BOSCH BMI160 fast offset compensation
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Fast offset compensation (FOC) is a one-shot process that compensates offset errors of accelerometer and gyro
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BOSCH BMI160 fast offset compensation
- 1. Daniel Chiu 2015/9/4 Mobile: +886-928-282-503 Email: daniel.chiu@sacsys.com.tw BMI160 Fast Offset Compensation
- 2. Accelerometer Fast Offset Compensation • The best suited for “end-of-line trimming” with the device positioned in a well-defined orientation • One-shot process • Compensates the offset errors of accelerometer and gyro by setting the offset compensation registers to the negated offset error • Should not be used in combination with the low-power modes • In low-power mode the conditions (availability of necessary data) for proper function of fast compensation are not fulfilled
- 3. Configure FOC_CONF(0x69) before triggering • Accelerometer and gyroscope FOC can separately disabled or enabled • Gyroscope target value is always 0 dps • Accelerometer target value has to be defined for each channel (-1g, 0g, +1g) depending on sensor position relative to the earth gravity field
- 4. Triggered by start_foc command • FOC is triggered by issuing a start_foc command to register (0x7E CMD • This will take a maximum time of 250ms • The process is reflected in the status bit foc_rdy in Register (0x1B) STATUS. • foc_rdy is ‘0’ while the measurement is in process
- 5. The negated measured value • The negated measured value are written to Register (0x71-0x77) automatically (overwriting previous offset register value) • For the accelerometer offset, the accuracy is 3.9mg
- 6. Accelerometer Fast Compensation Example
- 7. Register (0x71-0x77) OFFSET • Reset: Reads from NVM • Description: • Contains the offset compensation values for accelerometer and gyroscope • Definition: • it is generated automatically after triggering the fast offset compensation procedure • the content of the register may be written to the NVM • it is automatically restored from the NVM after each power-on or soft reset • offset values may be written directly by the user
- 8. Non-Volatile Memory • Access to non-volatile memory is only possible through (volatile) image registers • Maximum number of write cycles equal or less than 14 • The content of the NVM is loaded to the image registers after a reset (either POR or softreset) • As long as the image update is in progress, bit nvm_rdy in Register (0x1B) STATUS is ´0´, otherwise it is ´1´ (NVM is ready to accept a new write trigger) • Writing to the NVM is a three-step procedure: • Write the new contents to the image registers • Write ´1´ to bit nvm_prog_en in the Register (0x6A) CONF register in order to unlock the NVM • Write prog_nvm (0xA0) to the Register (0x7E) CMD to trigger the write process
- 10. Triggered by prog_nvm command