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QMI8658C手册(QMI8658C).pdf
1 General Information
1.1 Ordering Information
1.2 Marking Information
1.3 Internal Block Diagram
1.4 Interface Operating Modes
1.5 Package & Pin Information
1.6 Recommended External Components
2 QMI8658C Architecture
2.1 AttitudeEngine Mode Overview
2.2 Advantages of the Attitude Engine Approach
2.3 9D Sensor Fusion and Auto-Calibration using XKF3
2.4 Frames of Reference and Conventions for Using QMI8658C
3 System, Electrical and Electro-Mechanical Characteristics
3.1 Absolute Maximum Ratings
3.2 Recommended Operating Conditions
3.3 System Level Specifications
3.4 Electro-Mechanical Specifications
3.5 Accelerometer Programmable Characteristics
3.6 Gyroscope Programmable Characteristics
3.7 Electrical Characteristics
3.7.1 Current Consumption
3.8 Temperature Sensor
4 Register Map Overview
4.1 UI Register Map Overview
5 UI Sensor Configuration Settings and Output Data
5.1 Typical Sensor Mode Configuration and Output Data
5.2 AttitudeEngine (AE) Mode Configuration and Output Data
5.3 General Purpose Register
5.4 Configuration Registers
5.5 FIFO Registers
5.6 Status and Time Stamp Registers
5.7 Sensor Data Output Registers
5.8 CTRL 9 Functionality (Executing Pre-defined Commands)
5.8.1 CTRL 9 Description
5.8.2 WCtrl9 (Write – CTRL9 Protocol)
5.8.3 Ctrl9R (CTRL9 Protocol - Read)
5.8.4 Ctrl9 (CTRL9 Protocol Acknowledge)
5.8.5 CTRL9 Commands in Detail
CTRL_CMD_NOP
CTRL_CMD_GYRO_BIAS
CTRL_CMD_REQ_SDI
CTRL_CMD_RST_FIFO
CTRL_CMD_REQ_FIFO
CTRL_CMD_I2CM_WRITE
CTRL_CMD_WRITE_WOM_SETTING
CTRL_CMD_ACCEL_HOST_DELTA_OFFSET
CTRL_CMD_GYRO_HOST_DELTA_OFFSET
CTRL_CMD_COPY_USID
CTRL_CMD_SET_RPU
6 Interrupts
6.1 Overview
6.1.1 Interrupt 1 (INT1)
6.1.2 Interrupt 2 (INT2)
7 Operating Modes
7 Operating Modes
7.1 General Mode Transitioning
7.2 Transition Times
8 FIFO Description
8.1 Using the FIFO
8.2 FIFO Register Description
9 Wake on Motion (WoM)
9.1 Wake on Motion Introduction
9.2 Accelerometer Configuration
9.3 Wake on Motion Event
9.4 Configuration Procedure
9.5 Wake on Motion Control Registers
9.6 Exiting Wake on Motion Mode
10 Performing Device Self Test
10.1 Accelerometer Self Test
10.2 Gyroscope Self Test
11 Magnetometer Setup
11.1 Magnetometer Description
12 Host Serial Interface
12.1 Serial Peripheral Interface (SPI)
12.1.1 SPI Timing Characteristics
12.2 I2C Interface
12.3 MIPI I3C Interface
13 Package and Handling
13.1 Package Drawing
13.2 Reflow Specification
13.3 Storage Specifications
14 Document Information
14.1 Revision History
ADVANCE INFORMATION — CONFIDENTIAL AND PROPRIETARY — DO NOT DISTRIBUTE
QMI8658C DATASHEET
JANUARY 13, 2021
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© 2021 QST Corporation
QMI8658C • Rev 0.6
www. qstcorp.com
QST SOLUTIONS LIMITED
120 BAYTECH DR, SAN JOSE, CA 95134
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ADVANCE INFORMATION — CONFIDENTIAL AND PROPRIETARY — DO NOT DISTRIBUTE
QMI8658C
Low Noise, Wide Bandwidth 6D Inertial Measurement
Unit with Motion Co-Processor and Sensor Fusion
Features
Low 15 mdps/√Hz gyroscope noise, low-latency,
