BMX055

Data sheet BMX055 Small, versatile 9-axis sensor module Bosch Sensortec BMX055: Data sheet Document revision 1.1 Document release date November 7 , 2014 Document number BST-BMX055-DS000-02 Technical reference code(s) 0 273 141 179 Notes Data and descriptions within this document are subject to change without notice. Product photos and pictures are for illustration purposes only and may differ from the real product’s appearance. th BMX055 Data sheet Page 2 BMX055 Basic Description Key features  3 sensors in one device  Small package   Common voltage supplies Digital interface  Smart operation and integration  Consumer electronics suite Accelerometer features  Programmable functionality   On-chip FIFO On-chip interrupt controller   On-chip temperature sensor Ultra-low power IC Gyroscope features  Programmable functionality   On-chip FIFO On-chip interrupt controller  Low power IC BST-BMX055-DS000-02 | Revision 1.1 | November 2014 an advanced triaxial 16bit gyroscope, a versatile, leading edge triaxial 12bit accelerometer and a full performance geomagnetic sensor LGA package 20 pins footprint 3.0 x 4.5 mm², height 0.95mm VDD voltage range: 2.4V to 3.6V SPI (4-wire, 3-wire), I²C, 4 interrupt pins VDDIO voltage range: 1.2V to 3.6V All sensors can be operated individually 9-axis FusionLib software compatible MSL1, RoHS and RoHS2 compliant, halogen-free Operating temperature: -40°C ... +85°C Acceleration ranges ±2g/±4g/±8g/±16g Low-pass filter bandwidths 1kHz - =31.25 Hz: tactive = tut + tw,up1 - 0.9 ms (or tactive = tut + tw,up2 - 0.9 ms) else: tactive = 4 tut + tw,up1 - 0.9 ms (or tactive = 4 tut + tw,up2 - 0.9 ms) During the wake-up phase all analog modules are held powered-up, while during the sleep phase most analog modules are powered down. Consequently, a wake-up time of more than tw,up1 (tw,up2) ms is needed to settle the analog modules so that reliable acceleration data are generated. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet 5.2 Page 27 IMU data accelerometer 5.2.1 Acceleration data The width of acceleration data is 12 bits given in two´s complement representation. The 12 bits for each axis are split into an MSB upper part (one byte containing bits 11 to 4) and an LSB lower part (one byte containing bits 3 to 0 of acceleration and a (ACC 0x02, 0x04, 0x06) new_data flag). 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). When shadowing is enabled, the MSB must always be read in order to remove the data lock. The shadowing procedure can be disabled (enabled) by writing ´1´ (´0´) to the bit shadow_dis. With shadowing disabled, the content of both MSB and LSB registers is updated by a new value immediately. Unused bits of the LSB registers may have any value and should be ignored. The (ACC 0x02, 0x04, 0x06) new_data flag of each LSB register is set if the data registers have been updated. The flag is reset if either the corresponding MSB or LSB part is read. Two different streams of acceleration data are available, unfiltered and filtered. The unfiltered data is sampled with 2kHz. The sampling rate of the filtered data depends on the selected filter bandwidth and is always twice the selected bandwidth (BW = ODR/2). Which kind of data is stored in the acceleration data registers depends on bit (ACC 0x13) data_high_bw. If (ACC 0x13) data_high_bw is ´0´ (´1´), then filtered (unfiltered) data is stored in the registers. Both data streams are offset-compensated. The bandwidth of filtered acceleration data is determined by setting the (ACC 0x10) bw bit as followed: Table 7: Bandwidth configuration bw Bandwidth 00xxx 01000 01001 01010 01011 01100 01101 01110 01111 1xxxx *) 7.81Hz 15.63Hz 31.25Hz 62.5Hz 125Hz 250Hz 500Hz 1000Hz *) Update Time tut 64ms 32ms 16ms 8ms 4ms 2ms 1ms 0.5ms - *) Note: Settings 00xxx result in a bandwidth of 7.81 Hz; settings 1xxxx result in a bandwidth of 1000 Hz. It is recommended to actively set an application specific and an appropriate bandwidth and to use the range from ´01000b´ to ´01111b´ only in order to be compatible with future products. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 28 The accelerometer supports four different acceleration measurement ranges. A measurement range is selected by setting the (ACC 0x0F) range bits as follows: Table 8: Range selection Range 0011 0101 1000 1100 others Acceleration measurement range ±2g ±4g ±8g ±16g reserved Resolution 0.98mg/LSB 1.95mg/LSB 3.91mg/LSB 7.81mg/LSB - 5.2.2 Temperature Sensor The width of temperature data is 8 bits given in two´s complement representation. Temperature values are available in the (ACC 0x08) temp register. The slope of the temperature sensor is 0.5K/LSB, its center temperature is 23°C [(ACC 0x08) temp = 0x00]. