM patch, none of these more

advanced behaviors can occur. This is where boot loading comes in.

When the BHI first comes out of reset it executes the ROM boot loader. The boot loader performs the

default initialization of the BHI, apply factory trim values, initialization of the host interrupt line, etc,

generates an interrupt request to the host and goes into halt mode.

In halt mode, the host may directly load a RAM patch using the firmware update interface registers

(Address 0x94-0x9A in the register map) in the Fuser Core Config & Status block.

After the firmware upload procedure is finished successfully, the host can switch the BHI into the main

execution mode by writing a 1 to bit 0 (CPU_Run_Request) of the Chip Control register (Address 0x34).

A successful execution of the CPU_Run_Request can be detected by checking the RAM Version

registers (Address 0x72-0x73). Before execution of the RAM patch, the RAM Version registers will

contain 0.

6.3 Main Execution Mode

Once in this mode, the full Android host interface and sensor suite is available. The BHI indicates its

readiness by inserting an initialized meta event in the FIFO. The host should wait for this before

attempting to query or configure sensors or other features.

If an incorrect RAM patch has been loaded (for example, is built for a different sensor suite), the FIFO

will instead contain one or more Sensor Error or Error meta events.

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In the nominal case, however, the host is now free to query which sensors are present by reading the

Sensor Status bits, learn the details of each sensor by querying the Sensor Information parameters,

load any Warm Start values using the Algorithm Warm Start parameters, and/or configure sensors to

start generating output using the Sensor Configuration parameters.

The host may also wish to configure which meta events will appear in the FIFOs, such as FIFO Overflow,

Watermark, or many others. It can specify whether certain meta events can cause an immediate host

interrupt, or are batched until later.

Finally, the host may wish to configure the optional Watermark values using the FIFO Control parameter.

This allows the host to be informed that either one or both of the FIFOs have reached a level at which

the host shall read its contents to avoid data is loss. This is especially useful when the Application

Processor is asleep.

BHI160(B)

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7. Device Configuration

A set of registers (the Fuser Core Config & Status block) can be used to configure the fundamental

behavior of the CPU core and the host interface (see section 10 for a detailed description of the specific

registers). Besides this basic configuration, the full flexibility of the BHI is offered through the

Configuration Parameter I/O interface.

The Configuration Parameter I/O interface, is provided through registers of the BHI and consists of

 Parameter_Read_Buffer[0:15] (0x3B – 0x4A)

in order to read a specific parameter set out the BHI’s config parameter area

 Parameter_Write_Buffer[0:7] (0x5C – 0x63)

in order to write a specific parameter set into the BHI’s config parameter area

 Parameter_Page_Select (0x54), Parameter_Request (0x64), Parameter_Acknowledge (0x3A)

for the required handshaking.

In general, the Configuration Parameter I/O interface basically copies a specific parameter set either

from the parameter area into the read buffer (read access) or from the write buffer into the specified

parameter area (write access).

The procedure for a read access works a follow:

In order to get the a copy of the desired parameter inside the read buffer, the host requests a

parameter set by writing the requested page into the Parameter_Page_Select register and the desired

parameter set into the Parameter_Request register.

Afterwards the host waits for an acknowledgement, by polling the Parameter_Acknowledge register

until it matches the desired parameter number (or indicates an error). The acknowledgment indicates

that the Parameter_Read_Buffer has been updated with the values of the requested parameter.

The host can read more parameters within the same page by writing a new Parameter Request

parameter’s value from the Parameter Read Buffer area.

The host ends the parameter transfer procedure by writing the Parameter Page Select register with 0.

The procedure for a write access works a follow:

The host writes the new data for a specific parameter set into the Parameter_Write_Buffer. In order to

address the specific dataset it writes the desired parameter page into the Parameter_Page_Select

Afterwards the host waits for an acknowledgement, by polling the Parameter_Acknowledge register

until it matches the desired parameter number (or indicates an error). The acknowledgment indicates

that the Parameter_Write_Buffer has been copied inside the addressed parameter set.

The host may write another parameter in the same page by repeating the procedure.

The host ends the parameter transfer by writing a 0 into the Parameter_Request register.

A detailed description of the various parameters and their organization into several parameter pages is

given in section 11 Parameter I/O Description.

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8. FIFOs and Events

Understanding the concept of FIFOs and Events is fundamental for proper operation of the BHI. Both

elements are implemented into the device in order to meet the requirements of Android.

Every piece of information the BHI delivers to the host is treated as an Event and placed into a FIFO.

FIFOs

BHI provides two FIFOs: a wakeup and a non-wakeup FIFO.

The non-wakeup FIFO will never trigger an interrupt request to the host when the host is in sleep mode

(in default configuration).

(The host should inform the BHI about using the AP_SUSPENDED bit (bit 5) in the

Host_Interface_Control register (0x55))

If the non-wakeup FIFO is full, while the host is in sleep mode, the non-wakeup FIFO is allowed to

overflow, discarding the oldest data to make room for new data as they arrive.

The wakeup FIFO may trigger an interrupt request, depending on the current configuration, for different

reasons, even if the host is in sleep mode. One obvious reason is to avoid, that the wakeup FIFO

overflows (configured by the wakeup FIFO watermark level setting) or the events in the FIFO become

too old (configured by the max report latency setting).

There are more reasons, see section 11 and 13 for further details.

Events

In order to implement a generalized and efficient handling mechanism for sensor data the concept of

sensor events is used within the BHI.

A sensor event consists of the sensor ID of the virtual sensor generating the event and, the data

according to the data type of the specific sensor. It is placed into a FIFO, when it occurs.

Events can be generated continuously, e.g. if a virtual sensor is setup to produce data samples on a

configured data rate, or as single events, e.g. when a step or significant motion is detected.

To make use of the event concept in a generalized way, the virtual sensor IDs – which are originating

from (and thus are identical to) the virtual sensor definitions in the Android CDD – are extended by

additional IDs not necessary related to virtual sensors.

In a first step, each virtual sensor gets a second sensor ID in order to distinguish wakeup from non-

wakeup events.

In a second step, additional event IDs are introduced in order to handle non sensor related information,

like timestamps and meta events.

A detailed description of all available event IDs is provided in the following sections.

Using this event concept, the BHI’s output data will be sent in a continuous stream, with each event (e.g.

a sensor sample) uniquely identified. Because many sensors produce output at the same time, the

timestamp event is only introduced once into the FIFOs at the start of a series of sensor samples that

occurred at the same time. This saves space in the buffer.

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9. Functional description

9.1 Dataflow of Sensor Fusion

The integrated Fuser Core receives raw sensor data from the connected sensors and provides

calibrated (virtual) sensor data to the application processor. The raw sensor data flows from the sensor

with a maximum ODR 200 Hz to the fuser core. The BSX library runs sensor fusion (when required)

using this high speed data, to avoid loss in signal quality. The results are subsampled to the ODR

required by the host processor.

Figure 7: Dataflow

9.2 Supported data rates of BSX Sensor Fusion Engine

The following output data rates configuration can be selected by the host processor, these are support

in both sensor only and data fusion operating modes:

Table 12: Supported BSX output data rates

BSX output data rate

200Hz

100Hz

50Hz

25Hz

12.5Hz

The actual output data rate requested by Android will be provided according to the Android requirements

and derived from the above mentioned internal data rates. I.e., the actual output data rate will be in the

range of 90%...210% of the requested data rate. Output samples are generated by subsampling from a

suitable data rate from Table 10.

If multiple virtual sensors with different output data rates are requested by Android, the internal data rate

will be selected such that all output data rates can be generated according to the Android requirements.

ACC

I2C

BSX

Sensor

Fusion



ACC

FUSER

I2C

3.4M

FIFO1

FIFO2

Sensor

Driver

ACC

Sensor

Driver

GYR

Sensor

Driver

MAG

Sensor

Driver

BARO

Sensor

Driver

HUMI

Sensor

Driver

…



GRV



…



ACC



GRV



…

Virtual Driver

BARO

Virtual Driver

HUMI

Virtual Driver

…

(customer ext)

GYR

MAG

BARO

HUMI

…

BHI160

BMI160

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9.3 Gesture recognition

Android defines 3 gestures have to be implemented in the system, but leaves the functional

implementation open to the device provider.

The BHI allows individual gestures to be implemented and mapped on the above mentioned system

gestures.

By default the firmware of the BHI performs the following mapping of gestures to the virtual gesture

sensors:

 Wakeup Gesture

Double Tap on the device

 Pickup Gesture

Pickup the device from a surface (table) and hold it in a 45° angle in relation to gravity

 Glance Gesture

Move (Slide) the phone left and right on the surface (table) without lifting it up

9.4 Power Modes and Current Consumption

The power modes of the Fuser Core and the connected sensors are configured automatically,

depending on which virtual sensors are requested by the host, and the resulting fusion mode.

After startup, the list of requested sensors is empty, i.e. the firmware switches the connected sensors

into standby mode and then also sets the processor to sleep. Once a virtual sensor has been requested

by the host, the requested physical sensors is enabled and the BSX library is set into a working mode

that supports the requested sensors.

In general, the uC can be in operation or in sleep. Each interrupt will wake the uC out of sleep, e.g. to

process a new data sample from a sensor. When the processing is complete the uC returns to sleep

again.

The current consumption of the Fuser Core in sleep mode is ~7µA, in full operation it is ~800µA. The

actual average current consumption therefore depends of the amount of time the uC is in full operation

mode, which in turn depends on the selected operation mode.