and wide bandwidth for performance applications
such robotic vacuums, industrial tilt modules,
pedestrian navigation and GNSS augmentation, 5G
antenna stabilization, inertial navigation, and large
industrial UAVs
Low Noise 200µg/√Hz accelerometer
Host (slave) interface supports MIPI™ I3C, I2C, and
3-wire or 4-wire SPI; auxiliary master I2C interface
supports an external magnetometer
Accelerometer and gyroscope sensors feature
signal processing paths with digitally programmable
data rates and filtering
Complete inertial measurement unit (IMU) with
sensor fusion library with specified orientation
accuracy of ±3º pitch and roll, ±5º yaw/heading
High-performance XKF3TM 6/9-axis sensor fusion
with in-run calibration for correction of gyroscope
bias drift over-temperature and lifetime
3-axis gyroscope and 3-axis accelerometer in a
small 2.5 x 3.0 x 0.86 mm 14-pin LGA package
Integrated Gen 2 AttitudeEngineTM motion co-
processor with vector DSP performs sensor fusion
at 1 kHz sampling rate, while outputting data to host
processor at a lower rate – improving accuracy
while reducing processor MIPS, power, and
interrupt requirements
Large 1536-byte FIFO can be used to buffer sensor
data to lower system power dissipation
Motion on demand technology for polling-based
synchronization
Large sensor dynamic ranges from ±16°/s to
±2048°/s for gyroscope and ±2 g to ±16 g for
accelerometer
Low power modes for effective power management
Digitally programmable sampling rate and filters
Embedded temperature sensor
Wide extended operating temperature range
(-40°C to 85°C)
is a complete 6D MEMS
Description
The QMI8658C
inertial
measurement unit (IMU) with 9-axis sensor fusion and
specified system level orientation accuracy. When using
the QMI8658C in combination with the supplied XKF3
9D-sensor fusion, the system features an accurate ±3°
pitch and roll orientation, and a ±5° yaw/heading typical
specification.
With tight board-level gyroscope sensitivity of ±3%,
gyroscope noise density of 15 mdps/√Hz, and low
latency, the QMI8658C is ideal for high performance
consumer and for industrial applications.
The QMI8658C incorporates a 3-axis gyroscope and a 3-
axis accelerometer. It provides a UI interface (supporting
I3C, I2C and 3-wire or 4-wire SPI) and a second interface
functioning as an I2C master for communicating to an
external magnetometer.
The QMI8658C incorporates an advanced vector digital
signal processor (DSP) motion co-processor called the
AttitudeEngine. The AttitudeEngine efficiently encodes
high frequency motion at high internal sampling rates,
preserving full accuracy across lower-frequency output
data rates.
This enables the application to utilize low output data
rates (ODRs) or on-demand (host polling) while still
acquiring accurate 3D motion data. The AttitudeEngine
reduces the data processing and interrupt load on a host
processor with no compromises in 3D motion tracking
accuracy. The result is very low total system power in
combination with high accuracy, which are essential to
many portable and battery powered applications.
