Data Sheet
BMA456
Digital, triaxial acceleration sensor
Data Sheet BMA456
Part number(s)
0 273 141 282
Document revision
1.2
Release date
April 2019
Document number
BST-BMA456-DS000-01
Notes
Subject to change without notice.
Product photos and pictures are for illustration purposes only and may
differ from the real product’s appearance.
Confidential and under NDA
Bosch Sensortec
Data Sheet
BMA456
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BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
BMA456
16 bit, digital, triaxial acceleration sensor with intelligent on-chip motion-triggered interrupt features
optimized for wearable applications.
Key features
Small package size LGA package (12 pins), footprint 2mm x 2mm,
height 0.65 mm
Digital interface SPI (4-wire, 3-wire), I²C, 2 interrupt pins
VDDIO voltage range: 1.2V to 3.6V
Programmable functionality Acceleration ranges ±2g/±4g/±8g/±16g
Low-pass filter bandwidths 684Hz - <8Hz
up to a max. output data read out of 1.6 kHz
On-chip FIFO Integrated FIFO on sensor with 1 kb
On-chip interrupt features Step Counter optimized for wearable devices
Activity Recognition: Running, Walking, Still
Tilt-On-Wrist detection
Tap/Double tap interrupt
Any-/No-Motion interrupt
Ultra-low power Low current consumption of data acquisition and all
integrated features
(Secondary) Auxiliary Interface Hub for ext. Magnetometer and data synchronization
RoHS compliant, halogen-free
Typical applications
Applications with height constrains
Plug ’n’ Play Step-Counter solution with watermark functionality
Fitness applications / Activity Tracking
Power management for wearable applications
Display on/off and profile switching
User interface without hardware buttons
E-compass tilt compensation and data synchronization
High performance angle measurements
Data Sheet
BMA456
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BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Table of contents
1. SPECIFICATION .................................................................................................................... 7
2. ABSOLUTE MAXIMUM RATINGS........................................................................................ 10
3. QUICK START GUIDE ......................................................................................................... 11
Note about using the BMA456: ............................................................................................................................... 11
First application setup examples algorithms:..................................................................................................... 11
4. FUNCTIONAL DESCRIPTION .............................................................................................. 15
4.1. SUPPLY VOLTAGE AND POWER MANAGEMENT ............................................................................................ 16
4.2. DEVICE INITIALIZATION ........................................................................................................................................ 17
4.3. POWER MODES ..................................................................................................................................................... 18
4.4. SENSOR DATA........................................................................................................................................................20
Acceleration Data ........................................................................................................................................................ 20
Filter Settings................................................................................................................................................................. 20
Accelerometer data processing for low power mode .....................................................................................21
Data Ready Interrupt ...................................................................................................................................................21
Temperature Sensor ....................................................................................................................................................21
Sensor Time ................................................................................................................................................................... 22
Configuration Changes.............................................................................................................................................. 22
4.5. FIFO .........................................................................................................................................................................24
Frames ............................................................................................................................................................................. 24
Conditions and Details............................................................................................................................................... 27
FIFO data synchronization ....................................................................................................................................... 29
FIFO synchronization with external interrupts.................................................................................................. 30
FIFO Interrupts.............................................................................................................................................................. 30
FIFO Reset ..................................................................................................................................................................... 30
4.6. INTERRUPT FEATURES ........................................................................................................................................ 31
Global Configuration ....................................................................................................................................................31
Step Detector / Step Counter.................................................................................................................................. 33
Walking activity recognition...................................................................................................................................... 36
Tilt on Wrist..................................................................................................................................................................... 37
Double tap / Tap detection ....................................................................................................................................... 39
Any Motion / No motion detection ......................................................................................................................... 40
4.7. GENERAL INTERRUPT PIN CONFIGU RATION ..................................................................................................42
Electrical Interrupt Pin Behavior ............................................................................................................................ 42
Interrupt Pin Mapping ................................................................................................................................................. 42
4.8. AUXILIARY SENSOR INTERFACE........................................................................................................................43
Structure and Concept............................................................................................................................................... 43
Interface Configuration .............................................................................................................................................. 43
Setup mode (AUX_IF_CONF.aux_manual_en =0b1) ................................................................................... 44
Data mode (AUX_IF_CONF.aux_manual_en=0)............................................................................................ 47
Delay (Time Offset) .................................................................................................................................................... 47
Data Sheet
BMA456
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BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.9. SENSOR SELF-TEST .............................................................................................................................................48
4.10. OFFSET COMPENSATION ....................................................................................................................................49
Manual Offset Compensation ................................................................................................................................. 49
Inline Calibration........................................................................................................................................................... 49
4.11. NON-VOLATILE MEMORY ....................................................................................................................................50
4.12. SOFT-RESET ..........................................................................................................................................................50
5. REGISTER DESCRIPTION................................................................................................... 51
5.1. GENERAL REMARKS ............................................................................................................................................. 51
5.2. REGISTER MAP ...................................................................................................................................................... 51
Register (0x00) CHIP_ID ...........................................................................................................................................61
Register (0x02) ERR_REG .......................................................................................................................................61
Register (0x03) STATUS........................................................................................................................................... 62
Register (0x0A) DATA_0 ........................................................................................................................................... 62
Register (0x0B) DATA_1 ........................................................................................................................................... 63
Register (0x0C) DATA_2........................................................................................................................................... 63
Register (0x0D) DATA_3........................................................................................................................................... 64
Register (0x0E) DATA_4 ........................................................................................................................................... 64
Register (0x0F) DATA_5 ........................................................................................................................................... 65
Register (0x10) DATA_6 ........................................................................................................................................... 65
Register (0x11) DATA_7............................................................................................................................................ 66
Register (0x12) DATA_8 ........................................................................................................................................... 66
Register (0x13) DATA_9 ........................................................................................................................................... 67
Register (0x14) DATA_10 ......................................................................................................................................... 67
Register (0x15) DATA_11 ......................................................................................................................................... 68
Register (0x16) DATA_12 ......................................................................................................................................... 68
Register (0x17) DATA_13 ......................................................................................................................................... 69
Register (0x18) SENSORTIME_0......................................................................................................................... 69
Register (0x19) SENSORTIME_1......................................................................................................................... 70
Register (0x1A) SENSORTIME_2 ........................................................................................................................ 70
Register (0x1B) EVENT .............................................................................................................................................71
Register (0x1C) INT_STATUS_0 ............................................................................................................................71
Register (0x1D) INT_STATUS_1 ........................................................................................................................... 72
Register (0x1E) STEP_COUNTER_0 ................................................................................................................. 72
Register (0x1F) STEP_COUNTER_1.................................................................................................................. 73
Register (0x20) STEP_COUNTER_2.................................................................................................................. 73
Register (0x21) STEP_COUNTER_3.................................................................................................................. 74
Register (0x22) TEMPERATURE .......................................................................................................................... 74
Register (0x24) FIFO_LENGTH_0 ....................................................................................................................... 75
Register (0x25) FIFO_LENGTH_1 ....................................................................................................................... 75
Register (0x26) FIFO_DATA.................................................................................................................................... 76
Register (0x27) ACTIVITY_TYPE ......................................................................................................................... 76
Register (0x2A) INTERNAL_STATUS ................................................................................................................. 77
Register (0x40) ACC_CONF ................................................................................................................................... 78
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x41) ACC_RANGE................................................................................................................................ 79
Register (0x44) AUX_CONF ................................................................................................................................... 80
Register (0x45) FIFO_DOWNS.............................................................................................................................. 80
Register (0x46) FIFO_WTM_0 ................................................................................................................................81
Register (0x47) FIFO_WTM_1 ............................................................................................................................... 82
Register (0x48) FIFO_CONFIG_0 ........................................................................................................................ 82
Register (0x49) FIFO_CONFIG_1 ........................................................................................................................ 83
Register (0x4B) AUX_DEV_ID ............................................................................................................................... 84
Register (0x4C) AUX_IF_CONF ............................................................................................................................ 84
Register (0x4D) AUX_RD_ADDR ......................................................................................................................... 85
Register (0x4E) AUX_WR_ADDR......................................................................................................................... 85
Register (0x4F) AUX_WR_DATA .......................................................................................................................... 86
Register (0x53) INT1_IO_CTRL ............................................................................................................................ 86
Register (0x54) INT2_IO_CTRL ............................................................................................................................ 87
Register (0x55) INT_LATCH ................................................................................................................................... 88
Register (0x56) INT1_MAP...................................................................................................................................... 89
Register (0x57) INT2_MAP...................................................................................................................................... 89
Register (0x58) INT_MAP_DATA .......................................................................................................................... 90
Register (0x59) INIT_CTRL ..................................................................................................................................... 90
Register (0x5E) FEATURES_IN .............................................................................................................................91
Register (0x5F) INTERNAL_ERROR .................................................................................................................. 95
Register (0x6A) NVM_CONF .................................................................................................................................. 95
Register (0x6B) IF_CONF ........................................................................................................................................ 96
Register (0x6D) ACC_SELF_TEST...................................................................................................................... 96
Register (0x70) NV_CONF ...................................................................................................................................... 97
Register (0x71) OFFSET_0 ..................................................................................................................................... 98
Register (0x72) OFFSET_1 ..................................................................................................................................... 98
Register (0x73) OFFSET_2 ..................................................................................................................................... 99
Register (0x7C) PWR_CONF ................................................................................................................................. 99
Register (0x7D) PWR_CTRL ................................................................................................................................ 100
Register (0x7E) CMD ............................................................................................................................................... 100
6. DIGITAL INTERFACES .......................................................................................................102
6.1. INTERFACES......................................................................................................................................................... 102
6.2. PRIMARY INTERFACE......................................................................................................................................... 103
6.3. PRIMARY INTERFACE I2C/SPI PROTOCOL SELECT ION .......................................................................... 104
6.4. SPI INTERFACE AND PROT OCOL .................................................................................................................... 104
6.5. PRIMARY I2C INTERFACE ................................................................................................................................ 109
6.6. SPI AND I²C ACCESS RESTRICTIONS............................................................................................................113
6.7. AUXILIARY INTERFACE .......................................................................................................................................113
7. PIN-OUT AND CONNECTION DIAGRAMS .........................................................................114
7.1. PIN-OUT .................................................................................................................................................................114
7.2. CONNECT ION DIAGRAMS WITHOUT AUXILIARY INTERFACE ....................................................................115
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
SPI ....................................................................................................................................................................................115
I2C.....................................................................................................................................................................................116
7.3. CONNECT ION DIAGRAMS WITH AUXILIARY INTERFACE ............................................................................116
SPI ....................................................................................................................................................................................116
I2C.....................................................................................................................................................................................117
8. PACKAGE ......................................................................................................................... 118
8.1. PACKAGE OUTLINE DIMEN SIONS .....................................................................................................................118
8.2. SENSING AXIS ORIENTATION ............................................................................................................................119
8.3. LANDING PATTERN RECOMMENDATION ........................................................................................................121
8.4. MARKING .............................................................................................................................................................. 122
Mass production ......................................................................................................................................................... 122
Engineering samples ................................................................................................................................................ 122
8.5. SOLDERING GUIDELINES .................................................................................................................................. 123
8.6. HANDLING INSTRUCTIONS................................................................................................................................ 124
8.7. TAPE AND REEL SPECIFICATION .................................................................................................................... 125
8.8. ENVIRONMENTAL SAFETY ................................................................................................................................ 126
Halogen content ......................................................................................................................................................... 126
Internal package structure...................................................................................................................................... 126
9. LEGAL DISCLAIMER..........................................................................................................127
9.1. ENGINEERING SAMPLES ..................................................................................................127
9.2. PRODUCT USE...................................................................................................................127
9.3. APPLICATION EXAMPLES AND HINTS .............................................................................127
10. DOCUMENT HISTORY AND MODIFICATION .....................................................................128
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
1. Specification
Unless stated otherwise, the given values are over lifetime, operating temperature and voltage ranges.
Minimum/maximum values are ±3.
Parameter Specification
OPERATING CONDITIONS
Parameter
Symbol
Condition
Min
Typ
Max
Units
Acceleration
Range
gFS2g
Selectable
via serial digital
interface
±2
g
gFS4g
±4
g
gFS8g
±8
g
gFS16g
±16
g
Supply Voltage
Internal Domains
VDD
1.62
1.8
3.6
V
Supply Voltage
I/O Domain
VDDIO
1.2
1.8
3.6
V
Voltage Input
Low Level
VIL
SPI & I²C
0.3VDDIO
-
Voltage Input
High Level
VIH
SPI & I²C
0.7VDDIO
-
Voltage Output
Low Level
VOL
VDDIO>=1.62V,
IOL<=2mA, SPI
0.2VDDIO
-
VDDIO<1.62V,
IOL<=1.5mA, SPI
0.2VDDIO
-
Voltage Output
High Level
VOH
VDDIO>=1.62V,
IOH <=2mA, SPI
0.8VDDIO
-
VDDIO<=1.62V,
IOH <=1.5mA, SPI
0.8VDDIO
-
Total Supply
Current in
Performance
mode
IDD
Nominal VDD and
VDDIO, 25°C, gFS4g
150
µA
Total Supply
Current in
Suspend Mode
IDDsum
Nominal VDD and
VDDIO, 25°C
3.5
µA
Total Supply
Current in
Low-power Mode
IDDlp1
Nominal VDD and
VDDIO, 25°C
50 Hz ODR
14
µA
Power-Up Time
ts_up
1
ms
Non-volatile
memory (NVM)
write-cycles
nNVM
15
cycles
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Operating
Temperature
TA
-40
+85
°C
OUTPUT SIGNAL
Parameter
Symbol
Condition
Min
Typ
Max
Units
Sensitivity
S2g
gFS2g, TA=25°C
16384
LSB/g
S4g
gFS4g, TA=25°C
8192
LSB/g
S8g
gFS8g, TA=25°C
4096
LSB/g
S16g
gFS16g, TA=25°C
2048
LSB/g
Sensitivity
Temperature Drift
TCS
0.005
%/K
Zero-g Offset
Off
Nominal VDD and
VDDIO
, 25°C, gFS4g
20
mg
Zero-g Offset
Temperature Drift
TCO
X/Y - Axes
0.2
mg/K
Z-Axis
0.35
mg/K
Output Data Rate
ODRPERF
Performance mode
12.5
1600
Hz
Output data rate
and BW in
Performance
mode
ODR12.5
3dB cutoff frequency
of the accelerometer
according to ODR
with normal filter
mode
5.06
Hz
ODR25
10.12
Hz
ODR50
20.25
Hz
ODR100
40.5
Hz
ODR200
80
Hz
ODR400
162 (155
for Z
axis)
Hz
ODR800
324
(262 for
Z axis)
Hz
ODR1600
684
(353 for
Z axis)
HZ
Output Data Rate
ODRLPM
Low-power mode
0.78
400
Hz
Nonlinearity
NL
Nominal VDD and
VDDIO
, 25°C, gFS4g
0.5
%FS
Output Noise
Density
ndens
Nominal VDD and
VDDIO
, 25°C, gFS4g
120
µg/Hz
Power Supply
Rejection Ratio
PSRR
1
mg/50m
V
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
MECHANICAL CHARACTERISTICS
Parameter
Symbol
Condition
Min
Typ
Max
Units
Cross Axis
Sensitivity
S
relative contribution
between any two of
the three axes
0.5
%
Alignment Error
EA
relative to package
outline
0.5
°
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
2. Absolute maximum ratings
Absolute maximum ratings
Parameter
Condition
Min
Max
Units
Voltage at Supply Pin
VDD Pin
-0.3
4
V
VDDIO Pin
-0.3
4
V
Voltage at any Logic Pin
Non-Supply Pin
-0.3
VDDIO+0.3, <4
V
Passive Storage Temp. Range
≤ 65% rel. H.
-50
+150
°C
None-volatile memory (NVM)
Data Retention
T = 85°C,
after 15 cycles
10
y
Mechanical Shock
Duration ≤ 200µs
10,000
g
Duration ≤ 1.0ms
2,000
g
Free fall
onto hard surfaces
1.8
m
ESD, at any pin
HBM
2
kV
CDM
500
V
MM
200
V
Note:
Stress above these limits may cause damage to the device. Exceeding the specified electrical limits
may affect the device reliability or cause malfunction.
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
3. Quick Start Guide
The purpose of this chapter is to help developers who want to start working with the BMA456 by
giving you some very basic hands-on application examples to get started.
Note about using the BMA456:
The communication between application processor and BMA456 will happen either over i2c or spi
interface. For more information about the interfaces, read the related chapter 6.
Before starting the test, the device has to be properly connected to the master (AP) and
powered up. For more information about it, read the related chapter 7. Pin-out and Connection
Diagrams.
First application setup examples algorithms:
After correct power up by setting the correct voltage to the appropriate external pins, the
BMA456 enters automatically into the Power On Reset (POR) sequence. In order to properly
make use of the BMA456, certain steps from host processor side are needed. The most typical
operations will be explained in the following application examples in form of flow-diagrams.
Example 1: Testing communication with the BMA456 and initializing feature engine
a. -reading chip id (checking correct communication)
End
start
chip_ID = read_reg(0x00)
chip_ID = 0x16 ?
communication: OK communication: ERROR
Yes No
b. -performing initialization sequence (interrupt feature engine)
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
End
start
disable PWR_
CONF.adv_power_save
write_reg(addr=0x7C,val=0x00)wait for 500us
sleep(500us)prepare feature
engine INIT_CTRL=0x00
write_reg(addr=0x59,val=0x00)load config file and save
as array (little endian)
(for config file see chapter
4.2)
init_array[]=read_file(init_file) burst write to
reg FEATURES_IN
burst_write_reg(addr=0x5E,val=init_array[]) enable sensor features
write_reg(addr=0x59,val=0x01)
c. -checking the correct status of the interrupt feature engine
End
start
Non blocking
wait = 140ms
read INTERNAL_STATUS
status_features=read_reg(0x2A) check bit 0 of
INTERNAL_STATUS
status_features.0 = 1 ?
initialization: OK initialization: ERROR
Yes No
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Example 2: Reading acceleration data from BMA456 (example: low power mode)
-setting data processing parameters (power, bandwidth, range) and reading sensor data
End
start
enable acquisiton of acceleration data.
disable the auxiliary interface
write_reg(addr=0x7D,val=0x04)
disable the acc_perf_mode bit; set
acc_bwp to 2 repetitions; set acc_odr to 50 Hz
write_reg(addr=0x40,val=0x17)
enable the adv_power_save bit;
leave the fifo_self_wakeup enabled
write_reg(addr=0x7C,val=0x03)
read sensor data
accel_data[]=burst_read(addr=0x12, bytes=6)
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Further steps:
The BMA456 has many more capabilities that are described in this document and include FIFO,
power saving modes, synchronization capabilities with host processor, data synchronization and
integration with third party sensors, many interrupts generation and more features like step counter,
etc.
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
4. Functional Description
Block Diagram
Feature engine
Accel ADC
DIGITAL SIGNAL
CONDITIONING
select
PRIMARY
DIGITAL
INTERFACE
SENSOR DATA
AND SENSORTIME
REGISTER
FIFO ENGINE
SECONDARY DIGITAL INTERFACE CONFIGURABLE AS:
MAGNET (I2C MASTER)
SPI / I2C
INT1, INT2
EXTERNAL MAGNET DATA
RAW DATA
Magnet
SENSORTIME
MAGNET (I2C)
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.1. Supply Voltage and Power Management
BMA456 has two distinct power supply pins:
VDD is the main power supply.
