Data Sheet BMA456 Digital, triaxial acceleration sensor Bosch Sensortec 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 Data Sheet BMA456 Page 2 BMA456 16 bit, digital, triaxial acceleration sensor with intelligent on-chip motion-triggered interrupt features optimized for wearable applications. Key features Small package size Digital interface Programmable functionality On-chip FIFO On-chip interrupt features Ultra-low power (Secondary) Auxiliary Interface RoHS compliant, halogen-free LGA package (12 pins), footprint 2mm x 2mm, height 0.65 mm SPI (4-wire, 3-wire), IC, 2 interrupt pins VDDIO voltage range: 1.2V to 3.6V Acceleration ranges 2g/4g/8g/16g Low-pass filter bandwidths 684Hz - <8Hz up to a max. output data read out of 1.6 kHz Integrated FIFO on sensor with 1 kb Step Counter optimized for wearable devices Activity Recognition: Running, Walking, Still Tilt-On-Wrist detection Tap/Double tap interrupt Any-/No-Motion interrupt Low current consumption of data acquisition and all integrated features Hub for ext. Magnetometer and data synchronization 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 3 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 VOLT AGE AND P OWER MANAGEMENT ............................................................................................16 4.2. DEVICE INITIALIZATION ........................................................................................................................................17 4.3. POWER MODES .....................................................................................................................................................18 4.4. SENSOR D ATA ........................................................................................................................................................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 F EATURES ........................................................................................................................................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 CONFIGURATION ..................................................................................................42 Electrical Interrupt Pin Behavior ............................................................................................................................ 42 Interrupt Pin Mapping................................................................................................................................................. 42 4.8. AUXILIARY SENSOR INTERF ACE ........................................................................................................................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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 4.9. Page 4 SENSOR S ELF-T EST .............................................................................................................................................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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register Register 6. 7. Page 5 (0x41) ACC_RANGE................................................................................................................................ 79 (0x44) AUX_CONF ................................................................................................................................... 80 (0x45) FIFO_DOWNS.............................................................................................................................. 80 (0x46) FIFO_WTM_0................................................................................................................................81 (0x47) FIFO_WTM_1............................................................................................................................... 82 (0x48) FIFO_CONFIG_0 ........................................................................................................................ 82 (0x49) FIFO_CONFIG_1 ........................................................................................................................ 83 (0x4B) AUX_DEV_ID ............................................................................................................................... 84 (0x4C) AUX_IF_CONF ............................................................................................................................ 84 (0x4D) AUX_RD_ADDR ......................................................................................................................... 85 (0x4E) AUX_WR_ADDR......................................................................................................................... 85 (0x4F) AUX_WR_DATA .......................................................................................................................... 86 (0x53) INT1_IO_CTRL ............................................................................................................................ 86 (0x54) INT2_IO_CTRL ............................................................................................................................ 87 (0x55) INT_LATCH ................................................................................................................................... 88 (0x56) INT1_MAP...................................................................................................................................... 89 (0x57) INT2_MAP...................................................................................................................................... 89 (0x58) INT_MAP_DATA .......................................................................................................................... 90 (0x59) INIT_CTRL ..................................................................................................................................... 90 (0x5E) FEATURES_IN .............................................................................................................................91 (0x5F) INTERNAL_ERROR.................................................................................................................. 95 (0x6A) NVM_CONF .................................................................................................................................. 95 (0x6B) IF_CONF ........................................................................................................................................ 96 (0x6D) ACC_SELF_TEST...................................................................................................................... 96 (0x70) NV_CONF ...................................................................................................................................... 97 (0x71) OFFSET_0 ..................................................................................................................................... 98 (0x72) OFFSET_1..................................................................................................................................... 98 (0x73) OFFSET_2 ..................................................................................................................................... 99 (0x7C) PWR_CONF ................................................................................................................................. 99 (0x7D) PWR_CTRL ................................................................................................................................100 (0x7E) CMD ...............................................................................................................................................100 DIGITAL INTERFACES .......................................................................................................102 6.1. INTERFACES ......................................................................................................................................................... 102 6.2. PRIMARY INTERF ACE ......................................................................................................................................... 103 6.3. PRIMARY INTERF ACE I2C/SPI PROT OCOL S ELECT ION .......................................................................... 104 6.4. SPI INTERFACE AND PROT OCOL .................................................................................................................... 104 6.5. PRIMARY I2C INTERFACE ................................................................................................................................ 