Applications
Toys
Drones
E-bikes and scooters
Motion-based remote controls and air mice
© 2021 QST Corporation
QMI8658C • Rev 0.6
www. qstcorp.com
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ADVANCE INFORMATION — CONFIDENTIAL AND PROPRIETARY — DO NOT DISTRIBUTE
Table of Contents
1
3
3.8
2.1
2.2
2.3
2.4
1.1
1.2
1.3
1.4
1.5
1.6
3.1
3.2
3.3
3.4
3.5
3.6
3.7
General Information ........................................................................................................ 4
Ordering Information .......................................................................................................... 4
Marking Information ........................................................................................................... 4
Internal Block Diagram ........................................................................................................ 5
Interface Operating Modes .................................................................................................. 6
Package & Pin Information .................................................................................................. 7
Recommended External Components .................................................................................. 9
2 QMI8658C Architecture ................................................................................................. 10
AttitudeEngine Mode Overview ......................................................................................... 10
Advantages of the Attitude Engine Approach .................................................................... 10
9D Sensor Fusion and Auto-Calibration using XKF3 ............................................................ 11
Frames of Reference and Conventions for Using QMI8658C ............................................... 12
System, Electrical and Electro-Mechanical Characteristics ............................................. 13
Absolute Maximum Ratings ............................................................................................... 13
Recommended Operating Conditions ................................................................................ 13
System Level Specifications ............................................................................................... 14
Electro-Mechanical Specifications ...................................................................................... 15
Accelerometer Programmable Characteristics ................................................................... 17
Gyroscope Programmable Characteristics .......................................................................... 18
Electrical Characteristics .................................................................................................... 19
Current Consumption ............................................................................................................ 19
Temperature Sensor .......................................................................................................... 20
Register Map Overview .................................................................................................. 21
UI Register Map Overview ................................................................................................. 21
5 UI Sensor Configuration Settings and Output Data ......................................................... 24
Typical Sensor Mode Configuration and Output Data ........................................................ 24
AttitudeEngine (AE) Mode Configuration and Output Data ................................................ 25
General Purpose Register .................................................................................................. 25
Configuration Registers ..................................................................................................... 26
FIFO Registers .................................................................................................................... 30
Status and Time Stamp Registers ....................................................................................... 32
Sensor Data Output Registers ............................................................................................ 34
CTRL 9 Functionality (Executing Pre-defined Commands) ................................................... 37
CTRL 9 Description ................................................................................................................ 37
WCtrl9 (Write – CTRL9 Protocol) ........................................................................................... 37
Ctrl9R (CTRL9 Protocol - Read) .............................................................................................. 38
Ctrl9 (CTRL9 Protocol Acknowledge) .................................................................................... 38
CTRL9 Commands in Detail ................................................................................................... 39
Interrupts ....................................................................................................................... 41
Overview ........................................................................................................................... 41
Interrupt 1 (INT1) .................................................................................................................. 41
Interrupt 2 (INT2) .................................................................................................................. 41
7 Operating Modes ........................................................................................................... 42
General Mode Transitioning .............................................................................................. 45
Transition Times ................................................................................................................ 45
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
7.1
7.2
4.1
4
6
6.1
© 2021 QST Corporation
QMI8658C • Rev 0.6
www. qstcorp.com
2
ADVANCE INFORMATION — CONFIDENTIAL AND PROPRIETARY — DO NOT DISTRIBUTE
8.1
8.2
FIFO Description ............................................................................................................ 46
