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SMI230 — 6DoF Inertial Sensor for Automotive Applications

Robert Bosch GmbH SMI230. Automotive-grade 6-axis IMU combining 16-bit triaxial accelerometer and gyroscope in LGA-16 package. AEC-Q100 Grade 2, SPI/I2C, 2.4-3.6V. 106-page full datasheet with all 41 figures extracted.

Robert Bosch GmbH SMI230 Inertial Measurement Unit (IMU) 2.4V to 3.6V LGA-16 Technical Product Description V2.1 Original PDF ↗

SMI230 — 6DoF Inertial Sensor for Automotive Applications

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Overview

Pinout

Specifications

Software

Applications

Diagrams

Markdown

Source: Bosch Technical Product Description (V2.1, Feb 2022) Manufacturer: Robert Bosch GmbH Part Number: SMI230 (0273 142 144) Document: Technical Product Description V2.1 — Feb 2022

Description

The SMI230 is a combined triaxial accelerometer and triaxial gyroscope (6 degrees of freedom) for non-safety automotive applications such as in-dash navigation. It is based on a two-chip stacked concept: the accelerometer and gyroscope sensing elements (MEMS) are mounted side-by-side, with read-out ASICs stacked on top of each respective sensing element, all within a single LGA-16 package.

The accelerometer detects differential capacitance changes from comb-like seismic masses suspended on silicon spring bars. The gyroscope uses the Coriolis vibratory principle with two seismic masses oscillating at ~25 kHz via electrostatic drive forces. Both sensors feed through hybrid analog-digital converters (ADCs) at 400 kHz sampling rate into digital signal processors (DSPs) with configurable low-pass filtering, gain, and offset correction.

The gyroscope and accelerometer can be operated individually or tied together for data synchronization. The device supports SPI (up to 10 MHz) and TWI/I2C (up to 400 kHz) interfaces with separate chip selects for each sensor.

Key Specifications

2.4V to 3.6V

Supply Voltage (VDD)

1.62V to 3.6V

I/O Supply Voltage (VDDIO)

170 uA typ

Supply Current (ACC normal)

5 mA typ

Supply Current (GYR normal)

3 uA typ

Supply Current (ACC suspend)

<5 uA typ

Supply Current (GYR deep suspend)

-40 to +105 degC

Operating Temperature

SPI (10 MHz max), TWI/I2C (400 kHz max)

Interfaces

LGA-16 (3.0 x 4.5 x 0.95 mm)

Package

27.48 mg

Weight

+/-2, +/-4, +/-8, +/-16 g

Accelerometer Ranges

+/-125, +/-250, +/-500, +/-1000, +/-2000 deg/s

Gyroscope Ranges

16-bit (accelerometer and gyroscope)

Data Resolution

AEC-Q100 Grade 2

Qualification

2 kV HBM

ESD Protection

Features

• Combined 16-bit triaxial accelerometer and 16-bit triaxial gyroscope in a single package
• Accelerometer and gyroscope operable individually or synchronized via data synchronization feature
• Selectable measurement ranges: +/-2/4/8/16 g (accel), +/-125/250/500/1000/2000 deg/s (gyro)
• Configurable low-pass filter bandwidth with bypass option
• On-chip FIFO buffers for both accelerometer and gyroscope
• Configurable interrupt engine: any-motion, no-motion, high-g, low-g, orientation detection
• On-chip temperature sensor (-104 to +150 degC, 11-bit, 0.125 K/LSB)
• SPI and TWI/I2C digital interfaces with separate chip selects
• Power-on reset (POR) generator
• 5 power modes per sensor (normal, suspend, deep suspend for gyro)
• Self-test capability for both sensors
• AEC-Q100 Grade 2 qualified, MSL1, RoHS compliant, halogen-free
• Mechanical shock tolerance up to 10,000 g (duration <=200 us)
• Application support software and config file upload capability

Pin Configuration

1INT2Digital I/O

Interrupt pin (ACC #2)

2NC--

Not connected (tie to GND)

3VDDSupply

Power supply analog and digital domain

4GNDAGround

Ground for analog domain

5CSB2Digital In

SPI chip select gyroscope

6GNDIOGround

Ground for I/O

7PSDigital In

Protocol select (GND=SPI, VDDIO=TWI)

8SCxDigital In

Serial clock (SCK or SCL)

9SDxDigital I/O

Serial data in (SPI: SDI; TWI: SDA)

10SDO2Digital Out

SPI serial data out gyroscope; TWI addr select gyro

11VDDIOSupply

Digital I/O supply voltage

12INT3Digital I/O

Interrupt pin (GYR #1)

13INT4Digital I/O

Interrupt pin (GYR #2)

14CSB1Digital In

SPI chip select accelerometer

15SDO1Digital Out

SPI serial data out accelerometer; TWI addr select accel

16INT1Digital I/O

Interrupt pin (ACC #1)

TWI/I2C Addresses:

Configuration	Accelerometer	Gyroscope
SDO1/SDO2 to GND	0x18	0x68
SDO1/SDO2 to VDDIO	0x19	0x69