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet 5.3 Page 29 Self-test accelerometer This feature permits to check the sensor functionality 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 8 g. The self-test is activated individually for each axis by writing the proper value to the (ACC 0x32) self_test_axis bits (´01b´ for x-axis, ´10b´ for y-axis, ´11b´ for z-axis, ´00b´ to deactivate self-test). It is possible to control the direction of the deflection through bit (ACC 0x32) self_test_sign. The excitation occurs in negative (positive) direction if (ACC 0x32) self_test_sign = ´0b´ (´1b´). The amplitude of the deflection has to be set high by writing (ACC 0x32) self_test_amp=´1b´. After the self-test is enabled, the user should wait 50ms before interpreting the acceleration data. In order to ensure a proper interpretation of the self-test signal it is recommended to perform the self-test for both (positive and negative) directions and then to calculate the difference of the resulting acceleration values. Table 9 shows the minimum differences for each axis. The actually measured signal differences can be significantly larger. Table 9: Self-test difference values x-axis signal y-axis signal z-axis signal 800 mg 800 mg 400 mg resulting minimum difference signal 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, enable desired interrupts. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet 5.4 Page 30 Offset compensation accelerometer Offsets in measured signals can have several causes but they are always unwanted and disturbing in many cases. Therefore, the accelerometer offers an advanced set of four digital offset compensation methods which are closely matched to each other. These are slow, fast, and manual compensation as well as inline calibration. The compensation is performed with filtered data, and is then applied to both, unfiltered 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). However, the registers used to read and write compensation values have a width of 8 bits. An overview of the offset compensation principle is given in Figure 5: I2C/SPI/NVM mapping 12 bit acceleration data range +-16g +-8g +-4g 8g Sign 4g 4g Sign 2g 2g 2g Sign 1g 1g 1g 1g 500mg 500mg 500mg 500mg 500mg 250mg 250mg 250mg 250mg 250mg 125mg 125mg 125mg 125mg 62.5mg 62.5mg 62.5mg 62.5mg 31.2mg 31.2mg 31.2mg 31.2mg 31.2mg 15.6mg 15.6mg 15.6mg 15.6mg 15.6mg 7.8mg 7.8mg 7.8mg 7.8mg 3.9mg 3.9mg MSB 125mg Read/ Write 62.5mg LSB Sign Sign +-2g MSB MSB - 1.9mg LSB MSB LSB MSB LSB LSB 7.8mg 3.9mg 1.9mg 0.97mg Figure 5: Principle of offset compensation BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 31 The public offset compensation registers (ACC 0x38) offset_x, (ACC 0x39) offset_y, (ACC 0x3A) offset_z are images of the corresponding registers in the NVM. With each image update (see section 5.5 Non-volatile memory accelerometer for details) the contents of the NVM registers are written to the public registers. The public registers can be over-written by the user at any time. After changing the contents of the public registers by either an image update or manually, all 8bit values are extended to 12bit values for internal computation. In the opposite direction, if an internally computed value changes it is converted to an 8bit value and stored in the public register. Depending on the selected g-range the conversion from 12bit to 8bit values can result in a loss of accuracy of one to several LSB. This is shown in Figure 5. In case an internally computed compensation value is too small or too large to fit into the corresponding register, it is saturated in order to prevent an overflow error. By writing ´1´ to the (ACC 0x36) offset_reset bit, all offset compensation registers are reset to zero. 5.4.1 Fast compensation st Slow compensation is based on a 1 order high-pass filter, which continuously drives the average value of the output data stream of each axis to zero. The bandwidth of the high-pass filter is configured with bit (ACC 0x37) cut_off according to Table 10. Table 10: Compensation period settings (ACC 0x37) cut_off 0b 1b high-pass filter bandwidth 1 10 Hz The slow compensation can be enabled (disabled) for each axis independently by setting the bits (ACC 0x36) hp_x_en, hp_y_en, hp_z_en to ´1´ (´0´), respectively. Slow compensation should not be used in combination with low-power mode. In low-power mode the conditions (availability of necessary data) for proper function of slow compensation are not fulfilled. 