© 2022 QST Corporation Document#: 13-52-27 ∙ QMI8658C Datasheet ∙ Rev A www. qstcorp.com
QMI8658C — 6D Inertial Measurement Unit
with Motion Co
-Processor
Document No. 13-52-27
Title: QMI8658C Datasheet
Rev: A
Originator: Chunlei Dai
QMI8658C DATASHEET
JUNE 20, 2022
Security Level: 3
© 2022 QST Corporation Document#: 13-52-27 ∙ QMI8658C Datasheet ∙ Rev A www. qstcorp.com
1
QMI8658C — 6D Inertial Measu
rement Unit with Motion Co
-Processor
QMI8658C
Low Noise, Wide Bandwidth 6D Inertial Measurement
Unit with Motion Co-Processor
Features
▪ Low 15 mdps/√Hz gyroscope noise, low-latency,
and wide bandwidth
▪ Low Noise 150µg/√Hz accelerometer noise
▪ Host (slave) interface supports MIPI™ I3C, I
2
C, and
3-wire or 4-wire SPI
▪ Accelerometer and gyroscope sensors feature
signal processing paths with digitally programmable
data rates and filtering
▪ 3-axis gyroscope and 3-axis accelerometer in a
small 2.5 x 3.0 x 0.86 mm 14-pin LGA package
▪ Large 1536-byte FIFO can be used to buffer sensor
data to lower system power dissipation
▪ Integrated Pedometer, Tap, Any-Motion, No-
Motion, Significant-Motion detection
▪ Large sensor dynamic ranges from ±16°/s to
±1024°/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)
Description
The QMI8658C is a complete 6D MEMS inertial
measurement unit (IMU). With tight board-level
gyroscope sensitivity of ±3%, gyroscope noise density
of 15 mdps/√Hz, and low latency, the QMI8658C is ideal
for consumer and industrial applications.
The QMI8658C incorporates a 3-axis gyroscope and a 3-
axis accelerometer. It provides a host-processor interface
supporting I3C, I
2
C and 3-wire or 4-wire SPI.
With its built-in digital functionality, low power, and small
size, the QMI8658C is the ideal part for applications
requiring motion-based functionality.
Applications
▪ Smartphones
▪ Game controllers, remote controls and pointing
devices
▪ Robotic vacuums
▪ E-bikes and scooters
▪ Bluetooth headsets
▪ Automotive security systems
▪ Toys
▪ Portrait-landscape display control
© 2022 QST Corporation Document#: 13-52-27 ∙ QMI8658C Datasheet ∙ Rev A www. qstcorp.com
2
QMI8658C — 6D Inertial Measu
rement Unit with Motion Co
-Processor
Table of Contents
1 General Information ...................................................................................................... 5
1.1 Ordering Information .........................................................................................................5
1.2 Marking Information ..........................................................................................................5
1.3 Internal Block Diagram .......................................................................................................6
1.4 Interface Operating ............................................................................................................7
1.5 Application Diagrams .........................................................................................................8
1.6 Package & Pin Information ............................................................................................... 10
1.7 Recommended External Components ............................................................................... 12
2 QMI8658C Chip Orientation Coordinate System ........................................................... 13
3 System, Electrical and Electro-Mechanical Characteristics ............................................. 14
3.1 Absolute Maximum Ratings ............................................................................................. 14
3.2 Recommended Operating Conditions ............................................................................... 14
3.3 Power On Sequence of VDDIO and VDD ............................................................................ 15
3.3.1 Power-On Reset(POR) ........................................................................................................... 15
3.3.2 VDDIO and VDD Are Driven by Single Power Line................................................................. 15
3.3.3 VDDIO and VDD Are Driven by Separate Power Lines .......................................................... 16
3.4 Electro-Mechanical Specifications..................................................................................... 17
3.5 Accelerometer Programmable Characteristics ................................................................... 19
3.6 Gyroscope Programmable Characteristics ......................................................................... 21
3.7 Electrical Characteristics ................................................................................................... 22
3.8 Current Consumption ....................................................................................................... 23
3.9 Temperature Sensor ........................................................................................................ 24
4 Register Map Overview ................................................................................................ 25
4.1 UI Register Map Overview ................................................................................................ 25
5 UI Sensor Configuration Settings and Output Data ........................................................ 28
5.1 Typical Sensor Mode Configuration and Output Data ........................................................ 28
5.2 Chip Information Register ................................................................................................ 29
5.3 Configuration Registers .................................................................................................... 30
5.4 FIFO Registers .................................................................................................................. 34
5.5 Status and Time Stamp Registers ...................................................................................... 35
5.6 Sensor Data Output Registers ........................................................................................... 37
5.7 Calibration-On-Demand (COD) Status Register .................................................................. 38
5.8 Activity Detection Output Registers .................................................................................. 39
5.9 Reset Register .................................................................................................................. 40
5.10 CTRL 9 Functionality (Executing Pre-defined Commands) .................................................. 41
5.10.1 CTRL9 Protocol Description .............................................................................................. 41
5.10.2 CTRL9 Command List ........................................................................................................ 42
5.10.3 CAL Registers ..................................................................................................................... 42
5.10.4 WCtrl9 (Write – CTRL9 Protocol) ...................................................................................... 43
5.10.5 Ctrl9R (CTRL9 Protocol - Read) ......................................................................................... 43
5.10.6 CTRL9 Commands in Details ............................................................................................. 43
6 Interrupts .................................................................................................................... 46
6.1 SyncSample mode ............................................................................................................ 46
6.2 Non-SyncSample mode .................................................................................................... 47
6.3 DRDY(Data Ready) ........................................................................................................... 47
© 2022 QST Corporation Document#: 13-52-27 ∙ QMI8658C Datasheet ∙ Rev A www. qstcorp.com
3
QMI8658C — 6D Inertial Measu
rement Unit with Motion Co
-Processor
7 Operating Modes ......................................................................................................... 49
7.1 Operating Modes Descriptions ......................................................................................... 49
7.2 General Mode Transitioning ............................................................................................. 49
7.3 Transition Time ................................................................................................................ 50
7.4 Chip Reset Process ........................................................................................................... 51
8 FIFO Description ........................................................................................................... 52
8.1 FIFO Structure .................................................................................................................. 52
8.2 FIFO Size .......................................................................................................................... 52
8.3 Configure FIFO Mode ....................................................................................................... 52
8.4 FIFO Sample Count ........................................................................................................... 53
8.5 FIFO Watermark Interrupt ................................................................................................ 53