VDDIO is a separate power supply pin used for supplying power for the interface including the
auxiliary interface.
There are no limitations with respect to the voltage level applied to th e VDD and VDDIO pins, as long
as it lies within the respective operating range. Furthermore, the device can be completely switched
off (VDD= 0V) while keeping the VDDIO supply within operating range or vice versa. However if the
VDDIO supply is switched off, all interface pins (CSB, SDX, SCX) must be kept close to GNDIO
potential. The device is reset when the supply voltage applied to at least one supply pin VDD or VDDIO
falls below the specified minimum values. No constraints exist for the minimum slew-rate of the voltage
applied to the VDD and VDDIO pins.
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.2. Device Initialization
After power up sequence the accelerometer is in suspend mode, device must initialized through the
following procedure. Initialization has to be performed as well after every POR or soft reset.
Disable advanced power save mode: PWR_CONF.adv_power_save =0b0
Wait for 450 us. The register SENSORTIME_0 increments every 39.25 µsec and may be used for
accurate timing.
Write INIT_CTRL.init_ctrl=0x00
Load configuration file
Burst write initialization data to Register FEATURES_IN. The configuration file is included
in the driver available on the Bosch Sensortec website (www.bosch-sensortec.com) or
from your regional support team. Optionally the configuration file can be written to the
Register FEATURES_IN in several consecutive burst write access. Every burst write must
contain an even number of bytes.
Optionally:
Burst read configuration file from Register FEATURES_IN and check correctness
Enable sensor features– write 0x01 into register INIT_CTRL.init_ctrl. This operation must not be
performed more than once after POR or softreset.
Wait until Register INTERNAL_STATUS.message contains the value 0b1. This will happen after
at most 140-150 msec.
After initialization sequence has been completed, the device is in configuration mode (power mode).
Now it is possible to switch to the required power mode and all features are ready to use as described
in chapter 4.
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.3. Power Modes
The power state of the BMA456 is controlled through the registers PWR_CONF and PWR_CTRL. The
Register PWR_CTRL enables and disables the accelerometer and the auxiliary sensor. The Register
PWR_CONF controls which power state the sensors enter if they are enabled or disabled in the
Register PWR_CTRL. The power state impacts the behavior of the sensor with respect to start-up
time, available functions, etc. but not the sensor data quality. The sensor data quality is controlled in
the Registers ACC_CONF.
In all global power configurations both register contents and FIFO contents are retained.
Low Power Mode: This power configuration aggressively reduces power of the device as much as
possible. The low power mode configuration is activated through enabling
PWR_CONF.adv_power_save=0b1 and disabling ACC_CONF.acc_perf_mode=0b0. In this
configuration these externally user visible features may not be available:
Register writes need an inter-write-delay of at least 1000 us.
The sensors log data into the FIFO in performance and low power mode. When the FIFO
watermark interrupt is active, the FIFO is accessible for reading in low power mode until a
burst read operation on Register FIFO_DATA completes when
PWR_CONF.fifo_self_wakeup=0b1. When PWR_CONF.fifo_self_wakeup=0b0, the user
needs to disable advanced power save mode (PWR_CONF.adv_power_save=0b0) before
reading the FIFO and wait for 250 µs.
To read out FIFO data w/o a FIFO watermark interrupt, the advanced power save
configuration needs to be disabled (PWR_CONF.adv_power_save=0b0)
The table below shows a few examples with the optimal power configurations
Usecase
ACC_CONF.acc_perf_mod
e
PWR_CONF.adv_power_sa
ve
PWR_CTRL.acc_en
Power consumption
Configuration mode
x
0
x
tbd
Suspend (lowest power mode)
x
1
0
suspend power
Performance mode accel
1
x
1
accel power
Low power mode
0
1
1
Depends on ACC_CONF
The PWR_CTRL register is used to enable and disable sensors. Per default, all sensors are disabled.
Acceleration sensor must be enabled by setting PWR_CTRL.acc_en=0b1.
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
The auxiliary sensor functionality is supported only when the auxiliary interface is connected for the
auxiliary sensor operation. If the auxiliary interface is not used for auxiliary sensor operation, then the
auxiliary sensor interface must remain disabled by setting PWR_CTRL.aux_en=0b0 (default).
To change the power mode of the auxiliary sensor, both the power mode of the auxiliary interface and
the auxiliary sensor part needs to be changed, e.g. to set the auxiliary sensor to suspend mode:
Set the auxiliary sensor interface to suspend in Register PWR_CTRL.aux_en=0b0. Changing
the auxiliary sensor interface power mode to suspend does not imply any mode change in the
auxiliary sensor.
The auxiliary sensor part itself must be put into suspend mode by writing the respective
configuration bits of the auxiliary sensor part. The power mode of the auxiliary sensor part is
controlled by setting the BMA456 auxiliary sensor interface into manual mode by
AUX_IF_CONF.aux_manual_en=0b1 and then communicating with the auxiliary sensor part
through the BMA456 registers AUX_RD_ADDR, AUX_WR_ADDR, and AUX_WR_DATA. For
details see Chapter 4.8.
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.4. Sensor Data
Acceleration Data
The width of acceleration data is 16 bits given in two´s complement representation in the registers
DATA_8 to DATA_13. The 16 bits for each axis are split into an MSB upper part and an LSB lower part.
Reading the acceleration data registers shall always start with the LSB part. In order to ensure the
integrity of the acceleration data, the content of an MSB register is locked by reading the corresponding
LSB register (shadowing procedure).
Filter Settings
The accelerometer digital filter can be configured through the Register ACC_CONF.
Note:
Illegal settings in configuration registers will result in an error code in Register ERR_REG. The content
of the data register is undefined, and if the FIFO is used, it may contain no value.
Accelerometer data processing for performance mode
Performance mode is enabled with ACC_CONF.acc_perf_mode=0b1. In this power mode, the
accelerometer data is sampled at equidistant points in the time, defined by the accelerometer output
data rate parameter ACC_CONF.acc_odr. The output data rate can be configured in one of eight
different valid ODR configurations going from 12.5 Hz up to 1600Hz.
The filter bandwidth shows a 3db cutoff frequency shown in the following table:
Table 12: 3dB cutoff frequency of the accelerometer according to ODR with normal filter mode
Accelerometer ODR [Hz]
12.5
25
50
100
200
400
800
1600
3dB Cutoff frequency [Hz]
5.06
10.12
20.25
40.5
80
162
(155 for
Z axis)
324
(262 for
Z axis)
684
(353 for
Z axis)
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Accelerometer data processing for low power mode
Low power mode can be enabled by PWR_CONF.adv_power_save=0b1 and
ACC_CONF.acc_perf_mode=0b0. In this power mode, the accelerometer regularly changes between
a suspend power mode phase where no measurement is performed and a performance power mode
phase, where data is acquired. The period of the duty cycle for changing between suspend and
performance mode will be determined by the output data rate (ACC_CONF.acc_odr). The output data
rate can be configured in one of 10 different valid ODR configurations going from 0.78Hz up to 400Hz.
The samples acquired during the normal mode phase will be averaged and the result will be the output
data. The number of averaged samples can be determined by the parameter ACC_CONF.acc_bwp
through the following formula:
averaged samples = 2(Val(acc_bwp))
skipped samples = (1600/ODR)-averaged samples
A higher number of averaged samples will result in a lower noise level of the signal, but since the
performance power mode phase is increased, the power consumption will also rise.
Data Ready Interrupt
This interrupt fires whenever a new data sample set from accelerometer, and auxiliary sensor is
complete. This allows a low latency data readout. In non-latched mode, the interrupt and the flag in
Register INT_STATUS_1 are cleared automatically after 1/(3200Hz). If this automatic clearance is
unwanted, latched-mode can be used (see chapter 4.7).
In order to enable/use the data ready interrupt map it on the desired interrupt pin via INT_MAP_DATA.
Temperature Sensor
The temperature sensor has 8 bits. The temperature value is defined in Register TEMPERATURE and
updated every 1.28 s.
It is always on, when a sensor is active.
Value
Temperature
0x7F
150 °C
…
…
0x00
23 °C
…
…
0x81
-104 °C
0x80
Invalid
When there is no valid temperature information available (i.e. last measurement before the time
defined above), the temperature indicates an invalid value: 0x80.
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Sensor Time
The BMA456 supports the concept of sensortime. Its core element is a free running counter with a
width of 24 bits. It increments with a resolution of 39.0625us. The user can access the current state of
the counter by reading registers SENSORTIME_0 to SENSORTIME_2.
All sensor events e.g. updates of data registers are synchronous to this sensor time register as defined
in the table below. With every update of the data register or the FIFO, a bit m in the registers
SENSORTIME_0 to SENSORTIME_2 toggles where m depends on the output data rate for the data
register and the output data rate and the FIFO downsampling rate for the FIFO. The table below shows
which bit toggles for which update rate of data register and FIFO
Bit m in sensor_t ime
23
22
21
20
19
18
17
16
Resolution [s]
327.68
163.84
81.92
40.96
20.48
10.24
5.12
2.56
Update rate [Hz]
0.0031
0.0061
0.012
0.024
0.049
0.10
0.20
0.39
The sensortime is synchronized with the data capturing in the data register and the FIFO. Between
the data sampling and the data capturing there is a delay which depends on the settings in the Register
ACC_CONF. The sensortime supports multiple seconds of sample counting and a sub-microsecond
resolution, see Register SENSORTIME_0 for details.
Burst reads on the registers SENSORTIME_0 to SENSORTIME_2 deliver always consistent values,
i.e. the value of the register does not change during the burst read.
Configuration Changes
If accelerometer configuration settings in registers ACC_CONF, ACC_RANGE, or AUX_CONF are
changed while the accelerometer (PWR_CTRL.acc_en = 0b1) or auxiliary sensor
(PWR_CTRL.aux_en = 0b1) is enabled, the configuration changes are not immediately applied. The
configuration changes become effective if a sampling event for the currently active ODR coincides
with a sampling event for the newly requested ODR on the sensortime sampling grid. In the case
where the currently active ODR equals the newly requested ODR, the configuration changes become
effective at the next sampling event. See also following figure.
Bit m in sensor_time
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Resolution [ms]
1280
640
320
160
80
40
20
10
5
2.5
1.250
0.625
0.3125
0.156
0.078
0.039
Update rate [Hz]
0.78
1.56
3.125
6.25
12.5
25
50
100
200
400
800
1600
3200
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
t
1/fODR
Currently active ODR
Configuration change including
ODR change written to register
1/fODR, new
Confguration
change
becomes effective
requested ODR
t
Currently active ODR
Configuration change including
ODR change written to register
1/fODR, new
Confguration
change
becomes effective
requested ODR
1/fODR
Current ODR >
requested ODR
Requested ODR >
current ODR
t
Currently active ODR
Configuration change written to
register Confguration
change
becomes effective
requested ODR
1/fODR
Configuration
change w/o ODR
change
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.5. FIFO
The device supports the following FIFO operating modes:
Streaming mode: overwrites oldest data on FIFO full condition
FIFO mode: discards newest data on FIFO full condition
The FIFO depth is 1024 byte and supports the following interrupts:
FIFO full interrupt
FIFO watermark interrupt
FIFO is enabled with FIFO_CONFIG_1.fifo_acc_en=0b1 (0b0= disabled). To enable the FIFO for the
auxiliary interface (magnetometer) set FIFO_CONFIG_1.fifo_aux_en=0b1 (0b0=disabled).
Frames
The FIFO captures data in frames, which consist of a header and a payload. The FIFO can be
configured to skip the header (headerless mode) in which case only payload is stored.
In header mode (standard configuration) each regular frame consists of a one byte header
describing properties of the frame, (which sensors are included in this frame) and the data
itself. Beside the regular frames, there are control frames.
In headerless mode the FIFO contains sampled data only.
Header mode
The header has a length of 8 bit and the following format:
Bit
7
6
5
4
3
2
1
0
Content
fh_mode<1:0>
fh_parm<3:0>
fh_ext<1:0>
These fh_mode and fh_parm and fh_ext fields are defined below
fh_mode<1:0>
Definition
fh_parm <3:0>
fh_ext<1:0>
0b10
Regular
Enabled sensors
Tag of INT2 and INT1
0b01
Control
Control opcode
0b00 and 0b11
Reserved
Na
f_parm=0b0000 is invalid for regular mode, a header of 0x80 indicates an uninitialized frame.
In a regular frame, fh_parm frame defines which sensors are included in the data part of the frame.
The format is
Name
fh_parm<3:0>
Bit
3
2
1
0
Content
Reserved
FIFO_aux_data
Reserved
FIFO_acc_data
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
When FIFO_<sensor x>_data is 0b1 (0b0) data for sensor x is included (not included) in the data part
of the frame.
The fh_ext<1:0> field are used for external tagging.
The data format for data frames is identical to the format defined for the Register (0x0A) DATA_0 to
Register (0x17) DATA_13 register. Only frames which contain data of at least one sensor will be written
into the FIFO. E.g. fh_parm=0b0101 the data in the frame are shown below. If the read burst length is
less than 8 byte, the number of auxiliary sensor data in the frame is reduced to the burst length.
DATA[X]
Acronym
X=0
AUX_0
copy of register Val(AUX_RD_ADDR) in auxiliary sensor
register map
X=1
AUX_1
copy of register Val(AUX_RD_ADDR )+1 in auxiliary sensor
register map
X=2
AUX_2
copy of register Val(AUX_RD_ADDR )+2 in auxiliary sensor
register map
X=3
AUX_3
copy of register Val(AUX_RD_ADDR )+3 in auxiliary sensor
register map
X=4
AUX_4
copy of register Val(AUX_RD_ADDR )+4 in auxiliary sensor
register map
X=5
AUX_5
copy of register Val(AUX_RD_ADDR )+5 in auxiliary sensor
register map
X=6
AUX_6
copy of register Val(AUX_RD_ADDR )+6 in auxiliary sensor
register map
X=7
AUX_7
copy of register Val(AUX_RD_ADDR)+7 in auxiliary sensor
register map
X=8
ACC_X<7:0> (LSB)
X=9
ACC_X<15:8> (MSB)
X=10
ACC_Y<7:0> (LSB)
X=11
ACC_Y<15:8> (MSB)
X=12
ACC_Z<7:0> (LSB)
X=13
ACC_Z<15:8> (MSB)
Headerless mode
When the data rates of all enabled sensor elements are identical, the FIFO header may be disabled
in FIFO_CONFIG_1.fifo_header_en.
The headerless mode supports only regular frames. To be able to distinguish frames from each other,
all frames must have the same size. For this reason, any change in configuration that have an impact
to frame size or order of data within a frame will cause an instant flush of FIFO, restarting capturing of
data with the new settings.
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
If the auxiliary sensor interface is enabled, the number of auxiliary sensor bytes in a FIFO frame is
always AUX_IF_CONF.aux_rd_burst bytes (see chapter 4.8). If the burst length is less than 8, BMA456
will pad the values read form the auxiliary sensor. E.g. if AUX_IF_CONF.aux_rd_burst=0b01 (2 Bytes),
a frame with auxiliary sensor and accelerometer data will look like
DATA[X]
Acronym
X=0
AUX_0
copy of register Val(AUX_RD_ADDR.read_addr) in auxiliary
sensor register map
X=1
AUX_1
copy of register Val(AUX_RD_ADDR.read_addr+1) in
auxiliary sensor register map
X=2
Padding byte
Undefined value
X=3
Padding byte
Undefined value
X=4
Padding byte
Undefined value
X=5
Padding byte
Undefined value
X=6
Padding byte
Undefined value
X=7
Padding byte
Undefined value
X=8
ACC_X<7:0> (LSB)
X=9
ACC_X<15:8> (MSB)
X=10
ACC_Y<7:0> (LSB)
X=11
ACC_Y<15:8> (MSB)
X=12
ACC_Z<7:0> (LSB)
X=13
ACC_Z<15:8> (MSB)
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Conditions and Details
Frame rates
The frame sampling rate of the FIFO is defined by the maximum output data rate of the sensors
enabled for FIFO sampling. The FIFO sampling configuration is set in register FIFO_CONFIG_0 to
FIFO_CONFIG_1. It is possible to select filtered or pre-filtered data as an input to the FIFO. If un-
filtered data are selected in register FIFO_DOWNS.acc_fifo_filt_data for the accelerometer, the
sample rate is 1600 Hz. The input data rate to the FIFO can be reduced by selecting a down -sampling
factor 2k in register FIFO_DOWNS.acc_fifo_downs, where k=[0,1..7].
FIFO Overflow
In the case of overflow the FIFO can either stop recording data or overwrite the oldest data. The
behavior is controlled by Register FIFO_CONFIG_0.fifo_stop_on_full. When
FIFO_CONFIG_0.fifo_stop_on_full =0b0, the FIFO logic may delete the oldest frames. If header
mode is enabled, the skip frame is the prepended at the next FIFO readout, when the free FIFO
space falls below the maximum size frame.
If FIFO_CONFIG_0.fifo_stop_on_full =0b1, the newest frame may be discarded, if the free FIFO
space falls below the maximum size frame. If header mode is enabled, a skip frame is prepended at
the next FIFO readout (which is not the position where the frame(s) have been discarded).
During a FIFO read operation of the host, no data at the FIFO tail may be dropped. If the host reads
the FIFO with a slower rate than it is filled, it may happen that the sensor needs to drop new data,
even when FIFO_CONFIG_0.fifo_stop_on_full =0b0. These events are recorded in the Register
ERR_REG.fifo_err.
Control frames
Control frames are only supported in header mode. There are a number of control frames defined
through the fh_parm field. These are shown in below.
A skip frame indicates the number of skipped frames after a FIFO overrun occurred, a sensortime
frame contains the sensortime when the last sampled frame stored in the FIFO is read, a FIFO input
config frames indicates a change in sensor configuration which affects the sensor data.
The FIFO fill level is contained in registers FIFO_LENGTH_1.fifo_byte_counter_13_8 and
FIFO_LENGTH_0.fifo_byte_counter_7_0 and includes the control frames, with the exception of the
sensortime frame.
fh_mode<3:0>
Definition
0x0
Skip Frame
0x1
Sensortime Frame
0x2
Fifo_Input_Config Frame
0x3
Reserved
0x4
Sample Drop Frame
0x5 – 0x7
Reserved
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Skip Frame (fh_parm=0x0):
In the case of FIFO overflows, a skip_frame is prepended to the FIFO content, when read out next
time. The data for the frame consists of one byte and contains the number of skipped frames. When
more than 0xFF frames have been skipped, 0xFF is returned. A skip frame is expected always as first
frame in a FIFO read burst. A skip frame does not consume memory in the FIFO.
Sensortime Frame (fh_parm=0x1):
The data for the sensortime frame consists content of the Register SENSORTIME_0 to
SENSORTIME_2 when the last byte of the last sample frame was read. A sensortime frame is always
expected as last frame in the FIFO. A sensortime frame is only sent if the FIFO becomes empty during
the burst read. A sensortime frame does not consume memory in the FIFO. Sensortime frames are
enabled (disabled) by setting FIFO_CONFIG_0.fifo_time_en to 0b1 (0b0).