109 6.6. SPI AND IC A CCESS RESTRICTIONS ............................................................................................................113 6.7. AUXILIARY INTERFACE .......................................................................................................................................113 PIN-OUT AND CONNECTION DIAGRAMS .........................................................................114 7.1. PIN-OUT .................................................................................................................................................................114 7.2. CONNECT ION DIAGRAMS WITHOUT AUXILIARY INTERFACE ....................................................................115 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 6 SPI ....................................................................................................................................................................................115 I2C.....................................................................................................................................................................................116 7.3. CONNECT ION DIAGRAMS WITH AUXILIARY INTERF ACE ............................................................................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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 7 1. Specification Unless stated otherwise, the given values are over lifetime, operating temperature and voltage ranges. Minimum/maximum values are 3. Parameter Specification Parameter Symbol Acceleration Range gFS2g gFS4g gFS8g gFS16g VDD Supply Voltage Internal Domains Supply Voltage I/O Domain Voltage Input Low Level Voltage Input High Level Voltage Output Low Level Voltage Output High Level Total Supply Current in Performance mode Total Supply Current in Suspend Mode Total Supply Current in Low-power Mode Power-Up Time Non-volatile memory (NVM) write-cycles OPERATING C ONDITIONS Condition Min VDDIO VIL SPI & IC VIH SPI & IC VOL VDDIO>=1.62V, IOL<=2mA, SPI VDDIO<1.62V, IOL<=1.5mA, SPI VDDIO>=1.62V, IOH <=2mA, SPI VDDIO<=1.62V, IOH <=1.5mA, SPI Nominal VDD and VDDIO, 25C, gFS4g VOH IDD Max Units 1.62 2 4 8 16 1.8 3.6 g g g g V 1.2 1.8 3.6 V 0.3VDDIO - Selectable via serial digital interface Typ 0.7VDDIO 0.2VDDIO - 0.2VDDIO - 0.8VDDIO - 0.8VDDIO 150 A IDDsum Nominal VDD and VDDIO, 25C 3.5 A IDDlp1 Nominal VDD and VDDIO, 25C 50 Hz ODR 14 A ts_up 1 ms nNVM 15 cycles BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Operating Temperature TA Page 8 -40 +85 C OUTPUT SIGNAL Parameter Symbol Condition Sensitivity S2g S4g gFS2g, TA=25C gFS4g, TA=25C 16384 8192 LSB/g LSB/g S8g S16g TCS gFS8g, TA=25C gFS16g, TA=25C 4096 2048 0.005 LSB/g LSB/g %/K Off Nominal VDD and VDDIO, 25C, gFS4g X/Y - Axes 20 mg 0.2 mg/K Z-Axis 0.35 mg/K Sensitivity Temperature Drift Zero-g Offset Zero-g Offset Temperature Drift Output Data Rate Output data rate and BW in Performance mode TCO ODRPERF Performance mode Min Typ 12.5 Max 1600 Units Hz ODR12.5 ODR25 ODR5 0 5.06 10.12 20.25 Hz Hz Hz ODR100 ODR200 ODR400 40.5 80 162 (155 for Z axis) 324 (262 for Z axis) 684 (353 for Z axis) Hz Hz ODR800 3dB cutoff frequency of the accelerometer according to ODR with normal filter mode ODR1600 Output Data Rate Nonlinearity ODRLPM NL Output Noise Density ndens Power Supply Rejection Ratio PSRR BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Low-power mode Nominal VDD and VDDIO, 25C, gFS4g Nominal VDD and VDDIO, 25C, gFS4g 0.78 Hz Hz HZ 400 0.5 Hz %FS 120 g/Hz 1 mg/50m V Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Parameter Cross Axis Sensitivity Symbol S Alignment Error EA BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 MECHANICAL C HARACTERISTICS Condition Min relative contribution between any two of the three axes relative to package outline Page 9 Typ 0.5 0.5 Max Units % Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 10 2. Absolute maximum ratings Absolute maximum ratings Parameter Voltage at Supply Pin Condition Min Max Units VDD Pin -0.3 4 V VDDIO Pin -0.3 4 V Voltage at any Logic Pin Passive Storage Temp. Range Non-Supply Pin 65% rel. H. -0.3 -50 VDDIO+0.3, <4 +150 V C None-volatile memory (NVM) Data Retention Mechanical Shock T = 85C, after 15 cycles Duration 200s 10 ESD, at any pin y 10,000 g Duration 1.0ms Free fall onto hard surfaces HBM CDM 2,000 1.8 g m 2 500 kV 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 11 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: Testin g communication with the BMA456 and initializing feature engine a. -reading chip id (checking correct communication) start chip_ID = read_reg(0x00) Yes chip_ID = 0x16 ? communication: OK No communication: ERROR End b. -performing initialization sequence (interrupt feature engine) BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 12 start disable PWR_ CONF.adv_power_save write_reg(addr=0x7C,val=0x00) sleep(500us) write_reg(addr=0x59,val=0x00) init_array[]=read_file(init_file) wait for 500us prepare feature engine INIT_CTRL=0x00 load config file and save as array (little endian) (for config file see chapter 4.2) burst write to reg FEATURES_IN burst_write_reg(addr=0x5E,val=init_array[]) enable sensor features write_reg(addr=0x59,val=0x01) End c. -checking the correct status of the interrupt feature engine start Non blocking wait = 140ms read INTERNAL_STATUS status_features=read_reg(0x2A) Yes status_features.0 = 1 ? initialization: OK check bit 0 of INTERNAL_STATUS No initialization: ERROR End BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 13 Example 2: Reading acceleration data from BMA456 (example: low power mode) -setting data processing parameters (power, bandwidth, range) and reading sensor data 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) End BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 14 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 15 4. Functional Description Block Diagram SENSORTIME Accel ADC select SENSOR DATA AND SENSORTIME REGISTER SPI / I2C DIGITAL SIGNAL CONDITIONING FIFO ENGINE INT1, INT2 EXTERNAL MAGNET DATA PRIMARY DIGITAL INTERFACE Feature engine RAW DATA SECONDARY DIGITAL INTERFACE CONFIGURABLE AS: MAGNET (I2C MASTER) MAGNET (I2C) Magnet BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 16 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 17 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 sec 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 18 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 s. 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) Power consumption Usecase ACC_CONF.acc_perf_mod e PWR_CONF.adv_power_sa ve PWR_CTRL.acc_en The table below shows a few examples with the optimal power configurations Configuration mode x 0 x tbd Suspend (lowest power mode) x 1 0 suspend power Performance mode accel Low power mode 1 x 1 accel power 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 19 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 20 4.4. Sensor Data Acceleration Data The width of acceleration data is 16 bits given in twos 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 3dB Cutoff frequency [Hz] 5.06 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 10.12 20.25 40.5 80 400 800 1600 162 324 684 (155 for (262 for (353 for Z axis) Z axis) Z axis) Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 21 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 (Va l(a cc_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 ... 0x00 ... 150 C ... 23 C ... 0x81 0x80 -104 C 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 22 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 bel ow 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 Bit m in sensor_t ime 15 14 13 12 11 10 9 8 7 6 5 Resolution [ms] 1280 640 320 160 80 40 20 10 5 Update rate [Hz] 0.78 1.56 3.125 6.25 12.5 25 50 100 200 400 800 4 3 2 1 0 2.5 1.250 0.625 0.3125 0.156 0.078 0.039 1600 3200 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 23 1/fODR, new 1/fODR Currently active ODR Current ODR > requested ODR Configuration change including ODR change written to register Confguration change becomes effective requested ODR t 1/fODR 1/fODR, new Currently active ODR Requested ODR > current ODR Configuration change including ODR change written to register requested ODR Confguration change becomes effective t 1/fODR Configuration change w/o ODR change Currently active ODR requested ODR Configuration change written to register BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Confguration change becomes effective t Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 24 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 Content 7 6 fh_mode<1:0> 5 4 fh_parm<3:0> 3 2 1 0 fh_ext<1:0> These fh_mode and fh_parm and fh_ext fields are defined below fh_mode<1:0> 0b10 Definition Regular fh_parm <3:0> Enabled sensors 0b01 0b00 and 0b11 Control Reserved Control opcode Na fh_ext<1:0> Tag of INT2 and INT1 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 Content 3 Reserved BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 2 FIFO_aux_data 1 Reserved 0 FIFO_acc_data Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 25 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] X=0 Acronym AUX_0 X=1 AUX_1 X=2 AUX_2 X=3 AUX_3 X=4 AUX_4 X=5 