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LPMS-BEx series is a low cost, high performance 6 axis inertial measurement unit (IMU)
which integrates a 3-axis accelerometer and a 3-axis gyroscope into a small self-contained
module. LPMS-BEx is embedded with an onboard MCU running our proprietary fusion
algorithm to provide real-time precise orientation calculations. The module outputs various
sensor data, including raw sensor data, calibrated sensor data, orientation data (quaternion,
euler angles), linear acceleration and more. LPMS-BEx comes in a small form factor which is
suitable for applications requiring a complete IMU solution with tight space constraints.

Key Features:

• MEMS miniature inertial measurement unit (IMU)

• Integration of 3-axis accelerometer and 3-axis gyroscope into one unit

• Real-time, on-device calculation of sensor orientation and linear acceleration

• Power Supply: 3.3~5.5V

• Interfaces: UART, I2C, SPI

• Small form factor. Size: PLCC-32 (12.0x14.5x3.1mm

Applications:

• Robotics applications

• Internet of Things (IoT) devices

• Sports performance evaluation

System Overview

System Architecture

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Pinout Description

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Note:

1. Unused pins should be left unconnected.

2. Please refer to Table 2-3 for definition of Logic High-Low voltage.

Communication interface settings

Logic High-Low voltage definition

Typical Application

UART Communication

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SPI Communication

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I2C Communication

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Note: Opt Logic High: ADD0=1; Opt Logic Low: ADD0=0

Reference System

Coordinates

The coordinate system for LPMS-BEx is defined as follows:

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Communication Interfaces

LPMS-BEx provides 3 types of hardware interfaces for users to select based on their own application requirements: UART, I2C and SPI. UART uses LPBUS communication protocol. The register information for I2C and SPI is listed in appendix section.

UART

The universal asynchronous receiver transmitter (UART) is a common interface of
asynchronous communication with up to 4.5Mbps baud rate for transmitting and receiving.
LPMS-BEx offers 4 pins (TX, RX, RTS and CTS) for UART configuration. The default
configuration is 115200bps baudrate, 8 bits data length, 1 stop bit, and no parity.

SPI

The Serial Peripheral Interface (SPI) protocol supports full-duplex synchronous serial
communication with external devices. The SPI interface of LPMS-BE1 has four pins, i.e. CS,
SDI, SDO and SPC. Maximum supported clock speed is 40MHz.

• CS: Slave select pin, controlled by Master.

• SDI: Master Out / Slave In data. In the general case, this pin is used to receive data.

• SDO: Master In / Slave Out data. In the general case, this pin is used to transmit data.

• SPC: Serial Clock input pin.

Basic SPI settings:

• CPOL = 0 (Low); CPHA = 0 (1Edge)

• Data length: 8 bits

• Maximum supported clock speed: 40MHz

SPI Timing Diagram

SPI Reading

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SPI single byte read

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SPI Multi bytes read (2 bytes in this example)

RW: Read/Write bit, logic high when reading
A6-A0: Register address
D7-D0: First return data byte, data read from [A6:A0] register address
D15-D8: Second return data byte, data corresponding to subsequent register address

SPI Writing

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SPI Single byte write

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SPI Multibyte writing (2 bytes in this example)

RW: Read/Write bit, logic low when writing
A6-A0: Register address
D7-D0: First data byte to write, data will be written to [A6:A0] register address
D15-D8: Second data byte to write, data will be written to subsequent register address

I2C

The I2C (Inter-Integrated Circuit) bus is a two-wire serial bus, which handles
communications between the microcontroller and the serial I2C bus. The I2C communication
is conducted via SDA and SCL pins. LPMS-BE1 supports Fast-mode (up to 400 kHz) I2C
bus. Pin MODE1 has to be set up in order to put LPMS-BEx into I2C Communication mode.
User can set the I2C slave address via pin MODE0:

I2C Timing Diagram

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I2C Writing single byte to register

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I2C Writing multiple bytes to register

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I2C Reading single byte

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I2C Reading multiple bytes

Specifications

Tests are under room temperature +25°C, and the reference values might be changed under
different operation conditions.

Main Parameters

Accelerometer Parameters

Gyroscope Parameters

Packaging details

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LPMS-BEx dimension (Unit: mm)

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LPMS-BEx Recommended packaging (Unit: mm)

Appendix

Register map