Fifo_Input_Config Frame (fh_parm=0x2):
Whenever the filter configuration of the FIFO input data sources changes, a FIFO input config frame
is inserted into the FIFO, before the configuration change becomes active. E.g. when the bandwidth
for the accelerometer filter is changed in Register ACC_CONF, a FIFO input config frame is inserted
before the first frame with accelerometer data with the new bandwidth configuration. The FIFO input
config frame contains one byte of data with the format
Bit
7
6
5
4
3
2
1
0
Content
reserved
aux_
if_ch
aux_
conf_ch
reserved
reserved
acc_
range_ch
acc_
conf_ch
aux_if_ch: A write to Register AUX_IF_CONF, AUX_RD_ADDR, or AUX_WR_ADDR becomes active.
aux_conf_ch: A write to Register AUX_CONF becomes active.
acc_range_ch: A write to Register ACC_RANGE becomes active.
acc_conf_ch: A write to Register ACC_CONF or acc_FIFO_filt_data or acc_FIFO_downsampling in
Register FIFO_DOWNS becomes active.
Sample Drop Frame
A sample drop frame has always one byte payload, defined through
Bit
7
6
5
4
3
2
1
0
Content
reserved
aux_drop
reserved
acc_
drop
Sample drop frame will be inserted after a Fifo_Input_Config frame at the ODR tick at which the sample
was dropped and only if no other sensor provides a valid sample at this ODR tick. If another sensor
provides valid data, the data of this sensor is just not included and the appropriate header bit of the
data frame is not set.
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Sample drop frames will be inserted only for transition phases after configuration changes, not for
samples dropped between sensor enable and first valid sample. For a detailed description of
configuration changes see Section 4.4, Subsection “Configuration Changes”.
FIFO Partial frame reads
When a frame is only partially read through the Register FIFO_DATA it will be repeated completely
with the next access both in headerless and in header mode. In headermode, this includes the header.
In the case of a FIFO overflow between the first partial read and the second read attempt, the frame
may be deleted.
FIFO overreads
When more data are read from the FIFO than it contains valid data, 0x8000 is returned in headerless
mode. In header mode 0x80 indicates an invalid frame.
FIFO data synchronization
All sensor data are sampled with respect to a common ODR time grid. Even if a different ODR is
selected for the acceleration and the magnetic sensor the data remains synchronized:
If a frame contains a sample from a sensor element with ODR x, then it must contain also samples of
all sensor elements with an ODR y>=x. This applies for steady state operation. In transition phases, it
is more important not to lose data, therefore exceptions are possible if the sensor elements with ODR
y>=x do not have data, e.g. due to a sensor configuration change.
FIFO Data Synchronization Scheme in the following figure illustrates the steady state and transient
operating conditions.
ACC
MAG
t
ACC
MAG
t
1/ODR_ACC
1/ODR_MAG
ACC
MAG
t
ACC enabled ACC start-up time
Frame inconsistency
accepted during
transition phases
MAG start-up time
MAG enabled
Steady state
operation
Data Sheet
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
FIFO synchronization with external interrupts
External interrupts may be synchronized into the FIFO data. For this operation mode the
FIFO_CONFIG_1.fifo_tag_int1_en and FIFO_CONFIG_1.fifo_tag_int2_en need to be enabled, as well
as INT1_IO_CTRL.input_en and INT2_IO_CTRL.input_en. The fh_ext field in FIFO header will then
be set according to the signal at the INT1/INT2 inputs.
FIFO Interrupts
The FIFO supports two interrupts, a FIFO full interrupt and a watermark interrupt:
The FIFO full interrupt is issued when the FIFO fill level is above the full threshold. The full
threshold is reached just before the last two frames are stored in the FIFO.
The FIFO watermark is issued when the FIFO fill level is equal or above a watermark defined
in Register FIFO_WTM_0 and FIFO_WTM_1.
In order to enable/use the FIFO full or watermark interrupts map them on the desired interrupt pin via
INT_MAP_DATA.
Both interrupts are suppressed when a read operation on the Register FIFO_DATA is ongoing.
Latched FIFO interrupts will only get cleared, if the status register gets read and the fill level is below
the corresponding FIFO interrupt (full or watermark).
FIFO Reset
The user can trigger a FIFO reset by writing the command fifo_flash (0xB0) in CMD.
Automatic resets are only performed in the following cases:
A sensor is enabled or disabled in headerless mode
A transition between headerless and headermode or vice versa has occurred.
Size of auxiliary sensor data in a frame changed in header or headerless mode
Data Sheet
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.6. Interrupt Features
Global Configuration
The configuration of the interrupt feature engine is described in the Register FEATURES_IN.
In order to reconfigure the features, the user must perform a burst read of the whole content from the
Register FEATURES_IN, followed by a modification of the content, and finally a burst write of the
modified content to the Register FEATURES_IN. The content of the successive bytes read or written
in burst mode correspond to the single bytes 0x00 to 0x3F described in FEATURES_IN.
Make sure sensor is initialized properly before the feature configuration is performed (see description
in chapter 4.2.)
The output of the interrupt features can be read out of the status registers listed below.
Interrupt feature status registers
Feature
Output status
Step Detector/Counter
INT_STATUS_0.step_counter_out
Activity Recognition
INT_STATUS_0.activity_type_out
Tilt on wrist
INT_STATUS_0.wrist_tilt_out
Double Tap / Tap
INT_STATUS_0.wakeup_out
Any Motion / No Motion
INT_STATUS_0.any_no_motion_out
Error Interrupt
INT_STATUS_0.error_int_out
Additionally, the Step counter numeric value is stored in the registers: STEP_COUNTER_0,
STEP_COUNTER_1, STEP_COUNTER_2 and STEP_COUNTER_3.
The Error Interrupt signals that the sensor stopped after a fatal error. The Device reinitialization must
be done.
The Features (algorithms) have as input data the acceleration samples, which are acquired at 50Hz.
Minimum Bandwidth Settings
If Performance mode is enabled (ACC_CONF.acc_perf_mode is 0b1, so continuous mode is used),
then the features are functioning correctly, regardless to the ODR and the Bandwidth that the Host
would set.
If Performance Mode is disabled (ACC_CONF.acc_perf_mode is 0b0) (device in low power mode),
then the minimum ODR setting must comply with the following restrictions:
1. The ODR must be set to minimum 50 Hz for the most features except Double Tap/Tap
2. The ODR must be set to minimum 200 Hz for the use of Double Tap/ Tap feature
If the minimum requirements are not met, the corresponding flag from the register
INTERNAL_STATUS is set.
Data Sheet
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Axes remapping for interrupt features
If the sensor orientation is different than described in chapter 8.2 the sensor axis must be remapped
to use the integrated features.
Axes remapping register allows the host to freely map individual axis to the coordinate system of the
used platform. Individual axis can be mapped to any other defined axis. The sign value of the axis can
be also configured. For example x axis can be mapped to –x axis, +y axis, - y axis, +z axis or –z axis.
Similarly other axis also have its own combination.
Note:
The axis remapping does apply only to the data fetched into the Features. The DATA_0 to DATA_13
registers and FIFO are not affected and should be accordingly remapped on the driver level.
Configuration settings:
1. FEATURES_IN.general_settings.axes_remapping.map_x_axis – describes which axis shall
be mapped to x axis.
2. FEATURES_IN.general_settings.axes_remapping.map_x_axis_sign – describes whether the
mapped axis shall be inverted or not to be inverted.
3. FEATURES_IN.general_settings.axes_remapping.map_y_axis – describes which axis shall
be mapped to y axis.
4. FEATURES_IN.general_settings.axes_remapping.map_y_axis_sign – describes whether the
mapped axis shall be inverted or not to be inverted.
5. FEATURES_IN.general_settings.axes_remapping.map_z_axis –describes which axis shall
be mapped to z axis.
6. FEATURES_IN.general_settings.axes_remapping.map_z_axis_sign – describes whether the
mapped axis shall be inverted or not to be inverted.
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Step Detector / Step Counter
The Step Counter algorithm is optimized on high accuracy, while Step Detector is optimized on low
latency. Both are running in parallel, once enabled, but the Step Detector interrupt output is mutually
exclusive with the Step Counter watermark interrupt. The Step Counter is optimized for wearable
devices and wrist use case.
In addition the Step Counter implements the function required for step counting in Androi d 4.4 and
higher as well: https://source.android.com/devices/sensors/sensor-types.html#step_counter.
The Step Detector implements the function required for step counting in Android 4.4 and higher:
https://source.android.com/devices/sensors/sensor-types.html#step_detector.
Step Counter:
Step Counter can be enabled in FEATURES_IN.step_counter.settings_26.en_counter.
The step counter accumulates the steps detected by the step detector interrupt, and makes available
the 32 bit current step counter value in the following 4 registers, each holding 8bit:
STEP_COUNTER_0, STEP_COUNTER_1, STEP_COUNTER_2 and corresponding,
STEP_COUNTER_3. There are situations when the step counting value is different than the sum of
steps detected by the step detector.
By enabling the FEATURES_IN.step_counter.settings_26.reset_counter flag, the accumulated step
number value is reset. Afterwards, the value of this flag is automatically reset and counting is restarted.
The step counter watermark option can be useful if host needs to receive an interrupt every time a
certain number of steps were counted. If FEATURES_IN.step_counter.settings_26.watermark_level is
set to 10 (holding an implicit factor of 20x), every 200 steps are counted an interrupt will be raised on
INT_STATUS_0.step_counter_out. As the steps are buffered internally, the output may be triggered
between 200-210 steps. The exact number of steps recorded is available in the registers
STEP_COUNTER_0, STEP_COUNTER_1, STEP_COUNTER_2 and STEP_COUNTER_3. When
the watermark level was reached, the corresponding interrupt bit is asserted,
INT_STATUS_0.step_counter_out.
Step Detector:
The Step Detector feature is optimized for low latency. If
FEATURES_IN.step_counter.settings_26.en_detector is set, an interrupt is triggered for every step
detected. So, every time a new step is detected, it asserts the corresponding interrupt output
INT_STATUS_0.step_counter_out.
Step Counter Presets (phone/wrist use case):
The integrated step counter can be configured to work with either phone platform or wrist platf orm.
The step counter parameters FEATURE_IN.step_counter.settings_1.param_1 to
FEATURE_IN.step_counter.settings_25.param_25 must be configured from the host side to either of
the configurations in the following table.
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Parameter Name
Phone Configuration
Wrist Configuration
PARAM_1
306
301
PARAM_2
30950
31700
PARAM_3
132
315
PARAM_4
27804
31451
PARAM_5
7
4
PARAM_6
30052
31551
PARAM_7
32426
27853
PARAM_8
1375
1219
PARAM_9
2750
2437
PARAM_10
1375
1219
PARAM_11
-5994
-6420
PARAM_12
16879
17932
PARAM_13
1
1
PARAM_14
12
39
PARAM_15
12
25
PARAM_16
74
150
PARAM_17
160
160
PARAM_18
0
1
PARAM_19
12
12
PARAM_20
15600
15600
PARAM_21
256
256
PARAM_22
0
1
PARAM_23
0
3
PARAM_24
0
1
PARAM_25
0
14
By default, the wrist configuration is available for use. If the platform is a wrist operated device, then
there is no need to overwrite the step counter parameter values. If the configuration needs to be
modified then the following steps must be followed:
1. Disable step counter, step detector, and activity detection
2. Modify the 25 parameters of step counter
3. Enable step counter, step detector, and activity detection
After re-enabling the features, the new parameters value will be used.
Customized Step Counter Sensitivity Configuration (overwrites Step Counter Presets)
The Step Counter and Detector sensitivity can be modified manually by setting the step counter
parameters in the register map with the support of the corresponding field application engineer. The
default parameters are set by the step counter preset (phone/wrist) which is used.
Data Sheet
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Configuration settings:
1. FEATURES_IN.step_counter.settings_26.watermark_level - Watermark level; the Step-
counter will trigger output every time this number of steps are counted. Holds implicitly a 20x
factor, so the range is 0 to 20460, with resolution of 20 steps. If 0, the Step Counter watermark
is disabled and Step Detector enabled.
2. FEATURES_IN.step_counter.settings_26.reset_counter – flag to reset the counted steps. This
is only interpreted if the step counter is enabled.
3. FEATURES_IN.step_counter.settings_26.en_counter – indicates if the Step Counter feature is
enabled or not.
4. FEATURES_IN.step_counter.settings_26.en_detector – indicates if the Step Detector feature
is enabled or not.
FEATURES_IN.step_counter.settings_1.param_1 – there are 25 parameters, which configure the use
case (wrist or phone).
Data Sheet
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Walking activity recognition
This feature can detect the actual walking activity status of a user. It can distinguish between walking,
running and still.
The change of the status can be read in INT_STATUS_0.activity_type_out; the status itself can be
read in ACTIVITY_TYPE.activity_type_out. The walking activity recognition can be enabled by
FEATURES_IN.step_counter.settings_26.en_activity. Step counter has to be enabled as well by
FEATURES_IN.step_counter__settings_26.en_counter.
Configuration settings:
FEATURES_IN.step_counter.settings_26.en_activity – enables walking activity recognition.
Data Sheet
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Tilt on Wrist
How to perform the “Tilt on Wrist” gesture ideally:
1. Wrap the device on your wrist.
2. Lift the hand wearing the device up to a comfortable position and tilt it to minimum 12° to
gravity (see the image below for the valid position)
3. Wait for a second.
Valid position for Tilt on Wrist
The Tilt on Wrist Interrupt is detected with one accelerometer axis. Therefore, you should make sure
that the active axis is mapped to the portrait up direction of the device by using the axis remapping
functionality of BMA456. See the examples in the table below.
The table below shows the required remapping configurations for the Tilt on Wrist function based on
the sensor’s different orientations inside the device. More information about how to remap the axis
direction can be found in the general interrupt description in Chapter 4.6.
No.
Sensor direction
Mount
layer
Register configuration
Remarks
1
Top layer
map_x_axis = 0
map_x_axis_sign = 0
map_y_axis = 1
map_y_axis_sign = 0
map_z_axis = 2
map_z_axis_sign = 0
X = +x axis
Y = +y axis
Z = +z axis
Same as the
original mapping
2
Top layer
map_x_axis = 0
map_x_axis_sign = 1
map_y_axis = 1
map_y_axis_sign = 1
map_z_axis = 2
map_z_axis_sign = 0
X = -x axis
Y = -y axis
Z = +z axis
x, y inverted
g
Portrait up Pin#1
Marking
g
Portrait up
Pin#1
Marking
g
Portrait up
Min 12°
Wrist rotation
Sensor
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
3
Top layer
map_x_axis = 1
map_x_axis_sign = 1
map_y_axis = 0
map_y_axis_sign = 0
map_z_axis = 2
map_z_axis_sign = 0
X = -y axis
Y = +x axis
Z = +z axis
x, y swapped, and y
inverted
4
Top layer
map_x_axis = 1
map_x_axis_sign = 0
map_y_axis = 0
map_y_axis_sign = 1
map_z_axis = 2
map_z_axis_sign = 0
X = +y axis
Y = -x axis
Z = +z axis
x, y swapped, and x
inverted
5
Bottom
layer
map_x_axis = 1
map_x_axis_sign = 0
map_y_axis = 0
map_y_axis_sign = 0
map_z_axis = 2
map_z_axis_sign = 1
X = y axis
Y = x axis
Z = -z axis
x, y swapped, and z
inverted
6
Bottom
layer
map_x_axis = 1
map_x_axis_sign = 1
map_y_axis = 0
map_y_axis_sign = 1
map_z_axis = 2
map_z_axis_sign = 1
X = -y axis
Y = -x axis
Z = -z axis
x, y swapped, and
x, y, z inverted
7
Bottom
layer
map_x_axis = 0
map_x_axis_sign = 1
map_y_axis = 1
map_y_axis_sign = 0
map_z_axis = 2
map_z_axis_sign = 1
X = -x axis
Y = y axis
Z = -z axis
x, z inverted
8
Bottom
layer
map_x_axis = 0
map_x_axis_sign = 0
map_y_axis = 1
map_y_axis_sign = 1
map_z_axis = 2
map_z_axis_sign = 1
X = x axis
Y = -y axis
Z = -z axis
y, z inverted
Configuration settings
FEATURES_IN.wrist_tilt.settings.enable – enables/disables the Tilt on Wrist feature.
g
Portrait up
Pin#1
Marking
g
Portrait up Pin#1
Marking
g
Portrait up
Pin#1
Marking
g
Portrait up
Pin#1
Marking
g
Portrait up
Pin#1
Marking
g
Portrait up
Pin#1
Marking
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Double tap / Tap detection
The gesture “Tap / Double tap” can be enabled by FEATURES_IN.tap_doubletap.settings.enable.
The detection is done by measuring the acceleration on z-direction.
By default double tap detection is enabled. To enable single tap detection (and disable double tap),
you can configure the parameter: FEATURES_IN.tap_doubletap.settings.single_tab_en – 1 bit –
flag.
The detection sensitivity can be customized using the register
FEATURES_IN.tap_doubletap.settings.sensitivity. The sensitivity range is from 0 (high) to 7 (low).
How to perform the gesture ideally:
1. Use your index finger to tapon the device slightly harder than how you touch a button on a
touchscreen.
2. Tap again directly, if “Double tap” detection is enabled.
3. Wait for half a second.
Configuration settings
1. FEATURES_IN.tap_doubletap.settings.enable– enables/disables the Wakeup feature.
2. FEATURES_IN.tap_doubletap.settings.sensitivity– configures the detection sensitivity which
ranges from 0 (high) to 7 (low).
3. FEATURES_IN.tap_doubletap.settings.single_tab_en- enables single tap detection. By default,
double tap is enabled.
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Any Motion / No motion detection
Any Motion Detection:
The any-motion detection uses the slope between two acceleration signals to detect changes in motion.
The interrupt is configured by setting at least one of the following flags:
FEATURES_IN.any_motion.settings_2.en_x, FEATURES_IN.any_motion.settings_2.en_y and
FEATURES_IN.any_ motion.settings_ 2.en_z, respectively for each axis.
It generates an interrupt when the absolute value of the slope (the difference between two
accelerations) exceeds the preset FEATURES_IN.any_motion.settings_1.threshold for a certain
number, FEATURES_IN.any_motion.settings_2.duration, of consecutive data points.
The slope (difference) is being computed between the current acceleration sample and the reference
sample. The reference sample is updated while the Anymotion is detected; basically this means the
reference is the last state when sensor detected Anymotion.
If the same number of data points falls below the FEATURES_IN.any_motion.settings_1.threshold,
the interrupt is reset.
anym_th
INT
slope
acc(t0+dt)
acc(t0)
slope(t0+dt)= acc(t0+dt) - acc(t0)
time
time
anym_du
r
anym_dur
latched
Any-motion (slope) interrupt detection
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
No Motion Detection:
The interrupt engine can also be configured as a No-motion interrupt, when register
FEATURES_IN.any_motion.settings_1.nomotion_ sel is set.
No-motion is generated when the slope on all selected axis remains smaller than a programmable
FEATURES_IN.any_ motion.settings_ 1.threshold for a programmable time. The signals and timings
relevant to the no-motion interrupt functionality are depicted in the figure below.
Register FEATURES_IN.any_motion.settings_2.duration defines the number of consecutive slope
data points of the selected axis which must exceed the threshold for an interrupt to be asserted.
Configuration settings:
1. FEATURES_IN.any_motion.settings_2.duration – the number of consecutive data points for
which the threshold condition must be respected, for interrupt assertion.