AUX_5 X=6 AUX_6 X=7 AUX_7 X=8 X=9 X=10 X=11 ACC_X<7:0> (LSB) ACC_X<15:8> (MSB) ACC_Y<7:0> (LSB) ACC_Y<15:8> (MSB) X=12 X=13 ACC_Z<7:0> (LSB) ACC_Z<15:8> (MSB) copy of register Val(AUX_RD_ADDR) in auxiliary sensor register map copy of register Val(AUX_RD_ADDR )+1 in auxiliary sensor register map copy of register Val(AUX_RD_ADDR )+2 in auxiliary register map copy of register Val(AUX_RD_ADDR )+3 in auxiliary register map copy of register Val(AUX_RD_ADDR )+4 in auxiliary register map copy of register Val(AUX_RD_ADDR )+5 in auxiliary register map copy of register Val(AUX_RD_ADDR )+6 in auxiliary register map copy of register Val(AUX_RD_ADDR)+7 in auxiliary register map sensor sensor sensor sensor sensor sensor 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 26 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 X=1 AUX_1 X=2 X=3 X=4 X=5 X=6 Padding byte Padding byte Padding byte Padding byte Padding byte X=7 X=8 X=9 Padding byte ACC_X<7:0> (LSB) ACC_X<15:8> (MSB) X=10 X=11 X=12 ACC_Y<7:0> (LSB) ACC_Y<15:8> (MSB) ACC_Z<7:0> (LSB) X=13 ACC_Z<15:8> (MSB) BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 copy of register Val(AUX_RD_ADDR.read_addr) in auxiliary sensor register map copy of register Val(AUX_RD_ADDR.read_addr+1) in auxiliary sensor register map Undefined value Undefined value Undefined value Undefined value Undefined value Undefined value Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 27 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 unfiltered 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 0x1 0x2 0x3 Skip Frame Sensortime Frame Fifo_Input_Config Frame Reserved 0x4 0x5 - 0x7 Sample Drop Frame Reserved BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 28 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 Content reserved 5 aux_ if_ch 4 aux_ conf_ch 3 reserved 2 reserved 1 acc_ range_ch 0 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 Content reserved 5 4 3 2 aux_drop 1 reserved 0 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 29 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 enabled ACC start-up time ACC MAG t MAG enabled Frame inconsistency accepted during transition phases MAG start-up time ACC MAG t 1/ODR_ACC ACC Steady state operation MAG t 1/ODR_MAG BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 30 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 31 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 Tilt on wrist Double Tap / Tap INT_STATUS_0.activity_type_out INT_STATUS_0.wrist_tilt_out 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 32 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 33 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Parameter Name PARAM_1 PARAM_2 PARAM_3 PARAM_4 PARAM_5 Page 34 Phone Configuration Wrist Configuration 306 301 30950 31700 132 315 27804 31451 7 4 PARAM_6 PARAM_7 PARAM_8 30052 31551 32426 27853 1375 1219 PARAM_9 PARAM_10 PARAM_11 PARAM_12 PARAM_13 PARAM_14 PARAM_15 PARAM_16 PARAM_17 PARAM_18 2750 2437 1375 1219 -5994 -6420 16879 17932 1 1 12 39 12 25 74 150 160 160 0 1 12 12 15600 15600 256 256 PARAM_22 PARAM_23 PARAM_24 0 1 0 3 0 1 PARAM_25 0 14 PARAM_19 PARAM_20 PARAM_21 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 35 Configuration settings: 1. FEATURES_IN.step_counter.settings_26.watermark_level - Watermark level; the Stepcounter 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). BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 36 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 37 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. Wrist rotation Portrait up Sensor Min 12 g 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. Mount layer Sensor direction Pin#1 Marking Portrait up 1 Top layer g Portrait up 2 Top layer Pin#1 Marking g BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Register configuration 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 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 Remarks X = +x axis Y = +y axis Z = +z axis Same as the original mapping X = -x axis Y = -y axis Z = +z axis x, y inverted Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Portrait up Pin#1 Marking 3 Top layer g Portrait up 4 Top layer Pin#1 Marking g Portrait up Pin#1 Marking Bottom layer 5 g Portrait up 6 Bottom layer Pin#1 Marking g Portrait up Pin#1 Marking Bottom layer 7 g Portrait up 8 g Pin#1 Marking Bottom 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 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 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 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 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 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 Page 38 X = -y axis Y = +x axis Z = +z axis x, y swapped, and y inverted X = +y axis Y = -x axis Z = +z axis x, y swapped, and x inverted X = y axis Y = x axis Z = -z axis x, y swapped, and z inverted X = -y axis Y = -x axis Z = -z axis x, y swapped, and x, y, z inverted X = -x axis Y = y axis Z = -z axis x, z inverted 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 39 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 40 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. acc(t0+ dt) acc(t0) time slope slope(t0+ dt)= acc(t0+ dt) - acc(t0) anym_th anym_du r anym_dur latched INT time Any-motion (slope) interrupt detection 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 41 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. acceleration acc(t0+t) acc(t0) slope axis x, y, or z slope(t0+t)= acc(t0+t) - acc(t0) axis x, y, or z slo_no_mot_th -slo_no_mot_th slo_no_mot_dur timer INT time Figure 1 Signal timings No-motion interrupt 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 Anymotion (0) is selected. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 42 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 opendrive 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 no t 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). BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 43 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... Application Processor I2C or SPI primary interface BMA456 I2C auxiliary interface BMM150 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 44 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. Mode AUX_IF_CONF.aux_manual_en PWR_CONF.adv_power_save PWR_CTRL.aux_en No auxiliary sensor access Setup mode Data mode 1 1 0 1 0 0 x 0 1 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 1 Secondary IF disabled (default) 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 45 Configuration phase of the auxiliary sensor. Example: Read bytes 5 and 6 of auxiliary sensor check that no manual auxiliary sensor op is running start I2C_READ( STATUS, 1) Yes I2C_READ( STATUS, 1) enable reads/writes, set burst length to 2 No STATUS.aux_man_op=1 ? Issue I2C read operation for byte 5+6 on auxiliary sensor I2C_WRITE(AUX_IF_CONF, 0b01000001) I2C_WRITE(AUX_RD_ADDR, 0b00000101) check if data is already valid I2C_READ(STATUS, 1) Yes I2C_READ(STATUS, 1) STATUS<2>=1 ? burst read the two bytes No I2C_READ(DATA_0, 2) End BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 46 Example: Write 0xEF into byte 3 of auxiliary sensor start check that no manual auxiliary sensor op is running I2C_READ(STATUS, 1) Yes STATUS<2>=1 ? No I2C_READ(STATUS, 1) enable reads/writes 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) No STATUS<2>=1 ? Yes I2C_READ(STATUS, 1) End BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 47 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 48 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 selftest 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. BMA456 x-axis signal y-axis signal z-axis signal 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. 2. 3. 