Absolute Maximum Ratings

Parameter	Condition	Min	Max	Unit
Voltage at VDD pin	—	-0.3	4	V
Voltage at VDDIO pin	—	-0.3	4	V
Voltage at any logic pin	—	-0.3	VDDIO+0.3	V
Passive storage temperature	<=65% RH	-50	+150	degC
Mechanical shock	duration <=200 us	—	10000	g
Mechanical shock	duration <=1 ms	—	2000	g
Free fall onto hard surfaces	—	—	1.2	m
ESD (HBM)	any pin	—	2	kV
ESD (CDM)	—	—	500	V
ESD (MM)	—	—	200	V

Recommended Operating Conditions

Parameter	Min	Typ	Max	Unit
Supply voltage VDD	2.4	3.3	3.6	V
Supply voltage VDDIO	1.62	3.3	3.6	V
Operating temperature	-40	—	+105	degC

Lifetime conditions are per AEC-Q100 Grade 2 requirements.

Electrical Characteristics

Power Supply

Parameter	Condition	Min	Typ	Max	Unit
VDD supply voltage	—	2.4	3.3	3.6	V
VDDIO supply voltage	—	1.62	3.3	3.6	V
Input low voltage (V_IL)	—	—	—	0.3 VDDIO	—
Input high voltage (V_IH)	SPI	0.7 VDDIO	—	—	—
Output low voltage (V_OL)	I_OL <=2 mA	—	—	0.23 VDDIO	—
Output high voltage (V_OH)	I_OL <=2 mA	0.8 VDDIO	—	—	—

No limitations on VDD/VDDIO relative voltage levels as long as each is within operating range. Device can be switched off (VDD=0V) while keeping VDDIO on, or vice versa.

Accelerometer

Default config: +/-2 g range, 47 Hz bandwidth (100 Hz ODR).

Parameter	Condition	Typ	Unit
Supply current (normal mode)	VDD=VDDIO=3.0V, 25 degC, @1Hz	170	uA
Supply current (suspend mode)	VDD=VDDIO=3.0V, 25 degC	3	uA
Measurement range	selectable	+/-2, +/-4, +/-8, +/-16	g
Resolution @ +/-2 g	25 degC	16384	LSB/g
Resolution @ +/-4 g	25 degC	8192	LSB/g
Resolution @ +/-8 g	25 degC	4096	LSB/g
Resolution @ +/-16 g	25 degC	2048	LSB/g
Sensitivity tolerance	incl. temp + lifetime	1	%
Sensitivity temp drift (TCS)	—	+/-0.004	%/K
Zero-g offset	incl. temp + lifetime	20	mg
Zero-g offset temp drift	over full temp range	+/-0.2	mg/K
Output data rate (ODR)	selectable	12.5 - 1600	Hz
Bandwidth (3 dB)	depends on ODR/OSR	5.06 - 684 (max 353 Z-axis)	Hz
Nonlinearity	BFSL, no lifetime	10	mg
Cross axis sensitivity	any two axes	+/-1	%
Alignment error	relative to package	0.5	deg

Gyroscope

Default config: +/-2000 deg/s range, 47 Hz bandwidth.

Parameter	Condition	Typ	Unit
Supply current (normal mode)	VDD=VDDIO=3.0V, 25 degC	5	mA
Supply current (suspend mode)	VDD=VDDIO=3.0V, 25 degC	25	uA
Supply current (deep suspend)	VDD=VDDIO=3.0V, 25 degC	<5	uA
Measurement range	selectable	+/-125, +/-250, +/-500, +/-1000, +/-2000	deg/s
Resolution @ +/-125 deg/s	25 degC	16.38	LSB/(deg/s)
Resolution @ +/-250 deg/s	25 degC	32.77	LSB/(deg/s)
Resolution @ +/-500 deg/s	25 degC	65.54	LSB/(deg/s)
Resolution @ +/-1000 deg/s	25 degC	131.07	LSB/(deg/s)
Resolution @ +/-2000 deg/s	25 degC	262.14	LSB/(deg/s)
Sensitivity tolerance	incl. temp + lifetime	+/-1	%
Sensitivity temp drift (TCS)	over full temp range	+/-0.03	%/K
Zero-rate offset	lifetime + temp effects	+/-0.5	deg/s
Zero-rate offset temp drift	over full temp range	+/-0.015	(deg/s)/K
Bandwidth	selectable	12, 23, 32, 47, 64, 116, 230, 523 (unfiltered)	Hz
Noise (rms)	25 degC, nominal VDD	0.1	deg/s
Cross axis sensitivity	incl. temp + lifetime	+/-2	%

Temperature Sensor

Parameter	Typ	Unit
Accelerometer temp range	-104 to +150	degC
Accelerometer temp slope	0.125	K/LSB
Accelerometer temp offset error (25 degC)	+/-1	K
Gyroscope temp slope	0.5	K/LSB
Gyroscope temp offset (25 degC)	+/-5	K
Resolution	11-bit	—

Power Consumption

Power Modes — Accelerometer

Mode	Description	Current
Normal	Full operation, configurable ODR	170 uA typ
Suspend	Low power, no measurements	3 uA typ

Power Modes — Gyroscope

Mode	Description	Current
Normal	Full operation	5 mA typ
Suspend	Drive system off, fast wake-up	25 uA typ
Deep suspend	Minimum power, slow wake-up	<5 uA typ

Communication Interface

SPI Interface

4-wire SPI with separate chip selects for accelerometer (CSB1, pin 14) and gyroscope (CSB2, pin 5). Compatible with SPI modes 00 and 11 (auto-selected based on SCK state at CSB falling edge).