5.4.2 Fast compensation Fast compensation is a one-shot process by which the compensation value is set in such a way that when added to the raw acceleration, the resulting acceleration value of each axis approaches the target value. This is best suited for “end-of-line trimming” with the customer’s device positioned in a well-defined orientation. For fast compensation the g-range has to be switched to 2g. The algorithm in detail: An average of 16 consecutive acceleration values is computed and the difference between target value and computed value is written to (ACC 0x38, 0x39, 0x3A) offset_filt_x/y/z. The public registers (ACC 0x38, 0x39, 0x3A) offset_filt_x/y/z are updated with the contents of the internal registers (using saturation if necessary) and can be read by the user. Fast compensation is triggered for each axis individually by setting the (ACC 0x36) cal_trigger bits as shown in Table 11: BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 32 Table 11: Fast compensation axis selection (ACC 0x36) cal_trigger 00b 01b 10b 11b Selected Axis none x y z Register (ACC 0x36) cal_trigger is a write-only register. Once triggered, the status of the fast correction process is reflected in the status bit (ACC 0x36) cal_rdy. Bit (ACC 0x36) cal_rdy is ‘0’ while the correction is in progress. Otherwise it is ‘1’. Bit (ACC 0x36) cal_rdy is ´0´ when (ACC 0x36) cal_trigger is not ´00´. For the fast offset compensation, the compensation target can be chosen by setting the bits (ACC 0x37) offset_target_x, (ACC 0x37) offset_target_y, and (ACC 0x37) offset_target_z according to Table 12: Table 12: Offset target settings (ACC 0x37) offset_target_x/y/z 00b 01b 10b 11b Target value 0g +1g -1g 0g Fast compensation should not be used in combination with any of the low-power modes. In lowpower mode the conditions (availability of necessary data) for proper function of fast compensation are not fulfilled. 5.4.3 Manual compensation The contents of the public compensation registers (ACC 0x38, 0x39, 0x3A) offset_filt_x/y/z can be set manually via the digital interface. It is recommended to write into these registers directly after a new data interrupt has occurred in order not to disturb running offset computations. Writing to the offset compensation registers is not allowed while the fast compensation procedure is running. 5.4.4 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 one of the aforementioned offset compensation methods to determine the proper compensation values and then storing these values permanently in the NVM. See section 5.5 Non-volatile memory accelerometer for details of the storing procedure. 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. until they are possibly overwritten using one of the other compensation methods. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet 5.5 Page 33 Non-volatile memory accelerometer The entire memory of the accelerometer consists of three different kinds of registers: hardwired, volatile, and non-volatile. Part of it can be both read and written by the user. Access to non-volatile memory is only possible through (volatile) image registers. Altogether, there are eight registers (octets) with NVM backup which are accessible by the user. The addresses of the image registers range from (ACC 0x38) to (ACC 0x3C). While the addresses up to (ACC 0x3A) are used for offset compensation (see 5.4 Offset Compensation), addresses (ACC 0x3B) and (ACC 0x3C) are general purpose registers not linked to any sensor-specific functionality. The content of the NVM is loaded to the image registers after a reset (either POR or softreset) or after a user request which is performed by writing ´1´ to the write-only bit (ACC 0x33) nvm_load. As long as the image update is in progress, bit (ACC 0x33) nvm_rdy is ´0´, otherwise it is ´1´. The image registers can be read and written like any other register. Writing to the NVM is a three-step procedure: 1. Write the new contents to the image registers. 2. Write ´1´ to bit (ACC 0x33) nvm_prog_mode in order to unlock the NVM. 3. Write ´1´ to bit (ACC 0x33) nvm_prog_trig and keep ´1´ in bit (ACC 0x33) nvm_prog_mode in order 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 bit (ACC 0x33) nvm_rdy. While (ACC 0x33) nvm_rdy = ´0´, the write process is still in progress; if (ACC 0x33) nvm_rdy = ´1´, then writing is completed. As long as the write process is ongoing, no change of power mode and image registers is allowed. Also, the NVM write cycle must not be initiated while image registers are updated, in low-power mode, and in suspend mode. Please note that the number of permitted NVM write-cycles is limited as specified in table 2. The number of remaining write-cycles can be obtained by reading bits (ACC 0x33) nvm_remain. 