4. Enable accelerometer with register PWR_CTRL.acc_en=1b1. Set 8g range in register ACC_RANGE.acc_range Set self test amplitude to low by setting ACC_SELF_TEST.acc_self_test_amp = 1b0 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 49 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, prefiltered 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 50 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 st ate (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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 51 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/writ e read only writ e only reserved ID: Register Register Default Address Name Value 0x7E CMD 0x00 0x7D 0x7C PWR_CT RL PWR_C ONF 7 6 5 4 3 0x00 reserved 0x03 - - reserved - - reserved 0x74 - - reserved 0x00 off_acc_z 0x00 off_acc_y 0x00 off_acc_x 0x72 0x71 0x70 0x6F 0x6E _2 OFFSET _1 OFFSET _0 NV_CON F 0x00 reserved 0x6B 0x6A F reserved NVM_C ONF 0x00 0x00 acc_self_ acc_self_ t est _amp t est _sign reserved spi_en acc_self_ t est _en reserved reserved if_mode reserved spi3 nvm_pro reserved g_en 0x69 - - reserved ... - - reserved 0x60 - - reserved BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 er_save sel reserved IF_CON adv_pow wakeup en - - fifo_self_ en - T 0x6C aux_en i2c_wdt _ reserved 0x00 reserved i2c_wdt _ - LF_TES acc_en acc_off_ ACC_SE 0x6D 0 reserved ... OFFSET 1 cmd 0x7B 0x73 2 reserved Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 52 INTERN 0x5F AL_ERR 0x00 reserved int _err_2 int _err_1 reserved reserved int 1_drdy int 1_fwm int 1_ffull wrist _t ilt _ act ivit y_t st ep_cou out ype_out nt er_out wrist _t ilt _ act ivit y_t st ep_cou out ype_out nt er_out OR 0x5E FEATUR ES_IN 0x00 feat ures_in 0x5D - - reserved ... - - reserved - - reserved 0x90 init _ct rl 0x5A 0x59 0x58 0x57 0x56 0x55 0x54 0x53 INIT_CT RL INT_MA P_DATA INT2_MA P INT1_MA P INT_LAT CH INT2_IO _CTRL INT1_IO _CTRL 0x00 0x00 0x00 reserved error_int _out error_int _out int 2_drdy any_no_ mot ion_o ut any_no_ mot ion_o ut int 2_fwm wakeup_ out wakeup_ out 0x00 int 2_ffull reserved reserved reserved 0x00 reserved input _en 0x00 reserved input _en out put _e n out put _e n - - reserved ... - - reserved - - reserved 0x02 writ e_dat a 0x4C writ e_addr 0x42 read_addr 0x4F 0x4E 0x4D 0x4C 0x4B 0x4A AUX_W R_DATA AUX_W R_ADDR AUX_RD _ADDR AUX_IF_ CONF AUX_DE V_ID - 0x83 aux_man 0x20 ONFIG_ 0x10 reserved od lvl edge_ct rl aux_rd_burst reserved fifo_acc_ fifo_aux_ fifo_head fifo_t ag_i fifo_t ag_i en en er_en nt 1_en nt 2_en FIFO_C ONFIG_ edge_ct rl reserved 1 0x48 lvl i2c_device_addr FIFO_C 0x49 od reserved ual_en reserved int _lat ch 0x52 0x50 reserved 0x02 0 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 reserved reserved fifo_t ime fifo_st op _en _on_full Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 0x47 0x46 0x45 0x44 FIFO_W TM_1 FIFO_W TM_0 FIFO_D OWNS AUX_CO NF 0x02 reserved fifo_wat er_mark_12_8 0x00 0x80 Page 53 fifo_wat er_mark_7_0 acc_fifo_ acc_fifo_downs filt _dat a 0x46 reserved aux_offset aux_odr 0x43 - - reserved 0x42 - - reserved 0x41 0x40 ACC_RA NGE ACC_CO NF 0x01 0xA8 reserved acc_perf acc_range acc_bwp _mode acc_odr 0x3F - - reserved ... - - reserved 0x2B - - reserved 0x2A AL_STAT INTERN 0x00 odr_high odr_50hz _error _error US axes_re map_err message or 0x29 - - reserved 0x28 - - reserved 0x27 0x26 0x25 0x24 0x23 0x22 ACTIVIT Y_TYPE FIFO_DA TA FIFO_LE NGTH_1 FIFO_LE NGTH_0 TEMPER ATURE 0x00 reserved 0x00 0x00 act ivit y_t ype_out fifo_dat a reserved fifo_byt e_count er_13_8 0x00 fifo_byt e_count er_7_0 - reserved 0x00 t emperat ure 0x00 st ep_count er_out _3 0x00 st ep_count er_out _2 0x00 st ep_count er_out _1 STEP_C 0x21 OUNTER _3 STEP_C 0x20 OUNTER _2 STEP_C 0x1F OUNTER _1 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 54 STEP_C 0x1E OUNTER 0x00 st ep_count er_out _0 _0 0x1D 0x1C 0x1B 0x1A 0x19 0x18 INT_STA TUS_1 INT_STA TUS_0 EVENT SENSOR TIME_2 SENSOR TIME_1 SENSOR TIME_0 0x00 0x00 acc_drdy _int error_int _out reserved any_no_ mot ion_o ut aux_drdy reserved _int wakeup_ out 0x01 reserved wrist _t ilt _ act ivit y_t st ep_cou out ype_out nt er_out sensor_t ime_23_16 0x00 sensor_t ime_15_8 0x00 sensor_t ime_7_0 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 0x00 aux_err fifo_err reserved ERR_RE G reserved error_code 0x01 - - reserved 0x00 CHIP_ID 0x16 chip_id BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 reserved ct ed 0x00 cmd_rdy ffull_int por_det e reserved 0x17 0x02 fwm_int aux_man _op reserved cmd_err fat al_err Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 55 FEATURES_IN Register Register Default Address Name Value 7 6 5 4 3 2 1 0 general_ 0x5E: 0x3F set t ings. axes_re 0x00 map_z_a reserved xis_sign mapping[ 1] general_ 0x5E: 0x3E set t ings. axes_re 0x88 map_z_axis mapping[ map_y_a xis_sign map_y_axis map_x_a xis_sign map_x_axis 0] general_ 0x5E: set t ings.c 0x3D onfig_id[ 0x00 ident ificat ion 0x00 ident ificat ion 0x00 reserved 1] general_ 0x5E: set t ings.c 0x3C onfig_id[ 0] 0x5E: 0x3B 0x5E: 0x3A 0x5E: 0x39 0x5E: 0x38 wrist _t ilt . set t ings[ 1] wrist _t ilt . set t ings[ 0x00 reserved enable 0] t ap_doub let ap.set t 0x00 reserved ings[1] t ap_doub let ap.set t 0x06 single_t a reserved sensit ivit y p_en ings[0] enable st ep_cou 0x5E: nt er.set t i 0x37 ngs_26[1 0x00 reserved en_act ivit en_count en_det ec reset _co y er t or unt er wat ermark_level ] st ep_cou 0x5E: nt er.set t i 0x36 ngs_26[0 0x00 wat ermark_level 0x00 param_25 ] st ep_cou 0x5E: nt er.set t i 0x35 ngs_25[1 ] BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 56 st ep_cou 0x5E: nt er.set t i 0x34 ngs_25[0 0x0E param_25 0x00 param_24 0x01 param_24 0x00 param_23 0x03 param_23 0x00 param_22 0x01 param_22 0x01 param_21 0x00 param_21 0x3C param_20 0xF0 param_20 ] st ep_cou 0x5E: nt er.set t i 0x33 ngs_24[1 ] st ep_cou 0x5E: nt er.set t i 0x32 ngs_24[0 ] st ep_cou 0x5E: nt er.set t i 0x31 ngs_23[1 ] st ep_cou 0x5E: nt er.set t i 0x30 ngs_23[0 ] st ep_cou 0x5E: nt er.set t i 0x2F ngs_22[1 ] st ep_cou 0x5E: nt er.set t i 0x2E ngs_22[0 ] st ep_cou 0x5E: nt er.set t i 0x2D ngs_21[1 ] st ep_cou 0x5E: nt er.set t i 0x2C ngs_21[0 ] st ep_cou 0x5E: nt er.set t i 0x2B ngs_20[1 ] st ep_cou 0x5E: nt er.set t i 0x2A ngs_20[0 ] BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. 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Data Sheet BMA456 Page 57 st ep_cou 0x5E: nt er.set t i 0x29 ngs_19[1 0x00 param_19 0x0C param_19 0x00 param_18 0x01 param_18 0x00 param_17 0xA0 param_17 0x00 param_16 0x96 param_16 0x00 param_15 0x19 param_15 0x00 param_14 ] st ep_cou 0x5E: nt er.set t i 0x28 ngs_19[0 ] st ep_cou 0x5E: nt er.set t i 0x27 ngs_18[1 ] st ep_cou 0x5E: nt er.set t i 0x26 ngs_18[0 ] st ep_cou 0x5E: nt er.set t i 0x25 ngs_17[1 ] st ep_cou 0x5E: nt er.set t i 0x24 ngs_17[0 ] st ep_cou 0x5E: nt er.set t i 0x23 ngs_16[1 ] st ep_cou 0x5E: nt er.set t i 0x22 ngs_16[0 ] st ep_cou 0x5E: nt er.set t i 0x21 ngs_15[1 ] st ep_cou 0x5E: nt er.set t i 0x20 ngs_15[0 ] st ep_cou 0x5E: nt er.set t i 0x1F ngs_14[1 ] BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. 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Data Sheet BMA456 Page 58 st ep_cou 0x5E: nt er.set t i 0x1E ngs_14[0 0x27 param_14 0x00 param_13 0x01 param_13 0x46 param_12 0x0C param_12 0xE6 param_11 0xEC param_11 0x04 param_10 0xC3 param_10 0x09 param_9 0x85 param_9 0x04 param_8 ] st ep_cou 0x5E: nt er.set t i 0x1D ngs_13[1 ] st ep_cou 0x5E: nt er.set t i 0x1C ngs_13[0 ] st ep_cou 0x5E: nt er.set t i 0x1B ngs_12[1 ] st ep_cou 0x5E: nt er.set t i 0x1A ngs_12[0 ] st ep_cou 0x5E: nt er.set t i 0x19 ngs_11[1 ] st ep_cou 0x5E: nt er.set t i 0x18 ngs_11[0 ] st ep_cou 0x5E: nt er.set t i 0x17 ngs_10[1 ] st ep_cou 0x5E: nt er.set t i 0x16 ngs_10[0 ] 0x5E: 0x15 0x5E: 0x14 0x5E: 0x13 st ep_cou nt er.set t i ngs_9[1] st ep_cou nt er.set t i ngs_9[0] st ep_cou nt er.set t i ngs_8[1] BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. 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Data Sheet BMA456 0x5E: 0x12 0x5E: 0x11 0x5E: 0x10 0x5E: 0x0F 0x5E: 0x0E 0x5E: 0x0D 0x5E: 0x0C 0x5E: 0x0B 0x5E: 0x0A 0x5E: 0x09 0x5E: 0x08 0x5E: 0x07 0x5E: 0x06 0x5E: 0x05 0x5E: 0x04 Page 59 st ep_cou nt er.set t i 0xC3 param_8 0x6C param_7 0xCD param_7 0x7B param_6 0x3F param_6 0x00 param_5 0x04 param_5 0x7A param_4 0xDB param_4 0x01 param_3 0x3B param_3 0x7B param_2 0xD4 param_2 0x01 param_1 0x2D param_1 ngs_8[0] st ep_cou nt er.set t i ngs_7[1] st ep_cou nt er.set t i ngs_7[0] st ep_cou nt er.set t i ngs_6[1] st ep_cou nt er.set t i ngs_6[0] st ep_cou nt er.set t i ngs_5[1] st ep_cou nt er.set t i ngs_5[0] st ep_cou nt er.set t i ngs_4[1] st ep_cou nt er.set t i ngs_4[0] st ep_cou nt er.set t i ngs_3[1] st ep_cou nt er.set t i ngs_3[0] st ep_cou nt er.set t i ngs_2[1] st ep_cou nt er.set t i ngs_2[0] st ep_cou nt er.set t i ngs_1[1] st ep_cou nt er.set t i ngs_1[0] BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 0x5E: 0x03 0x5E: 0x02 0x5E: 0x01 0x5E: 0x00 Page 60 any_mot i on.set t in 0x00 z_en y_en x_en durat ion gs_2[1] any_mot i on.set t in 0x05 durat ion gs_2[0] any_mot i on.set t in 0x00 reserved nomot ion _sel gs_1[1] t hreshold any_mot i on.set t in 0xAA t hreshold gs_1[0] BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 61 Register (0x00) CHIP_ID DESCRIPTION: Chip identification code RESET: 0x16 DEFINITION (Go to register map): Name Register (0x00) CHIP_ID Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 chip_id 3 R 0 chip_id 6 R 0 5 R 0 4 R 1 2 R 1 1 R 1 0 R 0 5 n/a 0 reserved 1 R 0 cmd_err 4 R 0 error_code 0 R 0 fatal_err chip_id: Chip identification code for BMA456. Register (0x02) ERR_REG DESCRIPTION: Reports sensor error conditions RESET: 0x00 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x02) ERR_REG 7 6 R R 0 0 aux_err fifo_err 3 2 R R 0 0 error_code 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 62 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x03) STATUS 7 6 R n/a 0 0 drdy_acc reserved 3 2 n/a R 0 0 reserved aux_man_op 5 R 0 drdy_aux 1 n/a 0 reserved 4 R 1 cmd_rdy 0 n/a 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x0A) DATA_0 7 6 R R 0 0 aux_x_7_0 