Datasheet

BMI160
Data sheet
Page 22
BST-BMI160-DS000-07 | Revision 0.8 | February 2015 Bosch Sensortec
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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.
selected by disabling fifo_header in Register (0x46-0x47) FIFO_CONFIG. In case of
overreading the FIFO, non-valid frames always contain the fixed expression (magic number)
0x80 in the data frame.
In header mode every frame consists of a header byte followed by one or more data bytes. The
header defines the frame type and contains parameters for the frame. The data bytes may be
sensor data or control data. Header mode supports different ODRs for the different sensor data
and external interrupt flags. This mode therefore has the advantage of allowing maximum
flexibility of the FIFO engine. It is activated by enabling fifo_header in Register (0x46-0x47)
FIFO_CONFIG.
2.5.1.3 Header byte format
The header format is shown below:
Bit
7
6
5
4
Content
fh_mode<1:0>
fh_parm<3:2>
Bit
3
2
1
0
Read/Write
fh_parm<1:0>
fh_ext<1:0>
The fh_mode, fh_opt and fh_ext fields are defined as
fh_mode<1:0>
Definition
fh_parm <3:0>
fh_ext<1:0>
0b10
Regular
Frame content
Tag of INT2 and
INT1
0b01
Control
Control Opcode
0b00
Reserved
Na
0b11
Reserved
Na
f_parm=0b0000 is invalid for regular mode, a header of 0x80 indicates an uninitialized frame.
2.5.1.4 Data bytes Format
When the FIFO is set to “headerless mode“, only sensor data will be saved into the FIFO (in the
same order as in the data register). Any combination of accelerometer, gyroscope and external
sensor data can be stored. External interrupt tags are not supported in headerless mode.
When the FIFO is set to “header mode“, the data byte format is different depending on the type
of frame. There are two basic frame types, control frames and regular data frames. Each
different type of control frame has its own data byte format. It can contain skipped frames,
sensortime data or FIFO configuration information as explained in the following chapters. If the
frame type is a regular frame (sensor data), the data byte section of the frame depend on how
the data is being transmitted in this frame (as specified in the header byte section). It can
include data from only one sensor or any combination of accelerometer, gyroscope and external
sensor data.