2. FEATURES_IN.any_ motion.settings_ 1.threshold – the slope threshold.
3. FEATURES_IN.any_ motion.settings_ 2.en_x – indicates if this feature is enabled for x axis
4. FEATURES_IN.any_motion.settings_2.en_y – indicates if this feature is enabled for y axis
5. FEATURES_IN.any_motion.settings_ 2.en_z –indicates if this feature is enabled for z axis
6. FEATURES_IN.any_motion.settings_1.nomotion_sel – indicates if No-motion (1) or Any-
motion (0) is selected.
acceleration
slo_no_mot_th
-slo_no_mot_th
slope
time
axis x, y, or z
axis x, y, or z
slo_no_mot_dur
timer
INT
slope(t0+Δt)= acc(t0+Δt) - acc(t0)
acc(t0+Δt)
acc(t0)
Figure 1 Signal timings No-motion interrupt
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.7. General Interrupt Pin configuration
Electrical Interrupt Pin Behavior
Both interrupt pins INT1 and INT2 can be configured to show the desired electrical behavior.
Interrupt pins can be enabled in INT1_IO_CTRL.output_en respectively INT2_IO_CTRL.output_en.
The characteristic of the output driver of the interrupt pins may be configured with bits
INT1_IO_CTRL.od and INT2_IO_CTRL.od. By setting these bits to 0b1, the output driver shows open-
drive characteristic, by setting the configuration bits to 0b0, the output driver shows push-pull
characteristic.
The electrical behavior of the Interrupt pins, whenever an interrupt is triggered, can be configured as
either “active-high” or “active-low” via INT1_IO_CTRL.lvl respectively INT2_IO_CTRL.lvl.
Both interrupt pins can be configured as input pins via INT1_IO_CTRL.input_en respectively
INT2_IO_CTRL.input_en. This is necessary when FIFO tag feature is used (see chapter 0). If both are
enabled, the input (e.g. marking FIFO) is driven by the interrupt output.
BMA456 supports edge and level triggered interrupt inputs, this can be configured through
INT1_IO_CTRL.edge_ctrl respectively INT2_IO_CTRL.edge_ctrl.
BMA456 supports non-latched and latched interrupts modes for data-ready, FIFO full and FIFO
watermark. The mode is selected by INT_LATCH.int_latch. The feature interrupts described in chapter
4.6 support only latched mode described below.
In latched mode an asserted interrupt status in INT_STATUS_0 or INT_STATUS_1 and the selected
pin are cleared if the corresponding status register is read. If more than one interrupt pin is used in
latched mode, all interrupts in INT_STATUS_0 should be mapped to one pin and all interrupts in
INT_STATUS_1 should be mapped to the other pin. If just one interrupt pin is used all interrupts may
be mapped to this pin. If the activation condition still holds when it is cleared, the interrupt status is
asserted again when the interrupt condition holds again.
In the non-latched mode (only for data-ready, FIFO full and FIFO watermark) the interrupt status bit
and the selected pin are reset as soon as the activation condition is not valid anymore.
Interrupt Pin Mapping
In order, for the Host to react to the features output, they can be mapped to the external PIN1 or PIN2,
by setting the corresponding bits from the registers INT1_MAP, respectively INT2_MAP.
To disconnect the features outputs to the external pins, the same corresponding bits must be reset,
from the registers, INT1_MAP, respectively INT2_MAP.
Once a feature triggered the output pin, the Host can read out the corresponding bit from the register,
INT_STATUS_0 (Feature Interrupts) or INT_STATUS_1 (FIFO and data ready).
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.8. Auxiliary Sensor Interface
The auxiliary interface allows to attach one auxiliary sensor (e.g. magnetometer) on dedicated auxiliary
sensor interface as shown in Figure…
6-DOF Solution w/ BMA456 and BMM150
Structure and Concept
The BMA456 controls the data acquisition of the auxiliary sensor and presents the data to the
application processor through the primary I2C or SPI interface. No other I2C master or slave devices
must be attached to the auxiliary sensor interface.
The BMA456 autonomously reads the sensor data from a compatible auxiliary sensor without
intervention of the application processor and stores the data in its data registers and FIFO. The initial
setup of the auxiliary sensor after power-on is done through indirect addressing.
The main benefits of the auxiliary sensor interface are
Synchronization of sensor data of auxiliary sensor and accelerometer. This results in an
improved sensor data fusion quality.
Usage of the BMA456 FIFO for auxiliary sensor data (BMM150 does not have a FIFO). This is
important for monitoring applications.
Interface Configuration
The configuration registers that control the auxiliary sensor interface operation, are only affecting the
interface to the auxiliary sensor, not the configuration of the sensor itself (this must be done in setup
mode).
There are three basis configurations of the auxiliary sensor interface:
No auxiliary sensor access
Setup mode: Auxiliary sensor access in manual mode
Data mode: Auxiliary sensor access through hardware readout loop.
The setup of the auxiliary sensor itself must be done through the primary interface using indirect
addressing in setup mode. When collecting sensor data, the BMA456 autonomously triggers the
Application
Processor
BMA456
BMM150
I2C or SPI primary
interface
I2C auxiliary
interface
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
measurement of the auxiliary sensor using the auxiliary sensor forced mode and the data readout from
the auxiliary sensor (data mode).
In setup mode, the auxiliary sensor may be configured and trim data may be read out from the auxiliary
sensor. In the data mode the auxiliary sensor data are continuously copied into BMA456 registers and
may be read out from BMA456 directly over the primary interface. For a BMM150 magnetometer, these
are the auxiliary sensor data itself and Hall resistance, temperature is not required. The table below
shows how to configure these three modes using the registers PWR_CONF, PWR_CTRL, and
AUX_IF_CONF.aux_manual_en.
The auxiliary sensor interface mode may be enabled by setting bit IF_CONF.if_mode according to the
following table.
IF_CONF.if_mode
Result
0
Secondary IF disabled (default)
1
AuxIF enabled
The auxiliary sensor interface operates at 400 kHz. This results in an I2C readout delay of about 250
us for 10 bytes of data.
Setup mode (AUX_IF_CONF.aux_manual_en =0b1)
Through the primary interface the auxiliary sensor may be accessed using indirect addressing through
the AUX_* registers. AUX_RD_ADDR and AUX_WR_ADDR define the address of the register to
read/write in the auxiliary sensor register map and triggers the operation itself, when the auxiliary
sensor interface is enabled through PWR_CTRL.aux_en.
For reads, the number of data bytes defined in AUX_IF_CONF.aux_rd_burst are read from the auxiliary
sensor and written into the BMA456 Register DATA_0 to DATA_7. For writes only single bytes are
written, independent of the settings in AUX_IF_CONF.aux_rd_burst. The data for the I2C write to
auxiliary sensor must be stored in AUX_WR_DATA before the auxiliary sensor register address is
written into AUX_WR_ADDR.
When a read or write operation is triggered by writing to AUX_RD_ADDR and AUX_WR_ADDR,
STATUS.aux_man_op is set and it is reset when the operation is completed. For reads the DATA_0 to
DATA_7 contains the read data, for writes AUX_WR_DATA may be overwritten again.
Mode
AUX_IF_CONF.aux_manual_en
PWR_CONF.adv_power_save
PWR_CTRL.aux_en
No auxiliary
sensor
access
1
1
0
Setup mode
1
0
0
Data mode
0
x
1
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Configuration phase of the auxiliary sensor.
Example: Read bytes 5 and 6 of auxiliary sensor
End
start check that no manual
auxiliary sensor
op is running
I2C_READ( STATUS, 1)
STATUS.aux_man_op=1 ?enable reads/writes, set
burst length to 2
I2C_READ( STATUS, 1) I2C_WRITE(AUX_IF_CONF, 0b01000001)Issue I2C read operation
for byte 5+6 on
auxiliary sensor
I2C_WRITE(AUX_RD_ADDR, 0b00000101)check if data
is already valid
I2C_READ(STATUS, 1)
STATUS<2>=1 ?burst read the two bytes
I2C_READ(STATUS, 1) I2C_READ(DATA_0, 2)
Yes No
Yes No
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Example: Write 0xEF into byte 3 of auxiliary sensor
End
start check that no manual
auxiliary sensor
op is running
I2C_READ(STATUS, 1)
STATUS<2>=1 ?enable reads/writes
I2C_READ(STATUS, 1) I2C_WRITE(AUX_IF_CONF, 0b01000000)write data to be
written into BMM150
I2C_WRITE(AUX_WR_DATA, 0xEF) Issue I2C operation for
byte 3 on
auxiliary sensor
I2C_WRITE(AUX_WR_ADDR, 0b00000011)
Check if write
completed (optional)
I2C_READ(STATUS, 1)
STATUS<2>=1 ?
I2C_READ(STATUS, 1)
Yes No
Yes
No
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Data mode (AUX_IF_CONF.aux_manual_en=0)
AUX_RD_ADDR.read_addr defines the address of the data register from which to read the number of
data bytes configured in AUX_IF_CONF.aux_rd_burst from AUX_0… AUX_7 data of the auxiliary
sensor. These data are stored in the DATA_0 up to DATA_7 register. The data ready status is set in
STATUS.drdy_aux, it is typically cleared through reading one of the DATA_0 to DATA_7 registers.
AUX_WR_ADDR.write_addr defines the register address of auxiliary sensor to start a measurement
in forced mode in the auxiliary sensor register map. The delay (time offset) between triggering an
auxiliary sensor measurement and reading the measurement data is specified in
AUX_CONF.aux_offset. Reading of the data is done in a single I2C read operation with a burst length
specified in AUX_IF_CONF.aux_rd_burst. For BMM150 AUX_IF_CONF.aux_rd_burst should be set to
0b11, i.e. 8 bytes. If AUX_IF_CONF.aux_rd_burst is set to a value lower than 8 bytes, the remaining
auxiliary sensor data in the Register DATA_0 to DATA_7 and the FIFO are undefined.
It is recommended to disable the auxiliary sensor interface (IF_CONF.if_mode=0b0) before setting up
AUX_RD_ADDR.read_addr and AUX_WR_ADDR.write_addr for the data mode. This does not put the
auxiliary sensor itself into suspend mode but avoids gathering unwanted data during this phase.
Afterwards the auxiliary sensor interface can be enabled (IF_CONF.if_mode=0b1) again.
Delay (Time Offset)
BMA456 supports starting the measurement of the sensor at the auxiliary sensor interface between
2.5 and 37.5 ms before the Register DATA are updated. This offset is defined in AUX_CONF.aux_offset.
If set to 0b0, the measurement is done right after the last Register DATA update, therefore this
measurement will be included in the next register DATA update.
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.9. Sensor Self-Test
The BMA456 has a comprehensive self test function for the MEMS element by applying electrostatic
forces to the sensor core instead of external accelerations. By actually deflecting the seismic mass,
the entire signal path of the sensor can be tested. Activating the self-test results in a static offset of
the acceleration data; any external acceleration or gravitational force applied to the sensor during
active self-test will be observed in the output as a superposition of both acceleration and self -test
signal.
Before the self-test is enabled the g-range should be set to 8g. The self-test is activated for all axes
by writing ACC_SELF_TEST.acc_self_test_en = 1b1. The self-test is disabled by writing
ACC_SELF_TEST.acc_self_test_en = 1b0. It is possible to control the direction of the deflection
through bit ACC_SELF_TEST.acc_self_test_sign. The excitation occurs in positive (negative) direction
if ACC_SELF_TEST.acc_self_test_sign= 1b1 (’b0). The amplitude of the deflection has to be set low
by writing ACC_SELF_TEST.acc_self_test_amp = 1b0. After the self-test is enabled, the user should
wait 50ms before interpreting the acceleration data.
In order to ensure a proper interpretation of the self-test signal it is recommended to perform the self-
test for both (positive and negative) directions and then to calculate the difference of the resulting
acceleration values. The table below shows the minimum differences for each axis in order for the self
test to pass. The actually measured signal differences can be significantly larger.
Self-test: Resulting minimum difference signal for BMA456.
x-axis signal
y-axis signal
z-axis signal
BMA456
1800 mg
1800 mg
1800 mg
It is recommended to perform a reset of the device after a self-test has been performed. If the reset
cannot be performed, the following sequence must be kept to prevent unwanted interrupt generation:
disable interrupts, change parameters of interrupts, wait for at least 50ms, and enable desired
interrupts.
The recommended self test procedure is as follows:
1. Enable accelerometer with register PWR_CTRL.acc_en=1b1.
2. Set ±8g range in register ACC_RANGE.acc_range
3. Set self test amplitude to low by setting ACC_SELF_TEST.acc_self_test_amp = 1b0
4. Set ACC_CONF.acc_odr=1600Hz, Continuous sampling mode,
ACC_CONF.acc_bwp=norm_avg4, ACC_CONF.acc_perf_mode=1b1.
5. Wait for > 2 ms
6. Enable self-test and set positive self-test polarity (ACC_SELF_TEST.acc_self_test_sign=
1b1)
7. Wait for > 50ms
8. Read and store positive acceleration value of each axis from registers DATA_8 to DATA_13
9. Enable self-test and set negative self-test polarity ACC_SELF_TEST.acc_self_test_sign=
1b0)
10. Wait for > 50ms
11. Read and store negative acceleration value of each axis from registers DATA_8 to DATA_13
12. Calculate difference of positive and negative acceleration values and compare against
threshold values
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.10. Offset Compensation
BMA456 offers manual compensation as well as inline calibration.
Offset compensation is performed with pre-filtered data, and the offset is then applied to both, pre-
filtered and filtered data. If necessary the result of this computation is saturated to prevent any overflow
errors (the smallest or biggest possible value is set, depending on the sign).
The public offset compensation Registers OFFSET_0 to OFFSET_2 are images of the corresponding
registers in the NVM. With each image update the contents of the NVM registers are written to the
public registers. The public registers can be overwritten by the user at any time.
The offset compensation registers have a width of 8 bit using two’s complement notation. The offset
resolution (LSB) is 3.9 mg and the offset range is + - 0.5 g. Both are independent of the range setting.
Offset compensation needs to be enabled through NV_CONF.acc_off_en = 0b1
Manual Offset Compensation
The contents of the public compensation Register OFFSET_0 to OFFSET_2 may be set manually via
the digital interface. After modifying the Register OFFSET_0 to OFFSET_2 the next data sample is
not valid.
Offset compensation needs to be enabled through NV_CONF.acc_off_en.
Inline Calibration
For certain applications, it is often desirable to calibrate the offset once and to store the compensation
values permanently. This can be achieved by using manual offset compensation to determine the
proper compensation values and then storing these values permanently in the NVM.
Each time the device is reset, the compensation values are loaded from the non-volatile memory into
the image registers and used for offset compensation.
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
4.11. Non-Volatile Memory
The registers NV_CONF and OFFSET_0 to OFFSET_2 have an NVM backup which are accessible
by the user.
The content of the NVM is loaded to the image registers after a reset (either POR or softreset). As long
as the image update is in progress, STATUS.cmd_rdy is 0b0, otherwise it is 0b1.
The image registers can be read and written like any other register.
Writing to the NVM is a 4-step procedure:
1. Set PWR_CONF.adv_power_save = 0b0
2. Write the new contents to the image registers.
3. Write 0b1 to bit NVM_CONF.nvm_prog_en in order to unlock the NVM.
4. Write prog_nvm to the CMD register to trigger the write process.
Writing to the NVM always renews the entire NVM contents. It is possible to check the write status by
reading STATUS.cmd_rdy. While STATUS.cmd_rdy = 0b0, the write process is still in progress; when
STATUS.cmd_rdy = 0b1, writing is completed. An NVM write cycle can only be initiated, if
PWR_CONF.adv_power_save = 0b0.
Until boot phase is finished (after POR or softreset), the serial interface is not operational. The NVM
shadow registers must not be accessed during an ongoing NVM command (initiated through the
Register CMD). In all other cases, register can be read or written.
As long as an NVM read (during sensor boot and soft reset) or an NVM write is ongoing, writes to
sensor registers are discarded, reads return the Register STATUS independent of the read address.
4.12. Soft-Reset
A softreset can be initiated at any time by writing the command softreset (0xB6) to register CMD. The
softreset performs a fundamental reset to the device which is largely equivalent to a power cycle.
Following a delay, all user configuration settings are overwritten with their default state (setting stored
in the NVM) wherever applicable. This command is functional in all operation modes but must not be
performed while NVM writing operation is in progress.
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
5. Register Description
5.1. General Remarks
Registers can be read and written in all power configurations with the exception of FEATURES_IN and
FIFO_DATA which need PWR_CONF.adv_power_save set to 0b0.
5.2. Register Map
read/write
read only
writ e only
reserved
ID:
Register
Address
Register
Name
Default
Value
7
6
5
4
3
2
1
0
0x7E
CMD
0x00
cmd
0x7D
PWR_CT
RL
0x00
reserved
acc_en
reserved
aux_en
0x7C
PWR_C
ONF
0x03
reserved
fifo_self_
wakeup
adv_pow
er_save
0x7B
-
-
reserved
...
-
-
reserved
0x74
-
-
reserved
0x73
OFFSET
_2
0x00
off_acc_z
0x72
OFFSET
_1
0x00
off_acc_y
0x71
OFFSET
_0
0x00
off_acc_x
0x70
NV_CON
F
0x00
reserved
acc_off_
en
i2c_wdt_
en
i2c_wdt_
sel
spi_en
0x6F
-
-
reserved
0x6E
-
-
reserved
0x6D
ACC_SE
LF_TES
T
0x00
reserved
acc_self_
test _amp
acc_self_
test _sign
reserved
acc_self_
test _en
0x6C
-
-
reserved
0x6B
IF_CON
F
0x00
reserved
if_mode
reserved
spi3
0x6A
NVM_C
ONF
0x00
reserved
nvm_pro
g_en
reserved
0x69
-
-
reserved
...
-
-
reserved
0x60
-
-
reserved
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x5F
INTERN
AL_ERR
OR
0x00
reserved
int _err_2
int _err_1
reserved
0x5E
FEATUR
ES_IN
0x00
features_in
0x5D
-
-
reserved
...
-
-
reserved
0x5A
-
-
reserved
0x59
INIT_CT
RL
0x90
init_ctrl
0x58
INT_MA
P_DATA
0x00
reserved
int 2_drdy
int 2_fwm
int 2_ffull
reserved
int 1_drdy
int 1_fwm
int 1_ffull
0x57
INT2_MA
P
0x00
error_int
_out
any_no_
motion_o
ut
wakeup_
out
reserved
wrist _tilt_
out
act ivity_t
ype_out
step_cou
nt er_out
reserved
0x56
INT1_MA
P
0x00
error_int
_out
any_no_
motion_o
ut
wakeup_
out
reserved
wrist_tilt_
out
act ivity_t
ype_out
step_cou
nt er_out
reserved
0x55
INT_LAT
CH
0x00
reserved
int _lat ch
0x54
INT2_IO
_CTRL
0x00
reserved
input _en
out put _e
n
od
lvl
edge_ct rl
0x53
INT1_IO
_CTRL
0x00
reserved
input _en
out put _e
n
od
lvl
edge_ct rl
0x52
-
-
reserved
...
