Data sheet
BMI055
Small, versatile 6DoF sensor module
Bosch Sensortec
BMI055: Data sheet
Document revision
Document release date
Document number
Technical reference code(s)
Notes
1.3
November, 2020
BST-BMI055-DS000-09
0 273 141 134
Data and descriptions within 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.
BMI055
Data sheet
Page 2
BMI055
Basic Description
Key features
2 inertial sensors in one device
Small package
Common voltage supplies
Digital interface
Smart operation and integration
Consumer electronics suite
an advanced triaxial 16bit gyroscope and a
versatile, leading edge triaxial 12bit accelerometer
for reduced PCB space and simplified signal routing
LGA package 16 pins
footprint 3.0 x 4.5 mm², height 0.95mm
V
DD
voltage range: 2.4V to 3.6V
SPI (4-wire, 3-wire), I²C, 4 interrupt pins
V
DDIO
voltage range: 1.2V to 3.6V
Gyroscope and accelerometer
can be operated individually
MSL1, RoHS compliant, halogen-free
Operating temperature: -40°C ... +85°C
9DoF software compatible
Accelerometer features
Programmable functionality
Acceleration ranges ±2g/±4g/±8g/±16g
Low-pass filter bandwidths 1kHz - <8Hz
On-chip FIFO
Integrated FIFO with a depth of 32 frames
On-chip interrupt controller
Motion-triggered interrupt-signal generation for
- new data
- any-motion (slope) detection
- tap sensing (single tap / double tap)
- orientation- & motion inactivity recognition
- flat/low-g/high-g detection
On-chip temperature sensor
factory trimmed, 8-bit, typical slope 0.5K/LSB.
Ultra-low power IC
130µA current consumption, 1.3ms wake-up time,
advanced features for system power management
Gyroscope features
Programmable functionality
On-chip FIFO
On-chip interrupt controller
Low power IC
Ranges switchable from ±125°/s to ±2000°/s
Low-pass filter bandwidths 230Hz - 12Hz
Fast and slow offset controller (FOC and SOC)
Integrated FIFO with a depth of 100 frames
Motion-triggered interrupt-signal generation for
- new data
- any-motion (slope) detection
- high rate
< 5mA current consumption, 30ms start-up time
wake-up time in fast power-up mode only 10ms
BST-BMI055-DS000-09 | Revision 1.3_112020
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.
BMI055
Data sheet
Typical applications
Advanced gaming & HMI
Advanced gesture recognition
Indoor navigation
Image stabilization
Display profile switching
Advanced system power management for mobile applications
Menu scrolling, tap / double tap sensing
Pedometer / step counting
Free-fall detection
E-compass tilt compensation
Drop detection for warranty logging
Page 3
General description
The BMI055 is an inertial measurement unit (IMU) for the detection of movements and rotations
in 6 degrees of freedom (6DoF). It reflects the full functionality of a triaxial, low-g acceleration
sensor and at the same time it is capable to measure angular rates. Both – acceleration and
angular rate – in three perpendicular room dimensions, the x-, y- and z-axis.
The BMI055 is designed to meet all requirements for consumer applications such as gaming and
pointing devices, HMI and image stabilization (DSC and camera-phone). It also senses tilt,
motion, inactivity and shock vibration in cell phones, handhelds, computer peripherals, man-
machine interfaces, virtual reality features and game controllers.
An evaluation circuitry (ASIC) converts the output of the micro-electromechanical sensing
structures (MEMS), developed, produced and tested in BOSCH facilities. The corresponding chip-
sets are packed into one single LGA 3.0mm x 4.5mm x 0.95mm housing. For optimum system
integration the BMI055 is fitted with digital bi-directional SPI and I
2
C interfaces. To provide
maximum performance and reliability each device is tested and ready-to-use calibrated.
Package and interfaces of the BMI055 have been defined to match a multitude of hardware
requirements. Since the sensor features a small footprint, a flat package and very low power
consumption it is ingeniously suited for mobile-phone and tablet PC applications.
The BMI055 offers a variable V
DDIO
voltage range from 1.2V to 3.6V and can be programmed to
optimize functionality, performance and power consumption in customer specific applications. In
addition it features on-chip interrupt controllers enabling motion-based applications without use
of a microcontroller.
BST-BMI055-DS000-09 | Revision 1.3_112020
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.