5.6 Interrupt controller accelerometer The accelerometer is equipped with eight programmable interrupt engines. Each interrupt can be independently enabled and configured. If the trigger condition of an enabled interrupt is fulfilled, the corresponding status bit is set to ´1´ and the selected interrupt pin is activated. The accelerometer provides two interrupt pins, INT1 and INT2; interrupts can be freely mapped to any of these pins. The state of a specific interrupt pin is derived from a logic ´or´ combination of all interrupts mapped to it. The interrupt status registers are updated when a new data word is written into the acceleration data registers. If an interrupt is disabled, all active status bits associated with it are immediately reset. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 34 5.6.1 General features An interrupt is cleared depending on the selected interrupt mode, which is common to all interrupts. There are three different interrupt modes: non-latched, latched, and temporary. The mode is selected by the (ACC 0x21) latch_int bits according to Table 13. Table 13: Interrupt mode selection (ACC 0x21) latch_int 0000b 0001b 0010b 0011b 0100b 0101b 0110b 0111b 1000b 1001b 1010b 1011b 1100b 1101b 1110b 1111b Interrupt mode non-latched temporary, 250ms temporary, 500ms temporary, 1s temporary, 2s temporary, 4s temporary, 8s latched non-latched temporary, 250µs temporary, 500µs temporary, 1ms temporary, 12.5ms temporary, 25ms temporary, 50ms latched An interrupt is generated if its activation condition is met. It cannot be cleared as long as the activation condition is fulfilled. In the non-latched mode the interrupt status bit and the selected pin (the contribution to the ´or´ condition for INT1 and/or INT2) are cleared as soon as the activation condition is no more valid. Exceptions to this behavior are the new data, orientation, and flat interrupts, which are automatically reset after a fixed time. In latched mode an asserted interrupt status and the selected pin are cleared by writing ´1´ to bit (ACC 0x21) reset_int. If the activation condition still holds when it is cleared, the interrupt status is asserted again with the next change of the acceleration registers. In the temporary mode an asserted interrupt and selected pin are cleared after a defined period of time. The behavior of the different interrupt modes is shown graphically in Figure 6. The timings in this mode are subject to the same tolerances as the bandwidths (see table 2). BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 35 internal signal from interrupt engine interrupt output non-latched latch period temporary latched Figure 6: Interrupt modes Several interrupt engines can use either unfiltered or filtered acceleration data as their input. For these interrupts, the source can be selected with the bits in register (ACC 0x1E). These are (ACC 0x1E) int_src_data, (ACC 0x1E) int_src_tap, (ACC 0x1E) int_src_slo_no_mot, (ACC 0x1E) int_src_slope, (ACC 0x1E) int_src_high, and (ACC 0x1E) int_src_low. Setting the respective bits to ´0´ (´1´) selects filtered (unfiltered) data as input. The orientation recognition and flat detection interrupt always use filtered input data. It is strongly recommended to set interrupt parameters prior to enabling the interrupt. Changing parameters of an already enabled interrupt may cause unwanted interrupt generation and generation of a false interrupt history. A safe way to change parameters of an enabled interrupt is to keep the following sequence: disable the desired interrupt, change parameters, wait for at least 10ms, and then re-enable the desired interrupt. 5.6.2 Mapping to physical interrupt pins (inttype to INT Pin#) Registers (ACC 0x19) to (ACC 0x1B) are dedicated to mapping of interrupts to the interrupt pins “INT1” or “INT2”. Setting (ACC 0x19) int1_”inttype” to ´1´ (´0´) maps (unmaps) “inttype” to pin “INT1”. Correspondingly setting (ACC 0x1B) int2_”inttype” to ´1´ (´0´) maps (unmaps) “inttype” to pin “INT2”. Note: “inttype” to be replaced with the precise notation, given in the memory map in chapter 6. Example: For flat interrupt (int1_flat): Setting (ACC 0x19) int1_flat to ´1´ maps int1_flat to pin “INT1”. 5.6.3 Electrical behavior (INT pin# to open-drive or push-pull) Both interrupt pins can be configured to show the desired electrical behavior. The ´active´ level of each interrupt pin is determined by the (ACC 0x20) int1_lvl and (ACC 0x20) int2_lvl bits. If (ACC 0x20) int1_lvl = ´1´ (´0´) / (ACC 0x20) int2_lvl = ´1´ (´0´), then pin “INT1” / pin “INT2” is active ´1´ (´0´). The characteristic of the output driver of the interrupt pins may be configured with bits (ACC 0x20) int1_od and (ACC 0x20) int2_od. By setting bits (ACC 0x20) int1_od / (ACC 0x20) int2_od to ´1´, the output driver shows open-drive characteristic, by setting the configuration bits to ´0´, the output driver shows push-pull characteristic. When open-drive characteristic is selected in the design, external pull-up or pull-down resistor should be applied BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 36 according the int_lvl configuration. When open-drive characteristic is selected in the design, external pull-up or pull-down resistor should be applied according the int_lvl configuration. 