Parameter	Min	Max	Unit
Clock frequency (f_SCK)	—	10	MHz
SCK low/high pulse	20	—	ns
SDI setup time	20	—	ns
SDI hold time	20	—	ns
SDO output delay (25 pF, VDDIO=2.4V)	—	40	ns
CSB setup time	20	—	ns
CSB hold time	40	—	ns
Idle time between write accesses	2	—	us

Important: When reading the accelerometer via SPI, a dummy byte is sent first. A single byte read requires reading 2 bytes in burst mode (discard the first byte). For burst reads (e.g., 6 bytes of accel data from 0x12), read 7 bytes and discard the first.

TWI/I2C Interface

Compatible with I2C standard and fast mode (7-bit address only). Supports burst read with auto-incrementing address. Internal watchdog timer prevents bus lockup.

Parameter	Min	Max	Unit
Clock frequency (f_SCL)	0	400	kHz
SCL low period	1.3	—	us
SCL high period	0.6	—	us
SDA setup time	0.1	—	us
Start/repeated start setup/hold	0.6	—	us
Stop setup time	0.6	—	us
Bus free time (t_BUF)	1.3	—	us
Idle between write accesses	2	—	us
Rise time	20	300	ns
Fall time	0	300	ns

Limitations: Only single byte write supported. No clock stretching. Minimum data hold time of 120 ns (spec is 300 ns). Only 7-bit address mode.

Thermal Information

Reflow Soldering Profile (Pb-Free)

Parameter	Value
Preheat temperature	150 - 200 degC
Preheat time	60 - 180 s
Liquidus temperature (T_L)	217 degC
Time above T_L	60 - 150 s
Peak temperature (T_P)	260 degC max
Time within 5 degC of peak	20 - 40 s
Ramp-up rate (max)	3 degC/s
Ramp-down rate (max)	6 degC/s
Time 25 degC to peak	8 min max
Maximum reflow cycles	3

MSL rating: JEDEC Level 1

Packages

Parameter	Value	Unit
Package type	LGA	—
Pin count	16	—
Width	3.00	mm
Length	4.50	mm
Height	0.95	mm
Weight	27.48	mg
Pad pitch	0.625	mm
Reel quantity	5000	pcs
Reel diameter	330	mm
Tape width	12	mm

Tolerances: +/-0.05 mm unless otherwise specified. Compliant with RoHS (2002/95/EC), WEEE (2012/19/EU), and halogen-free.

Software API

Device Initialization

After power-on, the device performs a power-on reset (POR) which resets all registers to defaults. Application-specific settings must be reconfigured after POR. The accelerometer interface type (SPI/TWI) is determined by the CSB1 pin state during POR. The gyroscope interface type is determined by the PS pin.

Accelerometer Register Map (Key Registers)

Address	Name	Description
0x00	ACC_CHIP_ID	Chip identification (0x1F)
0x02	ACC_ERR_REG	Error register
0x03	ACC_STATUS	Data ready status
0x12-0x17	ACC_X/Y/Z	Acceleration data (LSB/MSB per axis)
0x18-0x1A	SENSORTIME	24-bit sensor time
0x1C	INT_STATUS_0	Interrupt status
0x22-0x23	TEMP	Temperature data (MSB/LSB)
0x24-0x25	FIFO_LENGTH	FIFO byte count
0x26	FIFO_DATA	FIFO data readout
0x40	ACC_CONF	ODR, bandwidth, power mode config
0x41	ACC_RANGE	Measurement range selection
0x45-0x4A	FIFO config	FIFO mode and watermark
0x53	INT1_IO_CONF	INT1 pin configuration
0x54	INT2_IO_CONF	INT2 pin configuration
0x58	INT_MAP_DATA	Data ready interrupt mapping
0x59-0x5A	FEATURE config	Feature interrupt engine
0x5B-0x5E	INIT config	Config file loading
0x7C	ACC_SELF_TEST	Self-test trigger
0x7E	ACC_SOFTRESET	Soft reset (write 0xB6)

Gyroscope Register Map (Key Registers)