3 2 R R 0 0 aux_x_7_0 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 5 R 0 4 R 0 1 R 0 0 R 0 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 63 Register (0x0B) DATA_1 DESCRIPTION: AUX_X(MSB) RESET: 0x00 DEFINITION (Go to register map): Name Register (0x0B) DATA_1 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 aux_x_15_8 3 R 0 aux_x_15_8 6 R 0 5 R 0 4 R 0 2 R 0 1 R 0 0 R 0 5 R 0 4 R 0 1 R 0 0 R 0 Register (0x0C) DATA_2 DESCRIPTION: AUX_Y(LSB) RESET: 0x00 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x0C) DATA_2 7 6 R R 0 0 aux_y_7_0 3 2 R R 0 0 aux_y_7_0 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 64 Register (0x0D) DATA_3 DESCRIPTION: AUX_Y(MSB) RESET: 0x00 DEFINITION (Go to register map): Name Register (0x0D) DATA_3 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 aux_y_15_8 3 R 0 aux_y_15_8 6 R 0 5 R 0 4 R 0 2 R 0 1 R 0 0 R 0 5 R 0 4 R 0 1 R 0 0 R 0 Register (0x0E) DATA_4 DESCRIPTION: AUX_Z(LSB) RESET: 0x00 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x0E) DATA_4 7 6 R R 0 0 aux_z_7_0 3 2 R R 0 0 aux_z_7_0 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 65 Register (0x0F) DATA_5 DESCRIPTION: AUX_Z(MSB) RESET: 0x00 DEFINITION (Go to register map): Name Register (0x0F) DATA_5 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 aux_z_15_8 3 R 0 aux_z_15_8 6 R 0 5 R 0 4 R 0 2 R 0 1 R 0 0 R 0 5 R 0 4 R 0 1 R 0 0 R 0 Register (0x10) DATA_6 DESCRIPTION: AUX_R(LSB) RESET: 0x00 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x10) DATA_6 7 6 R R 0 0 aux_r_7_0 3 2 R R 0 0 aux_r_7_0 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 66 Register (0x11) DATA_7 DESCRIPTION: AUX_R(MSB) RESET: 0x00 DEFINITION (Go to register map): Name Register (0x11) DATA_7 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 aux_r_15_8 3 R 0 aux_r_15_8 6 R 0 5 R 0 4 R 0 2 R 0 1 R 0 0 R 0 5 R 0 4 R 0 1 R 0 0 R 0 Register (0x12) DATA_8 DESCRIPTION: ACC_X(LSB) RESET: 0x00 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x12) DATA_8 7 6 R R 0 0 acc_x_7_0 3 2 R R 0 0 acc_x_7_0 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 67 Register (0x13) DATA_9 DESCRIPTION: ACC_X(MSB) RESET: 0x00 DEFINITION (Go to register map): Name Register (0x13) DATA_9 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 acc_x_15_8 3 R 0 acc_x_15_8 6 R 0 5 R 0 4 R 0 2 R 0 1 R 0 0 R 0 5 R 0 4 R 0 1 R 0 0 R 0 Register (0x14) DATA_10 DESCRIPTION: ACC_Y(LSB) RESET: 0x00 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x14) DATA_10 7 6 R R 0 0 acc_y_7_0 3 2 R R 0 0 acc_y_7_0 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 68 Register (0x15) DATA_11 DESCRIPTION: ACC_Y(MSB) RESET: 0x00 DEFINITION (Go to register map): Name Register (0x15) DATA_11 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 acc_y_15_8 3 R 0 acc_y_15_8 6 R 0 5 R 0 4 R 0 2 R 0 1 R 0 0 R 0 5 R 0 4 R 0 1 R 0 0 R 0 Register (0x16) DATA_12 DESCRIPTION: ACC_Z(LSB) RESET: 0x00 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x16) DATA_12 7 6 R R 0 0 acc_z_7_0 3 2 R R 0 0 acc_z_7_0 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 69 Register (0x17) DATA_13 DESCRIPTION: ACC_Z(MSB) RESET: 0x00 DEFINITION (Go to register map): Name Register (0x17) DATA_13 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 acc_z_15_8 3 R 0 acc_z_15_8 6 R 0 5 R 0 4 R 0 2 R 0 1 R 0 0 R 0 5 R 0 4 R 0 1 R 0 0 R 0 Register (0x18) SENSORTIME_0 DESCRIPTION: Sensor time <7:0> RESET: 0x00 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x18) SENSORTIME_0 7 6 R R 0 0 sensor_time_7_0 3 2 R R 0 0 sensor_time_7_0 sensor_time_7_0: Sensor time <7:0> in units of 39.0625 us. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 70 Register (0x19) SENSORTIME_1 DESCRIPTION: Sensor time <15:8> RESET: 0x00 DEFINITION (Go to register map): Name Register (0x19) SENSORTIME_1 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 sensor_time_15_8 3 R 0 sensor_time_15_8 6 R 0 5 R 0 4 R 0 2 R 0 1 R 0 0 R 0 5 R 0 4 R 0 1 R 0 0 R 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x1A) SENSORTIME_2 7 6 R R 0 0 sensor_time_23_16 3 2 R R 0 0 sensor_time_23_16 sensor_time_23_16: Sensor time <23:16> in units of 2.56 s. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 71 Register (0x1B) EVENT DESCRIPTION: Sensor status flags RESET: 0x01 DEFINITION (Go to register map): Name Register (0x1B) EVENT Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 n/a 0 reserved 3 n/a 0 reserved 6 n/a 0 5 n/a 0 4 n/a 0 2 n/a 0 1 n/a 0 0 R 1 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x1C) INT_STATUS_0 7 6 R R 0 0 error_int_out any_no_motion_ out 3 2 R R 0 0 wrist_tilt_out activity_type_out 5 R 0 wakeup_out 4 n/a 0 reserved 1 R 0 step_counter_out 0 n/a 0 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 72 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 Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 acc_drdy_int 3 n/a 0 reserved 6 n/a 0 reserved 2 n/a 0 5 R 0 aux_drdy_int 1 R 0 fwm_int 4 n/a 0 reserved 0 R 0 ffull_int 5 R 0 4 R 0 1 R 0 0 R 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x1E) STEP_COUNTER_0 7 6 R R 0 0 step_counter_out_0 3 2 R R 0 0 step_counter_out_0 step_counter_out_0: Step counting value byte-0 (least significant byte) BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 73 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 Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 6 R R 0 0 step_counter_out_1 3 2 R R 0 0 step_counter_out_1 5 R 0 4 R 0 1 R 0 0 R 0 5 R 0 4 R 0 1 R 0 0 R 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x20) STEP_COUNTER_2 7 6 R R 0 0 step_counter_out_2 3 2 R R 0 0 step_counter_out_2 step_counter_out_2: Step counting value byte-2 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 74 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 Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 6 R R 0 0 step_counter_out_3 3 2 R R 0 0 step_counter_out_3 5 R 0 4 R 0 1 R 0 0 R 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x22) TEMPERATURE 7 6 R R 0 0 temperature 3 2 R R 0 0 temperature 5 R 0 4 R 0 1 R 0 0 R 0 temperature: Temperature value in two's complement representation in units of 1 Kelvin: 0x00 corresponds to 23 degree Celsius. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 75 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 Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 6 R R 0 0 fifo_byte_counter_7_0 3 2 R R 0 0 fifo_byte_counter_7_0 5 R 0 4 R 0 1 R 0 0 R 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x25) FIFO_LENGTH_1 7 6 n/a n/a 0 0 reserved 3 2 R R 0 0 fifo_byte_counter_13_8 5 4 R R 0 0 fifo_byte_counter_13_8 1 0 R R 0 0 fifo_byte_counter_13_8: FIFO byte counter bits 13..8 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 76 Register (0x26) FIFO_DATA DESCRIPTION: FIFO data output register RESET: 0x00 DEFINITION (Go to register map): Name Register (0x26) FIFO_DATA Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 R 0 fifo_data 3 R 0 fifo_data 6 R 0 5 R 0 4 R 0 2 R 0 1 R 0 0 R 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x27) ACTIVITY_TYPE 7 6 n/a n/a 0 0 reserved 3 2 n/a n/a 0 0 reserved 5 n/a 0 4 n/a 0 1 R 0 activity_type_out 0 R 0 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 77 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 Read/Write Reset Value Content 7 R 0 odr_high_error 6 R 0 odr_50hz_error Bit Read/Write Reset Value Content 3 R 0 message 2 R 0 5 R 0 axes_remap_erro r 1 R 0 4 R 0 message 0 R 0 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 78 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x40) ACC_CONF 7 6 RW RW 1 0 acc_perf_mode acc_bwp 3 2 RW RW 1 0 acc_odr 5 RW 1 4 RW 0 1 RW 0 0 RW 0 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 0x02 norm_avg4 0x03 cic_avg8 0x04 res_avg16 0x05 res_avg32 0x06 res_avg64 0x07 res_avg128 Page 79 acc_perf_mode = 1 -> normal mode; acc_perf_mode = 0 -> average 4 samples acc_perf_mode = 1 -> Reserved; acc_perf_mode = 0 -> average 8 samples acc_perf_mode = 1 -> Reserved; acc_perf_mode = 0 -> average 16 samples acc_perf_mode = 1 -> Reserved; acc_perf_mode = 0 -> average 32 samples acc_perf_mode = 1 -> Reserved; acc_perf_mode = 0 -> average 64 samples 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 Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 n/a 0 reserved 3 n/a 0 reserved 6 n/a 0 5 n/a 0 4 n/a 0 2 n/a 0 1 RW 0 acc_range 0 RW 1 acc_range: Accelerometer g-range acc_range 0x00 range_2g +/-2g 0x01 range_4g +/-4g 0x02 range_8g +/-8g 0x03 range_16g +/-16g BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 80 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 Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 RW 0 aux_offset 3 RW 0 aux_odr 6 RW 1 5 RW 0 4 RW 0 2 RW 1 1 RW 1 0 RW 0 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): BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x45) FIFO_DOWNS 7 6 RW RW 1 0 acc_fifo_filt_data acc_fifo_downs 3 2 n/a n/a 0 0 reserved Page 81 5 RW 0 4 RW 0 1 n/a 0 0 n/a 