5.6.4 New data interrupt This interrupt serves for synchronous reading of acceleration data. It is generated after storing a new value of z-axis acceleration data in the data register. The interrupt is cleared automatically when the next data acquisition cycle starts. The interrupt status is ´0´ for at least 50µs. The interrupt mode of the new data interrupt is fixed to non-latched. It is enabled (disabled) by writing ´1´ (´0´) to bit (ACC 0x17) data_en. The interrupt status is stored in bit (ACC 0x0A) data_int. Due to the settling time of the filter, the first interrupt after wake-up from suspend or standby mode will take longer than the update time. 5.6.5 Slope / any-motion detection Slope / any-motion detection uses the slope between successive acceleration signals to detect changes in motion. An interrupt is generated when the slope (absolute value of acceleration difference) exceeds a preset threshold. It is cleared as soon as the slope falls below the threshold. The principle is made clear in Figure 7. acceleration acc(t0) acc(t0−1/(2*bw)) time slope(t0)=acc(t0)−acc(t0−1/(2*bw)) slope slope_th time slope_dur slope_dur INT time Figure 7: Principle of any-motion detection BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 37 The threshold is defined through register (ACC 0x28) slope_th. In terms of scaling 1 LSB of (ACC 0x28) slope_th corresponds to 3.91 mg in 2g-range (7.81 mg in 4g-range, 15.6 mg in 8grange and 31.3 mg in 16g-range). Therefore the maximum value is 996 mg in 2g-range (1.99g in 4g-range, 3.98g in 8g-range and 7.97g in 16g-range). The time difference between the successive acceleration signals depends on the selected bandwidth and equates to 1/(2*bandwidth) (t=1/(2*bw)). In order to suppress false triggers, the interrupt is only generated (cleared) if a certain number N of consecutive slope data points is larger (smaller) than the slope threshold given by (ACC 0x28) slope_th. This number is set by the (ACC 0x27) slope_dur bits. It is N = (ACC 0x27) slope_dur + 1 for (ACC 0x27). Example: (ACC 0x27) slope_dur = 00b, …, 11b = 1decimal, …, 4decimal. 5.6.5.1 Enabling (disabling) for each axis Any-motion detection can be enabled (disabled) for each axis separately by writing ´1´ (´0´) to bits (ACC 0x16) slope_en_x, (ACC 0x16) slope_en_y, (ACC 0x16) slope_en_z. The criteria for any-motion detection are fulfilled and the slope interrupt is generated if the slope of any of the enabled axes exceeds the threshold (ACC 0x28) slope_th for [(ACC 0x27) slope_dur +1] consecutive times. As soon as the slopes of all enabled axes fall or stay below this threshold for [(ACC 0x27) slope_dur +1] consecutive times the interrupt is cleared unless interrupt signal is latched. 5.6.5.2 Axis and sign information of slope / any motion interrupt The interrupt status is stored in bit (ACC 0x09) slope_int. The any-motion interrupt supplies additional information about the detected slope. The axis which triggered the interrupt is given by that one of bits (ACC 0x0B) slope_first_x, (ACC 0x0B) slope_first_y, (ACC 0x0B) slope_first_z that contains a value of ´1´. The sign of the triggering slope is held in bit (ACC 0x0B) slope_sign until the interrupt is retriggered. If (ACC 0x0B) slope_sign = ´0´ (´1´), the sign is positive (negative). 5.6.6 Tap sensing Tap sensing has a functional similarity with a common laptop touch-pad or clicking keys of a computer mouse. A tap event is detected if a pre-defined slope of the acceleration of at least one axis is exceeded. Two different tap events are distinguished: A ‘single tap’ is a single event within a certain time, followed by a certain quiet time. A ‘double tap’ consists of a first such event followed by a second event within a defined time frame. Single tap interrupt is enabled (disabled) by writing ´1´ (´0´) to bit (ACC 0x16) s_tap_en. Double tap interrupt is enabled (disabled) by writing ´1´ (´0´) to bit (ACC 0x16) d_tap_en. The status of the single tap interrupt is stored in bit (ACC 0x09) s_tap_int, the status of the double tap interrupt is stored in bit (ACC 0x09) d_tap_int. The slope threshold for detecting a tap event is set by bits (ACC 0x2B) tap_th. The meaning of (ACC 0x2B) tap_th depends on the range setting. 1 LSB of (ACC 0x2B) tap_th corresponds to a slope of 62.5mg in 2g-range, 125mg in 4g-range, 250mg in 8g-range, and 500mg in 16grange. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 38 In Figure 8 the meaning of the different timing parameters is visualized: slope 1st tap 2nd tap tap_th time tap_shock tap_quiet tap_dur tap_shock tap_quiet single tap detection 12.5 ms time double tap detection 12.5 ms time Figure 8: Timing of tap detection The parameters (ACC 0x2A) tap_shock and (ACC 0x2A) tap_quiet apply to both single tap and double tap detection, while (ACC 0x2A) tap_dur applies to double tap detection only. Within the duration of (ACC 0x2A) tap_shock any slope exceeding (ACC 0x2B) tap_th after the first event is ignored. Contrary to this, within the duration of (ACC 0x2A) tap_quiet no slope exceeding (ACC 0x2B) tap_th must occur, otherwise the first event will be cancelled. 5.6.6.1 Single tap detection A single tap is detected and the single tap interrupt is generated after the combined durations of (ACC 0x2A) tap_shock and (ACC 0x2A) tap_quiet, if the corresponding slope conditions are fulfilled. The interrupt is cleared after a delay of 12.5 ms. Do not map single-tap to any INT pin if you do not want to use it. 5.6.6.2 Double tap detection A double tap interrupt is generated if an event fulfilling the conditions for a single tap occurs within the set duration in (ACC 0x2A) tap_dur after the completion of the first tap event. The interrupt is automatically cleared after a delay of 12.5 ms. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 39 5.6.6.3 Selecting the timing of tap detection For each of parameters (ACC 0x2A) tap_shock and (ACC 0x2A) tap_quiet two values are selectable. By writing ´0´ (´1´) to bit (ACC 0x2A) tap_shock the duration of (ACC 0x2A) tap_shock is set to 50 ms (75 ms). By writing ´0´ (´1´) to bit (ACC 0x2A) tap_quiet the duration of (ACC 0x2A) tap_quiet is set to 30 ms (20 ms). The length of (ACC 0x2A) tap_dur can be selected by setting the (ACC 0x2A) tap_dur bits according to Table 14: Table 14: Selection of tap_dur (ACC 0x2A) tap_dur 000b 001b 010b 011b 100b 101b 110b 111b length of tap_dur 50 ms 100 ms 150 ms 200 ms 250 ms 375 ms 500 ms 700 ms 5.6.6.4 Axis and sign information of tap sensing The sign of the slope of the first tap which triggered the interrupt is stored in bit (ACC 0x0B) tap_sign (´0´ means positive sign, ´1´ means negative sign). The value of this bit persists after clearing the interrupt. The axis which triggered the interrupt is indicated by bits (ACC 0x0B) tap_first_x, (ACC 0x0B) tap_first_y, and (ACC 0x0B) tap_first_z. The bit corresponding to the triggering axis contains a ´1´ while the other bits hold a ´0´. These bits are cleared together with clearing the interrupt status. 5.6.6.5 Tap sensing in low power mode In low-power mode, a limited number of samples is processed after wake-up to decide whether an interrupt condition is fulfilled. The number of samples is selected by bits (ACC 0x2B) tap_samp according to Table 15. Table 15: Meaning of (ACC 0x2B) tap_samp (ACC 0x2B) tap_samp 00b 01b 10b 11b Number of Samples 2 4 8 16 5.6.7 Orientation recognition The orientation recognition feature informs on an orientation change of the sensor with respect to the gravitational field vector ‘g’. The measured acceleration vector components with respect to the gravitational field are defined as shown in Figure 9. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 40 Figure 9: Definition of vector components Therefore, the magnitudes of the acceleration vectors are calculated as follows: acc_x = 1g x sin x cos acc_y = −1g x sin x sin acc_z = 1g x cos acc_y/acc_x = −tan Depending on the magnitudes of the acceleration vectors the orientation of the device in the space is determined and stored in the three (ACC 0x0C) orient bits. These bits may not be reset in the sleep phase of low-power mode. There are three orientation calculation modes with different thresholds for switching between different orientations: symmetrical, highasymmetrical, and low-asymmetrical. The mode is selected by setting the (ACC 0x2C) orient_mode bits as given in Table 16. Table 16: Orientation mode settings (ACC 0x2C) orient_mode 00b 01b 10b 11b Orientation Mode symmetrical high-asymmetrical low-asymmetrical symmetrical For each orientation mode the (ACC 0x0C) orient bits have a different meaning as shown in Table 17 to Table 19: BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 41 Table 17: Meaning of the (ACC 0x0C) orient bits in symmetrical mode (ACC 0x0C) orient Name Angle x00 portrait upright 315° <  < 45° x01 portrait upside down 135° <  < 225° x10 landscape left 45° <  < 135° x11 landscape right 225° <  < 315° Condition |acc_y| < |acc_x| - ‘hyst’ and acc_x - ‘hyst’’ ≥ 0 |acc_y| < |acc_x| - ‘hyst’ and acc_x + ‘hyst’ < 0 |acc_y| ≥ |acc_x| + ‘hyst’ and acc_y < 0 |acc_y| ≥ |acc_x| + ‘hyst’ and acc_y ≥ 0 Table 18: Meaning of the (ACC 0x0C) orient bits in high-asymmetrical mode (ACC 0x0C) orient Name Angle x00 portrait upright 