Address	Name	Description
0x00	GYRO_CHIP_ID	Chip identification (0x0F)
0x02-0x07	RATE_X/Y/Z	Angular rate data (LSB/MSB per axis)
0x08	GYRO_INT_STAT_1	Interrupt status
0x0F	GYRO_RANGE	Measurement range selection
0x10	GYRO_BANDWIDTH	Filter bandwidth selection
0x11	GYRO_LPM1	Power mode control
0x14	GYRO_SOFTRESET	Soft reset (write 0xB6)
0x15	GYRO_INT_CTRL	Interrupt enable
0x16	INT3_INT4_IO_CONF	Interrupt pin configuration
0x18	INT3_INT4_IO_MAP	Interrupt mapping
0x1E	GYRO_SELF_TEST	Self-test trigger
0x3C-0x3E	FIFO config	FIFO control

Data Synchronization

The accelerometer and gyroscope can be synchronized so that acceleration and angular rate data correspond to the same timestamp. This requires uploading a configuration file to the accelerometer's feature engine. When enabled, synchronized data is available through dedicated registers (INT_SYNC_X/Y/Z at 0x1E-0x28).

Interrupt Features

Configurable via config file upload to the accelerometer feature engine:

Any-motion / Slope detection — detects sudden acceleration changes
High-g detection — detects acceleration exceeding a programmable threshold
Low-g detection — detects free-fall or low-gravity conditions
Orientation detection — detects device orientation relative to gravity (portrait/landscape, face-up/face-down)
No-motion detection — detects when device is stationary

FIFO Operation

Both accelerometer and gyroscope have independent on-chip FIFO buffers:

Accelerometer FIFO: up to 1024 bytes, supports FIFO, stream, and stream-to-FIFO modes
Gyroscope FIFO: up to 100 frames, supports FIFO and stream modes
Configurable watermark interrupts and overrun detection

Self-Test

Accelerometer: Apply electrostatic self-test force, verify output difference is within specified range
Gyroscope: Triggered by writing to GYRO_SELF_TEST register, bit 0 of result indicates pass/fail

Applications

High-end dead reckoning navigation
eCall systems
Telematics and electronic tolling
Vehicle dynamics data logging
Car alarm / anti-theft
ADAS sensor fusion

Diagrams & Graphs (41)

Fig 1 — Schematics of the SMI230 mechanical design (left: top view; right: side view)

Fig 2 — Simplified block diagram of the SMI230

Fig 3 — Simplified signal path of the accelerometer

Fig 4 — Simplified signal path of the accelerometer

Fig 5 — Simplified signal path of the gyroscope

Fig 6 — Path of the detection signal for one axis (gyroscope)

Fig 7 — Sensing axis orientation

Fig 8 — SMI230 package outline drawing

Fig 9 — Tape dimensions in mm

Fig 10 — Reel dimensions

Fig 11 — Details on hub hole dimension C in mm

Fig 12 — Orientation of the SMI230 devices relative to the tape

Fig 13 — Pin-out top (left) and bottom (right) view

Fig 14 — Reflow soldering recommendation

Fig 15 — Soldering profile

Fig 16 — SMI230 footprint

Fig 17 — SPI connection diagram

Fig 18 — SPI timing diagram

Fig 19 — 4-wire basic SPI write sequence (mode 11)

Fig 20 — 4-wire basic SPI read sequence (mode 11)

Fig 21 — SPI multiple read

Fig 22 — TWI connection diagram

Fig 23 — Definition of rise and fall time of TWI signals

Fig 24 — SMI230 TWI timing specification

Fig 25 — Example of a TWI write access to the accelerometer

Fig 26 — Example of a TWI read access

Fig 27 — Post-write access timing constraints

Fig 28 — Basic flow chart for SMI230 application with key functional elements

Fig 29 — Timing diagram for external FIFO synchronization

Fig 30 — Typical application diagram for using the SMI230 synchronized data

Fig 31 — Principle of the slope / any-motion detection

Fig 32 — Principle of the high-g interrupt

Fig 33 — Principle of low-g interrupt

Fig 34 — Definition of the coordinate system with respect to pin marker 1

Fig 35 — Typical orientation switching conditions without hysteresis

Fig 36 — Hysteresis in symmetrical mode

Fig 37 — Hysteresis in high asymmetrical mode

Fig 38 — Hysteresis in low asymmetrical mode

Fig 39 — Timing of the no-motion interrupt

Fig 40 — SMI230 BIST sequence

Fig 41 — Format of the data read-out from register 0x3F

Fig 1 — Schematics of the SMI230 mechanical design (left: top view; right: side view)

Fig 2 — Simplified block diagram of the SMI230

Fig 3 — Simplified signal path of the accelerometer

Fig 4 — Simplified signal path of the accelerometer

Fig 5 — Simplified signal path of the gyroscope

Fig 6 — Path of the detection signal for one axis (gyroscope)

Fig 11 — Details on hub hole dimension C in mm

Fig 12 — Orientation of the SMI230 devices relative to the tape

Fig 13 — Pin-out top (left) and bottom (right) view

Fig 14 — Reflow soldering recommendation

Fig 19 — 4-wire basic SPI write sequence (mode 11)