Current Consumption per operation mode

The following exemplary average current consumptions can be reached in the various operation mode

of the BHI within an isolated use case consideration. The total value includes both the processing in the

Fuser Core and the MEMS Sensor power consumption including the intrinsic ASIC and an estimate for

the external magnetometer component, where required.

Please note that there is no linear addition of the exemplary values given in the following table if the use

cases are not isolated but combined. In this case the resulting total current consumption is always lower

than its single fractions.

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Table 13: Power consumption vs. operating mode

Current

Consumption

(µA typical)

Use Case

Device

BHI

Significant Motion

Accel

Fuser Core

Total

128

Step Counting

Accel

Fuser Core

Total

131

Activity recognition

Accel

Fuser Core

Total

150

Rotation Vector

9DOF / eCompass

Accel + Gyro

950

Magnetometer

300

Fuser Core

300

Total

1550

Standby

Accel + Gyro

Magnetometer

Fuser Core

Total

9.5 Virtual Sensors

Virtual sensors are the interface to the Android application layer and are directly requested from there.

The BHI supports all Virtual Sensors as defined in the Android CDD. Based on the Android specification

virtual sensors are completely independent. So each virtual sensor has its own data rate (delay), type,

and trigger mode.

Virtual sensors are implemented as software modules within the firmware running on the Fuser Core.

Each virtual sensor SW module may access a physical sensor via its sensor driver, or it may use other

SW modules (e.g. the BSX library) in order to derive processed data based on physical sensors.

The virtual sensors generate sensor events, which may be continuously (e.g. samples at a configured

data rate) or single events (on-change, one-shot, or special; e.g. when a step or significant motion has

been detected). These events are represented as data packets of a specific virtual sensor data type and

are put into the output FIFO of the BHI.

Each of the sensors will be supported as wakeup and non-wakeup sensor and has a fixed ID which

allows distinguishing a wakeup from a non-wakeup version. Each version of a sensor has independent

sample rate and report latency values.

The supported virtual sensors are listed the following table:

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Table 14: virtual sensor IDs

Virtual Sensor

(Non

Wakeup)

(Wakeup)

Data Type

In ROM

Library

VS_TYPE_ACCELEROMETER

Vector+

VS_TYPE_GEOMAGNETIC_FIELD

Vector+

VS_TYPE_ORIENTATION

Vector+

VS_TYPE_GYROSCOPE

Vector+

VS_TYPE_LIGHT

Abs_Scalar

VS_TYPE_PRESSURE

Abs_Scalar_long

VS_TYPE_TEMPERATURE

Abse_Scalar

VS_TYPE_PROXIMITY

Abs_Scalar

VS_TYPE_GRAVITY

Vector+

VS_TYPE_LINEAR_ACCELERATION

Vector+

VS_TYPE_ROTATION_VECTOR

Quaternion+

VS_TYPE_RELATIVE_HUMIDITY

Abs_Scalar

VS_TYPE_AMBIENT_TEMPERATURE

Abs_Scalar

VS_TYPE_MAGNETIC_FIELD_UNCALIBRATED

Vector_Uncalibra

ted

VS_TYPE_GAME_ROTATION_VECTOR

Quaternion+

VS_TYPE_GYROSCOPE_UNCALIBRATED

Vector_Uncalibra

ted

VS_TYPE_SIGNIFICANT_MOTION

Sensor_Event_D

ata

VS_TYPE_STEP_DETECTOR

Sensor_Event_D

ata

VS_TYPE_STEP_COUNTER

Abs_Scalar

VS_TYPE_GEOMAGNETIC_ROTATION_VECTOR

Quaternion+

VS_TYPE_HEART_RATE

Abs_Scalar_short

VS_TYPE_TILT

Sensor_Event_D

ata

VS_TYPE_WAKEUP

Sensor_Event_D

ata

VS_TYPE_GLANCE

Sensor_Event_D

ata

VS_TYPE_PICKUP

Sensor_Event_D

ata

VS_TYPE_ACTIVITY_RECOGNITION

Sensor_Activity_

Rec_Data

Virtual sensors as defined in Table 14 can be customized and optimized by a firmware update even if

they are originated from the write protected ROM library. Furthermore, an extension by additional virtual

sensors which are not already included in the library can be added to the RAM by a firmware upgrade,

if the necessary physical sensors are available on the PCB and connected to external I2C interface. A

complete description of the sensor types, including non-sensor related IDs (meta events, timestamps),

is provided in section 12. For details and technical support please refer to corresponding application

notes or contact our regional offices, distributors and sales representatives.

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9.6 Virtual Sensor Data Types

Depending on the nature of the sensor and the Android specification different data types are used to

represent the sensor data efficiently. These sensor data types are:

Table 15: Virtual sensor data types

Virtual Sensor Data Type

Data Values

Format

Quaternion+

Estimated Accuracy

See 12.1 for detailed

description

Vector+

X, scaled

Y, scaled

Z, scaled

Meas Accuracy Status

See 12.2 for detailed

description

Vector_Uncalibrated

X Uncalibrated, scaled

Y Uncalibrated, scaled

Z Uncalibrated, scaled

X Bias

Y Bias

Z Bias

Meas Accuracy Status

See 12.3 for detailed

description

Scalar

Signed scalar value

(16 bit signed int)

See 12.4 for detailed

description

Scalar

Absolute scalar value, scaled

(16 bit signed int)

See 12.4 for detailed

description

Abs_Scalar

Absolute Scalar value

(16 bit unsigned int)

See 12.4 for detailed

description

Abs_Scalar_short

Absolute scalar value

(8 bit unsigned int)

See 12.4 for detailed

description

Abs_Scalar_long

Absolute long scalar value, scaled

(24 bit unsigned int)

See 12.4 for detailed

description

Sensor_Event_Data

Sensor_Event

(Parameterless)

See 12.5 for detailed

description

Sensor_Activity_Rec_Data

Activity_State

See 12.6 for detailed

description

A detailed description of the available sensor IDs and the data formats is provided section 12. This

includes information on the scale factors of the scaled data.

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9.7 Sensor Configuration

Each sensor needs to be configured first, before it can be used in the system. The configuration includes

at least the activation of the sensor, but there are more options available:

 Activate – enable or disable the sensor: Boolean

 Batch – enable by setting the maximum report latency or disable by setting to zero: Integer

(nanosecond resolution or larger)

 Delay (Sample Period) – must be equal or less than the requested value, but no smaller than

the Delay / 2: Integer (nanosecond resolution or larger)

 Flush – send all batched samples (if any) immediately, then send a special meta data type

indicating the flush is complete

 Poll – read a specified number of samples: Integer

 Wakeup – if a sensor is opened as a wakeup sensor (using a flag), then it is allowed to interrupt

the host, either when each sample is available or after the maximum report latency. If opened

as a non-wakeup sensor, then they must not interrupt the host. Data for the wakeup vs. non-

wakeup sensors go in separate FIFOs.

These are combined into the following settings in the BHI hardware:

 Sample rate: set to 0 to disable the sensor: unsigned 16 bit integer, in Hz; this is 1 / sample

period; on-change, one-shot, and special sensors should be set to a non-zero value to enable

them or 0 to disable. The sample rate of the non-wake-up and wake-up sensor of the same type

can be set independently.

 Max report latency: set to 0 for non-batch mode, nonzero for batch mode; if nonzero, sample

period must also be nonzero: unsigned 16 bit integer, in milliseconds. The max report latencies

of the non-wake-up and wake-up sensor of the same type can be set independently.

 Wakeup vs. non-wakeup: this is implemented using a special bit in the Sensor ID (IDs > 32 are

wakeup).

 Flush sensor: flush the samples for a specific sensor’s FIFO or all sensor data. See 10.2 for

more details.

 Change sensitivity: unsigned 16 bits; same scaling as the sensor’s corresponding data value

(for future Win8/10 compatibility)

 Dynamic range: unsigned 16 bits; specified in terms of commonly used units such as g-s for

accelerometers and degrees / second for gyroscopes (for custom use)

The configuration of the sensor is performed using the Config Parameter I/O (sensors parameter page)

interface and is described in section 11.2 in detail. Notes:

 Lollipop does not require the ability to set the dynamic range or resolution of any sensors. The

only configurable items at the HAL to sensor driver interface are below. However, the BHI does

provide a dynamic range setting for custom use.

 Since the HAL / driver will be given the sample rate (period) and max report latency at the

same time, and since they map to 8 bytes of data, they can be sent to the BHI in a single 8

byte parameter write. Each unique sensor (physical or virtual) would be assigned a unique

Parameter number.

 Writing this Parameter modifies the values; reading this Parameter returns the actual sample

rate and actual report latency. The actual sample rate will be in the range of 90% ... 210% of

the requested sample rate. While this ability to query the actual sample rate is not required by

Lollipop, it is useful for external testing, debugging, and non-Lollipop applications. If the

requested sensor is not present, the returned sample rate and report latency will be 0.

 The flush mechanism is done using a single 8 bit GP register, but as Lollipop defines a special

meta data value to be placed in the buffer to indicate the flush of a specific sensor has been

completed. So this meta data information goes into FIFO.

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9.8 Sensor Status Information

Android sensor drivers need to make the following information available about each supported sensor.

This information are provided by the BHI via a sensor status information structure, available also through

the Config Parameter I/O (sensors parameter page) interface (see section 11.2 for details).