-
-
reserved
0x50
-
-
reserved
0x4F
AUX_W
R_DATA
0x02
write_dat a
0x4E
AUX_W
R_ADDR
0x4C
write_addr
0x4D
AUX_RD
_ADDR
0x42
read_addr
0x4C
AUX_IF_
CONF
0x83
aux_man
ual_en
reserved
aux_rd_burst
0x4B
AUX_DE
V_ID
0x20
i2c_device_addr
reserved
0x4A
-
-
reserved
0x49
FIFO_C
ONFIG_
1
0x10
reserved
fifo_acc_
en
fifo_aux_
en
fifo_head
er_en
fifo_tag_i
nt1_en
fifo_tag_i
nt2_en
reserved
0x48
FIFO_C
ONFIG_
0
0x02
reserved
fifo_time
_en
fifo_st op
_on_full
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x47
FIFO_W
TM_1
0x02
reserved
fifo_wat er_mark_12_8
0x46
FIFO_W
TM_0
0x00
fifo_wat er_mark_7_0
0x45
FIFO_D
OWNS
0x80
acc_fifo_
filt_dat a
acc_fifo_downs
reserved
0x44
AUX_CO
NF
0x46
aux_offset
aux_odr
0x43
-
-
reserved
0x42
-
-
reserved
0x41
ACC_RA
NGE
0x01
reserved
acc_range
0x40
ACC_CO
NF
0xA8
acc_perf
_mode
acc_bwp
acc_odr
0x3F
-
-
reserved
...
-
-
reserved
0x2B
-
-
reserved
0x2A
INTERN
AL_STAT
US
0x00
odr_high
_error
odr_50hz
_error
axes_re
map_err
or
message
0x29
-
-
reserved
0x28
-
-
reserved
0x27
ACTIVIT
Y_TYPE
0x00
reserved
act ivity_t ype_out
0x26
FIFO_DA
TA
0x00
fifo_data
0x25
FIFO_LE
NGTH_1
0x00
reserved
fifo_byt e_counter_13_8
0x24
FIFO_LE
NGTH_0
0x00
fifo_byt e_counter_7_0
0x23
-
-
reserved
0x22
TEMPER
ATURE
0x00
temperat ure
0x21
STEP_C
OUNTER
_3
0x00
step_counter_out_3
0x20
STEP_C
OUNTER
_2
0x00
step_counter_out_2
0x1F
STEP_C
OUNTER
_1
0x00
step_counter_out_1
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x1E
STEP_C
OUNTER
_0
0x00
step_counter_out_0
0x1D
INT_STA
TUS_1
0x00
acc_drdy
_int
reserved
aux_drdy
_int
reserved
fwm_int
ffull_int
0x1C
INT_STA
TUS_0
0x00
error_int
_out
any_no_
motion_o
ut
wakeup_
out
reserved
wrist_tilt_
out
act ivity_t
ype_out
step_cou
nt er_out
reserved
0x1B
EVENT
0x01
reserved
por_det e
cted
0x1A
SENSOR
TIME_2
0x00
sensor_t ime_23_16
0x19
SENSOR
TIME_1
0x00
sensor_t ime_15_8
0x18
SENSOR
TIME_0
0x00
sensor_t ime_7_0
0x17
DATA_13
0x00
acc_z_15_8
0x16
DATA_12
0x00
acc_z_7_0
0x15
DATA_11
0x00
acc_y_15_8
0x14
DATA_10
0x00
acc_y_7_0
0x13
DATA_9
0x00
acc_x_15_8
0x12
DATA_8
0x00
acc_x_7_0
0x11
DATA_7
0x00
aux_r_15_8
0x10
DATA_6
0x00
aux_r_7_0
0x0F
DATA_5
0x00
aux_z_15_8
0x0E
DATA_4
0x00
aux_z_7_0
0x0D
DATA_3
0x00
aux_y_15_8
0x0C
DATA_2
0x00
aux_y_7_0
0x0B
DATA_1
0x00
aux_x_15_8
0x0A
DATA_0
0x00
aux_x_7_0
0x09
-
-
reserved
...
-
-
reserved
0x04
-
-
reserved
0x03
STATUS
0x10
drdy_acc
reserved
drdy_aux
cmd_rdy
reserved
aux_man
_op
reserved
0x02
ERR_RE
G
0x00
aux_err
fifo_err
reserved
error_code
cmd_err
fatal_err
0x01
-
-
reserved
0x00
CHIP_ID
0x16
chip_id
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
FEATURES_IN
Register
Address
Register
Name
Default
Value
7
6
5
4
3
2
1
0
0x5E:
0x3F
general_
set t ings.
axes_re
mapping[
1]
0x00
reserved
map_z_a
xis_sign
0x5E:
0x3E
general_
set t ings.
axes_re
mapping[
0]
0x88
map_z_axis
map_y_a
xis_sign
map_y_axis
map_x_a
xis_sign
map_x_axis
0x5E:
0x3D
general_
set t ings.c
onfig_id[
1]
0x00
ident ificat ion
0x5E:
0x3C
general_
set t ings.c
onfig_id[
0]
0x00
ident ificat ion
0x5E:
0x3B
wrist_tilt.
set t ings[
1]
0x00
reserved
0x5E:
0x3A
wrist_tilt.
set t ings[
0]
0x00
reserved
enable
0x5E:
0x39
tap_doub
let ap.set t
ings[1]
0x00
reserved
0x5E:
0x38
tap_doub
let ap.set t
ings[0]
0x06
reserved
single_ta
p_en
sensitivity
enable
0x5E:
0x37
step_cou
nter.sett i
ngs_26[1
]
0x00
reserved
en_act ivit
y
en_count
er
en_detec
tor
reset_co
unt er
wat ermark_level
0x5E:
0x36
step_cou
nter.sett i
ngs_26[0
]
0x00
wat ermark_level
0x5E:
0x35
step_cou
nter.sett i
ngs_25[1
]
0x00
param_25
Data Sheet
BMA456
Page 56
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x5E:
0x34
step_cou
nter.sett i
ngs_25[0
]
0x0E
param_25
0x5E:
0x33
step_cou
nter.sett i
ngs_24[1
]
0x00
param_24
0x5E:
0x32
step_cou
nter.sett i
ngs_24[0
]
0x01
param_24
0x5E:
0x31
step_cou
nter.sett i
ngs_23[1
]
0x00
param_23
0x5E:
0x30
step_cou
nter.sett i
ngs_23[0
]
0x03
param_23
0x5E:
0x2F
step_cou
nter.sett i
ngs_22[1
]
0x00
param_22
0x5E:
0x2E
step_cou
nter.sett i
ngs_22[0
]
0x01
param_22
0x5E:
0x2D
step_cou
nter.sett i
ngs_21[1
]
0x01
param_21
0x5E:
0x2C
step_cou
nter.sett i
ngs_21[0
]
0x00
param_21
0x5E:
0x2B
step_cou
nter.sett i
ngs_20[1
]
0x3C
param_20
0x5E:
0x2A
step_cou
nter.sett i
ngs_20[0
]
0xF0
param_20
Data Sheet
BMA456
Page 57
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x5E:
0x29
step_cou
nter.sett i
ngs_19[1
]
0x00
param_19
0x5E:
0x28
step_cou
nter.sett i
ngs_19[0
]
0x0C
param_19
0x5E:
0x27
step_cou
nter.sett i
ngs_18[1
]
0x00
param_18
0x5E:
0x26
step_cou
nter.sett i
ngs_18[0
]
0x01
param_18
0x5E:
0x25
step_cou
nter.sett i
ngs_17[1
]
0x00
param_17
0x5E:
0x24
step_cou
nter.sett i
ngs_17[0
]
0xA0
param_17
0x5E:
0x23
step_cou
nter.sett i
ngs_16[1
]
0x00
param_16
0x5E:
0x22
step_cou
nter.sett i
ngs_16[0
]
0x96
param_16
0x5E:
0x21
step_cou
nter.sett i
ngs_15[1
]
0x00
param_15
0x5E:
0x20
step_cou
nter.sett i
ngs_15[0
]
0x19
param_15
0x5E:
0x1F
step_cou
nter.sett i
ngs_14[1
]
0x00
param_14
Data Sheet
BMA456
Page 58
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x5E:
0x1E
step_cou
nter.sett i
ngs_14[0
]
0x27
param_14
0x5E:
0x1D
step_cou
nter.sett i
ngs_13[1
]
0x00
param_13
0x5E:
0x1C
step_cou
nter.sett i
ngs_13[0
]
0x01
param_13
0x5E:
0x1B
step_cou
nter.set ti
ngs_12[1
]
0x46
param_12
0x5E:
0x1A
step_cou
nter.sett i
ngs_12[0
]
0x0C
param_12
0x5E:
0x19
step_cou
nter.sett i
ngs_11[1
]
0xE6
param_11
0x5E:
0x18
step_cou
nter.sett i
ngs_11[0
]
0xEC
param_11
0x5E:
0x17
step_cou
nter.sett i
ngs_10[1
]
0x04
param_10
0x5E:
0x16
step_cou
nter.sett i
ngs_10[0
]
0xC3
param_10
0x5E:
0x15
step_cou
nter.sett i
ngs_9[1]
0x09
param_9
0x5E:
0x14
step_cou
nter.sett i
ngs_9[0]
0x85
param_9
0x5E:
0x13
step_cou
nter.sett i
ngs_8[1]
0x04
param_8
Data Sheet
BMA456
Page 59
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x5E:
0x12
step_cou
nter.sett i
ngs_8[0]
0xC3
param_8
0x5E:
0x11
step_cou
nter.sett i
ngs_7[1]
0x6C
param_7
0x5E:
0x10
step_cou
nter.sett i
ngs_7[0]
0xCD
param_7
0x5E:
0x0F
step_cou
nter.sett i
ngs_6[1]
0x7B
param_6
0x5E:
0x0E
step_cou
nter.sett i
ngs_6[0]
0x3F
param_6
0x5E:
0x0D
step_cou
nter.sett i
ngs_5[1]
0x00
param_5
0x5E:
0x0C
step_cou
nter.sett i
ngs_5[0]
0x04
param_5
0x5E:
0x0B
step_cou
nter.sett i
ngs_4[1]
0x7A
param_4
0x5E:
0x0A
step_cou
nter.sett i
ngs_4[0]
0xDB
param_4
0x5E:
0x09
step_cou
nter.sett i
ngs_3[1]
0x01
param_3
0x5E:
0x08
step_cou
nter.sett i
ngs_3[0]
0x3B
param_3
0x5E:
0x07
step_cou
nter.sett i
ngs_2[1]
0x7B
param_2
0x5E:
0x06
step_cou
nter.sett i
ngs_2[0]
0xD4
param_2
0x5E:
0x05
step_cou
nter.sett i
ngs_1[1]
0x01
param_1
0x5E:
0x04
step_cou
nter.sett i
ngs_1[0]
0x2D
param_1
Data Sheet
BMA456
Page 60
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x5E:
0x03
any_mot i
on.set t in
gs_2[1]
0x00
z_en
y_en
x_en
durat ion
0x5E:
0x02
any_mot i
on.set t in
gs_2[0]
0x05
durat ion
0x5E:
0x01
any_mot i
on.set t in
gs_1[1]
0x00
reserved
nomot ion
_sel
t hreshold
0x5E:
0x00
any_mot i
on.set t in
gs_1[0]
0xAA
threshold
Data Sheet
BMA456
Page 61
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x00) CHIP_ID
DESCRIPTION: Chip identification code
RESET: 0x16
DEFINITION (Go to register map):
Name
Register (0x00) CHIP_ID
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
1
Content
chip_id
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
1
1
0
Content
chip_id
chip_id: Chip identification code for BMA456.
Register (0x02) ERR_REG
DESCRIPTION: Reports sensor error conditions
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x02) ERR_REG
Bit
7
6
5
4
Read/Write
R
R
n/a
R
Reset Value
0
0
0
0
Content
aux_err
fifo_err
reserved
error_code
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
error_code
cmd_err
fatal_err
fatal_err: Fatal Error, chip is not in operational state (Boot-, power-system). This flag will be reset only
by power-on-reset or softreset.
cmd_err: Command execution failed.
error_code: Error codes for persistent errors
error_code
0x00
no_error
no error is reported
0x01
acc_err
error in Register ACC_CONF
fifo_err: Error in FIFO detected: Input data was discarded in stream mode. This flag will be reset when
read.
Data Sheet
BMA456
Page 62
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
aux_err: Error in I2C-Master detected. This flag will be reset when read.
Register (0x03) STATUS
DESCRIPTION: Sensor status flags
RESET: 0x10
DEFINITION (Go to register map):
Name
Register (0x03) STATUS
Bit
7
6
5
4
Read/Write
R
n/a
R
R
Reset Value
0
0
0
1
Content
drdy_acc
reserved
drdy_aux
cmd_rdy
Bit
3
2
1
0
Read/Write
n/a
R
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
aux_man_op
reserved
aux_man_op: ‘1’(‘0’) indicate a (no) manual auxiliary interface operation is ongoing.
cmd_rdy: CMD decoder status. `0´ -> Command in progress `1´ -> Command decoder is ready to
accept a new command
drdy_aux: Data ready for auxiliary sensor. It gets reset when one auxiliary DATA register is read out
drdy_acc: Data ready for accelerometer. It gets reset when one accelerometer DATA register is read
out
Register (0x0A) DATA_0
DESCRIPTION: AUX_X(LSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x0A) DATA_0
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_x_7_0
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_x_7_0
Data Sheet
BMA456
Page 63
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x0B) DATA_1
DESCRIPTION: AUX_X(MSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x0B) DATA_1
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_x_15_8
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_x_15_8
Register (0x0C) DATA_2
DESCRIPTION: AUX_Y(LSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x0C) DATA_2
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_y_7_0
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_y_7_0
Data Sheet
BMA456
Page 64
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x0D) DATA_3
DESCRIPTION: AUX_Y(MSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x0D) DATA_3
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_y_15_8
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_y_15_8
Register (0x0E) DATA_4
DESCRIPTION: AUX_Z(LSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x0E) DATA_4
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_z_7_0
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_z_7_0
Data Sheet
BMA456
Page 65
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x0F) DATA_5
DESCRIPTION: AUX_Z(MSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x0F) DATA_5
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_z_15_8
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_z_15_8
Register (0x10) DATA_6
DESCRIPTION: AUX_R(LSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x10) DATA_6
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_r_7_0
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_r_7_0
Data Sheet
BMA456
Page 66
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x11) DATA_7
DESCRIPTION: AUX_R(MSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x11) DATA_7
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_r_15_8
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
aux_r_15_8
Register (0x12) DATA_8
DESCRIPTION: ACC_X(LSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x12) DATA_8
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_x_7_0
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_x_7_0
Data Sheet
BMA456
Page 67
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x13) DATA_9
DESCRIPTION: ACC_X(MSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x13) DATA_9
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_x_15_8
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_x_15_8
Register (0x14) DATA_10
DESCRIPTION: ACC_Y(LSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x14) DATA_10
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_y_7_0
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_y_7_0
Data Sheet
BMA456
Page 68
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x15) DATA_11
DESCRIPTION: ACC_Y(MSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x15) DATA_11
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_y_15_8
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_y_15_8
Register (0x16) DATA_12
DESCRIPTION: ACC_Z(LSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x16) DATA_12
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_z_7_0
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_z_7_0
Data Sheet
BMA456
Page 69
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x17) DATA_13
DESCRIPTION: ACC_Z(MSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x17) DATA_13
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_z_15_8
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
acc_z_15_8
Register (0x18) SENSORTIME_0
DESCRIPTION: Sensor time <7:0>
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x18) SENSORTIME_0
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
sensor_time_7_0
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
sensor_time_7_0
sensor_time_7_0: Sensor time <7:0> in units of 39.0625 us.
Data Sheet
BMA456
Page 70
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x19) SENSORTIME_1
DESCRIPTION: Sensor time <15:8>
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x19) SENSORTIME_1
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
sensor_time_15_8
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
sensor_time_15_8
sensor_time_15_8: Sensor time <15:8> in units of 10 ms.
Register (0x1A) SENSORTIME_2
DESCRIPTION: Sensor time <23:16>
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x1A) SENSORTIME_2
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
sensor_time_23_16
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
sensor_time_23_16
sensor_time_23_16: Sensor time <23:16> in units of 2.56 s.
Data Sheet
BMA456
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x1B) EVENT
DESCRIPTION: Sensor status flags
RESET: 0x01
DEFINITION (Go to register map):
Name
Register (0x1B) EVENT
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
n/a
n/a
n/a
R
Reset Value
0
0
0
1
Content
reserved
por_detected
por_detected: '1' after device power up or softreset. Clear-on-read
Register (0x1C) INT_STATUS_0
DESCRIPTION: Interrupt/Feature Status. Will be cleared on read.
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x1C) INT_STATUS_0
Bit
7
6
5
4
Read/Write
R
R
R
n/a
Reset Value
0
0
0
0
Content
error_int_out
any_no_motion_
out
wakeup_out
reserved
Bit
3
2
1
0
Read/Write
R
R
R
n/a
Reset Value
0
0
0
0
Content
wrist_tilt_out
activity_type_out
step_counter_out
reserved
step_counter_out: Step-counter watermark or Step-detector output.
activity_type_out: Step counter activity output(Running, Walking, Still)
wrist_tilt_out: Wrist tilt output
wakeup_out: Wakeup output
any_no_motion_out: Any-motion/No-motion detection output
error_int_out: Error interrupt output
Data Sheet
BMA456
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x1D) INT_STATUS_1
DESCRIPTION: Interrupt Status. Will be cleared on read.
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x1D) INT_STATUS_1
Bit
7
6
5
4
Read/Write
R
n/a
R
n/a
Reset Value
0
0
0
0
Content
acc_drdy_int
reserved
aux_drdy_int
reserved
Bit
3
2
1
0
Read/Write
n/a
n/a
R
R
Reset Value
0
0
0
0
Content
reserved
fwm_int
ffull_int
ffull_int: FIFO Full Interrupt
fwm_int: FIFO Watermark Interrupt
aux_drdy_int: Auxiliary sensor data ready interrupt
acc_drdy_int: Accelerometer data ready interrupt
Register (0x1E) STEP_COUNTER_0
DESCRIPTION: Step counting value byte-0
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x1E) STEP_COUNTER_0
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
step_counter_out_0
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
step_counter_out_0
step_counter_out_0: Step counting value byte-0 (least significant byte)
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x1F) STEP_COUNTER_1
DESCRIPTION: Step counting value byte-1
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x1F) STEP_COUNTER_1
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
step_counter_out_1
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
step_counter_out_1
step_counter_out_1: Step counting value byte-1
Register (0x20) STEP_COUNTER_2
DESCRIPTION: Step counting value byte-2
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x20) STEP_COUNTER_2
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
step_counter_out_2
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
step_counter_out_2
step_counter_out_2: Step counting value byte-2
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x21) STEP_COUNTER_3
DESCRIPTION: Step counting value byte-3
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x21) STEP_COUNTER_3
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
step_counter_out_3
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
step_counter_out_3
step_counter_out_3: Step counting value byte-3 (most significant byte)
Register (0x22) TEMPERATURE
DESCRIPTION: Contains the temperature value of the sensor
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x22) TEMPERATURE
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
temperature
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
temperature
temperature: Temperature value in two's complement representation in units of 1 Kelvin: 0x00
corresponds to 23 degree Celsius.
Data Sheet
BMA456
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BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x24) FIFO_LENGTH_0
DESCRIPTION: FIFO byte count register (LSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x24) FIFO_LENGTH_0
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
fifo_byte_counter_7_0
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
fifo_byte_counter_7_0
fifo_byte_counter_7_0: Current fill level of FIFO buffer.
Register (0x25) FIFO_LENGTH_1
DESCRIPTION: FIFO byte count register (MSB)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x25) FIFO_LENGTH_1
Bit
7
6
5
4
Read/Write
n/a
n/a
R
R
Reset Value
0
0
0
0
Content
reserved
fifo_byte_counter_13_8
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
fifo_byte_counter_13_8
fifo_byte_counter_13_8: FIFO byte counter bits 13..8
Data Sheet
BMA456
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x26) FIFO_DATA
DESCRIPTION: FIFO data output register
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x26) FIFO_DATA
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
fifo_data
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
fifo_data
fifo_data: FIFO read data.