Fig 20 — 4-wire basic SPI read sequence (mode 11)

Fig 23 — Definition of rise and fall time of TWI signals

Fig 24 — SMI230 TWI timing specification

Fig 25 — Example of a TWI write access to the accelerometer

Fig 27 — Post-write access timing constraints

Fig 28 — Basic flow chart for SMI230 application with key functional elements

Fig 29 — Timing diagram for external FIFO synchronization

Fig 30 — Typical application diagram for using the SMI230 synchronized data

Fig 31 — Principle of the slope / any-motion detection

Fig 32 — Principle of the high-g interrupt

Fig 34 — Definition of the coordinate system with respect to pin marker 1

Fig 35 — Typical orientation switching conditions without hysteresis

Fig 37 — Hysteresis in high asymmetrical mode

Fig 38 — Hysteresis in low asymmetrical mode

Fig 39 — Timing of the no-motion interrupt

Fig 41 — Format of the data read-out from register 0x3F

**Source:** [Bosch Technical Product Description (V2.1, Feb 2022)](https://download.siliconexpert.com/pdfs2/2022/4/13/14/1/43/967160/bsc_/auto/tpd_smi230_v2_1_2022-02.pdf)
**Manufacturer:** Robert Bosch GmbH
**Part Number:** SMI230 (0273 142 144)
**Document:** Technical Product Description V2.1 — Feb 2022

## Description

The SMI230 is a combined triaxial accelerometer and triaxial gyroscope (6 degrees of freedom) for non-safety automotive applications such as in-dash navigation. It is based on a two-chip stacked concept: the accelerometer and gyroscope sensing elements (MEMS) are mounted side-by-side, with read-out ASICs stacked on top of each respective sensing element, all within a single LGA-16 package.

The accelerometer detects differential capacitance changes from comb-like seismic masses suspended on silicon spring bars. The gyroscope uses the Coriolis vibratory principle with two seismic masses oscillating at ~25 kHz via electrostatic drive forces. Both sensors feed through hybrid analog-digital converters (ADCs) at 400 kHz sampling rate into digital signal processors (DSPs) with configurable low-pass filtering, gain, and offset correction.

The gyroscope and accelerometer can be operated individually or tied together for data synchronization. The device supports SPI (up to 10 MHz) and TWI/I2C (up to 400 kHz) interfaces with separate chip selects for each sensor.

## Key Specifications

| Parameter | Value |
| --- | --- |
| Supply Voltage (VDD) | 2.4V to 3.6V |
| I/O Supply Voltage (VDDIO) | 1.62V to 3.6V |
| Supply Current (ACC normal) | 170 uA typ |
| Supply Current (GYR normal) | 5 mA typ |
| Supply Current (ACC suspend) | 3 uA typ |
| Supply Current (GYR deep suspend) | <5 uA typ |
| Operating Temperature | -40 to +105 degC |
| Interfaces | SPI (10 MHz max), TWI/I2C (400 kHz max) |
| Package | LGA-16 (3.0 x 4.5 x 0.95 mm) |
| Weight | 27.48 mg |
| Accelerometer Ranges | +/-2, +/-4, +/-8, +/-16 g |
| Gyroscope Ranges | +/-125, +/-250, +/-500, +/-1000, +/-2000 deg/s |
| Data Resolution | 16-bit (accelerometer and gyroscope) |
| Qualification | AEC-Q100 Grade 2 |
| ESD Protection | 2 kV HBM |

## Features

- Combined 16-bit triaxial accelerometer and 16-bit triaxial gyroscope in a single package
- Accelerometer and gyroscope operable individually or synchronized via data synchronization feature
- Selectable measurement ranges: +/-2/4/8/16 g (accel), +/-125/250/500/1000/2000 deg/s (gyro)
- Configurable low-pass filter bandwidth with bypass option
- On-chip FIFO buffers for both accelerometer and gyroscope
- Configurable interrupt engine: any-motion, no-motion, high-g, low-g, orientation detection
- On-chip temperature sensor (-104 to +150 degC, 11-bit, 0.125 K/LSB)
- SPI and TWI/I2C digital interfaces with separate chip selects
- Power-on reset (POR) generator
- 5 power modes per sensor (normal, suspend, deep suspend for gyro)
- Self-test capability for both sensors
- AEC-Q100 Grade 2 qualified, MSL1, RoHS compliant, halogen-free
- Mechanical shock tolerance up to 10,000 g (duration <=200 us)
- Application support software and config file upload capability