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x46) FIFO_WTM_0 7 6 RW RW 0 0 fifo_water_mark_7_0 3 2 RW RW 0 0 fifo_water_mark_7_0 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 5 RW 0 4 RW 0 1 RW 0 0 RW 0 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 82 Register (0x47) FIFO_WTM_1 DESCRIPTION: FIFO Watermark level MSB RESET: 0x02 DEFINITION (Go to register map): Name Register (0x47) FIFO_WTM_1 Bit Read/Write Reset Value Content 7 n/a 0 reserved 6 n/a 0 5 n/a 0 Bit Read/Write Reset Value Content 3 2 RW RW 0 0 fifo_water_mark_12_8 1 RW 1 4 RW 0 fifo_water_mark_ 12_8 0 RW 0 5 n/a 0 4 n/a 0 1 RW 1 fifo_time_en 0 RW 0 fifo_stop_on_full Register (0x48) FIFO_CONFIG_0 DESCRIPTION: FIFO frame content configuration RESET: 0x02 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x48) FIFO_CONFIG_0 7 6 n/a n/a 0 0 reserved 3 2 n/a n/a 0 0 reserved 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 83 Register (0x49) FIFO_CONFIG_1 DESCRIPTION: FIFO frame content configuration RESET: 0x10 DEFINITION (Go to register map): Name Register (0x49) FIFO_CONFIG_1 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 n/a 0 reserved 3 RW 0 fifo_tag_int1_en 6 RW 0 fifo_acc_en 2 RW 0 fifo_tag_int2_en 5 RW 0 fifo_aux_en 1 n/a 0 reserved 4 RW 1 fifo_header_en 0 n/a 0 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 84 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 Read/Write RW RW Reset Value 0 0 Content i2c_device_addr Bit 3 2 Read/Write RW RW Reset Value 0 0 Content i2c_device_addr i2c_device_addr: I2C device address of Auxiliary slave 5 RW 1 4 RW 0 1 RW 0 0 n/a 0 reserved 5 n/a 0 4 n/a 0 1 RW 1 aux_rd_burst 0 RW 1 Register (0x4C) AUX_IF_CONF DESCRIPTION: Auxiliary interface configuration RESET: 0x83 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x4C) AUX_IF_CONF 7 6 RW n/a 1 0 aux_manual_en reserved 3 2 n/a n/a 0 0 reserved 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 85 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 Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 RW 0 read_addr 3 RW 0 read_addr 6 RW 1 5 RW 0 4 RW 0 2 RW 0 1 RW 1 0 RW 0 5 RW 0 4 RW 0 1 RW 0 0 RW 0 read_addr: Address to read Register (0x4E) AUX_WR_ADDR DESCRIPTION: Auxiliary interface write register address RESET: 0x4C DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x4E) AUX_WR_ADDR 7 6 RW RW 0 1 write_addr 3 2 RW RW 1 1 write_addr write_addr: Address to write BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. 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Data Sheet BMA456 Page 86 Register (0x4F) AUX_WR_DATA DESCRIPTION: Auxiliary interface write data RESET: 0x02 DEFINITION (Go to register map): Name Register (0x4F) AUX_WR_DATA Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 RW 0 write_data 3 RW 0 write_data 6 RW 0 5 RW 0 4 RW 0 2 RW 0 1 RW 1 0 RW 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x53) INT1_IO_CTRL 7 6 n/a n/a 0 0 reserved 3 2 RW RW 0 0 output_en od 5 n/a 0 1 RW 0 lvl 4 RW 0 input_en 0 RW 0 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 87 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x54) INT2_IO_CTRL 7 6 n/a n/a 0 0 reserved 3 2 RW RW 0 0 output_en od 5 n/a 0 1 RW 0 lvl 4 RW 0 input_en 0 RW 0 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 88 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x55) INT_LATCH 7 6 n/a n/a 0 0 reserved 3 2 n/a n/a 0 0 reserved 5 n/a 0 4 n/a 0 1 n/a 0 0 RW 0 int_latch int_latch: Latched/non-latched/temporary interrupt modes int_latch 0x00 none non latched 0x01 permanent latched BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. 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Data Sheet BMA456 Page 89 Register (0x56) INT1_MAP DESCRIPTION: Interrupt/Feature mapping on INT1 RESET: 0x00 DEFINITION (Go to register map): Name Register (0x56) INT1_MAP Bit Read/Write Reset Value Content 7 RW 0 error_int_out Bit Read/Write Reset Value Content 3 RW 0 wrist_tilt_out 6 RW 0 any_no_motion_ out 2 RW 0 activity_type_out 5 RW 0 wakeup_out 4 n/a 0 reserved 1 RW 0 step_counter_out 0 n/a 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x57) INT2_MAP 7 6 RW RW 0 0 error_int_out any_no_motion_ out 3 2 RW RW 0 0 wrist_tilt_out activity_type_out 5 RW 0 wakeup_out 4 n/a 0 reserved 1 RW 0 step_counter_out 0 n/a 0 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 90 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x58) INT_MAP_DATA 7 6 n/a RW 0 0 reserved int2_drdy 3 2 n/a RW 0 0 reserved int1_drdy 5 RW 0 int2_fwm 1 RW 0 int1_fwm 4 RW 0 int2_ffull 0 RW 0 int1_ffull 5 RW 0 4 RW 1 1 RW 0 0 RW 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x59) INIT_CTRL 7 6 RW RW 1 0 init_ctrl 3 2 RW RW 0 0 init_ctrl init_ctrl: Start initialization BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 91 Register (0x5E) FEATURES_IN DESCRIPTION: Feature configuration read/write port RESET: 0x00 DEFINITION (Go to register map): Name Register (0x5E) FEATURES_IN Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 RW 0 features_in 3 RW 0 features_in 6 RW 0 5 RW 0 4 RW 0 2 RW 0 1 RW 0 0 RW 0 features_in: Feature configuration read/write data Address Bit any_motion 0x5E: 0x00 10...0 11 0x5E: 0x02 Name Description settings_1 Any-motion / No-motion detection 0x00AA general configuration flags - part 1 Slope threshold value for Any-motion / 0xAA No-motion detection in 5.11g format. Range is 0 to 1g. Default value is 0xAA = 83mg. Indicates if Nomotion (1) or Any-motion 0x0 (0) is selected; default value is 0 - Anymotion. threshold nomotion_sel settings_2 12...0 13 14 15 step_counter Reset 0x0005 x_en y_en z_en Any-motion / No-motion detection general configuration flags - part 2 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. Enables the feature on a per-axis basis Enables the feature on a per-axis basis Enables the feature on a per-axis basis settings_1 Step Counter setting 0x012D duration BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Access RW RW 0x5 RW 0x0 0x0 0x0 RW RW RW Bosch Sensortec (c) Bosch Sensortec 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. 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Data Sheet BMA456 0x5E: 0x04 0x5E: 0x06 0x5E: 0x08 0x5E: 0x0A 0x5E: 0x0C 0x5E: 0x0E 0x5E: 0x10 0x5E: 0x12 0x5E: 0x14 0x5E: 0x16 0x5E: 0x18 0x5E: 0x1A 0x5E: 0x1C 0x5E: 0x1E 0x5E: 0x20 0x5E: 0x22 0x5E: 0x24 0x5E: 0x26 0x5E: 0x28 0x5E: 0x2A 0x5E: 0x2C 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 15...0 Page 92 param_1 Step Counter param 1 0x12D settings_2 param_2 settings_3 param_3 settings_4 param_4 settings_5 param_5 settings_6 param_6 settings_7 param_7 settings_8 param_8 settings_9 param_9 settings_10 param_10 settings_11 param_11 settings_12 param_12 settings_13 param_13 settings_14 param_14 settings_15 param_15 settings_16 param_16 settings_17 param_17 settings_18 param_18 settings_19 param_19 settings_20 param_20 settings_21 param_21 Step Counter setting Step Counter param 2 Step Counter setting Step Counter param 3 Step Counter setting Step Counter param 4 Step Counter setting Step Counter param 5 Step Counter setting Step Counter param 6 Step Counter setting Step Counter param 7 Step Counter setting Step Counter param 8 Step Counter setting Step Counter param 9 Step Counter setting Step Counter param 10 Step Counter setting Step Counter param 11 Step Counter setting Step Counter param 12 Step Counter setting Step Counter param 13 Step Counter setting Step Counter param 14 Step Counter setting Step Counter param 15 Step Counter setting Step Counter param 16 Step Counter setting Step Counter param 17 Step Counter setting Step Counter param 18 Step Counter setting Step Counter param 19 Step Counter setting Step Counter param 20 Step Counter setting Step Counter param 21 0x7BD4 0x7BD4 0x013B 0x13B 0x7ADB 0x7ADB 0x0004 0x4 0x7B3F 0x7B3F 0x6CCD 0x6CCD 0x04C3 0x4C3 0x0985 0x985 0x04C3 0x4C3 0xE6EC 0xE6EC 0x460C 0x460C 0x0001 0x1 0x0027 0x27 0x0019 0x19 0x0096 0x96 0x00A0 0xA0 0x0001 0x1 0x000C 0xC 0x3CF0 0x3CF0 0x0100 0x100 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 0x5E: 0x2E 0x5E: 0x30 0x5E: 0x32 0x5E: 0x34 0x5E: 0x36 15...0 15...0 15...0 15...0 9...0 watermark_level 10 reset_counter 11 12 13 en_detector en_counter en_activity tap_doubletap 0x5E: 0x38 0 3...1 wrist_tilt 0x5E: 0x3A settings_22 param_22 settings_23 param_23 settings_24 param_24 settings_25 param_25 settings_26 settings enable sensitivity Page 93 Step Counter setting Step Counter param 22 Step Counter setting Step Counter param 23 Step Counter setting Step Counter param 24 Step Counter setting Step Counter param 25 Step Counter and Step Detector Settings 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. Flag to reset the counted steps. This is only interpreted if the step counter is enabled. Enables the Step Detector. Enables the Step Counter. Enables the activity detection(Running, Walking, Still) 0x0001 0x1 0x0003 0x3 0x0001 0x1 0x000E 0xE 0x0000 RW 0x0 RW 0x0 0x0 0x0 RW RW RW Tap general configuration flags Enables the feature Configures Tap sensitivity, the range goes from 0 (high sensitive) to 7 (low sensitive). Flag for enabling single tap detection (and disabling double tap). By default double tap detection is being enabled. 