The available sensor status information parameters are:

 Name – unique; if there are multiple sensors in the system of the same type, each one must

have a unique name; this can be derived from the BHI sensor’s driver ID and slave I2C address

 Vendor – vendor of the underlying HW; this can be derived from the BHI sensor’s driver ID

 Version – version of the HW + driver; must change when the driver’s output changes in some

way. It is derived from driver version reported by BHI plus driver-specific version information

 Type – sensor type, e.g., SENSOR_TYPE_ROTATION_VECTOR; same as sensor data packet

type

 maxRange – the maximum possible sensor value in SI units (e.g., an accelerometer set for a

4g range would report 4g here); derived from sensor dynamic range

 resolution – smallest difference between two values reported by this sensor derived from sensor

dynamic range and bits of resolution (e.g., an accelerometer at 4g range and 16 bit signed

values could report 4g/32767 = 1.2xe-4 g)

 power – rough estimate of sensor’s power consumption in 0.1 mA; this appears to be only

queried at reboot by Android, and is defined to be the maximum power consumed when in use

 minDelay – continuous sensors report minimum period in microseconds; on-change sensors

report 0; one-shot sensors report -1

 maxDelay – continuous sensors report maximum period in microseconds

 fifoReservedEventCount – number of events reserved for this sensor in the batch FIFO; since

a single FIFO for all sensors is used in the BHI, this means that no area is reserved specially

for any one sensor, so this returns 0

 fifoMaxEventCount – maximum number of events that could be batched; since the FIFO is

shared, this is the size of the FIFO in bytes divided by the number of bytes per sample

 flags - only one is defined -- wakeup

In the BHI, these are combined into the following fields:

 Sensor Type: unsigned 8 bits

 Driver ID: unsigned 8 bits

 Driver Version: unsigned 8 bits

 Max Range: signed 16 bits; scaled the same as the sensor’s corresponding data value

 Resolution: signed 16 bits; number of bits per sensor (axis) sample

 Power: unsigned 8 bits; multiples of 0.1 milliamps

 Max Rate: unsigned 16 bits; rate in Hz

 Min Rate: unsigned 8 bits; rate in Hz

 FIFO Reserved: unsigned 16 bits; 0

 FIFO Max: unsigned 16 bits; total FIFO size in bytes divided by size of data value

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 Status Bits: unsigned 8 bits; while not required by Lollipop, for testing and debugging the BHI

provides bit flags indicating:

o data_available

o i2c_nack

o device_id_error

o transient_error (e.g., magnetic transient)

o data_lost (FIFO overflow)

o sensor_power_mode (shutdown, standby, low power active, high power active)

NOTE: the Status Bits will change dynamically at run time, but the other fields are fixed and only read

by the Android HAL once at boot. Therefore, these per-sensor Status Bits are available through a

separate mechanism than the static information, via the sensor status banks, described in section 11.1

The remaining fields add up to 15 bytes of information. These values, plus the size of a given sensor’s

sample in the FIFO, can be read by the host by reading the Sensor Information structure for a specific

sensor, as described in section 11.3.

Since not all of the possible sensor types will be present in all builds (e.g., one mobile device might have

a barometer but another may not), the host can query this data for all possible sensors, and based on

the returned data, know which sensors are present. If a sensor is not present, all status fields will be

returned with a value of 0. Alternatively, the host can query the Sensor Status Bits for each sensor;

those sensors that are not available will return 0 for the power mode, indicating sensor not present.

9.9 FIFOs

Since sensors in wakeup and non-wakeup versions are supported from Android Lollipop onwards, the

BHI provides two FIFOs.

Each FIFO has independent watermarks, interrupt control, and flush requests.

Under certain conditions, i.e. based on the host interrupt configuration settings (e.g. watermark level of

the FIFO, max delay of a sensor has exceeded; see section 11 for further details), the BHI will raise an

interrupt request to the host processor. The driver of the host processor can then fetch data from the

BHI FIFO.

Data will be delivered to the host as a single burst, starting with the events of the wake-up FIFO, followed

by the events of the non-wake-up FIFO, unless the output was triggered by a flush request, in which

case, the type of sensor requested in the flush determines which FIFO is delivered.

Meta events not related to a specific sensor will only be placed in the non-wakeup FIFO.

These meta events are

 Error

 Self-Test Results

 Initialized.

However, these meta events are enabled by default and they are configured by default to trigger host

interrupt request.

Meta events related to a specific physical sensor, such as the

 Sample Rate Changed

 Power Mode Changed

 Dynamic Range Changed

are always placed to the non-wakeup FIFO.

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Timestamps will be inserted in both FIFOs and maybe in a non-continuous manner, i.e. for certain

cases a timestamp with a lower value can follow a timestamp with a higher value.

9.10 Non-Batch Mode

Any sensor with zero latency or batching timeout will be reported as soon as it is detected. This will of

necessity result in many small FIFO transfers and an interrupt rate as high as the fastest non-batched

sensor’s sample rate. This may in reality be even more often than one might expect, due to slight

variations in sensor sample rates.

The host can minimize interrupts while ensuring timely transfer of sensor data by setting all but the

fastest enabled sensor to have non-zero latency, large enough to not timeout before the next sample of

the fastest sensor. In this configuration, data transfers from the FIFO will occur at the rate of the fastest

sensor, with all slower sensors transferred together.

For example, if the Accelerometer is set for 60 Hz, and the Gyroscope and Magnetometer are set to 20

Hz, and the Gyroscope and Magnetometer are each set with a latency timeout of 50 ms, host transfers

will occur like this:

1. Accel 1

2. Accel 2

3. Accel 3, Gyro 1, Mag 1

4. Accel 4

5. Accel 5

6. Accel 6, Gyro 2, Mag 2

7. …

9.11 Batch Mode

The BHI fully supports Android Lollipop & Marshmallow (non-HiFi) batching requirements. Each sensor

type has an independently settable latency or batching timeout.

The batched sensor data and other meta data is stored in a RAM-based FIFO. The size of the FIFO

depends on the remaining available RAM after uploading of the RAM patch into the BHI.

The BHI implements a single shared wakeup FIFO for wakeup sensors, and a single shared non-wakeup

FIFO for non-wakeup sensors. As such, whichever sensor’s batching timeout expires first will cause all

events in the FIFOs to be sent to the host.

The BHI supports a host-settable watermark value for each FIFO, which is used to ensure that batched

data is not lost due to FIFO overflow, when the AP is outside of the suspend mode.

When the host is in suspend mode, the non-wakeup FIFO is allowed to overflow. The BHI will discard

the oldest data to make room for new data as it arrives. As soon as the host leaves suspend mode, the

BHI will request a transfer of the entire contents of both FIFOs to the host.

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10. Register Map Description

10.1 Buffer_Out[0:49]

This range of 8 bit registers is used for data transfers from the FIFO to the host. Access to this area

must be done in a specific manner as described in section 13. The general procedure is, however, that

the host must read the Bytes_Remaining register to determine the current number of pending bytes in

the FIFO and reads afterwards this amount of bytes from this Buffer_Out register area.

(0x00 .. 0x31) Bit

Name

Description

Bit 7..0

Buffer_out

These registers are used

as a freeform streaming

output buffer area for

reading FIFO data

10.2 FIFO_Flush

This allows the host to request that a single sensor’s FIFO (batch mode) be flushed, or all sensors.

This is an optional mechanism; if the host does not use this register, then the watermark, sensor

latency, and wakeup and non-wakeup FIFO interrupt disable bits, as well as which sensors are

enabled, determine when the host interrupt occurs and whether the data stream will include both the

wakeup and non-wakeup FIFOs.

(0x32) Bit

Name

Description

Bit 7..0

FIFO_Flush

Sensor ID, or special value

0xFF to flush all

FIFO_Flush - Enumerated Values

Value

Name

Description

0x00

NOP

No operation

0xFF

FLUSH_ALL

flush all samples for both

FIFOs

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10.3 Chip_Control

This register provides bits that control fundamental behavior of the chip.

(0x34) Bit

Name

Description

Bit 7..2

(fixed to 0)

Bit 1

HOST_UPLOAD_ENABLE

controls the RAM patch

upload mechanism

Bit 0

CPU_RUN_REQUEST

controls whether the CPU

is running or not

10.4 Host_Status

Provides status information to the host.

(0x35) Bit

Name

Description

Bit 7..5

ALGORITHM_ID

Algorithm ID

Bit 4..2

HOST_IF_ID

Host Interface ID:

0 = Android K

1 = Android L (et sqq)

Bit 1

ALGORITHM_STANDBY

Algorithm Standby will be

set to confirm that the

host’s previous write of a 1

to the Algorithm Standby

Request bit in the Host

Interface Control register

has taken effect.

Bit 0

RESET

Reset is set after power-on

reset or reset invoked by

means of the Reset

Request register.

ALGORITHM_ID - Enumerated Values

Value

Name

Description

BSX

Bosch Sensortec BSX

Fusion Library

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10.5 Int_Status

This provides an alternative way for the host to determine the host interrupt status of the device, if the

physical interrupt line is not used.

NOTE: the time at which the host interrupt was asserted can be queried via the Host IRQ Timestamp

parameter of the System parameter page.

The Host Interrupt bit reflects the state of the host interrupt GPIO pin.

The Wakeup and Non-Wakeup Watermark bits are set if the watermark for their respective FIFOs was

reached. The Wakeup and Non-Wakeup latency bits are set if a timeout on a sensor in their

respective FIFOs expired. The Wakeup and Non-Wakeup Immediate bits are set if a sensor event has

occurred which was configured with no latency.