Using the FIFO ................................................................................................................... 46
FIFO Register Description ................................................................................................... 47
9 Wake on Motion (WoM) ................................................................................................ 47
9.1 Wake on Motion Introduction ........................................................................................... 48
9.2
Accelerometer Configuration ............................................................................................. 48
9.3 Wake on Motion Event ...................................................................................................... 48
9.4
Configuration Procedure .................................................................................................... 48
9.5 Wake on Motion Control Registers .................................................................................... 49
9.6
Exiting Wake on Motion Mode .......................................................................................... 49
10 Performing Device Self Test ........................................................................................... 50
10.1
Accelerometer Self Test ..................................................................................................... 50
10.2 Gyroscope Self Test ........................................................................................................... 50
11 Magnetometer Setup ..................................................................................................... 50
11.1 Magnetometer Description ................................................................................................ 50
12 Host Serial Interface ....................................................................................................... 51
Serial Peripheral Interface (SPI) ......................................................................................... 51
SPI Timing Characteristics ................................................................................................. 56
I2C Interface ....................................................................................................................... 58
12.2
12.3 MIPI I3C Interface .............................................................................................................. 59
13 Package and Handling .................................................................................................... 60
Package Drawing ............................................................................................................... 60
Reflow Specification .......................................................................................................... 61
Storage Specifications ........................................................................................................ 61
14 Document Information .................................................................................................. 62
Revision History ................................................................................................................. 62
13.1
13.2
13.3
14.1
12.1
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© 2021 QST Corporation
QMI8658C • Rev 0.6
www. qstcorp.com
3
ADVANCE INFORMATION — CONFIDENTIAL AND PROPRIETARY — DO NOT DISTRIBUTE
1 General Information
1.1 Ordering Information
Table 1. Ordering Information
Part Number
QMI8658C
Package
LGA14
Packing Method
Tape & Reel
1.2 Marking Information
ROW
1
2
3
EXAMPLE
8658
0113
● DA
CODE/EXPLANATION
DDDD – Device code
YWLL – Y (Year code), W (1-digit, biweekly code), LL (Lot indication)
CR – C (Assembly location), R (Product revision)
Figure 1. Top Mark
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© 2021 QST Corporation
QMI8658C • Rev 0.6
www. qstcorp.com
4
ADVANCE INFORMATION — CONFIDENTIAL AND PROPRIETARY — DO NOT DISTRIBUTE
1.3
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INT1
INT2
SDO/SA0
CS
SCL
SDA
Internal Block Diagram
Temp
Sensor
MEMS
Ax
Ay
Az
Gx
Gy
Gz
I2C Master
or SPI
Aux / OIS
Interface
ΣΔ
A/D
ΣΔ
A/D
ΣΔ
A/D
ΣΔ
A/D
ΣΔ
A/D
ΣΔ
A/D
ΣΔ
A/D
Self
Test
Align
Mag
Data Sync
Domain
SDx
SCx
CS-AUX SDO-AUX
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g
S
i
CLK
Synth
M0+
MCU
Data Registers
Setup & Control
Registers
Host Cal
Registers
FIFO Registers
1536 Byte FIFO
Interrupt &
Status
Attitude Engine
DMA Controller
I2C, I3C, SPI
Host, Slave or UI
Interface
Bias
VDD
GND
VDDIO
GND
Internal Block Diagram
Figure 2.
© 2021 QST Corporation
QMI8658C • Rev 0.6
www. qstcorp.com
5
Interface Operating Modes
ADVANCE INFORMATION — CONFIDENTIAL AND PROPRIETARY — DO NOT DISTRIBUTE
1.4
The QMI8658C can operate in two different modes, as shown in the Figure below.
Mode 1: Default mode of operation. In this mode, the QMI8658C is a slave device to a host processor that
communicates to it using one of the following interfaces: I2C, I3C, and SPI (3-wire or 4-wire modes). This slave
relationship to the host is the same for all operating modes. In Mode 1, the secondary interface is not enabled.
Mode 2: External Sensor mode of operation. As in Mode 1, the QMI8658C is a slave to the host processor, and
communications to it is by one of the following interfaces: I2C, I3C, and SPI (3-wire or 4-wire modes). However, in Mode
2, the external sensor bus is enabled and the QMI8658C acts as a I2C master to an external magnetometer.
Mode 1. Default Mode
Mode 2. Mag Mode
Figure 3. Operating modes
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© 2021 QST Corporation
QMI8658C • Rev 0.6
www. qstcorp.com
6
ADVANCE INFORMATION — CONFIDENTIAL AND PROPRIETARY — DO NOT DISTRIBUTE
1.5 Package & Pin Information
The pinout of the QMI8658C is shown in the figure below. The pin names and functionality are detailed in the table that
follows. The pin functionality is dictated by the part’s operating mode, as described in the section above.
Figure 4. Pins Face Down (Top View)
Figure 5. Pins Face Up (Bottom View)
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© 2021 QST Corporation
QMI8658C • Rev 0.6
www. qstcorp.com
7
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