297° <  < 63° x01 portrait upside down 117° <  < 243° x10 landscape left 63° <  < 117° x11 landscape right 243° <  < 297° Condition |acc_y| < 2∙|acc_x| - ‘hyst’ and acc_x - ‘hyst’ ≥ 0 |acc_y| < 2∙|acc_x| - ‘hyst’ and acc_x + ‘hyst’ < 0 |acc_y| ≥ 2∙|acc_x| + ‘hyst’ and acc_y < 0 |acc_y| ≥ 2∙|acc_x| + ‘hyst’ and acc_y ≥ 0 Table 19: Meaning of the (ACC 0x0C) orient bits in low-asymmetrical mode (ACC 0x0C) orient Name Angle x00 portrait upright 333° <  < 27° x01 portrait upside down 153° <  < 207° x10 landscape left 27° <  < 153° x11 landscape right 207° <  < 333° Condition |acc_y| < 0.5∙|acc_x| - ‘hyst’ and acc_x - ‘hyst’ ≥ 0 |acc_y| < 0.5∙|acc_x| - ‘hyst’ and acc_x + ‘hyst’ < 0 |acc_y| ≥ 0.5∙|acc_x| + ‘hyst’ and acc_y < 0 |acc_y| ≥ 0.5∙|acc_x| + ‘hyst’ and acc_y ≥ 0 In the preceding tables, the parameter ‘hyst’ stands for a hysteresis, which can be selected by setting the (ACC 0x2C) orient_hyst bits. 1 LSB of (ACC 0x2C) orient_hyst always corresponds to 62.5 mg, in any g-range (i.e. increment is independent from g-range setting). It is important to note that by using a hysteresis ≠ 0 the actual switching angles become different from the angles given in the tables since there is an overlap between the different orientations. The most significant bit of the (ACC 0x0C) orient bits (which is displayed as an ´x´ in the above given tables) contains information about the direction of the z-axis. It is set to ´0´ (´1´) if acc_z ≥ 0 (acc_z < 0). Figure 10 shows the typical switching conditions between the four different orientations for the symmetrical mode i.e. without hysteresis: BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet portrait portraitupright upright landscape left portrait portraitupside upside down Page 42 landscape landscaperight right portrait upright 2 1.5 1 0.5 0 0 45 90 135 180 225 270 315 360 -0.5 acc_y/acc_x -1 acc_x/sin(theta) -1.5 acc_y/sin(theta) -2 phi  Figure 10: Typical orientation switching conditions w/o hysteresis The orientation interrupt is enabled (disabled) by writing ´1´ (´0´) to bit (ACC 0x16) orient_en. The interrupt is generated if the value of (ACC 0x0C) orient has changed. It is automatically cleared after one stable period of the (ACC 0x0C) orient value. The interrupt status is stored in the (ACC 0x09) orient_int bit. The register (ACC 0x0C) orient always reflects the current orientation of the device, irrespective of which interrupt mode has been selected. Bit (ACC 0x0C) orient reflects the device orientation with respect to the z-axis. The bits (ACC 0x0C) orient reflect the device orientation in the x-y-plane. The conventions associated with register (ACC 0x0C) orient are detailed in chapter 6. 5.6.7.1 Orientation blocking The change of the (ACC 0x0C) orient value and – as a consequence – the generation of the interrupt can be blocked according to conditions selected by setting the value of the (ACC 0x2C) orient_blocking bits as described by Table 20. Table 20: Blocking conditions for orientation recognition (ACC 0x2C) orient_blocking 00b 01b 10b 11b BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Conditions no blocking theta blocking or acceleration in any axis > 1.5g theta blocking or acceleration slope in any axis > 0.2 g or acceleration in any axis > 1.5g theta blocking or acceleration slope in any axis > 0.4 g or acceleration in any axis > 1.5g and value of orient is not stable for at least 100 ms Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 43 The theta blocking is defined by the following inequality: tan   blocking _ theta . 8 The parameter blocking_theta of the above given equation stands for the contents of the (ACC 0x2D) orient_theta bits. It is possible to define a blocking angle between 0° and 44.8°. The internal blocking algorithm saturates the acceleration values before further processing. As a consequence, the blocking angles are strictly valid only for a device at rest; they can be different if the device is moved. Example: To get a maximum blocking angle of 19° the parameter blocking_theta is determined in the following way: (8 * tan(19°) )² = 7.588, therefore, blocking_value = 8dec = 001000b has to be chosen. In order to avoid unwanted generation of the orientation interrupt in a nearly flat position (z ~ 0, sign change due to small movements or noise), a hysteresis of 0.2 g is implemented for the zaxis, i. e. a after a sign change the interrupt is only generated after |z| > 0.2 g. 5.6.7.2 Up-Down Interrupt Suppression Flag Per default an orientation interrupt is triggered when any of the bits in register (ACC 0x0C) orient changes state. The accelerometer can be configured to trigger orientation interrupts only when the device position changes in the x-y-plane while orientation changes with respect to the z-axis are ignored. A change of the orientation of the z-axis, and hence a state change of bit (ACC 0x0C) orient is ignored (considered) when bit (ACC 0x2D) orient_ud_en is set to ‘0’ (‘1’). 