## Pin Configuration

| Pin | Name | Type | Description |
| --- | --- | --- | --- |
| 1 | INT2 | Digital I/O | Interrupt pin (ACC #2) |
| 2 | NC | -- | Not connected (tie to GND) |
| 3 | VDD | Supply | Power supply analog and digital domain |
| 4 | GNDA | Ground | Ground for analog domain |
| 5 | CSB2 | Digital In | SPI chip select gyroscope |
| 6 | GNDIO | Ground | Ground for I/O |
| 7 | PS | Digital In | Protocol select (GND=SPI, VDDIO=TWI) |
| 8 | SCx | Digital In | Serial clock (SCK or SCL) |
| 9 | SDx | Digital I/O | Serial data in (SPI: SDI; TWI: SDA) |
| 10 | SDO2 | Digital Out | SPI serial data out gyroscope; TWI addr select gyro |
| 11 | VDDIO | Supply | Digital I/O supply voltage |
| 12 | INT3 | Digital I/O | Interrupt pin (GYR #1) |
| 13 | INT4 | Digital I/O | Interrupt pin (GYR #2) |
| 14 | CSB1 | Digital In | SPI chip select accelerometer |
| 15 | SDO1 | Digital Out | SPI serial data out accelerometer; TWI addr select accel |
| 16 | INT1 | Digital I/O | Interrupt pin (ACC #1) |

**TWI/I2C Addresses:**

| Configuration | Accelerometer | Gyroscope |
| --- | --- | --- |
| SDO1/SDO2 to GND | 0x18 | 0x68 |
| SDO1/SDO2 to VDDIO | 0x19 | 0x69 |

## Absolute Maximum Ratings

| Parameter | Condition | Min | Max | Unit |
| --- | --- | --- | --- | --- |
| Voltage at VDD pin | — | -0.3 | 4 | V |
| Voltage at VDDIO pin | — | -0.3 | 4 | V |
| Voltage at any logic pin | — | -0.3 | VDDIO+0.3 | V |
| Passive storage temperature | <=65% RH | -50 | +150 | degC |
| Mechanical shock | duration <=200 us | — | 10000 | g |
| Mechanical shock | duration <=1 ms | — | 2000 | g |
| Free fall onto hard surfaces | — | — | 1.2 | m |
| ESD (HBM) | any pin | — | 2 | kV |
| ESD (CDM) | — | — | 500 | V |
| ESD (MM) | — | — | 200 | V |

## Recommended Operating Conditions

| Parameter | Min | Typ | Max | Unit |
| --- | --- | --- | --- | --- |
| Supply voltage VDD | 2.4 | 3.3 | 3.6 | V |
| Supply voltage VDDIO | 1.62 | 3.3 | 3.6 | V |
| Operating temperature | -40 | — | +105 | degC |

Lifetime conditions are per AEC-Q100 Grade 2 requirements.

## Electrical Characteristics

### Power Supply

| Parameter | Condition | Min | Typ | Max | Unit |
| --- | --- | --- | --- | --- | --- |
| VDD supply voltage | — | 2.4 | 3.3 | 3.6 | V |
| VDDIO supply voltage | — | 1.62 | 3.3 | 3.6 | V |
| Input low voltage (V_IL) | — | — | — | 0.3 VDDIO | — |
| Input high voltage (V_IH) | SPI | 0.7 VDDIO | — | — | — |
| Output low voltage (V_OL) | I_OL <=2 mA | — | — | 0.23 VDDIO | — |
| Output high voltage (V_OH) | I_OL <=2 mA | 0.8 VDDIO | — | — | — |

No limitations on VDD/VDDIO relative voltage levels as long as each is within operating range. Device can be switched off (VDD=0V) while keeping VDDIO on, or vice versa.

### Accelerometer

Default config: +/-2 g range, 47 Hz bandwidth (100 Hz ODR).

| Parameter | Condition | Typ | Unit |
| --- | --- | --- | --- |
| Supply current (normal mode) | VDD=VDDIO=3.0V, 25 degC, @1Hz | 170 | uA |
| Supply current (suspend mode) | VDD=VDDIO=3.0V, 25 degC | 3 | uA |
| Measurement range | selectable | +/-2, +/-4, +/-8, +/-16 | g |
| Resolution @ +/-2 g | 25 degC | 16384 | LSB/g |
| Resolution @ +/-4 g | 25 degC | 8192 | LSB/g |
| Resolution @ +/-8 g | 25 degC | 4096 | LSB/g |
| Resolution @ +/-16 g | 25 degC | 2048 | LSB/g |
| Sensitivity tolerance | incl. temp + lifetime | 1 | % |
| Sensitivity temp drift (TCS) | — | +/-0.004 | %/K |
| Zero-g offset | incl. temp + lifetime | 20 | mg |
| Zero-g offset temp drift | over full temp range | +/-0.2 | mg/K |
| Output data rate (ODR) | selectable | 12.5 - 1600 | Hz |
| Bandwidth (3 dB) | depends on ODR/OSR | 5.06 - 684 (max 353 Z-axis) | Hz |
| Nonlinearity | BFSL, no lifetime | 10 | mg |
| Cross axis sensitivity | any two axes | +/-1 | % |
| Alignment error | relative to package | 0.5 | deg |

### Gyroscope

Default config: +/-2000 deg/s range, 47 Hz bandwidth.