(0x36) Bit

Name

Description

Bit 7

Reserved

Bit 6

Non-Wakeup Immediate

Bit 5

Non-Wakeup Latency

Bit 4

Non-Wakeup Watermark

Bit 3

Wakeup Immediate

Bit 2

Wakeup Latency

Bit 1

Wakeup Watermark

Bit 0

Host Interrupt

10.6 Chip_Status

This register reflects fundamental behavior of the chip during boot up.

(0x37) Bit

Name

Description

Bit 7..5

(fixed to 0)

Bit 4

NO_EEPROM

No EEPROM

Bit 3

FIRMWARE_IDLE

Firmware Idle (halted)

Bit 2

EE_UPLOAD_ERROR

EEUploadError

Bit 1

EE_UPLOAD_DONE

EEUploadDone

Bit 0

EEPROM_DETECTED

EEPROM Detected

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10.7 Bytes_Remaining[0:1]

Registers (0x38 - 0x39) – Read only

This 2x 8 bit register pair indicates how many bytes are available in the FIFO buffer. It forms a 16 bit

value and shall be read in one access in order to get the correct result. The value can vary from the

size of the smallest single FIFO event (a sensor sample of other event type) to the combined size of

both FIFOs. The maximum FIFO sizes can be queried using the FIFO Control Parameter in the

System Parameter Page.

The value of this register pair is updated by the BHI only at the following times:

1. Immediately prior to asserting the host interrupt

2. Upon demand, i.e. after the host writes a 1 to the Update Transfer Count bit of the Host Interface

Control register.

During normal operation, i.e. when the host receives an interrupt from the BHI, the host should read

these Bytes_Remaining registers, and use the provided value to read the amount of bytes from the

FIFO.

If all bytes are read, the BHI will de-assert the host interrupt line, in order to acknowledge that all data

announced by the Bytes_Remaining register to the host, have been read.

If new data arrive in the FIFOs, while the host is reading the FIFO the BHI, will update the

Bytes_Remaining registers and reassert the host interrupt (depending on the configured settings for

creating a host interrupt). This could occur immediately after the acknowledge, or later in time.

(0x38 - 0x39) Bit

Name

Description

Bit 15..0

Bytes_Remaining

Available Bytes in FIFOs

10.8 Parameter_Acknowledge

This register is used to acknowledge a parameter read/write request, from the host.

I.e. a host write to the Parameter_Page_Select and the Parameter_Request register.

The host should poll the Parameter_Acknowledge register, until it matches the Parameter_Request

parameter page or parameter number is unsupported.

(0x3A) Bit

Name

Description

Bit 7..0

Parameter_Acknowledge

Parameter Acknowledge

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10.9 Parameter_Read_Buffer[0:15]

Registers (0x3B .. 0x4A) – Read only

This 8 bit register area provides an interface to the host for reading requested parameter out of the

various BHI’s parameter pages.

NOTE: The Parameter_Read_Buffer register area is large enough to report an entire sensor status

structure in one transfer.

(0x3B .. 0x4A) Bit

Name

Description

Bit 7..0

Parameter Read Buffer

10.10 GP[20:24]

Registers (0x4B .. 0x4F) – Read only

This is a read only register area available for custom specific extensions. They are all read-only from

the I2C host but writable from the Fuser Core MCU.

10.11 Parameter_Page_Select

This register is used to select a parameter page for read/write access.

The least significant nibble contains the parameter page number, described below.

The most significant nibble contains the desired transfer size in bytes.

If 0 is selected for the transfer size, the max values for the transfer size (16 bytes for reading, 8 bytes

for writing) are selected. The size will be limited to the max values, in case the host specifies larger

values.

(0x54) Bit

Name

Description

Bit 7..4

PARAMETER_SIZE

desired transfer size in

bytes or 0 for max size (16

bytes read, 8 bytes write)

Bit 3..0

PARAMETER_PAGE

parameter page number

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PARAMETER_PAGE - Enumerated Values

Value

Name

Description

PAGE_0

The host must write this

value, after finishing an

access on the Algorithm

Parameter Page, as an

Acknowledgment for the

BHI, that it is safe to copy

back the algorithm data

structures.

SYSTEM

This page contains

parameters which affect the

whole system, such as

meta event enables,

sensor status, FIFO

watermark control, etc.

ALGORITHM

This page contains all the

original algorithm

coefficients and knobs.

When this is first selected,

the CPU makes a safe

copy of all necessary

algorithm data structures

that may be modified using

Parameter I/O to this page.

SENSORS

This page contains

parameters for every

sensor (real or virtual), both

for reading their status and

for configuring their

operation.

CUSTOM_12

These can be used by

customers for any purpose.

See appendix A.

CUSTOM_13

These can be used by

customers for any purpose.

See appendix A.

CUSTOM_14

These can be used by

customers for any purpose.

See appendix A.

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10.12 Host_Interface_Control

This register can be used by the host in order to control miscellaneous features of the BHI, as

described in the following table.

NOTE: Abort Transfer and Update Transfer Count bits do not auto-clear. It is up to the host to set

these two bits correctly every time it writes this register. However, due to possible race conditions, it

should not clear any of these bits immediately after setting.

(0x55) Bit

Name

Description

Bit 7

NON_WAKEUP_FIFO_HOST_INT

ERRUPT_DISABLE

Bit 6

REQUEST_SENSOR_SELF_TEST

Is used by the host to

inform the BHI, that a self-

test should be performed

when transitioning out of

standby.

Any physical sensor driver,

that implement self-test

control, will request it and

report a Self-Test Results

meta event with the results

Bit 5

AP_SUSPENDED

Affects the BHI behavior in

issuing a host interrupt.

When true, only wakeup

sensor events may wake

the AP. When false, any

sensor event may trigger a

host interrupt according to

the configured conditions.

Bit 4

NED_COORDINATES

Selects the North East

Down coordinate system

instead of the default

Android East North Up

(ENU) system

Bit 3

WAKEUP_FIFO_HOST_INTERRU

PT_DISABLE

Is a master interrupt

disable bit; setting this bit

de-asserts the host

interrupt and prevents

further interrupts, while

clearing this bit (the default

state) allows it to be

asserted whenever a

proper condition occur. This

controls interrupt

generation due to the

wakeup FIFO.

Bit 2

UPDATE_TRANSFER_COUNT

Can be used by the host to

request a new value to be

written to the Bytes

Remaining registers, such

that data that has arrived

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since the last time Bytes

Remaining was written,

and data that has been

removed, shall be

accounted for. However,

this does not extend the

length of any pending or

on-going transfer. It is

merely an approximation of

how much more there is in

the FIFO.

Bit 1

ABORT_TRANSFER

Indicates the host does not

intend to complete reading

out the FIFO; all pending

data is discarded , as well

as any partial sensor

sample that remains. The

host interrupt line is

deasserted and the Bytes

Remaining is set to 0. If

there is more data in the

FIFO, the BHI will soon

request another transfer. It

is up to the host to recover

properly from this request.

Bit 0

ALGORITHM_STANDBY_REQUEST

Requests the algorithm to

prepare itself to pause (if

required by the

implemented algorithm),

then shuts down all

sensors in order to save

power. When this bit is de-

asserted, any sensors

previously enabled by the

host will be restarted, and

the operation of the

algorithm will resume. This

is a simpler way to

temporarily conserve

power without requiring the

host to disable all active

virtual sensors individually.

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10.13 GP[31:36]

Registers (0x56 .. 0x5B) – Read write

This is a read/write register area available for custom specific extensions. This range is writeable from

the I2C host and readable by the Fuser Core MCU.

10.14 Parameter_Write_Buffer[0:7]

Registers (0x5C .. 0x63) – Read write

This 8 bit register area provides an interface to the host for writing specific parameter into one of the

various BHI’s parameter sets.

In order to write a specific parameter, the host should follow the procedure as already written in the

description of the Parameter_Read_Buffer.

NOTE: The configuration data for each sensor takes 8 bytes.

(0x5C .. 0x63) Bit

Name

Description

Bit 7..0

Parameter_Write_Buffer

Parameter Write Buffer

area

10.15 Parameter_Request

This register is used to read or write parameter from or to the BHI. In order to read or write a specific

parameter set, the host should follow the procedure as already written in the description of the

Parameter_Read_Buffer.

NOTE: Having the Parameter Acknowledge reset to 0, allows the host to determine on the next

parameter I/O request whether the request was successful.

(0x64) Bit

Name

Description

Bit 7

Request

Direction of the operation

Bit 6..0

Parameter

Parameter page select for

saving or writing

Request - Enumerated Values

Value

Name

Description

Read

Read parameter page

Write

Write parameter page

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10.16 GP[46:52]

Registers (0x65 .. 0x6B) – Read write

This is a read/write register area available for custom specific extensions. This block is writeable by

the I2C host and readable by the Fuser Core MCU.

10.17 ROM_Version[0:1]

Registers (0x70 - 0x71) – Read only

This 2x 8 bit register pair contains the software version number corresponding to the code placed in

ROM and in the RAM firmware patch, if any. If none is present, this will read back 0.

(0x70 - 0x71) Bit

Name

Description

Bit 15..0

Rom_Version

ROM version Number

Rom_Version - Enumerated Values

Value

Name

Description

0x2112

FUSER1_C2

FUSER1_C2, BHI160

0x2DAD

FUSER1_C3

FUSER1_C3, BHI160B

10.18 RAM_Version[0:1]

Registers (0x72 - 0x73) – Read only

This 2x 8 bit register pair contains the software version number corresponding to the RAM firmware

patch, if any. If none is present, this will read back 0.