BMI055
Data sheet
Page 4
Index of Contents
BASIC DESCRIPTION ................................................................................................................... 2
1. SPECIFICATION ...................................................................................................................... 11
1.1 E
LECTRICAL SPECIFICATION
.............................................................................................. 11
1.2 E
LECTRICAL AND PHYSICAL CHARACTERISTICS
,
MEASUREMENT PERFORMANCE
.................... 12
2. ABSOLUTE MAXIMUM RATINGS .......................................................................................... 17
3. BLOCK DIAGRAM ................................................................................................................... 18
4. BASIC POWER MANAGEMENT ............................................................................................. 19
5. FUNCTIONAL DESCRIPTION ACCELEROMETER .............................................................. 20
5.1 P
OWER MODES ACCELEROMETER
...................................................................................... 20
5.2 IMU
DATA ACCELEROMETER
.............................................................................................. 24
5.2.1 A
CCELERATION DATA
................................................................................................................... 24
5.2.2 T
EMPERATURE
S
ENSOR
............................................................................................................... 25
5.3 S
ELF
-
TEST ACCELEROMETER
............................................................................................. 25
5.4 O
FFSET COMPENSATION ACCELEROMETER
......................................................................... 26
5.4.1 S
LOW COMPENSATION
.................................................................................................................. 28
5.4.2 F
AST COMPENSATION
................................................................................................................... 28
5.4.3 M
ANUAL COMPENSATION
.............................................................................................................. 29
5.4.4 I
NLINE CALIBRATION
..................................................................................................................... 29
5.5 N
ON
-
VOLATILE MEMORY ACCELEROMETER
......................................................................... 30
5.6 I
NTERRUPT CONTROLLER ACCELEROMETER
........................................................................ 30
5.6.1 G
ENERAL FEATURES
.................................................................................................................... 30
5.6.2 M
APPING TO PHYSICAL INTERRUPT PINS
(
INTTYPE TO
INT P
IN
#) ..................................................... 32
5.6.3 E
LECTRICAL BEHAVIOR
(INT
PIN
#
TO OPEN
-
DRIVE OR PUSH
-
PULL
) .................................................. 32
5.6.4 N
EW DATA INTERRUPT
.................................................................................................................. 33
5.6.5 S
LOPE
/
ANY
-
MOTION DETECTION
.................................................................................................. 33
5.6.6 O
RIENTATION RECOGNITION
......................................................................................................... 37
5.6.7 F
LAT DETECTION
.......................................................................................................................... 41
5.6.8 L
OW
-
G INTERRUPT
....................................................................................................................... 42
5.6.9 H
IGH
-
G INTERRUPT
...................................................................................................................... 42
5.6.10 N
O
-
MOTION
/
SLOW MOTION DETECTION
...................................................................................... 43
5.7 S
OFTRESET ACCELEROMETER
........................................................................................... 44
6. REGISTER DESCRIPTION ACCELEROMETER.................................................................... 45
6.1 G
ENERAL REMARKS ACCELEROMETER
............................................................................... 45
6.2 R
EGISTER MAP ACCELEROMETER
....................................................................................... 46
ACC R
EGISTER
0
X
00 (BGW_CHIPID) .................................................................................... 47
BST-BMI055-DS000-09 | Revision 1.3_112020
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.
BMI055
Data sheet
Page 5
ACC R
EGISTER
0
X
01
IS RESERVED
......................................................................................... 47
ACC R
EGISTER
0
X
02 (ACCD_X_LSB) ................................................................................... 47
ACC R
EGISTER
0
X
03 (ACCD_X_MSB) .................................................................................. 48
ACC R
EGISTER
0
X
04 (ACCD_Y_LSB) ................................................................................... 48
ACC R
EGISTER
0
X
05 (ACCD_Y_MSB) .................................................................................. 49
ACC R
EGISTER
0
X
06 (ACCD_Z_LSB) ................................................................................... 49
ACC R
EGISTER
0
X
07 (ACCD_Z_MSB) .................................................................................. 50
ACC R
EGISTER
0
X
08 (ACCD_TEMP) .................................................................................... 50
ACC R
EGISTER
0
X
09 (INT_STATUS_0)................................................................................. 51
ACC R
EGISTER
0
X
0A (INT_STATUS_1) ................................................................................ 52
ACC R
EGISTER
0
X
0B (INT_STATUS_2) ................................................................................ 52
ACC R
EGISTER
0
X
0C (INT_STATUS_3) ................................................................................ 53
ACC R
EGISTER
0
X
0D
IS RESERVED
........................................................................................ 54
ACC R
EGISTER
0
X
0E (FIFO_STATUS) .................................................................................. 54
ACC R
EGISTER
0
X
0F (PMU_RANGE).................................................................................... 54
ACC R
EGISTER
0
X
10 (PMU_BW)........................................................................................... 55
ACC R
EGISTER
0
X
11 (PMU_LPW)......................................................................................... 55
ACC R
EGISTER
0
X
12 (PMU_LOW_POWER) ......................................................................... 56
ACC R
EGISTER
0
X
13 (ACCD_HBW) ...................................................................................... 57
ACC R
EGISTER
0
X
14 (BGW_SOFTRESET)........................................................................... 57
ACC R
EGISTER
0
X
15
IS RESERVED
......................................................................................... 58
ACC R
EGISTER
0
X
16 (INT_EN_0).......................................................................................... 58
ACC R
EGISTER
0
X
17 (INT_EN_1).......................................................................................... 58
ACC R
EGISTER
0
X
18 (INT_EN_2).......................................................................................... 59
ACC R
EGISTER
0
X
19 (INT_MAP_0) ....................................................................................... 59
ACC R
EGISTER
0
X
1A (INT_MAP_1) ...................................................................................... 60
ACC R
EGISTER
0
X
1B (INT_MAP_2) ...................................................................................... 61
ACC R
EGISTER
0
X
1C
IS RESERVED
........................................................................................ 61
ACC R
EGISTER
0
X
1D
IS RESERVED
........................................................................................ 61
ACC R
EGISTER
0
X
1E (INT_SRC)........................................................................................... 61
ACC R
EGISTER
0
X
1F
IS RESERVED
......................................................................................... 62
ACC R
EGISTER
0
X
20 (INT_OUT_CTRL) ................................................................................ 62
ACC R
EGISTER
0
X
21 (INT_RST_LATCH) .............................................................................. 62
ACC R
EGISTER
0
X
22 (INT_0) ................................................................................................ 64
ACC R
EGISTER
0
X
23 (INT_1) ................................................................................................ 64
BST-BMI055-DS000-09 | Revision 1.3_112020
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.
