QMI8610六轴规格书，适合开发使用

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QMI8610是一款完整的6D MEMS惯性测量单元（IMU），采用小型3.3 x 3.3 x 1 mm LGA封装。QMI8610在产品性能上具有低至6 mdps /√Hz的陀螺仪噪声和低延迟。QMI8610集成了3轴陀螺仪和3轴加速度计，可通过I2C/SPI主机连接外部3轴磁传感器，从而形成完整的9DOF系统。 QMI8610是一款专为高性能应用设计的六轴惯性测量单元（IMU），其特点是低噪声、宽带宽以及内置的运动协处理器和传感器融合库，使其成为无人机飞行控制、云台稳定等领域的理想选择。这款芯片集成了3轴陀螺仪和3轴加速度计，通过I2C/SPI接口可以与外部3轴磁传感器连接，构建出一个完整的9自由度（9DOF）系统，提供精确的三维空间定向数据。 1. **低噪声与低延迟性能**： QMI8610的陀螺仪噪声低至6 mdps/√Hz，这意味着它能提供非常稳定的角速度测量，减少了由于噪声引起的误差。同时，它的低延迟特性确保了实时性，对于需要快速响应的系统如无人机的飞行控制和云台稳定至关重要。 2. **高精度传感器融合**：内置的XKF3 6/9轴传感器融合算法可以进行运行时校准，修正由于温度变化和使用寿命导致的陀螺仪偏置漂移。这提供了±3°的俯仰和翻滚角度精度，以及±5°的航向精度，确保了系统级的定位准确度。 3. **集成的AttitudeEngineTM运动协处理器**：运动协处理器使用矢量数字信号处理技术，在1 kHz的采样率下执行传感器融合，然后以较低速率向主机处理器输出数据。这提高了精度，降低了主处理器的运算需求、功率消耗和中断请求。 4. **独特芯片ID（UID）与序列化**：每个QMI8610芯片都有唯一的UID，便于设备追踪和管理，确保每个组件的独特性和可追溯性。 5. **大容量FIFO缓存**： 1536字节的FIFO（先进先出）缓冲区可以存储9DOF传感器数据，降低系统功耗。这种“按需运动”技术允许基于轮询的同步，优化电源效率。 6. **广泛的动态范围和低功耗模式**：陀螺仪的动态范围从±32°/s到±2,560°/s，加速度计的范围从±2 g到±16 g，适应各种运动场景。此外，它还具备低功耗和暖启动模式，便于电源管理。 7. **主机串行接口与外部磁传感器接口**：支持I2C或SPI接口的主机串行接口，便于与其他硬件组件通信。内置的I2C主控器使得与外部磁传感器的连接变得更加简单。 8. **嵌入式温度传感器与宽工作温度范围**：集成的温度传感器可以监控系统的工作环境，确保在-40°C到85°C的宽泛温度范围内正常工作。 QMI8610的设计考虑了高效能和精确性，适用于对动态响应和精度有严格要求的应用。其综合性能和功能使其成为无人机、机器人导航、工业自动化、运动追踪等领域开发者的首选方案。

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Low Noise, Wide Bandwidth 6D Inertial

Measurement Unit with Motion Co-Processor

and Sensor Fusion

QMI8610

Advanced Information

Features

 Low 6 mdps/√Hz Gyroscope Noise and

Low-Latency, Wide Bandwidth for Drone Flight

Control and Gimbal Stabilization

 Low Noise 50 µg/√Hz accelerometer

 Complete Inertial Measurement Unit (IMU) with

Sensor Fusion Library with Specified Orientation

Accuracy of ±3º Pitch and Roll, ±5º Yaw/Heading

 High-performance XKF3 6/9-axis sensor fusion

with in-run calibration for correction of gyro bias

drift over-temperature and lifetime

 3-Axis Gyroscope and 3-Axis Accelerometer in a

Small 3.3 x 3.3 x 1 mm LGA Package

 Integrated AttitudeEngine

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

 UniqueChipID (UID) for Serialization of Parts

 Large 1536 Byte FIFO can be used to Buffer 9DOF

Sensor Data to Lower System Power Dissipation

 Motion on Demand Technology for Polling Based

Synchronization

 Large Dynamic Range from ±32°/s to ±2,560°/s

and ±2 g to ±16 g

 Low Power and Warm-Start Modes for Effective

Power Management

 Digitally Programmable Sampling Rate and Filters

 Host Serial Interface Supporting I

C or SPI

 I

C Master for Interfacing External Magnetometer

 Embedded Temperature Sensor

 Wide Extended Operating Temperature Range

(-40°C to 85°C)

Description

QMI8610 is a complete 6D MEMS Inertial

Measurement Unit (IMU) with 9-axis sensor fusion and

specified system level orientation accuracy. When

using the QMI8610 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.

The QMI8610 is ideal for drone flight control and

gimbal stabilization. It features a low 6 mdps/√Hz

gyroscope noise and a low latency.