8.6 FIFO Full .......................................................................................................................... 53
8.7 FIFO Read Mode .............................................................................................................. 53
8.8 Read FIFO Data ................................................................................................................ 53
8.9 FIFO Data Pattern ............................................................................................................ 54
8.10 Reset FIFO ....................................................................................................................... 54
9 Motion Detection ......................................................................................................... 55
9.1 Motion Detection Principle .............................................................................................. 55
9.1.1 Any-Motion Detection Principle ............................................................................................ 55
9.1.2 No-Motion Detection Principle ............................................................................................. 55
9.1.3 Significant-Motion Detection Principle ................................................................................. 56
9.2 Motion Detection Flow .................................................................................................... 57
9.3 Parameters of Motion Detection ...................................................................................... 58
9.4 Config Motion Detection .................................................................................................. 59
9.5 Enabling Motion Detection ............................................................................................... 59
9.6 Motion Interrupt.............................................................................................................. 59
10 Tap .............................................................................................................................. 60
10.1 Tap Detection Principle .................................................................................................... 60
10.2 Tap Detection Parameters ................................................................................................ 61
10.3 Configure Tap .................................................................................................................. 62
10.4 Enable Tap Detection ....................................................................................................... 62
10.5 Tap Interrupt ................................................................................................................... 62
10.6 Tap Detection Output ...................................................................................................... 62
11 Pedometer ................................................................................................................... 64
11.1 Pedometer Parameters .................................................................................................... 64
11.2 Configure Pedometer ....................................................................................................... 65
11.3 Enable Pedometer ........................................................................................................... 65
11.4 Pedometer Interrupt ........................................................................................................ 66
11.5 Read Step Count .............................................................................................................. 66
11.6 Reset Step Count ............................................................................................................. 66
12 Wake on Motion (WoM) .............................................................................................. 67
12.1 Wake on Motion Principle ................................................................................................ 67
12.2 Wake on Motion Parameters ........................................................................................... 67
12.3 Accelerometer Configuration ........................................................................................... 67
12.4 Wake on Motion Event .................................................................................................... 67
12.5 Configuration Procedure .................................................................................................. 68
12.6 Exit Wake on Motion Mode .............................................................................................. 68
© 2022 QST Corporation Document#: 13-52-27 ∙ QMI8658C Datasheet ∙ Rev A www. qstcorp.com
4
QMI8658C — 6D Inertial Measu
rement Unit with Motion Co
-Processor
13 Locking Mechanism ...................................................................................................... 69
13.1 Locking Mechanism Principle ........................................................................................... 69
13.2 Locking Mechanism Data Reading Process ........................................................................ 69
13.2.1 Disable/Enable AHB Clock Gating ..................................................................................... 70
13.2.2 Enable Locking Mechanism ............................................................................................... 70
13.2.3 Reading Sensor Data ......................................................................................................... 70
13.3 Data_Lock_Delay ............................................................................................................. 70
13.4 Exit Locking Mechanism ................................................................................................... 71
13.5 On-The-Fly ODR Change in Locking Mechanism ................................................................. 71
14 Calibration-On-Demand (COD) ..................................................................................... 72
14.1 COD Principle ................................................................................................................... 72
14.2 Run COD .......................................................................................................................... 72
14.3 COD Status ...................................................................................................................... 72
14.4 Save and Restore the New Gain Parameters ..................................................................... 72
15 Self-Test (Check-Alive) ................................................................................................. 73
15.1 Accelerometer Self-Test ................................................................................................... 73
15.2 Gyroscope Self-Test ......................................................................................................... 73
16 Host Serial Interface ..................................................................................................... 75
16.1 Address Auto Increment .................................................................................................. 75
16.2 Serial Peripheral Interface (SPI) ........................................................................................ 75
16.2.1 SPI Features ...................................................................................................................... 75
16.2.2 SPI Interface Connection................................................................................................... 76
16.2.3 SPI Transaction Protocol ................................................................................................... 77
16.2.4 SPI Timing Characteristics ................................................................................................. 81
16.3 I
2
C Interface ..................................................................................................................... 83
16.3.1 I
2
C Slave Address Selection ............................................................................................... 83
16.3.2 I
2
C Interface Characteristics .............................................................................................. 83
16.4 I
3
C Interface ..................................................................................................................... 84
17 Package and Handling .................................................................................................. 85
17.1 Package Drawing ............................................................................................................. 85
17.2 Reflow Specification......................................................................................................... 86
17.3 Storage Specifications ...................................................................................................... 86
18 Document Information ................................................................................................. 87
18.1 Revision History ............................................................................................................... 87