(0x72 - 0x73) Bit

Name

Description

Bit 15..0

Ram_FW_Version

RAM patch number

BHI160(B)

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

10.19 Product_ID

This contains the product number of the device.

(0x90) Bit

Name

Description

Bit 7..0

Product_ID

Product_ID - Enumerated Values

Value

Name

Description

0x83

FUSER1_C2

FUSER1_C2, BHI160

0x83

FUSER1_C3

FUSER1_C3, BHI160B

10.20 Revision_ID

This identifies the hardware revision for the chip.

(0x91) Bit

Name

Description

Bit 7..0

Revision_ID

Revision_ID - Enumerated Values

Value

Name

Description

0x01

val_0x01, di01

FUSER1_C2, BHI160

0x03

val_0x03, di03

FUSER1_C3, BHI160B

BHI160(B)

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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.

10.21 Upload_Address[0:1]

This 16 bit register lets the host specify the starting address for a RAM patch. By default it is 0. After

a RAM upload, it will not be 0, so a subsequent RAM upload procedure will need to start by writing this

to 0.

As an exception, this register is Big Endian (i.e. MSB on address 0x94, LSB on address 0x95).

(0x94) Bit

Name

Description

Bit 7..0

Upload_Address_12_8

Upload Address

(0x95) Bit

Name

Description

Bit 7..0

Upload_Address_7_0

Upload Address

10.22 Upload_Data

Once the host has entered upload mode by writing a 1 to the Host Upload Enable bit of the Chip

Control register, it may burst the RAM image to this register.

NOTE: The RAM patch file format starts with a 16 byte header which must be skipped. Every 4 bytes

of data in the file after the header must be byte swapped before upload to this register.

(0x96) Bit

Name

Description

Bit 7..0

Upload_Data

Upload Data

10.23 Upload_CRC[0:3]

Registers (0x97 .. 0x9A) – Read only

After the host has transferred all data from the RAM patch file via the Upload Data register into the

BHI, the Data CRC register will contain a 32 bit CRC of the data. The host should compare this to a

calculated CRC to determine whether the upload was successful.

If the upload was successful, the host should disable upload mode and start firmware execution by

writing a 0 to the Host Upload Enable bit and a 1 to the CPU Run Request bit of the Chip Control

(0x97 .. 0x9A) Bit

Name

Description

Bit 7..0

Data_CRC

Data CRC

BHI160(B)

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

10.24 Reset_Request

The host writes a 1 to this register to trigger a hardware reset of the BHI’s internal CPU. This bit

automatically clears to 0.

(0x9B) Bit

Name

Description

Bit 7..0

Reset_Request

Reset Request

BHI160(B)

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

11. Parameter I/O Description

Except for a few features which the host can request using the Chip Control and Host Interface Control

registers, or which it can query from other registers, the primary control channel for configuring and

querying the state of the system and the sensors is done using Parameter I/O.

Parameter I/O in the BHI is implemented using a mail box protocol. This protocol includes a full

handshake between the host and the BHI to synchronize access to the data transfer registers; these

registers are used to carry control information to the BHI from the host or status information to the host

from the BHI.

The following sections describe the parameter pages, relevant to the user of the BHI.

11.1 Parameter Page 1: System

These parameters control general system-wide features.

Status banks 0 and 1 are for the non-wakeup sensors, and 2 and 3 are for the wakeup sensors.

Meta Event Control parameter 1 is for non-wakeup FIFO meta events, and Meta Event Control

parameter 29 is for wakeup FIFO meta events.

Table 16: Parameter Page 1 - System

Parameter

Number

Parameter Name

Read Data Buffer

Write Data Buffer

Meta Event Control

FIFO Control

Sensor Status Bank 0

Status Bits

Sensors 1-16

Not used

Sensor Status Bank 1

Status Bits

Sensors 17-32

Not used

Sensor Status Bank 2

Status Bits

Sensors 33-48

Not used

Sensor Status Bank 3

Status Bits

Sensors 49-64

Not used

7-28

Reserved

Meta Event Control for

Wakeup FIFO

Host IRQ Timestamp

Physical Sensor Status

Physical Sensor

Status

Not used

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

Meta Event Control

The 8 bytes in this writeable parameter will be divided into two bit sections. Each section controls

whether the corresponding Meta Event will be enabled (so that it will appear in the output FIFO when it

occurs), as well as whether that will lead to an immediate host interrupt.

The MSB in each Bit Range is the event enable, and each LSB is the event interrupt enable.

Table 17:Meta Event Control

Load

Parameter Byte

Enable Bit

Int Enable Bit

Meta Event

Meta Event 1

Meta Event 2

Meta Event 3

Meta Event 4

…

Meta Event 29

Meta Event 30

Meta Event 31

Meta Event 32

FIFO Control

This parameter provides a mechanism for the host to set a target number of bytes the Wakeup FIFO

buffer and/or the Non-Wakeup FIFO buffer should contain before they assert the host interrupt signal.

Set this value to 0 to disable this feature, or a non-zero value to set the watermark. Any value larger

than the size of the FIFO will be treated the same as a value exactly equal to the size of the FIFO.

Data loss will likely occur with watermark values that are too high. It is up to the customer to determine,

in their application, based on the maximum I2C host rate and host interrupt response time, what a safe

maximum watermark level might be.

NOTE: a non-zero Watermark has no effect if all enabled sensors have 0 latencies (batch timeouts)

and the AP is active (the Host Interface Control register’s AP Suspend bit is 0). As soon as any one

sensor generates a sample, and that sensor’s latency is 0, a host interrupt will be generated. The

Watermark is only useful when all enabled continuous output sensors are configured with non-zero

latencies, or the AP is suspended, and no wakeup events occur.

The size of the FIFO can be retrieved by the host by reading this same parameter; it is returned in bytes

2 and 3 for the Wakeup FIFO and bytes 6 and 7 for the Non-Wakeup FIFO. This size is determined at

compile time of the RAM patch; additions of customer code or additional features or bug fixes will reduce

the amount of RAM available for the FIFOs.

Table 18:FIFO Control

Parameter

Byte

FIFO

Field Name

Description

Direction

Wakeup

Watermark LSB

Number of bytes in FIFO

before interrupt is asserted

Read/write

Watermark MSB

FIFO Size LSB

Size of FIFO in bytes

Read only

FIFO Size MSB

Non-Wakeup

Watermark LSB

Number of bytes in FIFO

before interrupt is asserted

Read/write

Watermark MSB

FIFO Size LSB

Size of FIFO in bytes

Read only

FIFO Size MSB

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

Sensor Status Banks

Each byte in a 16 byte Sensor Status Bank corresponds to a specific sensor type, starting with 1 (since

sensor type 0 is reserved).

Table 19:Sensor Status Bank

Sensor Status

Bank

Saved

Parameter Byte

Sensor Type

Sensor Type 1

…

Sensor Type 16

Sensor Type 17

…

Sensor Type 32

Sensor Type 33

…

Sensor Type 48

Sensor Type 49

…

Sensor Type 64

Each of these bytes contains the Sensor Status Bits for a given sensor. These reflect various pieces of

information about a sensor that used to be scattered among a number of different registers.

Table 20:Sensor Status Bits

Bit

Field Name

Description

Data Available

One or more samples in output buffer

I2C NACK

Sensor did not acknowledge transfer

Device ID Error

WHO_AM_I register mismatch

Transient Error

e.g., magnetic transient

Data Lost

FIFO overflow

5-7

Sensor Power Mode

Shutdown, standby, low power active,

high power active

The Sensor Power Mode values in bits 5-7 are:

0: Sensor Not Present

1: Power Down

2: Suspend

3: Self-Test

4: Interrupt Motion

5: One Shot

6: Low Power Active

7: Active

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

Timestamps

In order to provide a mechanism for the host to translate sensor data timestamps to host-relative

timestamps, this parameter may be read to determine the time at which the last host-interrupt was

asserted, as well as the current system time.

NOTE: the Host IRQ Timestamp can be read more efficiently from the Host IRQ Timestamp registers

0x6C-0x6F.

Table 21:Timestamp Data

Parameter Byte

Field Name

Description

Direction

Read only

Host IRQ Timestamp LSB

Time (in units of

1/32000 seconds) that

the last host interrupt

was triggered

Host IRQ Timestamp B2

Host IRQ Timestamp B3

Host IRQ Timestamp MSB

Current Timestamp LSB

Time (in units of

1/32000 seconds) for

current system time

Current Timestamp B2

Current Timestamp B3

Current Timestamp MSB

Physical Sensor Status

This parameter is provided for debugging. The host can read the current underlying physical sensor

settings such as sample rate, dynamic range, interrupt enable, and power mode.

Table 22: Physical Sensor Status

Parameter

Byte

Field Name

Type

Description

Accel Sample Rate

Unsigned 16 bit

Actual sample rate in Hz

Accel Dynamic

Range

Unsigned 16 bit

Actual dynamic range in g

Accel Flags

Unsigned 8 bit

bit 0: interrupt enable

bits 5-7: Sensor Power Mode (same as

Sensor Status Bits 5-7)

Gyro Sample Rate

Unsigned 16 bit

Actual sample rate in Hz

Gyro Dynamic

Range

Unsigned 16 bit

Actual dynamic range in °/s

Gyro Flags

Unsigned 8 bit

bit 0: interrupt enable

bits 5-7: Sensor Power Mode (same as

Sensor Status Bits 5-7)

Mag Sample Rate

Unsigned 16 bit

Actual sample rate in Hz

Mag Dynamic Range

Unsigned 16 bit

Actual dynamic range in µT

Mag Flags

Unsigned 8 bit

bit 0: interrupt enable

bits 5-7: Sensor Power Mode (same as

Sensor Status Bits 5-7)

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

Physical Sensors Present

This parameter contains a 64 bit bitmap, where a set bit indicates the corresponding physical sensor is

present in the system.