| Parameter | Condition | Typ | Unit |
| --- | --- | --- | --- |
| Supply current (normal mode) | VDD=VDDIO=3.0V, 25 degC | 5 | mA |
| Supply current (suspend mode) | VDD=VDDIO=3.0V, 25 degC | 25 | uA |
| Supply current (deep suspend) | VDD=VDDIO=3.0V, 25 degC | <5 | uA |
| Measurement range | selectable | +/-125, +/-250, +/-500, +/-1000, +/-2000 | deg/s |
| Resolution @ +/-125 deg/s | 25 degC | 16.38 | LSB/(deg/s) |
| Resolution @ +/-250 deg/s | 25 degC | 32.77 | LSB/(deg/s) |
| Resolution @ +/-500 deg/s | 25 degC | 65.54 | LSB/(deg/s) |
| Resolution @ +/-1000 deg/s | 25 degC | 131.07 | LSB/(deg/s) |
| Resolution @ +/-2000 deg/s | 25 degC | 262.14 | LSB/(deg/s) |
| Sensitivity tolerance | incl. temp + lifetime | +/-1 | % |
| Sensitivity temp drift (TCS) | over full temp range | +/-0.03 | %/K |
| Zero-rate offset | lifetime + temp effects | +/-0.5 | deg/s |
| Zero-rate offset temp drift | over full temp range | +/-0.015 | (deg/s)/K |
| Bandwidth | selectable | 12, 23, 32, 47, 64, 116, 230, 523 (unfiltered) | Hz |
| Noise (rms) | 25 degC, nominal VDD | 0.1 | deg/s |
| Cross axis sensitivity | incl. temp + lifetime | +/-2 | % |

### Temperature Sensor

| Parameter | Typ | Unit |
| --- | --- | --- |
| Accelerometer temp range | -104 to +150 | degC |
| Accelerometer temp slope | 0.125 | K/LSB |
| Accelerometer temp offset error (25 degC) | +/-1 | K |
| Gyroscope temp slope | 0.5 | K/LSB |
| Gyroscope temp offset (25 degC) | +/-5 | K |
| Resolution | 11-bit | — |

## Power Consumption

### Power Modes — Accelerometer

| Mode | Description | Current |
| --- | --- | --- |
| Normal | Full operation, configurable ODR | 170 uA typ |
| Suspend | Low power, no measurements | 3 uA typ |

### Power Modes — Gyroscope

| Mode | Description | Current |
| --- | --- | --- |
| Normal | Full operation | 5 mA typ |
| Suspend | Drive system off, fast wake-up | 25 uA typ |
| Deep suspend | Minimum power, slow wake-up | <5 uA typ |

## Communication Interface

### SPI Interface

4-wire SPI with separate chip selects for accelerometer (CSB1, pin 14) and gyroscope (CSB2, pin 5). Compatible with SPI modes 00 and 11 (auto-selected based on SCK state at CSB falling edge).

| Parameter | Min | Max | Unit |
| --- | --- | --- | --- |
| Clock frequency (f_SCK) | — | 10 | MHz |
| SCK low/high pulse | 20 | — | ns |
| SDI setup time | 20 | — | ns |
| SDI hold time | 20 | — | ns |
| SDO output delay (25 pF, VDDIO=2.4V) | — | 40 | ns |
| CSB setup time | 20 | — | ns |
| CSB hold time | 40 | — | ns |
| Idle time between write accesses | 2 | — | us |

**Important:** When reading the accelerometer via SPI, a dummy byte is sent first. A single byte read requires reading 2 bytes in burst mode (discard the first byte). For burst reads (e.g., 6 bytes of accel data from 0x12), read 7 bytes and discard the first.

### TWI/I2C Interface

Compatible with I2C standard and fast mode (7-bit address only). Supports burst read with auto-incrementing address. Internal watchdog timer prevents bus lockup.

| Parameter | Min | Max | Unit |
| --- | --- | --- | --- |
| Clock frequency (f_SCL) | 0 | 400 | kHz |
| SCL low period | 1.3 | — | us |
| SCL high period | 0.6 | — | us |
| SDA setup time | 0.1 | — | us |
| Start/repeated start setup/hold | 0.6 | — | us |
| Stop setup time | 0.6 | — | us |
| Bus free time (t_BUF) | 1.3 | — | us |
| Idle between write accesses | 2 | — | us |
| Rise time | 20 | 300 | ns |
| Fall time | 0 | 300 | ns |

**Limitations:** Only single byte write supported. No clock stretching. Minimum data hold time of 120 ns (spec is 300 ns). Only 7-bit address mode.

## Software API

### Device Initialization

After power-on, the device performs a power-on reset (POR) which resets all registers to defaults. Application-specific settings must be reconfigured after POR. The accelerometer interface type (SPI/TWI) is determined by the CSB1 pin state during POR. The gyroscope interface type is determined by the PS pin.