Register (0x27) ACTIVITY_TYPE
DESCRIPTION: Step counter activity output(Running, Walking, Still)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x27) ACTIVITY_TYPE
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
n/a
n/a
R
R
Reset Value
0
0
0
0
Content
reserved
activity_type_out
activity_type_out: Step counter activity output(Running, Walking, Still)
activity_type_out
0x00
still
user not moving
0x01
walking
user walking
0x02
running
user running
0x03
unknown
unknown state
Data Sheet
BMA456
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x2A) INTERNAL_STATUS
DESCRIPTION: Error bits and message indicating internal status
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x2A) INTERNAL_STATUS
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
odr_high_error
odr_50hz_error
axes_remap_erro
r
message
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset Value
0
0
0
0
Content
message
message: Internal Status Message
message
0x00
not_init
ASIC is not initialized
0x01
init_ok
ASIC initialized
0x02
init_err
Initialization error
0x03
drv_err
Invalid driver
0x04
sns_stop
Sensor stopped
axes_remap_error: Axes remapped wrongly because a source axis is not assigned to more than one
target axis.
odr_50hz_error: The minimum bandwidth conditions are not respected for the features which require
50 Hz data.
odr_high_error: The minimum bandwidth conditions are not respected for the Wakeup Detection.
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x40) ACC_CONF
DESCRIPTION: Sets the output data rate, the bandwidth, and the read mode of the acceleration
sensor
RESET: 0xA8
DEFINITION (Go to register map):
Name
Register (0x40) ACC_CONF
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
1
0
1
0
Content
acc_perf_mode
acc_bwp
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
1
0
0
0
Content
acc_odr
acc_odr: ODR in Hz. The output data rate is independent of the power mode setting for the sensor,
but not all settings are supported in all power modes.
acc_odr
0x00
reserved
Reserved
0x01
odr_0p78
25/32
0x02
odr_1p5
25/16
0x03
odr_3p1
25/8
0x04
odr_6p25
25/4
0x05
odr_12p5
25/2
0x06
odr_25
25
0x07
odr_50
50
0x08
odr_100
100
0x09
odr_200
200
0x0a
odr_400
400
0x0b
odr_800
800
0x0c
odr_1k6
1600
0x0d
odr_3k2
Reserved
0x0e
odr_6k4
Reserved
0x0f
odr_12k8
Reserved
acc_bwp: Bandwidth parameter, determines filter configuration (acc_perf_mode=1) and averaging for
undersampling mode (acc_perf_mode=0)
acc_bwp
0x00
osr4_avg1
acc_perf_mode = 1 -> OSR4 mode; acc_perf_mode = 0 -> no averaging
0x01
osr2_avg2
acc_perf_mode = 1 -> OSR2 mode; acc_perf_mode = 0 -> average 2
samples
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x02
norm_avg4
acc_perf_mode = 1 -> normal mode; acc_perf_mode = 0 -> average 4
samples
0x03
cic_avg8
acc_perf_mode = 1 -> Reserved; acc_perf_mode = 0 -> average 8
samples
0x04
res_avg16
acc_perf_mode = 1 -> Reserved; acc_perf_mode = 0 -> average 16
samples
0x05
res_avg32
acc_perf_mode = 1 -> Reserved; acc_perf_mode = 0 -> average 32
samples
0x06
res_avg64
acc_perf_mode = 1 -> Reserved; acc_perf_mode = 0 -> average 64
samples
0x07
res_avg128
acc_perf_mode = 1 -> Reserved; acc_perf_mode = 0 -> average 128
samples
acc_perf_mode: Select accelerometer filter performance mode:
acc_perf_mode
0x00
cic_avg
averaging mode.
0x01
cont
continuous filter function.
Register (0x41) ACC_RANGE
DESCRIPTION: Selection of the Accelerometer g-range
RESET: 0x01
DEFINITION (Go to register map):
Name
Register (0x41) ACC_RANGE
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
n/a
n/a
RW
RW
Reset Value
0
0
0
1
Content
reserved
acc_range
acc_range: Accelerometer g-range
acc_range
0x00
range_2g
+/-2g
0x01
range_4g
+/-4g
0x02
range_8g
+/-8g
0x03
range_16g
+/-16g
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x44) AUX_CONF
DESCRIPTION: Sets the output data rate of the Auxiliary interface
RESET: 0x46
DEFINITION (Go to register map):
Name
Register (0x44) AUX_CONF
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
1
0
0
Content
aux_offset
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
1
1
0
Content
aux_odr
aux_odr: Select the poll rate for the sensor attached to the Auxiliary interface.
aux_odr
0x00
reserved
Reserved
0x01
odr_0p78
25/32
0x02
odr_1p5
25/16
0x03
odr_3p1
25/8
0x04
odr_6p25
25/4
0x05
odr_12p5
25/2
0x06
odr_25
25
0x07
odr_50
50
0x08
odr_100
100
0x09
odr_200
200
0x0a
odr_400
400
0x0b
odr_800
800
0x0c
odr_1k6
Reserved
0x0d
odr_3k2
Reserved
0x0e
odr_6k4
Reserved
0x0f
odr_12k8
Reserved
aux_offset: trigger-readout offset in units of 2.5 ms. If set to zero, the offset is maximum, i.e. after
readout a trigger is issued immediately.
Register (0x45) FIFO_DOWNS
DESCRIPTION: Configure Accelerometer downsampling rates for FIFO
RESET: 0x80
DEFINITION (Go to register map):
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Name
Register (0x45) FIFO_DOWNS
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
1
0
0
0
Content
acc_fifo_filt_data
acc_fifo_downs
Bit
3
2
1
0
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
acc_fifo_downs: Downsampling for accelerometer data (2**acc_fifo_downs)
acc_fifo_filt_data: selects filtered or unfiltered Accelerometer data for fifo
acc_fifo_filt_data
0x00
unfiltered
Unfiltered data
0x01
filtered
Filtered data
Register (0x46) FIFO_WTM_0
DESCRIPTION: FIFO Watermark level LSB
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x46) FIFO_WTM_0
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
fifo_water_mark_7_0
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
fifo_water_mark_7_0
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x47) FIFO_WTM_1
DESCRIPTION: FIFO Watermark level MSB
RESET: 0x02
DEFINITION (Go to register map):
Name
Register (0x47) FIFO_WTM_1
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
RW
Reset Value
0
0
0
0
Content
reserved
fifo_water_mark_
12_8
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
1
0
Content
fifo_water_mark_12_8
Register (0x48) FIFO_CONFIG_0
DESCRIPTION: FIFO frame content configuration
RESET: 0x02
DEFINITION (Go to register map):
Name
Register (0x48) FIFO_CONFIG_0
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
n/a
n/a
RW
RW
Reset Value
0
0
1
0
Content
reserved
fifo_time_en
fifo_stop_on_full
fifo_stop_on_full: Stop writing samples into FIFO when FIFO is full.
fifo_stop_on_full
0x00
disable
do not stop writing to FIFO when full
0x01
enable
Stop writing into FIFO when full.
fifo_time_en: Return sensortime frame after the last valid data frame.
fifo_time_en
0x00
disable
do not return sensortime frame
0x01
enable
return sensortime frame
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x49) FIFO_CONFIG_1
DESCRIPTION: FIFO frame content configuration
RESET: 0x10
DEFINITION (Go to register map):
Name
Register (0x49) FIFO_CONFIG_1
Bit
7
6
5
4
Read/Write
n/a
RW
RW
RW
Reset Value
0
0
0
1
Content
reserved
fifo_acc_en
fifo_aux_en
fifo_header_en
Bit
3
2
1
0
Read/Write
RW
RW
n/a
n/a
Reset Value
0
0
0
0
Content
fifo_tag_int1_en
fifo_tag_int2_en
reserved
fifo_tag_int2_en: FIFO interrupt 2 tag enable
fifo_tag_int2_en
0x00
disable
disable tag
0x01
enable
enable tag
fifo_tag_int1_en: FIFO interrupt 1 tag enable
fifo_tag_int1_en
0x00
disable
disable tag
0x01
enable
enable tag
fifo_header_en: FIFO frame header enable
fifo_header_en
0x00
disable
no header is stored (output data rate of all enabled sensors need to be
identical)
0x01
enable
header is stored
fifo_aux_en: Store Auxiliary data in FIFO (all 3 axes)
fifo_aux_en
0x00
disable
no Auxiliary data is stored
0x01
enable
Auxiliary data is stored
fifo_acc_en: Store Accelerometer data in FIFO (all 3 axes)
fifo_acc_en
0x00
disable
no Accelerometer data is stored
0x01
enable
Accelerometer data is stored
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x4B) AUX_DEV_ID
DESCRIPTION: Auxiliary interface slave device id
RESET: 0x20
DEFINITION (Go to register map):
Name
Register (0x4B) AUX_DEV_ID
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
0
1
0
Content
i2c_device_addr
Bit
3
2
1
0
Read/Write
RW
RW
RW
n/a
Reset Value
0
0
0
0
Content
i2c_device_addr
reserved
i2c_device_addr: I2C device address of Auxiliary slave
Register (0x4C) AUX_IF_CONF
DESCRIPTION: Auxiliary interface configuration
RESET: 0x83
DEFINITION (Go to register map):
Name
Register (0x4C) AUX_IF_CONF
Bit
7
6
5
4
Read/Write
RW
n/a
n/a
n/a
Reset Value
1
0
0
0
Content
aux_manual_en
reserved
Bit
3
2
1
0
Read/Write
n/a
n/a
RW
RW
Reset Value
0
0
1
1
Content
reserved
aux_rd_burst
aux_rd_burst: Burst data length (1,2,6,8 byte)
aux_rd_burst
0x00
BL1
Burst length 1
0x01
BL2
Burst length 2
0x02
BL6
Burst length 6
0x03
BL8
Burst length 8
aux_manual_en: Enable auxiliary interface manual mode.
aux_manual_en
0x00
disable
Data mode
0x01
enable
Setup mode
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x4D) AUX_RD_ADDR
DESCRIPTION: Auxiliary interface read register address
RESET: 0x42
DEFINITION (Go to register map):
Name
Register (0x4D) AUX_RD_ADDR
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
1
0
0
Content
read_addr
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
1
0
Content
read_addr
read_addr: Address to read
Register (0x4E) AUX_WR_ADDR
DESCRIPTION: Auxiliary interface write register address
RESET: 0x4C
DEFINITION (Go to register map):
Name
Register (0x4E) AUX_WR_ADDR
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
1
0
0
Content
write_addr
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
1
1
0
0
Content
write_addr
write_addr: Address to write
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x4F) AUX_WR_DATA
DESCRIPTION: Auxiliary interface write data
RESET: 0x02
DEFINITION (Go to register map):
Name
Register (0x4F) AUX_WR_DATA
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
write_data
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
1
0
Content
write_data
write_data: Data to write
Register (0x53) INT1_IO_CTRL
DESCRIPTION: Configure the electrical behaviour of the interrupt pins
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x53) INT1_IO_CTRL
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
RW
Reset Value
0
0
0
0
Content
reserved
input_en
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
output_en
od
lvl
edge_ctrl
edge_ctrl: Configure trigger condition of INT1 pin (input)
edge_ctrl
0x00
level_tr
Level
0x01
edge_tr
Edge
lvl: Configure level of INT1 pin
lvl
0x00
active_low
active low
0x01
active_high
active high
Data Sheet
BMA456
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
od: Configure behaviour of INT1 pin to open drain.
od
0x00
push_pull
push-pull
0x01
open_drain
open drain
output_en: Output enable for INT1 pin
output_en
0x00
off
Output disabled
0x01
on
Output enabled
input_en: Input enable for INT1 pin
input_en
0x00
off
Input disabled
0x01
on
Input enabled
Register (0x54) INT2_IO_CTRL
DESCRIPTION: Configure the electrical behaviour of the interrupt pins
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x54) INT2_IO_CTRL
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
RW
Reset Value
0
0
0
0
Content
reserved
input_en
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
output_en
od
lvl
edge_ctrl
edge_ctrl: Configure trigger condition of INT2 pin (input)
edge_ctrl
0x00
level_tr
Level
0x01
edge_tr
Edge
lvl: Configure level of INT2 pin
lvl
0x00
active_low
active low
0x01
active_high
active high
Data Sheet
BMA456
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
od: Configure behaviour of INT2 pin to open drain.
od
0x00
push_pull
push-pull
0x01
open_drain
open drain
output_en: Output enable for INT2 pin
output_en
0x00
off
Output disabled
0x01
on
Output enabled
input_en: Input enable for INT2 pin
input_en
0x00
off
Input disabled
0x01
on
Input enabled
Register (0x55) INT_LATCH
DESCRIPTION: Configure interrupt modes
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x55) INT_LATCH
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
n/a
n/a
n/a
RW
Reset Value
0
0
0
0
Content
reserved
int_latch
int_latch: Latched/non-latched/temporary interrupt modes
int_latch
0x00
none
non latched
0x01
permanent
latched
Data Sheet
BMA456
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© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x56) INT1_MAP
DESCRIPTION: Interrupt/Feature mapping on INT1
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x56) INT1_MAP
Bit
7
6
5
4
Read/Write
RW
RW
RW
n/a
Reset Value
0
0
0
0
Content
error_int_out
any_no_motion_
out
wakeup_out
reserved
Bit
3
2
1
0
Read/Write
RW
RW
RW
n/a
Reset Value
0
0
0
0
Content
wrist_tilt_out
activity_type_out
step_counter_out
reserved
step_counter_out: Step-counter watermark or Step-detector output.
activity_type_out: Step counter activity output(Running, Walking, Still)
wrist_tilt_out: Wrist tilt output
wakeup_out: Wakeup output
any_no_motion_out: Any-motion/No-motion detection output
error_int_out: Error interrupt output
Register (0x57) INT2_MAP
DESCRIPTION: Interrupt/Feature mapping on INT2
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x57) INT2_MAP
Bit
7
6
5
4
Read/Write
RW
RW
RW
n/a
Reset Value
0
0
0
0
Content
error_int_out
any_no_motion_
out
wakeup_out
reserved
Bit
3
2
1
0
Read/Write
RW
RW
RW
n/a
Reset Value
0
0
0
0
Content
wrist_tilt_out
activity_type_out
step_counter_out
reserved
step_counter_out: Step-counter watermark or Step-detector output.
activity_type_out: Step counter activity output(Running, Walking, Still)
wrist_tilt_out: Wrist tilt output
wakeup_out: Wakeup output
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
any_no_motion_out: Any-motion/No-motion detection output
error_int_out: Error interrupt output
Register (0x58) INT_MAP_DATA
DESCRIPTION: Interrupt mapping hardware interrupts
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x58) INT_MAP_DATA
Bit
7
6
5
4
Read/Write
n/a
RW
RW
RW
Reset Value
0
0
0
0
Content
reserved
int2_drdy
int2_fwm
int2_ffull
Bit
3
2
1
0
Read/Write
n/a
RW
RW
RW
Reset Value
0
0
0
0
Content
reserved
int1_drdy
int1_fwm
int1_ffull
int1_ffull: FIFO Full interrupt mapped to INT1
int1_fwm: FIFO Watermark interrupt mapped to INT1
int1_drdy: Data Ready interrupt mapped to INT1
int2_ffull: FIFO Full interrupt mapped to INT2
int2_fwm: FIFO Watermark interrupt mapped to INT2
int2_drdy: Data Ready interrupt mapped to INT2
Register (0x59) INIT_CTRL
DESCRIPTION: Start initialization
RESET: 0x90
DEFINITION (Go to register map):
Name
Register (0x59) INIT_CTRL
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
1
0
0
1
Content
init_ctrl
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
init_ctrl
init_ctrl: Start initialization
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x5E) FEATURES_IN
DESCRIPTION: Feature configuration read/write port
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x5E) FEATURES_IN
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
features_in
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
features_in
features_in: Feature configuration read/write data
Address
Bit
Name
Description
Reset
Access
any_motion
0x5E:
0x00
settings_1
Any-motion / No-motion detection
general configuration flags - part 1
0x00AA
10...0
threshold
Slope threshold value for Any-motion /
No-motion detection in 5.11g format.
Range is 0 to 1g. Default value is 0xAA
= 83mg.
0xAA
RW
11
nomotion_sel
Indicates if Nomotion (1) or Any-motion
(0) is selected; default value is 0 – Any-
motion.
0x0
RW
0x5E:
0x02
settings_2
Any-motion / No-motion detection
general configuration flags - part 2
0x0005
12...0
duration
Defines the number of consecutive
data points for which the threshold
condition must be respected, for
interrupt assertion.
It is expressed in in 50 Hz samples (20
ms). Range is 0 to 163sec. Default
value is 5=100ms.
0x5
RW
13
x_en
Enables the feature on a per-axis basis
0x0
RW
14
y_en
Enables the feature on a per-axis basis
0x0
RW
15
z_en
Enables the feature on a per-axis basis
0x0
RW
step_counter
settings_1
Step Counter setting
0x012D
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x5E:
0x04
15...0
param_1
Step Counter param 1
0x12D
RW
0x5E:
0x06
settings_2
Step Counter setting
0x7BD4
15...0
param_2
Step Counter param 2
0x7BD4
RW
0x5E:
0x08
settings_3
Step Counter setting
0x013B
15...0
param_3
Step Counter param 3
0x13B
RW
0x5E:
0x0A
settings_4
Step Counter setting
0x7ADB
15...0
param_4
Step Counter param 4
0x7ADB
RW
0x5E:
0x0C
settings_5
Step Counter setting
0x0004
15...0
param_5
Step Counter param 5
0x4
RW
0x5E:
0x0E
settings_6
Step Counter setting
0x7B3F
15...0
param_6
Step Counter param 6
0x7B3F
RW
0x5E:
0x10
settings_7
Step Counter setting
0x6CCD
15...0
param_7
Step Counter param 7
0x6CCD
RW
0x5E:
0x12
settings_8
Step Counter setting
0x04C3
15...0
param_8
Step Counter param 8
0x4C3
RW
0x5E:
0x14
settings_9
Step Counter setting
0x0985
15...0
param_9
Step Counter param 9
0x985
RW
0x5E:
0x16
settings_10
Step Counter setting
0x04C3
15...0
param_10
Step Counter param 10
0x4C3
RW
0x5E:
0x18
settings_11
Step Counter setting
0xE6EC
15...0
param_11
Step Counter param 11
0xE6EC
RW
0x5E:
0x1A
settings_12
Step Counter setting
0x460C
15...0
param_12
Step Counter param 12
0x460C
RW
0x5E:
0x1C
settings_13
Step Counter setting
0x0001
15...0
param_13
Step Counter param 13
0x1
RW
0x5E:
0x1E
settings_14
Step Counter setting
0x0027
15...0
param_14
Step Counter param 14
0x27
RW
0x5E:
0x20
settings_15
Step Counter setting
0x0019
15...0
param_15
Step Counter param 15
0x19
RW
0x5E:
0x22
settings_16
Step Counter setting
0x0096
15...0
param_16
Step Counter param 16
0x96
RW
0x5E:
0x24
settings_17
Step Counter setting
0x00A0
15...0
param_17
Step Counter param 17
0xA0
RW
0x5E:
0x26
settings_18
Step Counter setting
0x0001
15...0
param_18
Step Counter param 18
0x1
RW
0x5E:
0x28
settings_19
Step Counter setting
0x000C
15...0
param_19
Step Counter param 19
0xC
RW
0x5E:
0x2A
settings_20
Step Counter setting
0x3CF0
15...0
param_20
Step Counter param 20
0x3CF0
RW
0x5E:
0x2C
settings_21
Step Counter setting
0x0100
15...0
param_21
Step Counter param 21
0x100
RW
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x5E:
0x2E
settings_22
Step Counter setting
0x0001
15...0
param_22
Step Counter param 22
0x1
RW
0x5E:
0x30
settings_23
Step Counter setting
0x0003
15...0
param_23
Step Counter param 23
0x3
RW
0x5E:
0x32
settings_24
Step Counter setting
0x0001
15...0
param_24
Step Counter param 24
0x1
RW
0x5E:
0x34
settings_25
Step Counter setting
0x000E
15...0
param_25
Step Counter param 25
0xE
RW
0x5E:
0x36
settings_26
Step Counter and Step Detector
Settings
0x0000
9...0
watermark_level
Watermark level; the Step-counter will
trigger output every time this number of
steps are counted. Holds implicitly a
20x factor, so the range is 0 to 20460,
with resolution of 20 steps. If 0, the
output is disabled.