0x0006 0x0 0x3 RW RW 0x0 RW 0x0000 0x0 RW 0 settings enable Wrist tilt configuration flags Enables the feature config_id Describes configuration identification 0x0000 code Describes configuration identification 0x0 code BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 RW RW single_tap_en identification RW 0x0 4 general_settings 0x5E: 0x3C 15...0 RW R Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 0x5E: 0x3E 1...0 2 4...3 5 7...6 8 axes_remapping map_x_axis Describes axes remapping 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 map_x_axis_sign Map the x axis sign to the desired one. Value Name Description 0x00 nonClear this bit to inverted non invert the x axis 0x01 inverted Set this bit to invert the x axis 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 map_y_axis_sign Map the y axis sign to the desired one Value Name Description 0x00 nonClear this bit to inverted non invert the y axis 0x01 inverted Set this bit to invert the y axis 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 map_z_axis_sign Map the z axis sign to the desired one Value Name Description 0x00 nonClear this bit to inverted non invert the z axis 0x01 inverted Set this bit to invert the z axis BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Page 94 0x0088 0x0 RW 0x0 RW 0x1 RW 0x0 RW 0x2 RW 0x0 RW Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 95 Register (0x5F) INTERNAL_ERROR DESCRIPTION: Internal error flags RESET: 0x00 DEFINITION (Go to register map): Name Register (0x5F) INTERNAL_ERROR Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 n/a 0 reserved 3 n/a 0 reserved 6 n/a 0 5 n/a 0 4 n/a 0 2 R 0 int_err_2 1 R 0 int_err_1 0 n/a 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x6A) NVM_CONF 7 6 n/a n/a 0 0 reserved 3 2 n/a n/a 0 0 reserved 5 n/a 0 4 n/a 0 1 RW 0 nvm_prog_en 0 n/a 0 reserved nvm_prog_en: Enable NVM programming nvm_prog_en 0x00 disable disable 0x01 enable enable BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec GmbH reserves al l rights even in the event of industrial property ri ghts. 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Data Sheet BMA456 Page 96 Register (0x6B) IF_CONF DESCRIPTION: Serial interface settings RESET: 0x00 DEFINITION (Go to register map): Name Register (0x6B) IF_CONF Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 n/a 0 reserved 3 n/a 0 reserved 6 n/a 0 5 n/a 0 2 n/a 0 1 n/a 0 4 RW 0 if_mode 0 RW 0 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x6D) ACC_SELF_TEST 7 6 n/a n/a 0 0 reserved 3 2 RW RW 0 0 acc_self_test_am acc_self_test_ sig p n BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 5 n/a 0 4 n/a 0 1 n/a 0 reserved 0 RW 0 acc_self_test_en Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 97 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 Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x70) NV_CONF 7 6 n/a n/a 0 0 reserved 3 2 RW RW 0 0 acc_off_en i2c_wdt_en 5 n/a 0 4 n/a 0 1 RW 0 i2c_wdt_sel 0 RW 0 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 98 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 Read/Write RW RW RW Reset Value 0 0 0 Content off_acc_x Bit 3 2 1 Read/Write RW RW RW Reset Value 0 0 0 Content off_acc_x off_acc_x: Accelerometer offset compensation (X-axis). 4 RW 0 0 RW 0 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 Read/Write RW RW RW Reset Value 0 0 0 Content off_acc_y Bit 3 2 1 Read/Write RW RW RW Reset Value 0 0 0 Content off_acc_y off_acc_y: Accelerometer offset compensation (Y-axis). BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 4 RW 0 0 RW 0 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 99 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 Read/Write RW RW RW Reset Value 0 0 0 Content off_acc_z Bit 3 2 1 Read/Write RW RW RW Reset Value 0 0 0 Content off_acc_z off_acc_z: Accelerometer offset compensation (Z-axis). 4 RW 0 0 RW 0 Register (0x7C) PWR_CONF DESCRIPTION: Power mode configuration register RESET: 0x03 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content adv_power_save 0x00 0x01 Register (0x7C) PWR_CONF 7 6 n/a n/a 0 0 reserved 3 2 n/a n/a 0 0 reserved 5 n/a 0 4 n/a 0 1 RW 1 fifo_self_wakeup 0 RW 1 adv_power_save aps_off advanced power save disabled (fast clk always enabled). 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 100 Register (0x7D) PWR_CTRL DESCRIPTION: Sensor enable register RESET: 0x00 DEFINITION (Go to register map): Name Register (0x7D) PWR_CTRL Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 7 n/a 0 reserved 3 n/a 0 reserved 6 n/a 0 5 n/a 0 4 n/a 0 2 RW 0 acc_en 1 n/a 0 reserved 0 RW 0 aux_en 5 RW 0 4 RW 0 1 RW 0 0 RW 0 aux_en 0x00 mag_off Disables the auxiliary sensor. 0x01 mag_on Enables the auxiliary sensor. acc_en 0x00 acc_off 0x01 acc_on Disables the Accelerometer. Enables the Accelerometer. Register (0x7E) CMD DESCRIPTION: Command Register RESET: 0x00 DEFINITION (Go to register map): Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content Register (0x7E) CMD 7 6 RW RW 0 0 cmd 3 2 RW RW 0 0 cmd BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 101 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 102 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. 6 DoF AP I2C / SPI primary interface BMA456 MAG Interface I2C auxiliary interface BMM150 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 103 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 1 SDO Digital I/O 2 SDX Digital I/O 5 INT1 Digital I/O 6 INT2 Digital I/O 10 12 CSB SCX Digital in Digital in Serial data output in SPI Address select in IC mode see chapter 7.2 SDA serial data I/O in IC SDI serial data input in SPI 4W SDA serial data I/O in SPI 3W Interrupt output 1 (default) (Input for external FIFO sync) * Interrupt output 2 (default) (Input for external FIFO sync) * Chip select for SPI mode SCK for SPI serial clock SCL for IC serial clock Connect to (Primary IF) in SPI4W in SPI3W in I2C SDO DNC (float) GND for default I2C addr. SDI SDA SDA INT1 INT1 (FIFO sync) (FIFO sync) INT2 INT2 (FIFO sync) (FIFO sync) CSB CSB SCK SCK INT1 (FIFO sync) INT2 (FIFO sync) VDDIO SCL * INT1 and/or INT2 can also be configured as an input in case t he ext ernal dat a synchronizat ion in FIFO is used. See chapt er 0. If INT1 and/or INT2 are not used, please do not connect t hem (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 IC Bus Load Capacitance (max. drive capability) CI2C_Loa d 400 pF BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 104 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 Clock Frequency fSPI Max. Load on SDI or SDO = 30pF, VDDIO 1.62 V VDDIO < 1.62V SCK Low Pulse SCK High Pulse SCK Low Pulse SCK High Pulse SDI Setup Time SDI Hold Time SDO Output Delay CSB Setup Time CSB Hold Time Idle time between write accesses, suspend mode, lowpower mode 1 Idle time after write and read access, active state BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 tSCKL tSCKH tSCKL tSCKH tSDI_setup tSDI_hold tSDO_OD tCSB_setup tCSB_hold VDDIO>=1.62V VDDIO>=1.62V Min Max Units 10 MHz 7 MHz 45 45 VDDIO<1.62V 66 66 VDDIO<1.62V 20 20 Load = 30pF, VDDIO 1.62V 30 ns ns ns ns ns ns ns tIDLE_wa cc_sum 40 40 1000 ns ns s tIDLE_wr_a ct 2 s Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 105 The following figure shows the definition of the SPI timings: tCSB_setup tCSB_hold CSB SCK tSCKL tSCKH SDI SDO tSDI_setup tSDI_hold tSDO_OD 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 106 CSB SCX X SDX SDO R/W A D6 A D5 A D4 A D3 A D2 A D1 A D0 DI7 X DI6 DI5 DI4 DI3 DI2 DI1 Z logical DI0 X X R/W + register address Data 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: CSB SCX X SDX SDO logical R/W A D6 A D5 A D4 A D3 A D2 A D1 A D0 X DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 DI7 DI6 DI5 DI4 DI3 DI2 DI1 Z R/W + register address n DI0 X X Data (address n) Data (address n+1) 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 107 CSB SCX 7 X SDX SDO logical R/W A D6 A D5 A D4 A D3 A D2 A D1 A D0 X 6 5 3 2 1 X Z R/W + register address 0 DO7 DO6 DO5 DO4 DO3 DO2 DO1 DO0 Dummy Dummy X Read Data 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 2 nd 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: BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 108 CSB SCK SDI RW AD6 AD5 AD4 AD3 AD2 AD1 AD0 DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 3-wire basic SPI read or write sequence (mode 11) BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 109 6.5. Primary I2C Interface The IC 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 IC 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 IC interface of the BMA456 is compatible with the IC Specification UM10204 Rev. 03 (19 June 2007), available at http://www.nxp.com. The BMA456 supports IC 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 