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PDF SMG130 Data sheet ( Hoja de datos )
| Número de pieza | SMG130 | |
| Descripción | 3-axis gyroscope | |
| Fabricantes | Bosch | |
| Logotipo |  |
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Department AE/ESE3
Datasheet
SMG130
Page 0/47
Version 1.0
No. 1 279 929 820
Date 01.10.2015
0 Document History
Version Comment
1.0 Initial Version: Fork from
20150402_TPD_SMG130_non_NDA_v1.0_preliminary
Changes as compared to TPD:
- Disclaimer extended
- Document name changed
Date
29.09.2015
Robert Bosch 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.
1 page  
Department AE/ESE3
Datasheet
SMG130
Page 4/47
Version 1.0
No. 1 279 929 820
Date 01.10.2015
Robert Bosch 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.
5 Page 
Department AE/ESE3
Datasheet
SMG130
Page 10/47
Version 1.0
No. 1 279 929 820
Date 01.10.2015
2.6 Sensor Data
2.6.1 Gyroscope
The data representation of the SMG130 follows two´s complement representation.
For each axis, the 16 bits of rate data are split into a MSB upper part (bits <15:8> of rate data)
and a LSB lower part (bits <7:0> of rate data). Registers 0x02 (RATE_X_LSB) and 0x03
(RATE_X_MSB) contain the rate data for the x-channel, registers 0x04 (RATE_Y_LSB) and 0x05
(RATE_Y_MSB) for the y-channel and 0x06 (RATE_Z_LSB) and 0x07 (RATE_Z_MSB) for the z-
channel. It is recommended to always start reading the rate data registers with the LSB part.
An example for the range setting of ±125 °/s is shown in the table below.
Decimal value
+32767
…
0
… -32767
Angular rate
+125 °/s
…
0
… -125 °/s
In order to ensure data integrity, a shadowing procedure can be enabled. In this case, the con-
tent of the MSB register is locked by reading the corresponding LSB register until the MSB regis-
ter is read as well. This means that the MSB register always has to be read in order to remove
the data lock. Shadowing can be disabled (enabled) by writing 1 (0) to bit 6 (shadow_dis) in the
register 0x13 (RATE_HBW). When shadowing is disabled, the content of both the MSB and the
LSB register is updated by a new value immediately.
Two different streams of rate data are available, unfiltered and filtered data. The SMG130 pro-
cesses the 2 kHz data of the analog frontend with a CIC/decimation filter, followed by an IIR filter,
before sending it to the interrupt handler. The possible decimation factors are 2, 5, 10 and 20. It is
also possible to bypass these filters and use the unfiltered 2 kHz data. The sampling rate (output
data rate ODR) of the filtered data depends on the selected filter bandwidth (BW) and is always
twice the selected bandwidth (BW = ODR/2). Which kind of data is stored in the rate data regis-
ters depends on bit 7 (data_high_bw) in register 0x13 (RATE_HBW). If bit 7 is 0 (1), filtered (unfil-
tered) data is stored in the registers.
The bandwidth of filtered rate data is determined by setting bits <3:0> (bw) in register 0x10 (BW)
as shown in the following table.
bw
0111
0110
0101
0100
0011
0010
0001
0000
Filter Bandwidth [Hz]
32
64
12
23
47
116
230
523 (unfiltered)
Decimation Factor
20
10
20
10
5
2
0
0
Robert Bosch 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.
11 Page | ||
| Páginas | Total 30 Páginas | |
| PDF Descargar | [ Datasheet SMG130.PDF ] | |
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