0x0
RW
10
reset_counter
Flag to reset the counted steps. This is
only interpreted if the step counter is
enabled.
0x0
RW
11
en_detector
Enables the Step Detector.
0x0
RW
12
en_counter
Enables the Step Counter.
0x0
RW
13
en_activity
Enables the activity
detection(Running, Walking, Still)
0x0
RW
tap_doubletap
0x5E:
0x38
settings
Tap general configuration flags
0x0006
0
enable
Enables the feature
0x0
RW
3...1
sensitivity
Configures Tap sensitivity, the range
goes from 0 (high sensitive) to 7 (low
sensitive).
0x3
RW
4
single_tap_en
Flag for enabling single tap detection
(and disabling double tap). By default
double tap detection is being enabled.
0x0
RW
wrist_tilt
0x5E:
0x3A
settings
Wrist tilt configuration flags
0x0000
0
enable
Enables the feature
0x0
RW
general_settings
0x5E:
0x3C
config_id
Describes configuration identification
code
0x0000
15...0
identification
Describes configuration identification
code
0x0
R
Data Sheet
BMA456
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BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
0x5E:
0x3E
axes_remapping
Describes axes remapping
0x0088
1...0
map_x_axis
Map the x axis to desired axis.
Value
Name
Description
0x00
x axis
Map to x-axis
0x01
y axis
Map to y-axis
0x02
z axis
Map to z-axis
0x03
reserved
reserved
0x0
RW
2
map_x_axis_sign
Map the x axis sign to the desired one.
Value
Name
Description
0x00
non-
inverted
Clear this bit to
non invert the x
axis
0x01
inverted
Set this bit to
invert the x axis
0x0
RW
4...3
map_y_axis
Map the y axis to desired axis
Value
Name
Description
0x00
x axis
Map to x-axis
0x01
y axis
Map to y-axis
0x02
z axis
Map to z-axis
0x03
reserved
reserved
0x1
RW
5
map_y_axis_sign
Map the y axis sign to the desired one
Value
Name
Description
0x00
non-
inverted
Clear this bit to
non invert the y
axis
0x01
inverted
Set this bit to
invert the y axis
0x0
RW
7...6
map_z_axis
Map the z axis to desired axis
Value
Name
Description
0x00
x axis
Map to x-axis
0x01
y axis
Map to y-axis
0x02
z axis
Map to z-axis
0x03
reserved
reserved
0x2
RW
8
map_z_axis_sign
Map the z axis sign to the desired one
Value
Name
Description
0x00
non-
inverted
Clear this bit to
non invert the z
axis
0x01
inverted
Set this bit to
invert the z axis
0x0
RW
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x5F) INTERNAL_ERROR
DESCRIPTION: Internal error flags
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x5F) INTERNAL_ERROR
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
n/a
R
R
n/a
Reset Value
0
0
0
0
Content
reserved
int_err_2
int_err_1
reserved
int_err_1: Internal error flag - long processing time, processing halted
int_err_2: Internal error flag - fatal error, processing halted
Register (0x6A) NVM_CONF
DESCRIPTION: NVM controller mode (Prog/Erase or Read only)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x6A) NVM_CONF
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
n/a
n/a
RW
n/a
Reset Value
0
0
0
0
Content
reserved
nvm_prog_en
reserved
nvm_prog_en: Enable NVM programming
nvm_prog_en
0x00
disable
disable
0x01
enable
enable
Data Sheet
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x6B) IF_CONF
DESCRIPTION: Serial interface settings
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x6B) IF_CONF
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
RW
Reset Value
0
0
0
0
Content
reserved
if_mode
Bit
3
2
1
0
Read/Write
n/a
n/a
n/a
RW
Reset Value
0
0
0
0
Content
reserved
spi3
spi3: Configure SPI Interface Mode for primary interface
spi3
0x00
spi4
SPI 4-wire mode
0x01
spi3
SPI 3-wire mode
if_mode: Auxiliary interface configuration
if_mode
0x00
p_auto_s_off
Auxiliary interface:off
0x01
p_auto_s_mag
Auxilary interface:Magnetometer
Register (0x6D) ACC_SELF_TEST
DESCRIPTION: Settings for the sensor self-test configuration and trigger
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x6D) ACC_SELF_TEST
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
RW
RW
n/a
RW
Reset Value
0
0
0
0
Content
acc_self_test_am
p
acc_self_test_sig
n
reserved
acc_self_test_en
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
acc_self_test_en: Enable accelerometer self-test
acc_self_test_en
0x00
disabled
disabled
0x01
enabled
enabled
acc_self_test_sign: select sign of self-test excitation as
acc_self_test_sign
0x00
negative
negative
0x01
positive
positive
acc_self_test_amp: select amplitude of the selftest deflection:
acc_self_test_amp
0x00
low
low
0x01
high
high
Register (0x70) NV_CONF
DESCRIPTION: NVM backed configuration bits.
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x70) NV_CONF
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
acc_off_en
i2c_wdt_en
i2c_wdt_sel
spi_en
spi_en: disable the I2C and enable SPI for the primary interface, when it is in autoconfig mode
spi_en
0x00
disabled
I2C enabled
0x01
enabled
I2C disabled
i2c_wdt_sel: Select timer period for I2C Watchdog
i2c_wdt_sel
0x00
wdt_short
I2C watchdog timeout after 1.25 ms
0x01
wdt_long
I2C watchdog timeout after 40 ms
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
i2c_wdt_en: I2C Watchdog at the SDI pin in I2C interface mode
i2c_wdt_en
0x00
Disable
Disable I2C watchdog
0x01
Enable
Enable I2C watchdog
acc_off_en: Add the offset defined in the off_acc_[xyz] OFFSET register to filtered and unfiltered
Accelerometer data
acc_off_en
0x00
disabled
Disabled
0x01
enabled
Enabled
Register (0x71) OFFSET_0
DESCRIPTION: Offset compensation for Accelerometer X-axis (NVM backed)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x71) OFFSET_0
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
off_acc_x
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
off_acc_x
off_acc_x: Accelerometer offset compensation (X-axis).
Register (0x72) OFFSET_1
DESCRIPTION: Offset compensation for Accelerometer Y-axis (NVM backed)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x72) OFFSET_1
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
off_acc_y
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
off_acc_y
off_acc_y: Accelerometer offset compensation (Y-axis).
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x73) OFFSET_2
DESCRIPTION: Offset compensation for Accelerometer Z-axis (NVM backed)
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x73) OFFSET_2
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
off_acc_z
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
off_acc_z
off_acc_z: Accelerometer offset compensation (Z-axis).
Register (0x7C) PWR_CONF
DESCRIPTION: Power mode configuration register
RESET: 0x03
DEFINITION (Go to register map):
Name
Register (0x7C) PWR_CONF
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
n/a
n/a
RW
RW
Reset Value
0
0
1
1
Content
reserved
fifo_self_wakeup
adv_power_save
adv_power_save
0x00
aps_off
advanced power save disabled (fast clk always enabled).
0x01
aps_on
advanced power mode enabled (slow clk is active when no
measurement is ongoing.)
fifo_self_wakeup
0x00
fsw_off
FIFO read disabled in advanced power saving mode.
0x01
fsw_on
FIFO read enabled after interrupt in advanced power saving mode.
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
Register (0x7D) PWR_CTRL
DESCRIPTION: Sensor enable register
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x7D) PWR_CTRL
Bit
7
6
5
4
Read/Write
n/a
n/a
n/a
n/a
Reset Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
n/a
RW
n/a
RW
Reset Value
0
0
0
0
Content
reserved
acc_en
reserved
aux_en
aux_en
0x00
mag_off
Disables the auxiliary sensor.
0x01
mag_on
Enables the auxiliary sensor.
acc_en
0x00
acc_off
Disables the Accelerometer.
0x01
acc_on
Enables the Accelerometer.
Register (0x7E) CMD
DESCRIPTION: Command Register
RESET: 0x00
DEFINITION (Go to register map):
Name
Register (0x7E) CMD
Bit
7
6
5
4
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
cmd
Bit
3
2
1
0
Read/Write
RW
RW
RW
RW
Reset Value
0
0
0
0
Content
cmd
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
cmd: Available commands (Note: Register will always read as 0x00):
cmd
0xa0
nvm_prog
Writes the NVM backed registers into NVM
0xb0
fifo_flush
Clears all data in the FIFO, does not change FIFO_CONFIG and FIFO_DOWNS
registers
0xb6
softreset
Triggers a reset, all user configuration settings are overwritten with their default
state
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
6. Digital Interfaces
6.1. Interfaces
Beside the standard primary interface (I2C and SPI configurable), where sensor acts as a slave to the
application processor, BMA456 supports an auxiliary interface. See picture below.
If the auxiliary interface is enabled, the BMA456 can be connected to an external sensor (e.g. a
magnetometer) in order to build a 6-DoF solution. Then the BMA456 will act as a master to the external
sensor, reading the sensor data automatically and providing it to the application processor via the
primary interface.
AP
BMA456
BMM150
I2C / SPI
MAG Interface
I2C
6 DoF
primary interface
auxiliary interface
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
6.2. Primary Interface
By default, the BMA456 operates in I2C mode. The BMA456 interface can also be configured to
operate in a SPI 4-wire configuration. It can also be re-configured by software to work in 3-wire mode
instead of 4-wire mode.
All 3 possible digital interfaces share partly the same pins. The mapping for the primary interface of
the BMA456 is given in the following table:
Pin#
Name
I/O Type
Description
Connect to (Primary IF)
in SPI4W
in SPI3W
in I2C
1
SDO
Digital I/O
Serial data output in SPI
Address select in I²C mode
see chapter 7.2
SDO
DNC (float)
GND for
default I2C
addr.
2
SDX
Digital I/O
SDA serial data I/O in I²C
SDI serial data input in SPI 4W
SDA serial data I/O in SPI 3W
SDI
SDA
SDA
5
INT1
Digital I/O
Interrupt output 1 (default)
(Input for external FIFO sync) *
INT1
(FIFO sync)
INT1
(FIFO sync)
INT1
(FIFO sync)
6
INT2
Digital I/O
Interrupt output 2 (default)
(Input for external FIFO sync) *
INT2
(FIFO sync)
INT2
(FIFO sync)
INT2
(FIFO sync)
10
CSB
Digital in
Chip select for SPI mode
CSB
CSB
V
DDIO
12
SCX
Digital in
SCK for SPI serial clock
SCL for I²C serial clock
SCK
SCK
SCL
* INT1 and/or INT2 can also be configured as an input in case t he external dat a synchronization in FIFO is used. See chapt er 0. If INT1
and/or INT2 are not used, please do not connect them (DNC).
The following table shows the electrical specifications of the interface pins:
Parameter
Symbol
Condition
Min
Typ
Max
Units
Pull-up Resistance,
CSB pin
Rup
Internal Pull-up
Resistance to
VDDIO
75
100
125
k
Input Capacitance
Cin
5
pF
I²C Bus Load
Capacitance (max.
drive capability)
CI2C_Load
400
pF
Data Sheet
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
6.3. Primary Interface I2C/SPI Protocol Selection
The protocol is automatically selected based on the chip select CSB pin behavior after power-up.
At reset / power-up, BMA456 is in I2C mode. If CSB is connected to VDDIO during power-up and not
changed the sensor interface works in I2C mode. For using I2C, it is recommended to hard -wire the
CSB line to VDDIO. Since power-on-reset is only executed when, both VDD and VDDIO are
established, there is no risk of incorrect protocol detection due to power -up sequence.
If CSB sees a rising edge after power-up, the BMA456 interface switches to SPI until a reset or the
next power-up occurs. Therefore, a CSB rising edge is needed before starting the SPI communication.
Hence, it is recommended to perform a SPI single read of register CHIP_ID (the obtained value will
be invalid) before the actual communication start, in order to use the SPI interface.
If toggling of the CSB bit is not possible without data communication, there is in addition the spi_en bit
in Register NV_CONF, which can be used to permanently set the primary interface to SPI without the
need to toggle the CSB pin at every power-up or reset.
6.4. SPI interface and protocol
The timing specification for SPI of the BMA456 is given in the following table:
SPI timing, valid at VDDIO ≥ 1.71V
Parameter
Symbol
Condition
Min
Max
Units
Clock Frequency
fSPI
Max. Load on
SDI or SDO =
30pF, VDDIO ≥
1.62 V
10
MHz
VDDIO < 1.62V
7
MHz
SCK Low Pulse
tSCKL
VDDIO>=1.62V
45
ns
SCK High Pulse
tSCKH
VDDIO>=1.62V
45
ns
SCK Low Pulse
tSCKL
VDDIO<1.62V
66
ns
SCK High Pulse
tSCKH
VDDIO<1.62V
66
ns
SDI Setup Time
tSDI_setup
20
ns
SDI Hold Time
tSDI_hold
20
ns
SDO Output Delay
tSDO_OD
Load = 30pF,
VDDIO ≥ 1.62V
30
ns
CSB Setup Time
tCSB_setup
40
ns
CSB Hold Time
tCSB_hold
40
ns
Idle time between
write accesses,
suspend mode, low-
power mode 1
tIDLE_wa cc_sum
1000
µs
Idle time after write
and read access,
active state
tIDLE_wr_a ct
2
µs
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
The following figure shows the definition of the SPI timings:
SPI timing diagram
The SPI interface of the BMA456 is compatible with two modes, ´00´ [CPOL = ´0´ and CPHA = ´0´]
and ´11´ [CPOL = ´1´ and CPHA = ´1´]. The automatic selection between ´00´ and ´11´ is controlled
based on the value of SCK after a falling edge of CSB.
Two configurations of the SPI interface are supported by the BMA456: 4-wire and 3-wire. The same
protocol is used by both configurations. The device operates in 4-wire configuration by default. It can
be switched to 3-wire configuration by writing IF_CONF.spi3 = 0b1. Pin SDI is used as the common
data pin in 3-wire configuration.
For single byte read as well as write operations, 16-bit protocols are used. The BMA456 also supports
multiple-byte read and write operations.
In SPI 4-wire configuration CSB (chip select low active), SCK (serial clock), SDI (serial data input),
and SDO (serial data output) pins are used. The communication starts when the CSB is pulled low by
the SPI master and stops when CSB is pulled high. SCK is also controlled by SPI master. SDI and
SDO are driven at the falling edge of SCK and should be captured at the rising edge of SCK.
The basic write operation waveform for 4-wire configuration is depicted in the following figure. During
the entire write cycle SDO remains in high-impedance state.
tSDI_hold
tSCKH
tCSB_hold
tCSB_setup
tSDI_setup
tSCKL
tSDO_OD
CSB
SCK
SDI
SDO
Data Sheet
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CSB
SCX
SDX
SDO
AD6AD5AD4AD3AD2AD1AD0R/W DI6DI5DI4DI3DI2DI1DI0DI7 XX
Z
XX
R/W + register address Datalogical
4-wire basic SPI write sequence (mode ´00´)
Multiple write operations are possible by keeping CSB low and continuing the data transfer. Only the
first register address has to be written. Addresses are automatically incremented after each write
access as long as CSB stays active low. The principle of multiple write is shown in figure below:
SPI multiple write
The basic read operation waveform for 4-wire configuration is depicted in the figure below. Please
note that the first byte received from the BMA456 via the SDO line correspond to a dummy byte and
the 2nd byte correspond to the value read out of the specified register address. That means, for a basic
read operation two bytes have to be read and the first has to be dropped and the second byte must
be interpreted.
CSB
SCX
SDX
SDO
AD6AD5AD4AD3AD2AD1AD0R/W DI6DI5DI4DI3DI2DI1DI0DI7 XX
Z
XX
DI6DI5DI4DI3DI2DI1DI0DI7
R/W + register address n Data (address n) Data (address n+1)
logical
Data Sheet
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CSB
SCX
SDX
SDO
AD6AD5AD4AD3AD2AD1AD0R/W XX
Z
XX
76 5 3 2 1 0
DO6DO5DO4DO3DO2DO1DO0DO7
R/W + register address Dummy Dummy Read Datalogical
4-wire basic SPI read sequence (mode ´00´)
The data bits are used as follows:
R/W: Read/Write bit. When 0, the data SDI is written into the chip. When 1, the data SDO from the
chip is read.
AD6-AD0: Address
DI7-DI0: When in write mode, these are the data SDI, which will be written into the address.
DO7-DO0: When in read mode, these are the data SDO, which are read from the address.
Multiple read operations are possible by keeping CSB low and continuing the data transfer. Only the
first register address has to be written. Addresses are automatically incremented after each read
access as long as CSB stays active low. Please note that the first byte received from the BMA456 via
the SDO line correspond to a dummy byte and the 2nd byte correspond to the value read out of the
specified register address. The successive bytes read out correspond to values of incremented register
addresses. That means, for a multiple read operation of n bytes, n+1 bytes have to be read, the first
has to be dropped and the successive bytes must be interpreted.
In SPI 3-wire configuration CSB (chip select low active), SCK (serial clock), and SDI (serial data
input and output) pins are used. While SCK is high, the communication starts when the CSB is pulled
low by the SPI master and stops when CSB is pulled high. SCK is also controlled by SPI master. SDI
is driven (when used as input of the device) at the falling edge of SCK and should be captured (when
used as the output of the device) at the rising edge of SCK.
The protocol as such is the same in 3-wire configuration as it is in 4-wire configuration. The basic
operation wave-form (read or write access) for 3-wire configuration is depicted in the figure below:
Data Sheet
BMA456
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CSB
SCK
SDI
RW
AD6
AD5
AD4
AD3
AD2
AD1
AD0
DI5
DI4
DI3
DI2
DI1
DI0
DI7
DI6
3-wire basic SPI read or write sequence (mode ´11´)
Data Sheet
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
6.5. Primary I2C Interface
The I²C bus uses SCL (= SCx pin, serial clock) and SDA (= SDx pin, serial data input and output)
signal lines. Both lines are connected to VDDIO externally via pull-up resistors so that they are pulled
high when the bus is free.
The default I²C address of the device is 0b00011000 (0x18). It is used if the SDO pin is pulled to
´GND´. The alternative address 0b00011001 (0x19) is selected by pulling the SDO pin to ´VDDIO´.