For example, if a physical accelerometer, magnetometer, and humidity sensor were the only physical

sensors present, the bit map would have bits set for sensor ID 1 (accelerometer), 2 (magnetometer)

and 12 (humidity). In this example, the bit map would be:

Byte 0: 0000 0110 (binary; left most bit is bit 7, right most is bit 0)

Byte 1: 0001 0000 (left most is bit 15; right most is bit 8)

Byte 2: 0000 0000

Byte 3: 0000 0000

Byte 4: 0000 0000

Byte 5: 0000 0000

Byte 6: 0000 0000

Byte 7: 0000 0000

Physical Sensor Information

This structure is returned for any parameters 33-96 when the corresponding physical sensor is present.

If not present, this structure returns all 0s. This is an enhanced version of the earlier Physical Sensor

Status structure. This new structure also provides access to the orientation matrix, for those sensors

that include them, such as 3 axis accelerometers, magnetometers, and gyroscopes.

Table 23: Physical Sensor Information

Parameter

Byte

Field Name

Type

Description

Sensor Type

Unsigned 8 bit

Same as parameter

number - 32

Driver ID

Unsigned 8 bit

Unique per driver / vendor /

part number

Driver Version

Unsigned 8 bit

Denotes notable change in

behavior

Current

Unsigned 8 bit

0.1 mA

4-5

Current Range

Unsigned 16 bit

Current dynamic range of

sensor in SI units

Flags

Unsigned 8 bit

Bit 0: IRQ enabled

Bits 1-4: reserved

Bits 5-7: power mode

(see 5.1.3)

Reserved

8-9

Current Rate

Unsigned 16 bit

Current Sample Rate in Hz

Number of Axes

Unsigned 8 bit

Number of Axes

(e.g., X/Y/Z = 3)

11-15

Orientation Matrix

4 bits per element

See below

The matrix is used to align the orientation of physical sensor axes to match the required ENU (east north

up) orientation required by Android. The calculation is performed as:

BHI160(B)

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The calibration matrix is output in the same order as the elements are listed in the board .cfg file used

to generate a firmware image (.fw file). Each matrix element is stored in successive nibbles.

For example, if the board .cfg file contains:

#DriverID,Addr,GPIO,C0,C1,C2,C3,C4,C5,C6,C7,C8,Off0,Off1,Off2,Range

a9, 24, 3, 1, 0, 0, 0, -1, 0, 0, 0, -1, 0, 0, 0, 0

Then bytes 11-15 of the Physical Sensor Information structure would be:

Byte 11: 01 (hexadecimal)

Byte 12: 00

Byte 13: 0F

Byte 14: 00

Byte 15: 0F

Bytes 11-15 would show the same result if the stuffelf utility were used to generate the .fw file by using

the command line: stuffelf outerloop.elf –a -d24 -p3 -c1,0,0,0,-1,0,0,0,-1

There are several possibilities to adjust the orientation matrix according to the needs of the

application, all covered within a separate application note. For details please refer to section 14.2.

11.2 Parameter Page 3: Sensors

The table below is split into two logical areas: Access to the Sensor Information structure, which is

read only, and access to the Sensor Configuration structure which is readable and writeable.

The results of a read access are provided in the Parameter_Read_Buffer, while the input for a write

access has to be provided in the Parameter_Write_Buffer.

The table describes, how to address the individual Information structures, whil the next 2 following

sections provide detailed information on these structures.

In the first area, Config Numbers 1-31, is for reading the Sensor Information structure of a specific non-

wakeup sensor. Config Numbers 33-63, is for reading the Sensor Information structure of a specific

wakeup sensor.

In the second area, Config numbers 65-95, is for writing the Sensor Configuration structure of a specific

non-wakeup sensor, or for reading the actual sample rates, latencies, dynamic ranges, and sensitivities.

Config numbers 97-127, is for writing the Sensor Configuration structure of a specific wakeup sensor or

for reading the actual settings.

NOTE: The index can be calculated as: Sensor ID + (32 if wakeup) + (64 if Sensor Configuration). In

other words, the Config Number bits 0-4 specify Sensor ID; bit 5 specifies wakeup if 1, non-wakeup if 0;

and bit 6 specifies Sensor Information if 0, Sensor Configuration if 1.

Table 24: Parameter Page 3 - Sensors

Config

Number

Config Name

Value in

Parameter_Read_Buffer

Value in

Parameter_Write

_Buffer

Non-Wakeup Sensor Information

Accelerometer

Sensor Information

Structure

Not used

Geomagnetic Field

Sensor Information

Not used

Orientation

Sensor Information

Not used

Gyroscope

Sensor Information

Not used

Light

Sensor Information

Not used

Pressure

Sensor Information

Not used

Temperature

Sensor Information

Not used

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Proximity

Sensor Information

Not used

Gravity

Sensor Information

Not used

Linear Acceleration

Sensor Information

Not used

Rotation Vector

Sensor Information

Not used

Humidity

Sensor Information

Not used

Ambient Temperature

Sensor Information

Not used

Magnetic Field Uncalibrated

Sensor Information

Not used

Game Rotation Vector

Sensor Information

Not used

Gyroscope Uncalibrated

Sensor Information

Not used

Significant Motion

Sensor Information

Not used

Step Detector

Sensor Information

Not used

Step Counter

Sensor Information

Not used

Geomagnetic Rotation Vector

Sensor Information

Not used

Heart Rate

Sensor Information

Not used

Tilt Detector

Sensor Information

Not used

Wake Gesture

Sensor Information

Not used

Glance Gesture

Sensor Information

Not used

Pick Up Gesture

Sensor Information

Not used

26-30

Reserved

Activity Recognition

Sensor Information

Not used

Wakeup Sensor Information

Reserved

Accelerometer

Sensor Information

Not used

Geomagnetic Field

Sensor Information

Not used

Orientation

Sensor Information

Not used

Gyroscope

Sensor Information

Not used

Light

Sensor Information

Not used

Pressure

Sensor Information

Not used

Temperature

Sensor Information

Not used

Proximity

Sensor Information

Not used

Gravity

Sensor Information

Not used

Linear Acceleration

Sensor Information

Not used

Rotation Vector

Sensor Information

Not used

Humidity

Sensor Information

Not used

Ambient Temperature

Sensor Information

Not used

Magnetic Field Uncalibrated

Sensor Information

Not used

Game Rotation Vector

Sensor Information

Not used

Gyroscope Uncalibrated

Sensor Information

Not used

Significant Motion

Sensor Information

Not used

Step Detector

Sensor Information

Not used

Step Counter

Sensor Information

Not used

Geomagnetic Rotation Vector

Sensor Information

Not used

Heart Rate

Sensor Information

Not used

Tilt Detector

Sensor Information

Not used

Wake Gesture

Sensor Information

Not used

Glance Gesture

Sensor Information

Not used

Pick Up Gesture

Sensor Information

Not used

58-62

Reserved

Activity

Sensor Information

Not used

Non-Wakeup Sensor Configuration

Reserved

Accelerometer

Actual Configuration

New Configuration

Geomagnetic Field

Actual Configuration

New Configuration

Orientation

Actual Configuration

New Configuration

Gyroscope

Actual Configuration

New Configuration

Light

Actual Configuration

New Configuration

BHI160(B)

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Pressure

Actual Configuration

New Configuration

Temperature

Actual Configuration

New Configuration

Proximity

Actual Configuration

New Configuration

Gravity

Actual Configuration

New Configuration

Linear Acceleration

Actual Configuration

New Configuration

Rotation Vector

Actual Configuration

New Configuration

Humidity

Actual Configuration

New Configuration

Ambient Temperature

Actual Configuration

New Configuration

Magnetic Field Uncalibrated

Actual Configuration

New Configuration

Game Rotation Vector

Actual Configuration

New Configuration

Gyroscope Uncalibrated

Actual Configuration

New Configuration

Significant Motion

Actual Configuration

New Configuration

Step Detector

Actual Configuration

New Configuration

Step Counter

Actual Configuration

New Configuration

Geomagnetic Rotation Vector

Actual Configuration

New Configuration

Heart Rate

Actual Configuration

New Configuration

Tilt Detector

Actual Configuration

New Configuration

Wake Gesture

Actual Configuration

New Configuration

Glance Gesture

Actual Configuration

New Configuration

Pick Up Gesture

Actual Configuration

New Configuration

90-94

Reserved

Activity

Actual Configuration

New Configuration

Wakeup Sensor Configuration

Reserved

Accelerometer

Actual Configuration

New Configuration

Geomagnetic Field

Actual Configuration

New Configuration

Orientation

Actual Configuration

New Configuration

100

Gyroscope

Actual Configuration

New Configuration

101

Light

Actual Configuration

New Configuration

102

Pressure

Actual Configuration

New Configuration

103

Temperature

Actual Configuration

New Configuration

104

Proximity

Actual Configuration

New Configuration

105

Gravity

Actual Configuration

New Configuration

106

Linear Acceleration

Actual Configuration

New Configuration

107

Rotation Vector

Actual Configuration

New Configuration

108

Humidity

Actual Configuration

New Configuration

109

Ambient Temperature

Actual Configuration

New Configuration

110

Magnetic Field Uncalibrated

Actual Configuration

New Configuration

111

Game Rotation Vector

Actual Configuration

New Configuration

112

Gyroscope Uncalibrated

Actual Configuration

New Configuration

113

Significant Motion

Actual Configuration

New Configuration

114

Step Detector

Actual Configuration

New Configuration

115

Step Counter

Actual Configuration

New Configuration

116

Geomagnetic Rotation Vector

Actual Configuration

New Configuration

117

Heart Rate

Actual Configuration

New Configuration

118

Tilt Detector

Actual Configuration

New Configuration

119

Wake Gesture

Actual Configuration

New Configuration

120

Glance Gesture

Actual Configuration

New Configuration

121

Pick Up Gesture

Actual Configuration

New Configuration

122-126

Reserved

127

Activity

Actual Configuration

New Configuration

BHI160(B)

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

11.3 Sensor Information Structure

This structure reports everything that Android needs to know about a sensor type. If the requested

sensor is not supported by the current firmware image, then all fields must be reported as zero.