IC 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 IC of the BMA456 is given in the following table: Parameter Symbol Clock Frequency SCL Low Period SCL High Period fSCL tLOW tHIGH 1.3 0.6 SDA Setup Time SDA Hold Time Setup Time for a repeated Start Condition tSUDAT tHDDAT 0.1 0.0 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 Idle time between write accesses, normal mode, standby mode, low-power mode Idle time between write accesses, suspend mode, lowpower mode BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 tBUF tIDLE_wa cc_n m tIDLE_wa cc_s um Condition low power mode normal mode low power mode normal mode Min 400 Max Units 1000 kHz s 1.3 1000 1.3 1000 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 110 The figure below shows the definition of the IC timings given in Table 28: SDA tBUF tf tLOW SCL tHIGH tHDSTA tr tHDDAT tSUDAT SDA tSUSTA tSUSTO IC timing diagram The IC 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 IC 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 111 IC write access: IC 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 IC write access: Slave Adress Start S 0 0 1 1 0 Register address (0x41) R/W ACK 0 0 0 0 X 1 0 0 0 0 0 Register data (0x01) ACK 1 0 0 0 0 0 0 0 ACK Stop 0 1 0 P Master -> Slave Slave -> Master IC write Multi-byte writes are supported without restriction on normal registers with auto-increment, on special registers with address trap. IC read access: IC read access also can be used to read one or multiple data bytes in one sequence. A read sequence consists of a one-byte IC write phase followed by the IC read phase. The two parts of the transmission must be separated by a repeated start condition (S). The IC 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 IC 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Slave I2C ID Start S 0 0 1 1 0 0 0 R/W ACK 0 0 Page 112 Register address (0x12) X 0 0 1 0 0 ACK 1 0 0 Data byte Repeat Start Sr Slave I2C ID 0 0 1 1 0 0 0 R/W ACK 1 0 Data byte Register data - address 0x12 X X X X X X X Register data - address 0x13 ACK X 0 X X X Data byte ... X X X X X X X X X X X X X X 0 ... 0 X X X X X X X ACK X 0 ... Data byte Register data - address 0x16 X X Register data - address 0x15 ACK Data byte ... X Data byte Register data - address 0x14 Master -> Slave Slave -> Master X ACK X X Register data - address 0x17 ACK X 0 X X X X X X X NACK Stop X 1 P In order to prevent the IC slave of the device to lock-up the IC bus, a watchdog timer (WDT) is implemented. The WDT observes internal IC signals and resets the IC 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 113 6.6. SPI and IC 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 s is required following a write operation when the device operates in normal mode. In suspend mode an interface idle time of least 1000 s is required. X-after-Write Write-Operation X-Operation Register Update Period (> 2us / 450us) 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 114 7. Pin-out and Connection Diagrams 7.1. Pin-out Top View Bottom View Pads not visible! Pads visible! Pin description Pin# Name I/O Type 1 SDO Digital I/O 2 SDX Digital I/O 3 VDDIO Supply 4 ASDA Digital I/O 5 INT1 Digital I/O 6 INT2 Digital I/O 7 VDD Supply 8 9 10 GNDIO GND CSB Ground Ground Digital in Description Serial data output in SPI Address select in IC mode see chapter 7.2 SDA serial data I/O in IC SDI serial data input in SPI 4W SDA serial data I/O in SPI 3W Digital I/O supply voltage (1.2V ... 3.6V) Serial data I/O - Secondary Interface (IC Master for Magnetometer) Interrupt output 1 (default) (Input for external FIFO sync) * Interrupt output 2 (default) (Input for external FIFO sync) * Power supply for analog & digital domain (1.62V ... 3.6V) Ground for I/O Ground for digital & analog Chip select for SPI mode 11 ASCL Digital out Digital clock (out) - Secondary Interface (IC Master for Magnetometer) 12 SCX Digital in SCK for SPI serial clock SCL for IC serial clock in SPI 4W Connect to In SPI 3W in IC SDO DNC (float) GND for default I2C addr. SDI SDA SDA VDDIO VDDIO VDDIO VDDIO/ GNDIO/NC or (ASDA Secondary interface) INT1 (FIFO sync) INT2 (FIFO sync) VDDIO/ GNDIO/NC or (ASDA Secondary interface) INT1 (FIFO sync) INT2 (FIFO sync) VDD VDD VDD GND GND CSB VDDIO/ GNDIO/NC or (ASCL Secondary interface) GND GND CSB VDDIO/ GNDIO/ NC or (ASCL Secondary interface) GND GND VDDIO SCK SCK VDDIO/ GNDIO/NC or (ASDA - Secondary interface) INT1 (FIFO sync) INT2 (FIFO sync) VDDIO/ GNDIO/ NC or (ASCL Secondary interface) SCL * INT1 and/or INT2 can also be configured as an input in case t he ext ernal dat a synchronizat ion in FIFO is used. See chapt er 4.5. If INT1 and/or INT2 are not used, please do not connect t hem (DNC). BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 115 7.2. Connection Diagrams without Auxiliary Interface SPI 3-wire SCK SDX 2 VDDIO 3 ASDA 4 ASCL 12 11 10 CSB BMA456 9 GND Top View 8 (Pads not visible!) 100nF 6 7 CS 100nF GNDIO VDD VDD INT2 5 INT1 VDDIO 1 SCX MOSI/ MISO SDO GND INT1 INT2 It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD). 4-wire SCK 1 MOSI SDX 2 VDDIO 3 ASDA 4 11 10 CSB BMA456 9 GND Top View 8 (Pads not visible!) 5 6 INT2 100nF 12 INT1 VDDIO ASCL SDO SCX MISO 7 CS 100nF GNDIO VDD VDD GND INT1 INT2 It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD). BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 116 I2C SCL SDO 1 SDX 2 VDDIO 3 ASDA 4 11 10 CSB BMA456 9 GND Top View 8 (Pads not visible!) 100nF 5 6 INT2 VDDIO 12 INT1 SDA ASCL =1 =0 SCX I2C_ID.0 7 100nF GNDIO VDD VDD GND INT1 INT2 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 SCK ASDA ASCL SDX 2 ASCL 12 11 10 CSB BMA456 9 GND ASDA 4 100nF 5 6 INT2 VDDIO Top View 3 8 (Pads not visible!) INT1 VDDIO 1 SCX MOSI MISO SDO 7 to BMM CS 100nF GNDIO VDD VDD GND INT1 INT2 It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD). BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 117 4-wire SCK ASDA ASCL 1 MOSI SDX 2 VDDIO 3 ASDA 4 12 11 10 CSB BMA456 9 GND 6 INT2 100nF 5 CS 100nF Top View 8 (Pads not visible!) INT1 VDDIO ASCL SDO SCX MISO to BMM GNDIO 7 VDD VDD GND INT1 INT2 It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD). I2C SCL ASDA ASCL SDX 2 VDDIO 3 ASDA 4 100nF 12 11 10 CSB BMA456 9 GND Top View 8 (Pads not visible!) 5 6 INT2 VDDIO 1 INT1 SDA SDO ASCL =1 =0 SCX I2C_ID.0 7 to BMM 100nF GNDIO VDD VDD GND INT1 INT2 It is recommended to use 100nF decoupling capacitors at pin 3 (VDDIO) and pin 7 (VDD). BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 118 8. Package 8.1. Package outline dimensions BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 119 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 ) upright 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 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 1g / 8192 LSB -1g / -8192 LSB Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 120 For reference the figure below shows the Android device orientation with an integrated BMA456. BMA456 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 121 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). BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 122 8.4. Marking Mass production Labeling CCC Name Symbol Remark Counter ID CCC 3 alphanumeric digits, variable to generate trace-code. Pin 1 identifier top side * -- 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 * -- Engineering samples Labeling NCC BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 123 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 260C. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 124 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 volt ages are kept within the supply voltage range. Unused inputs must always be tied to a defined logic voltage level. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 125 8.7. Tape and Reel specification BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 126 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. 2 nd 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 127 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 sample s. 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. BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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. Data Sheet BMA456 Page 128 10.Document history and modification Rev. No 1.0 1.1 1.2 Chapter Description of modification/changes Date 8.1 4.8, 6.7 6.2, 7.1 Document creation Update Fixed typos Changed CSB recommendation for IC 07 Aug 2017 26 Oct 2017 April 2019 Bosch Sensortec GmbH Gerha rd- Kindler-Strasse 9 72770 Reutlingen / Germa ny conta ct@bosch- sensortec.com www.bosch- sensortec.com Modifica tions reserved | Printed in Germa ny Specifica tions subject to cha nge without notice Document number: BST-BMA456-DS000- 02 Revision_1.2_April_2019 BST-BMA456-DS000-02 | Versi on 1.2 | April 2019 Bosch Sensortec (c) Bosch Sensortec 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.