### Accelerometer Register Map (Key Registers)

| Address | Name | Description |
| --- | --- | --- |
| 0x00 | ACC_CHIP_ID | Chip identification (0x1F) |
| 0x02 | ACC_ERR_REG | Error register |
| 0x03 | ACC_STATUS | Data ready status |
| 0x12-0x17 | ACC_X/Y/Z | Acceleration data (LSB/MSB per axis) |
| 0x18-0x1A | SENSORTIME | 24-bit sensor time |
| 0x1C | INT_STATUS_0 | Interrupt status |
| 0x22-0x23 | TEMP | Temperature data (MSB/LSB) |
| 0x24-0x25 | FIFO_LENGTH | FIFO byte count |
| 0x26 | FIFO_DATA | FIFO data readout |
| 0x40 | ACC_CONF | ODR, bandwidth, power mode config |
| 0x41 | ACC_RANGE | Measurement range selection |
| 0x45-0x4A | FIFO config | FIFO mode and watermark |
| 0x53 | INT1_IO_CONF | INT1 pin configuration |
| 0x54 | INT2_IO_CONF | INT2 pin configuration |
| 0x58 | INT_MAP_DATA | Data ready interrupt mapping |
| 0x59-0x5A | FEATURE config | Feature interrupt engine |
| 0x5B-0x5E | INIT config | Config file loading |
| 0x7C | ACC_SELF_TEST | Self-test trigger |
| 0x7E | ACC_SOFTRESET | Soft reset (write 0xB6) |

### Gyroscope Register Map (Key Registers)

| Address | Name | Description |
| --- | --- | --- |
| 0x00 | GYRO_CHIP_ID | Chip identification (0x0F) |
| 0x02-0x07 | RATE_X/Y/Z | Angular rate data (LSB/MSB per axis) |
| 0x08 | GYRO_INT_STAT_1 | Interrupt status |
| 0x0F | GYRO_RANGE | Measurement range selection |
| 0x10 | GYRO_BANDWIDTH | Filter bandwidth selection |
| 0x11 | GYRO_LPM1 | Power mode control |
| 0x14 | GYRO_SOFTRESET | Soft reset (write 0xB6) |
| 0x15 | GYRO_INT_CTRL | Interrupt enable |
| 0x16 | INT3_INT4_IO_CONF | Interrupt pin configuration |
| 0x18 | INT3_INT4_IO_MAP | Interrupt mapping |
| 0x1E | GYRO_SELF_TEST | Self-test trigger |
| 0x3C-0x3E | FIFO config | FIFO control |

### Data Synchronization

The accelerometer and gyroscope can be synchronized so that acceleration and angular rate data correspond to the same timestamp. This requires uploading a configuration file to the accelerometer's feature engine. When enabled, synchronized data is available through dedicated registers (INT_SYNC_X/Y/Z at 0x1E-0x28).

### Interrupt Features

Configurable via config file upload to the accelerometer feature engine:

- **Any-motion / Slope detection** — detects sudden acceleration changes
- **High-g detection** — detects acceleration exceeding a programmable threshold
- **Low-g detection** — detects free-fall or low-gravity conditions
- **Orientation detection** — detects device orientation relative to gravity (portrait/landscape, face-up/face-down)
- **No-motion detection** — detects when device is stationary

### FIFO Operation

Both accelerometer and gyroscope have independent on-chip FIFO buffers:
- **Accelerometer FIFO:** up to 1024 bytes, supports FIFO, stream, and stream-to-FIFO modes
- **Gyroscope FIFO:** up to 100 frames, supports FIFO and stream modes
- Configurable watermark interrupts and overrun detection

### Self-Test

- **Accelerometer:** Apply electrostatic self-test force, verify output difference is within specified range
- **Gyroscope:** Triggered by writing to GYRO_SELF_TEST register, bit 0 of result indicates pass/fail

## Thermal Information

### Reflow Soldering Profile (Pb-Free)

| Parameter | Value |
| --- | --- |
| Preheat temperature | 150 - 200 degC |
| Preheat time | 60 - 180 s |
| Liquidus temperature (T_L) | 217 degC |
| Time above T_L | 60 - 150 s |
| Peak temperature (T_P) | 260 degC max |
| Time within 5 degC of peak | 20 - 40 s |
| Ramp-up rate (max) | 3 degC/s |
| Ramp-down rate (max) | 6 degC/s |
| Time 25 degC to peak | 8 min max |
| Maximum reflow cycles | 3 |

MSL rating: JEDEC Level 1

## Packages

| Parameter | Value | Unit |
| --- | --- | --- |
| Package type | LGA | — |
| Pin count | 16 | — |
| Width | 3.00 | mm |
| Length | 4.50 | mm |
| Height | 0.95 | mm |
| Weight | 27.48 | mg |
| Pad pitch | 0.625 | mm |
| Reel quantity | 5000 | pcs |
| Reel diameter | 330 | mm |
| Tape width | 12 | mm |

Tolerances: +/-0.05 mm unless otherwise specified. Compliant with RoHS (2002/95/EC), WEEE (2012/19/EU), and halogen-free.

## Applications

- High-end dead reckoning navigation
- eCall systems
- Telematics and electronic tolling
- Vehicle dynamics data logging
- Car alarm / anti-theft
- ADAS sensor fusion

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