For physical sensors, the Max Range field will be set to the maximum possible range that the sensor

can attain if set to its highest range setting. This is a constant value that does not change based on the

current Dynamic Range setting. It is stored in Android-appropriate units (m/s2, radians/s, µT). As this

is a 16 bit integer field, the value is rounded up to the next nearest integer.

The Resolution field is provided so that the host can determine the “smallest difference between two

values reported by this sensor.” It contains the number of bits of resolution. With that, the host can

determine the floating point resolution value in SI units by dividing the Max Range or current Dynamic

Range (in SI units) by 2Resolution.

Table 25: Sensor Information Structure

Parameter

Byte

Field Name

Type

Description

Sensor Type

Unsigned 8 bit

Defensive programming measure –

repeat the requested sensor type

NOTE: bit 4 of Sensor Type is 1 for

Non-Wakeup sensors

Driver ID

Unsigned 8 bit

Unique per driver / vendor / part number

Driver Version

Unsigned 8 bit

Denotes notable change in behavior

Power

Unsigned 8 bit

0.1 mA/LSB

Max Range

Unsigned 16 bit

Maximum range of sensor data in SI

units

Resolution

Unsigned 16 bit

Number of bits of resolution of

underlying sensor

Max Rate

Unsigned 16 bit

FIFO Reserved

Unsigned 16 bit

FIFO size in bytes reserved for this

sensor divided by data packet size in

bytes; if a single shared FIFO, this can

be 0

FIFO Max

Unsigned 16 bit

Entire FIFO size in bytes divided by

data packet size in bytes

Event Size

8 bit

Number of bytes for sensor data packet

(including Sensor Type)

Min Rate

Unsigned 8 bit

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11.4 Sensor Configuration Structure

The following table describes the parameter set of the sensor configuration structure:

Table 26: Sensor Configuration Structure

Parameter

Byte

Field Name

Type

Description

Sample Rate

Unsigned 16 bit

Rate in Hz; 1 ÷ Android sample period;

reads back actual sensor rate

Max Report

Latency

Unsigned 16 bit

0 for non-batch mode; if nonzero,

Sample Rate must also be nonzero;

milliseconds; reads back actual latency

Change

Sensitivity

Unsigned 16 bit

Scaled same as sensor’s data value; for

future Win8/10 support

Dynamic Range

Unsigned 16 bit

range setting for physical setting in

appropriate units

The meaning of each field below is slightly different depending on whether this is being written or read;

see the description for details.

Changes to the Sample Rate field take effect quickly, but not immediately. If the host wishes to know

when the rate change is complete, it can enable and wait for the Sample Rate Changed meta event.

The actual rate selected is within the range of 90% ... 210% of the requested range.

Changes to the Max Report Latency take effect immediately. If a timer for the sensor using a different

Max Report Latency is running, it will be modified. It is possible due to timing for a change to be slightly

too late to effect the current timer, but will affect subsequent samples. If Max Report Latency is set to 0

when it was previously not 0, then this will be treated the same as a flush request.

The Dynamic Range field for the virtual Accelerometer, Gyroscope, and Magnetometer sensors will be

able to control the actual dynamic range settings in the corresponding physical sensors. A value of 0

requests the default. The algorithm will be informed of the request to change the dynamic range, and,

the corresponding scale factor for the sensor data outputs will change accordingly. The host may then

read back the Sensor Configuration structure to determine the actual current dynamic range.

NOTE: the host should enable and watch for the Dynamic Range Changed meta event so it can apply

the correct scale factor before and after the dynamic range change, if the change is made while the

sensor is already enabled.

Reading back the parameter is especially important if the host sets a dynamic range for other virtual

sensors that share the same underlying physical sensor. The BHI will select the largest requested

dynamic range of all virtual sensors that share that physical sensor.

For instance, the virtual Accelerometer, Gravity, and Linear Acceleration sensors all share the physical

accelerometer. The virtual Gyroscope and Uncalibrated Gyroscope both share the physical gyroscope.

The virtual Magnetometer and Uncalibrated Magnetometer share the physical magnetometer. If the

host does not specify a dynamic range for a specific virtual sensor (by setting it to 0), then only the virtual

sensors with non-zero dynamic range requests from the host will be considered in selecting the actual

dynamic range for the physical sensor.

BHI160(B)

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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 example, setting the dynamic range for the Accelerometer sensor to 156.93 m/s2 while setting the

dynamic range of the Linear Acceleration sensor to 78.46 m/s2 and the Gravity sensor to 0 results in an

actual dynamic range for all three sensors as well as the physical sensor of 156.93 m/s2, which is the

same as 16 Earth g-s.

The dynamic range will determine the scale factor for the sensor data, based on the number of bits and

signed-ness of the data.

The units of measurement for dynamic range here are not the same as the Android units for those

sensors. We have chosen to use units that are commonly used by sensor manufacturers in their data

sheets when discussing range settings.

1. Accelerometer: Earth g-s

2. Gyroscope: degrees/second

3. Magnetometer: µT

11.5 Parameter Page 15: Soft Pass-Through

This parameter page can be used during normal operation to read and write registers on devices

attached to the sensor I2C bus.

Parameter 1: Soft Pass-Through register read single multi-byte transfer

Parameter 3: Soft Pass-Through register read multiple single byte transfers

Parameter 5: Soft Pass-Through register read multiple single byte transfers with 0.5ms delays

Table 27: Parameter Page 15 – Soft-Pass-Through 1

Parameter Byte

Parameter Name

Description

Direction

I2C Slave address

Slave address for the sensor

Read/Write

Start Register

The first register address to read

Read/Write

Read Length

Read/Write

Completion Status

To judge if the register read has finished

Read

Reg Value Byte 1

Returned register value

Read

Reg Value Byte 2

Returned register value

Read

Reg Value Byte 3

Returned register value

Read

Reg Value Byte 4

Returned register value

Read

On read bytes 1 through 3 returns the last time value written for validation purpose.

Parameter 2: Soft Pass-Through register write single multi-byte transfer

Parameter 4: Soft Pass-Through register write multiple single byte transfers

Parameter 6: Soft Pass-Through register write multiple single byte transfers with 0.5ms delays

Table 28: Parameter Page 15 – Soft-Pass-Through 2

Parameter Byte

Parameter Name

Description

Direction

I2C Slave address

Slave address for the sensor

Read/Write

Start Register

The first register address to write

Read/Write

Write Length

Read/Write

Completion Status

To judge if the register write has finished

Read

Reg Value Byte 1

Write

Reg Value Byte 2

Write

Reg Value Byte 3

Write

Reg Value Byte 4

Write

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On read bytes 1 through 3 returns the last time value written for validation purpose. On write bytes 3 is

ignored.

Parameters 1 and 2 perform fast single transfers of multiple bytes. Some sensor devices do not support

this. Alternatively, parameters 3 and 4 simulate a multi byte transfer by doing a series of single byte

transfers with an incrementing register address; this is useful for some devices that do not support multi-

byte transfers. Finally, parameters 5 and 6 are similar to 3 and 4, except a delay of 0.5ms is added

between each byte transfer. Some sensors require slow writes in certain modes, for example.

Completion status values:

 0 = transfer in progress (or none ever issued yet)

 1 = transfer successful

 2 = I2C NACK or I2C error

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

12. Sensor Data Types and Output Format

Sensor IDs will match the Android numbering; these are currently numbered 1 through 31. Any new

sensor IDs that represent unique custom sensors will be numbered starting at 254, decreasing towards

the Android numbers.

If the host and BHI become out of sync, the host can regain synchronization by flushing the buffer

(reading everything in it). Any data that arrives after that will start with a whole sensor data packet, with

the Sensor Type as the first byte.