The I²C interface of the BMA456 is compatible with the I²C Specification UM10204 Rev. 03 (19 June
2007), available at http://www.nxp.com. The BMA456 supports I²C standard mode and fast mode,
only 7-bit address mode is supported. For VDDIO = 1.2V to 1.62 V the guaranteed voltage output levels
are slightly relaxed as described in Table 1 of the electrical specification section.
BMA456 also supports an extended I²C mode that allows using clock frequencies up to 1 MHz.
In this mode all timings of the fast mode apply and it additionally supports clock frequencies up to
1MHz.
The timing specification for I²C of the BMA456 is given in the following table:
Parameter
Symbol
Condition
Min
Max
Units
Clock Frequency
fSCL
1000
kHz
SCL Low Period
tLOW
1.3
µs
SCL High Period
tHIGH
0.6
SDA Setup Time
tSUDAT
0.1
SDA Hold Time
tHDDAT
0.0
Setup Time for a
repeated Start
Condition
tSUSTA
0.6
Hold Time for a Start
Condition
tHDSTA
0.6
Setup Time for a Stop
Condition
tSUSTO
0.6
Time before a new
Transmission can
start
tBUF
low power
mode
400
normal mode
1.3
Idle time between
write accesses,
normal mode, standby
mode, low-power
mode
tIDLE_wa cc_n
m
low power
mode
1000
normal mode
1.3
Idle time between
write accesses,
suspend mode, low-
power mode
tIDLE_wa cc_s
um
1000
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
The figure below shows the definition of the I²C timings given in Table 28:
I²C timing diagram
The I²C protocol works as follows:
START: Data transmission on the bus begins with a high to low transition on the SDA line while SCL
is held high (start condition (S) indicated by I²C bus master). Once the START signal is transferred by
the master, the bus is considered busy.
STOP: Each data transfer should be terminated by a Stop signal (P) generated by master. The STOP
condition is a low to high transition on SDA line while SCL is held high.
ACKS: Each byte of data transferred must be acknowledged. It is indicated by an acknowledge bit
sent by the receiver. The transmitter must release the SDA line (no pull down) during the acknowledge
pulse while the receiver must then pull the SDA line low so that it remains stable low during the high
period of the acknowledge clock cycle.
In the following diagrams these abbreviations are used:
S Start
P Stop
ACKS Acknowledge by slave
ACKM Acknowledge by master
NACKM Not acknowledge by master
RW Read / Write
A START immediately followed by a STOP (without SCL toggling from ´VDDIO´ to ´GND´) is not
supported. If such a combination occurs, the STOP is not recognized by the device.
tHDDAT
tf
tBUF
SDA
SCL
SDA
tLOW
tHDSTA
tr
tSUSTA
tHIGH
tSUDAT
tSUSTO
Data Sheet
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
I²C write access:
I²C write access can be used to write a data byte in one sequence.
The sequence begins with start condition generated by the master, followed by 7 bits slave address
and a write bit (RW = 0). The slave sends an acknowledge bit (ACKS = 0) and releases the bus. Then
the master sends the one byte register address. The slave again acknowledges the transmission and
waits for the 8 bits of data which shall be written to the specified register address. After the slave
acknowledges the data byte, the master generates a stop signal and terminates the writing protocol.
Example of an I²C write access:
Start R/W ACK ACK ACK Stop
0 0 1 1 0 0 0 0 X 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1
Master -> Slave
Slave -> Master
Slave Adress
Register data (0x01)
P
Register address (0x41)
S
0
0
0
I²C write
Multi-byte writes are supported without restriction on normal registers with auto-increment, on special
registers with address trap.
I²C read access:
I²C read access also can be used to read one or multiple data bytes in one sequence.
A read sequence consists of a one-byte I²C write phase followed by the I²C read phase. The two parts
of the transmission must be separated by a repeated start condition (S). The I²C write phase addresses
the slave and sends the register address to be read. After slave acknowledges the transmission, the
master generates again a start condition and sends the slave address together with a read bit (RW =
1). Then the master releases the bus and waits for the data bytes to be read out from slave. After each
data byte the master has to generate an acknowledge bit (ACKS = 0) to enable further data transfer.
A NACKM (ACKS = 1) from the master stops the data being transferred from the slave. The slave
releases the bus so that the master can generate a STOP condition and terminate the transmission.
The register address is automatically incremented and, therefore, more than one byte can be
sequentially read out. Once a new data read transmission starts, the start address will be set to the
register address specified since the latest I²C write command. By default the start address is set at
0x00. In this way repetitive multi-bytes reads from the same starting address are possible.
Data Sheet
BMA456
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Start R/W ACK ACK
0 0 1 1 0 0 0 0 X 0 0 1 0 0 1 0
Repeat
Start
R/W ACK ACK ACK
0 0 1 1 0 0 0 1 X X X X X X X X X X X X X X X X …
ACK ACK
Master -> Slave
Slave -> Master …X X X X X X X X X X X X X X X X …
ACK NACK Stop
…X X X X X X X X X X X X X X X X
Register data - address 0x14
Register data - address 0x15
S
0
0
Slave I2C ID
Sr
0
0
Slave I2C ID
Data byte
Data byte
Register address (0x12)
0
Register data - address 0x13
Data byte
Data byte
Register data - address 0x12
P
Data byte
Data byte
Register data - address 0x16
Register data - address 0x17
0
0
0
1
In order to prevent the I²C slave of the device to lock-up the I²C bus, a watchdog timer (WDT) is
implemented. The WDT observes internal I²C signals and resets the I²C interface if the bus is locked -
up by the BMA456. The activity and the timer period of the WDT can be configured through the bits
NV_CONF.i2c_wdt_en and NV_CONF.i2c_wdt_sel.
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
6.6. SPI and I²C Access Restrictions
In order to allow for the correct internal synchronization of data written to the BMA456, certain access
restrictions apply for consecutive write accesses or a write/read sequence through the SPI as well as
I2C interface. The required waiting period depends on whether the device is operating in normal mode
or other modes.
As illustrated in the figure below, an interface idle time of at least 2 µs is required following a write
operation when the device operates in normal mode. In suspend mode an interface idle time of least
1000 µs is required.
Post-Write Access Timing Constraints
6.7. Auxiliary Interface
The BMA456 allows attaching an external sensor (MAG-sensor) to a BMA456 via the auxiliary
interface. The connection diagrams for the auxiliary interface are depicted in the chapter 7.3. The
timings of the secondary I2C interface are the same as for the primary I2C interface, see chapter 6.5.
BM456 acts as a master of the secondary interface, controls the data acquisition of the MAG-sensor
(slave of the secondary interface) and presents the data to the application process or (AP) in the user
registers of the BMA456 through the primary interface. No external pull-up resistors need to be
connected, since an internal pull-up can be configured in the BMA456 (default value: internal pull-up
is off, please contact your regional sales representative if you want to use this functionality). No
additional I2C master or slave devices must be attached to the magnetometer interfaces.
The BMA456 autonomously reads out the sensor data from BMM150 without intervention of the AP
and stores the data in its data registers (per default) and FIFO (see Register
FIFO_CONFIG_1.fifo_aux_en). The initial setup of the BMM150 after power-on is done through
indirect addressing in the BMA456. From a system perspective the initialization for BMM150 when
attached to BMA456 should be possible within 100ms.
More information about the usage of Auxiliary Interface can be found in chapter 4.8.
X-after-Write
Register Update Period
(> 2us / 450us)
Write-Operation X-Operation
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
7. Pin-out and Connection Diagrams
7.1. Pin-out
Pin description
Pin#
Name
I/O Type
Description
Connect to
in SPI 4W
In SPI 3W
in I²C
1
SDO
Digital I/O
Serial data output in SPI
Address select in I²C mode
see chapter 7.2
SDO
DNC (float)
GND for default I2C
addr.
2
SDX
Digital I/O
SDA serial data I/O in I²C
SDI serial data input in SPI 4W
SDA serial data I/O in SPI 3W
SDI
SDA
SDA
3
VDDIO
Supply
Digital I/O supply voltage (1.2V
… 3.6V)
V
DDIO
V
DDIO
V
DDIO
4
ASDA
Digital I/O
Serial data I/O – Secondary
Interface (I²C Master for
Magnetometer)
VDDIO/
GNDIO/NC or
(ASDA -
Secondary
interface)
VDDIO/
GNDIO/NC or
(ASDA -
Secondary
interface)
VDDIO/ GNDIO/NC
or
(ASDA - Secondary
interface)
5
INT1
Digital I/O
Interrupt output 1 (default)
(Input for external FIFO sync) *
INT1
(FIFO sync)
INT1
(FIFO sync)
INT1
(FIFO sync)
6
INT2
Digital I/O
Interrupt output 2 (default)
(Input for external FIFO sync) *
INT2
(FIFO sync)
INT2
(FIFO sync)
INT2
(FIFO sync)
7
VDD
Supply
Power supply for analog & digital
domain (1.62V … 3.6V)
V
DD
V
DD
V
DD
8
GNDIO
Ground
Ground for I/O
GND
GND
GND
9
GND
Ground
Ground for digital & analog
GND
GND
GND
10
CSB
Digital in
Chip select for SPI mode
CSB
CSB
V
DDIO
11
ASCL
Digital out
Digital clock (out) – Secondary
Interface (I²C Master for
Magnetometer)
VDDIO/
GNDIO/NC or
(ASCL -
Secondary
interface)
VDDIO/
GNDIO/ NC or
(ASCL -
Secondary
interface)
VDDIO/ GNDIO/
NC or (ASCL -
Secondary
interface)
12
SCX
Digital in
SCK for SPI serial clock
SCL for I²C serial clock
SCK
SCK
SCL
* INT1 and/or INT2 can also be configured as an input in case t he external data synchronization in FIFO is used. See chapt er 4.5. If INT1
and/or INT2 are not used, please do not connect them (DNC).
Bottom View
Pads visible!
Top View
Pads not visible!
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
7.2. Connection Diagrams without Auxiliary Interface
SPI
3-wire
It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD).
4-wire
It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD).
100nF
100nF
VDDIO
GND
MISO
SCK
CS
VDD
INT1
MOSI
1SDO
2SDX
3VDDIO
4ASDA 5
INT1
6
INT2
10 CSB
9 GND
8 GNDIO
7 VDD
12
SCX
11
ASCL
BMA456
Top View
(Pads not visible!)
INT2
100nF
100nF
VDDIO
GND
SCK
CS
VDD
INT1
MOSI/
MISO
1SDO
2SDX
3VDDIO
4ASDA 5
INT1
6
INT2
10 CSB
9 GND
8 GNDIO
7 VDD
12
SCX
11
ASCL
BMA456
Top View
(Pads not visible!)
INT2
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
I2C
It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD).
7.3. Connection Diagrams with Auxiliary Interface
SPI
3-wire
It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD).
100nF
100nF
VDDIO
GND
SCL
VDD
INT1
SDA
1SDO
2SDX
3VDDIO
4ASDA 5
INT1
6
INT2
10 CSB
9 GND
8 GNDIO
7 VDD
12
SCX
11
ASCL
BMA456
Top View
(Pads not visible!)
INT2
I2C_ID.0 =0
=1
100nF
100nF
VDDIO
GND
SCK
CS
VDD
INT1
MOSI
MISO
1SDO
2SDX
3VDDIO
4ASDA 5
INT1
6
INT2
10 CSB
9 GND
8 GNDIO
7 VDD
12
SCX
11
ASCL
BMA456
Top View
(Pads not visible!)
INT2
ASCL
ASDA to BMM
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
4-wire
It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD).
I2C
It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD).
100nF
100nF
VDDIO
GND
MISO
SCK
CS
VDD
INT1
MOSI
1SDO
2SDX
3VDDIO
4ASDA 5
INT1
6
INT2
10 CSB
9 GND
8 GNDIO
7 VDD
12
SCX
11
ASCL
BMA456
Top View
(Pads not visible!)
INT2
ASCL
ASDA to BMM
100nF
100nF
VDDIO
GND
VDD
INT1
SDA
1SDO
2SDX
3VDDIO
4ASDA 5
INT1
6
INT2
10 CSB
9 GND
8 GNDIO
7 VDD
12
SCX
11
ASCL
BMA456
Top View
(Pads not visible!)
INT2
I2C_ID.0 =0
=1
ASCL
ASDA to BMM
SCL
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
8. Package
8.1. Package outline dimensions
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
8.2. Sensing axis orientation
If the sensor is accelerated in the indicated directions, the corresponding channel will deliver a positive
acceleration signal (dynamic acceleration). If the sensor is at rest and the force of gravity is acting
along the indicated directions, the output of the correspo nding channel will be negative (static
acceleration).
Example: If the sensor is at rest or at uniform motion in a gravity field according to the figure given
below, the output signals are:
• ± 0g for the X channel
• ± 0g for the Y channel
• + 1g for the Z channel
The following table lists all corresponding output signals on X, Y, and Z while the sensor is at rest or
at uniform motion in a gravity field under assumption of a ±4g range setting, a 16 bit resolution, and a
top down gravity vector as shown above.
Sensor Orientation
(gravity vector ↓)
Output Signal X
0g / 0 LSB
1g / 8192 LSB
0g / 0 LSB
-1g / -8292 LSB
0g / 0 LSB
0g / 0 LSB
Output Signal Y
-1g / -8192 LSB
0g / 0 LSB
1g / 8192 LSB
0g / 0 LSB
0g / 0 LSB
0g / 0 LSB
Output Signal Z
0g / 0 LSB
0g / 0 LSB
0g / 0 LSB
0g / 0 LSB
1g / 8192 LSB
-1g / -8192 LSB
upright
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
For reference the figure below shows the Android device orientation with an integrated BMA456.
BMA456
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
8.3. Landing pattern recommendation
The recommended landing pattern for the BMA456 on customer’s PCB is given in the following figure.
It is recommended to avoid any wiring underneath the BMA456 (shaded area).
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
8.4. Marking
Mass production
Labeling
Name
Symbol
Remark
Counter ID
CCC
3 alphanumeric digits, variable
to generate trace-code.
Pin 1 identifier
top side
•
--
Engineering samples
Labeling
Name
Symbol
Remark
Eng. sample ID
E, N
2 alphanumeric digits, fixed to identify
engineering sample, N = “C”
Sample ID
CC
2 alphanumeric digits, variable
to generate trace-code.
Pin 1 identifier
top side
•
--
CCC
NCC
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
8.5. Soldering guidelines
The moisture sensitivity level of the BMA456E sensors corresponds to JEDEC Level 1, see also
- IPC/JEDEC J-STD-020C "Joint Industry Standard: Moisture/Reflow Sensitivity Classification for
non-hermetic Solid State Surface Mount Devices"
- IPC/JEDEC J-STD-033A "Joint Industry Standard: Handling, Packing, Shipping and Use of
Moisture/Reflow Sensitive Surface Mount Devices"
The sensor fulfils the lead-free soldering requirements of the above-mentioned IPC/JEDEC standard,
i.e. reflow soldering with a peak temperature up to 260°C.
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
8.6. Handling instructions
Micromechanical sensors are designed to sense acceleration with high accuracy even at low
amplitudes and contain highly sensitive structures inside the sensor element. The MEMS sensor can
tolerate mechanical shocks up to several thousand g's. However, these limits might be exceeded in
conditions with extreme shock loads such as e.g. hammer blow on or next to the sensor, dropping of
the sensor onto hard surfaces etc.
We recommend to avoid g-forces beyond the specified limits during transport, handling and mounting
of the sensors in a defined and qualified installation process.
This device has built-in protections against high electrostatic discharges or electric fields (e.g. 2kV
HBM); however, anti-static precautions should be taken as for any other CMOS component. Unless
otherwise specified, proper operation can only occur when all terminal voltages are kept within the
supply voltage range. Unused inputs must always be tied to a defined logic voltage level.
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
8.7. Tape and Reel specification
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
8.8. Environmental safety
The BMA456 sensor meets the requirements of the EC restriction of hazardous substances (RoHS)
directive, see also:
Directive 2011/65/EU of the European Parliament and of the Council of 8 September 2011 on
the restriction of the use of certain hazardous substances in electrical and electronic
equipment.
Halogen content
The BMA456 is halogen-free. For more details on the corresponding analysis results please contact
your Bosch Sensortec representative.
Internal package structure
Within the scope of Bosch Sensortec’s ambition to improve its products and secure the mass product
supply, Bosch Sensortec qualifies additional sources (e.g. 2nd source) for the LGA package of the
BMA456.
While Bosch Sensortec took care that all of the technical packages parameters are described above
are 100% identical for all sources, there can be differences in the chemical content and the internal
structural between the different package sources.
However, as secured by the extensive product qualification process of Bosch Sensortec, this has no
impact to the usage or to the quality of the BMA456 product.
Data Sheet
BMA456
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Note: Speci fi cations within this document are subj ect to change wi thout notice.
9. Legal disclaimer
9.1. Engineering samples
Engineering Samples are marked with an asterisk (*) or (e). Samples may vary from the valid technical
specifications of the product series contained in this data sheet. They are therefore not intended or fit
for resale to third parties or for use in end products. Their sole purpose is internal client testing. The
testing of an engineering sample may in no way replace the testing of a product series. Bosch
Sensortec assumes no liability for the use of engineering samples. The Purchaser shall indemnify
Bosch Sensortec from all claims arising from the use of engineering samples.
9.2. Product use
Bosch Sensortec products are developed for the consumer goods industry. They may only be used
within the parameters of this product data sheet. They are not fit for use in life-sustaining or security
sensitive systems. Security sensitive systems are those for which a malfunction is expected to lead to
bodily harm or significant property damage. In addition, they are not fit for use in p roducts which
interact with motor vehicle systems.
The resale and/or use of products are at the purchaser’s own risk and his own responsibility. The
examination of fitness for the intended use is the sole responsibility of the Purchaser.
The purchaser shall indemnify Bosch Sensortec from all third party claims arising from any product
use not covered by the parameters of this product data sheet or not approved by Bosch Sensortec
and reimburse Bosch Sensortec for all costs in connection with such claims.
The purchaser must monitor the market for the purchased products, particularly with regard to product
safety, and inform Bosch Sensortec without delay of all security relevant incidents.
9.3. Application examples and hints
With respect to any examples or hints given herein, any typical values stated herein and/or any
information regarding the application of the device, Bosch Sensortec hereby disclaims any and all
warranties and liabilities of any kind, including without limitation warranties of non -infringement of
intellectual property rights or copyrights of any third party. The information given in this document shall
in no event be regarded as a guarantee of conditions or characteristics. They are provided for
illustrative purposes only and no evaluation regarding infringement of intellectual property rights or
copyrights or regarding functionality, performance or error has been made.
Data Sheet
BMA456
Page 128
BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec
© Bosch Sensort ec GmbH reserves al l rights even in the event of industrial property ri ghts. We reserve al l rights of disposal such as copyi ng and passing on to third parties.
BOSCH and the symbol are regi stered trademarks of Robert Bosch GmbH, Germany.
Note: Speci fi cations within this document are subj ect to change wi thout notice.
10.Document history and modification
Rev. No
Chapter
Description of modification/changes
Date
1.0
Document creation
07 Aug 2017
1.1
8.1
Update
26 Oct 2017
1.2
4.8, 6.7
6.2, 7.1
Fixed typos
Changed CSB recommendation for I²C
April 2019
Bosch Sensortec GmbH
Gerhard- Kindler-Strasse 9
72770 Reutlingen / Germany
contact@bosch-sensortec.com
www.bosch- sensortec.com
Modifications reserved | Printed in Germa ny
Specifications subject to cha nge without notice
Document number: BST-BMA456-DS000- 02
Revision_1.2_April_2019