The QMI8610 incorporates a 3-axis Gyroscope and a

3-axis Accelerometer and can connect an external

3-axis magnetometer through an I

C master thus

forming a complete 9DOF system.

The QMI8610 also 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

any output data rate.

This enables the application to utilize low Output Data

Rates (ODR) or on-demand (host polling) and still

acquire accurate 3D motion data. The AttitudeEngine

allows reducing 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

 Drone Flight Control and Gimbal Stabilization

 Optical Image Stabilization (OIS) and Electrical

Image Stabilization (EIS)

 Virtual Reality and Augmented Reality

 Robotic Orientation and Position Tracking

 Sport & Fitness Wearables

 Pedestrian Navigation and GNSS Augmentation

矽睿

QMI8610

Datasheet

Rev: A

The information contained herein is the exclusive property of QST, and shall not be distributed, reproduced, or

disclosed in whole or in part without prior written permission of QST.

2 / 81

CONTENTS

CONTENTS ............................................................................................................................................................................... 2

1 General Information ........................................................................................................................................................... 4

1.1 Ordering Information ........................................................................................................................................................ 4

1.2 Marking Information ......................................................................................................................................................... 4

1.3 Internal Block Diagram ..................................................................................................................................................... 4

1.4 Application Diagrams ....................................................................................................................................................... 5

1.5 Package & Pin Information ............................................................................................................................................... 6

1.6 Recommended External Components .............................................................................................................................. 8

2 QMI8610 Architecture ...................................................................................................................................................... 9

2.1 AttitudeEngine Mode Overview ..................................................................................................................................... 10

2.2 Advantages of the Attitude Engine Approach ................................................................................................................. 11

2.3 9D Sensor Fusion and Auto-Calibration using XKF3 .................................................................................................... 11

2.4 Frames of Reference and Conventions for Using QMI8610 ........................................................................................... 12

3 System, Electrical and Electro-Mechanical Characteristics ............................................................................................ 13

3.1 Absolute Maximum Ratings ........................................................................................................................................... 13

3.2 Recommended Operating Conditions ............................................................................................................................. 14

3.3 System Level Specifications ........................................................................................................................................... 15

3.4 Electro-Mechanical Specifications ................................................................................................................................. 16

3.5 Accelerometer Programmable Characteristics ................................................................................................................ 19

3.6 Gyroscope Programmable Characteristics ...................................................................................................................... 20

3.7 Electrical Characteristics ................................................................................................................................................ 21

3.8 Temperature Sensor ........................................................................................................................................................ 24

4 Register Map Overview .................................................................................................................................................. 25

5 Sensor Configuration Settings and Output Data ............................................................................................................. 29

5.1 Typical Sensor Mode Configuration and Output Data .................................................................................................... 29

5.2 AttitudeEngine Mode Configuration and Output Data ................................................................................................... 30

5.3 General Purpose Register ................................................................................................................................................ 31

5.4 Configuration Registers .................................................................................................................................................. 31

5.5 Status and Count Registers ............................................................................................................................................. 38

5.6 Sensor Data Output Registers ......................................................................................................................................... 39

5.7 CTRL 9 Functionality (Executing Pre-defined Commands) ........................................................................................... 44

5.8 Interrupts ......................................................................................................................................................................... 50

矽睿

QMI8610

Datasheet

Rev: A

The information contained herein is the exclusive property of QST, and shall not be distributed, reproduced, or

disclosed in whole or in part without prior written permission of QST.

3 / 81

6 Operating Modes ............................................................................................................................................................. 53

6.1 General Mode Transitioning ........................................................................................................................................... 57

6.2 Transition Times ............................................................................................................................................................. 57

7 FIFO Description ............................................................................................................................................................ 58

7.1 Using the FIFO ............................................................................................................................................................... 58

7.2 FIFO Register Description .............................................................................................................................................. 60

8 Wake On Motion (WoM) ................................................................................................................................................ 63

8.1 Wake on Motion Introduction ......................................................................................................................................... 63

8.2 Accelerometer Configuration .......................................................................................................................................... 64

8.3 Wake on Motion Event ................................................................................................................................................... 65

8.4 Configuration Procedure ................................................................................................................................................. 65

8.5 Wake on Motion Control Registers ................................................................................................................................ 66

8.6 Exiting Wake on Motion Mode ...................................................................................................................................... 67

9 Performing Device Self Test ........................................................................................................................................... 67

9.1 Accelerometer Self Test .................................................................................................................................................. 67

9.2 Gyroscope Self Test ........................................................................................................................................................ 68

10 Host Serial Interface ....................................................................................................................................................... 68

10.1 Serial Peripheral Interface (SPI) ................................................................................................................................... 68

10.2 I

C Interface .................................................................................................................................................................. 74

11 Package and Handling..................................................................................................................................................... 78

11.1 Package Drawing .......................................................................................................................................................... 78

11.2 Reflow Specification ..................................................................................................................................................... 79

11.3 Storage Specifications ................................................................................................................................................... 80

12 Related Resources ........................................................................................................................................................... 80