Table 29: Sensor IDs, Data Types and Output Format

Sensor

ID Non

Wakeup

Sensor

Wakeup

Size

FIFO

Contents

Scale Factor

Sensor Value

Format

Padding

Unsigned 8 bit value

0 means NOP

Rotation Vector

Game Rotation Vector

Geomagnetic Rotation Vector

214

X, Y, Z, W

Quaternion

Estimated Accuracy

(radians)

16 bit signed

fixed point

16 bit signed

fixed point integer

Accelerometer

Magnetometer

Orientation*

Gyroscope

Gravity

Linear Acceleration

dynamic

360 ° / 215

dynamic

X, Y, Z Vector

Status

16 bit signed integer,

scaled to current

dynamic range;

8 bit unsigned integer

indicating accuracy of

measurement

Light

Proximity

Humidity

10000Lux / 216

100cm / 216

1%RH

Absolute Scalar

16 bit unsigned

integer, scaled to

maximize dynamic

range

Step Counter

None

Absolute Scalar

16 bit unsigned integer

Temperature

Ambient Temperature

500LSB/°C

centered at

24°C

Scalar

16 bit signed integer,

scaled to maximize

dynamic range

Barometer

1/128 Pa

Absolute Scalar

24 bit unsigned

integer, scaled as

required

Significant Motion

Step Detector

Tilt Detector

Wake Gesture

Glance Gesture

Pick Up Gesture

None

Event

None

Uncalibrated Magnetometer

Uncalibrated Gyroscope

dynamic

Uncalib X, Y, Z;

bias X, Y, Z

Status

16 bit signed integer,

scaled to current

dynamic range

8 bit unsigned integer

indicating accuracy of

measurement (low,

medium, high,

unreliable)

Heart Rate

None

Scalar

8 bit beats per minute

Activity

None

Scalar

Bits 0-7 specify the

activity change off, bits

8-15 specify the

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activity change on; see

below for bit definitions

245

n/a

Debug

None

Structure

Byte 1:

Bit 7: reserved

Bit 6: binary fmt (string

if 0, binary if 1)

Bits 5-0: valid bytes

Bytes 2-13:

debug data

249

250

251

n/a

BSX_C

BSX_B

BSX_A

None

Accel, Gyro, Mag:

X, Y, Z, Timestamp

Accel, Gyro, Mag:

32 bit signed integer

(C=raw gyro, B=raw

mag, A=raw accel); 32

bit timestamp of

current sensor sample

252

246

Timestamp LSW

1/32000

seconds

Time

16 bit unsigned

integer; counts at a

32KHz rate; applies to

all following sensor

samples; wraps every

2 seconds

253

247

Timestamp MSW (Overflow)

65536/32000

seconds

Time

16 bit unsigned

integer; counts at

Timestamp overflow

rate; wraps every 36

hours

254

248

Meta Events

None

Event

8 bit unsigned integer

event number

8 bit unsigned integer

sensor type

8 bit unsigned integer

event-specific value

*NOTE: X = azimuth = 0° to 360° unsigned, Y = pitch = +/- 180° signed, Z = roll = +/- 90° signed

12.1 Quaternion+

For the three rotation vectors (Rotation Vector, Game Rotation Vector, Geomagnetic Rotation Vector),

the following format is used.

The host can convert the X, Y, Z, W, and Estimated Accuracy fields to floating point numbers like this:

unsigned char event[11];

… read in the event to the array above…

float x = ((float)(event[1] + ((unsigned int)event[2]) << 8)) /

16384;

… convert other fields…

The Estimated Accuracy in Radians is reported as 0 for the Game Rotation Vector.

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Table 30: Quaternion+ Data Format

Byte Number

Contents

Format

Sensor ID (Rotation Vector, etc.)

X LSB

Signed 16 bit fixed point

integer

X MSB

Y LSB

Signed 16 bit fixed point

integer

Y MSB

Z LSB

Signed 16 bit fixed point

integer

Z MSB

W LSB

Signed 16 bit fixed point

integer

W MSB

ESTIMATED ACCURACY, RADIANS,

LSB

Signed 16 bit fixed point

integer

ESTIMATED ACCURACY, MSB

12.2 Vector+

For the many 3 axis sensors (Accelerometer, Magnetometer, Orientation, Gyroscope, Gravity, Linear

Acceleration), the following layout is used.

Table 31: Vector+ Data Format

Byte Number

Contents

Format

Sensor ID (Accelerometer, etc.)

X LSB

Signed 16 bit integer

X MSB

Y LSB

Signed 16 bit integer

Y MSB

Z LSB

Signed 16 bit integer

Z MSB

STATUS

Accuracy of measurement

Table 32: Vector+ Status description

Status Value

Meaning

Unreliable

Accuracy Low

Accuracy Medium

Accuracy High

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

12.3 Vector_Uncalibrated

For the two uncalibrated 3 axis sensors (Uncalibrated Magnetometer, Uncalibrated Gyroscope), the

following layout is used.

Table 33: Vector_Uncalibrated Data Format

Byte Number

Contents

Format

Sensor ID (Uncalibrated

Magnetometer, etc.)

X LSB

Signed 16 bit integer

X MSB

Y LSB

Signed 16 bit integer

Y MSB

Z LSB

Signed 16 bit integer

Z MSB

X BIAS LSB

Signed 16 bit integer

X BIAS MSB

Y BIAS LSB

Signed 16 bit integer

Y BIAS MSB

Z BIAS LSB

Signed 16 bit integer

Z BIAS MSB

STATUS

Accuracy of measurement

Table 34: Vector_Uncalibrated Status description

Status Value

Meaning

Unreliable

Accuracy Low

Accuracy Medium

Accuracy High

12.4 Scalar Data

All of the scalar sensors (Light, Proximity, Humidity, Step Counter, Heart Rate, Temperature,

Ambient Temperature, and Barometer) share a similar format. While there are differences in signed vs.

unsigned and scale, the layout is similar for all (as listed in section 9.6) of them.

Table 35: Scalar_Data Data Format

Byte Number

Contents

Format

Sensor ID (Light, etc.)

LSB

Signed or Unsigned 16 bit

integer (LSB only for 8bit)

MSB

Byte Number

Contents

Format

Barometer

LSB

Unsigned 24 bit integer

MIB

MSB

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12.5 Sensor Event Data (Parameterless Sensors)

Some sensors (Significant Motion, Step Detector, Tilt Detector, Padding) generate no actual data, so

the FIFO will simply contain the sensor ID itself.

Table 36: Sensor_Event Data Format

Byte Number

Contents

Format

Sensor ID (Significant Motion, etc.)

12.6 Activity Recognition Data (Sensor_Activity_Rec_Data)

The activity sensor outputs 16 bits of data whenever there is a change detected in activity. Bits are

provided to indicate both the onset of an activity and the end of it.

Table 37: Activity Recognition Data Format

12.7 Debug

Customers using the SDK can use printf() to send ASCII strings to the host in the non-wakeup FIFO, or

fwrite() to send custom binary data. The data will be sent with Sensor ID = Debug.

The lower 6 bits include the number of valid bytes in the packet with the range from 0 up to 12. For

example, if a 20 character long string is printed out: “ABCDEFGHIJKLMNOPQRST”, the FIFO will

contain:

Debug (=245), 0x0C, “ABCDEFGHIJKL”

Debug, 0x08, “MNOPQRST”

Table 38: Debug

Bit

Contents

Still activity ended

Walking activity ended

Running activity ended

On Bicycle activity ended

In Vehicle activity ended

Tilting activity ended

Reserved

Still activity started

Walking activity started

Running activity started

On Bicycle activity started

In Vehicle activity started

Tilting activity started

Reserved

Byte

Bit

Contents

0-7

Sensor ID (Debug)

0-5

Amount of payload bytes (0-12)

Payload data format (0: ASCII, 1:Binary)

Reserved

2-13

0-7

Debug Payload (Bytes)

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12.8 Sensor Data scaling

The table of sensor types and their data formats above indicates a fixed scale factor for each sensor’s

data for many sensors. The selection of this scale factor is meant to ensure the full dynamic range of a

sensor can fit within the number of bits provided. The exceptions are the accelerometer-, gyroscope-,

and magnetometer-derived sensors. Those sensors’ scale factors are set dynamically based on the

largest dynamic range setting for any related virtual sensors (see section 11.4).

Default Scale Factors

The default scale factor specified for the intrinsic Accel, Gravity, and Linear Acceleration allows for a 4g

range (39.24 m/s2).

The default scale factor for the intrinsic Gyro allows for a 2000° / s range (34.9 radians / s).

The default scale factor for the magnetometer is based on a dynamic range of 1000µT, despite the fact

that many sensors can read larger values than this. The AK8963, for example, can measure fields up

to 4912µT. In return, there will be 2 more bits of resolution for normal readings, keeping in mind that

the Earth’s magnetic field ranges from 25µT to 65µT. Lollipop does not require any particular range for

the magnetometer beyond this.

These sensors all use a scale factor that adjusts automatically to fit the actual dynamic range of each

sensor, if changed from the defaults. The host needs to query the actual dynamic range and then

perform a calculation to determine the scale factor as dynamic range / 2^(number of bits), where the

number of bits is 15 for signed 16 bit integers and so on.

NOTE: The accelerometer and gyroscope dynamic range settings, as discussed in section 11.4, need

to be converted to m/s2 and rad/s, before being used to scale the output data as described below. For

example, the Accelerometer produces 16 bit signed data for the X, Y, and Z axes. The scale factor for

a dynamic range of 156.93 m/s2 would be:

Accel Scale Factor = Dynamic Range / Maximum Positive Value = 156.93 / 32767 = 4.789e-3 m/s2.

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

12.9 Meta Events

These indicate asynchronous, low periodicity events. These can be individually enabled or disabled in

the Meta Event Control Parameter in the System Parameter Page. They can also be configured to

enable or disable a host interrupt when they occur; this would occur even if there were no pending

samples. The Initialized Meta Event will be the first event in the FIFO (following the current timestamp)

after initialization. Once the host receives this, it is safe to interact with the parameter I/O system to

configure the chip. See section 9.9 for more details.

Table 39: Meta Events