5.6.8 Flat detection The flat detection feature gives information about the orientation of the devices´ z-axis relative to the g-vector, i. e. it recognizes whether the device is in a flat position or not. The flat angle  is adjustable by (0x2E) flat_theta from 0° to 44.8°. The flat angle can be set according to following formula: 1    atan flat_theta  8  A hysteresis of the flat detection can be enabled by (0x2F) flat_hy bits. In this case the flat position is set if the angle drops below following threshold: 1 flat _ hy  flat _ hy    hyst,ll  atan flat_theta  1   8  1024 16     BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 44 The flat position is reset if the angle exceeds the following threshold: 1 flat _ hy  flat _ hy    hyst,ul  atan flat_theta  1   8 1024  16    The flat interrupt is enabled (disabled) by writing ´1´ (´0´) to bit (ACC 0x16) flat_en. The flat value is stored in the (ACC 0x0C) flat bit if the interrupt is enabled. This value is ´1´ if the device is in the flat position, it is ´0´ otherwise. The flat interrupt is generated if the flat value has changed and the new value is stable for at least the time given by the (ACC 0x2F) flat_hold_time bits. A flat interrupt may be also generated if the flat interrupt is enabled. The actual status of the interrupt is stored in the (ACC 0x09) flat_int bit. The flat orientation of the sensor can always be determined from reading the (ACC 0x0C) flat bit after interrupt generation. If unlatched interrupt mode is used, the (ACC 0x09) flat_int value and hence the interrupt is automatically cleared after one sample period. If temporary or latched interrupt mode is used, the (ACC 0x09) flat_int value is kept fixed until the latch time expires or the interrupt is reset. The meaning of the (ACC 0x2F) flat_hold_time bits can be seen from Table 21. Table 21: Meaning of flat_hold_time (ACC 0x2F) flat_hold_time 00b 01b 10b 11b Time 0 512 ms 1024 ms 2048 ms 5.6.9 Low-g interrupt This interrupt is based on the comparison of acceleration data against a low-g threshold, which is most useful for free-fall detection. The interrupt is enabled (disabled) by writing ´1´ (´0´) to the (ACC 0x17) low_en bit. There are two modes available, ‘single’ mode and ‘sum’ mode. In ‘single’ mode, the acceleration of each axis is compared with the threshold; in ‘sum’ mode, the sum of absolute values of all accelerations |acc_x| + |acc_y| + |acc_z| is compared with the threshold. The mode is selected by the contents of the (ACC 0x24) low_mode bit: ´0´ means ‘single’ mode, ´1´ means ‘sum’ mode. The low-g threshold is set through the (ACC 0x23) low_th register. 1 LSB of (ACC 0x23) low_th always corresponds to an acceleration of 7.81 mg (i.e. increment is independent from g-range setting). A hysteresis can be selected by setting the (ACC 0x24) low_hy bits. 1 LSB of (ACC 0x24) low_hy always corresponds to an acceleration difference of 125 mg in any g-range (as well, increment is independent from g-range setting). The low-g interrupt is generated if the absolute values of the acceleration of all axes (´and´ relation, in case of single mode) or their sum (in case of sum mode) are lower than the threshold for at least the time defined by the (ACC 0x22) low_dur register. The interrupt is reset BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 45 if the absolute value of the acceleration of at least one axis (´or´ relation, in case of single mode) or the sum of absolute values (in case of sum mode) is higher than the threshold plus the hysteresis for at least one data acquisition. In bit (ACC 0x09) low_int the interrupt status is stored. The relation between the content of (ACC 0x22) low_dur and the actual delay of the interrupt generation is: delay [ms] = [(ACC 0x22) low_dur + 1] • 2 ms. Therefore, possible delay times range from 2 ms to 512 ms. 5.6.10 High-g interrupt This interrupt is based on the comparison of acceleration data against a high-g threshold for the detection of shock or other high-acceleration events. The high-g interrupt is enabled (disabled) per axis by writing ´1´ (´0´) to bits (ACC 0x17) high_en_x, (ACC 0x17) high_en_y, and (ACC 0x17) high_en_z, respectively. The high-g threshold is set through the (ACC 0x26) high_th register. The meaning of an LSB of (ACC 0x26) high_th depends on the selected g-range: it corresponds to 7.81 mg in 2g-range, 15.63 mg in 4g-range, 31.25 mg in 8g-range, and 62.5 mg in 16g-range (i.e. increment depends from g-range setting). A hysteresis can be selected by setting the (ACC 0x24) high_hy bits. Analogously to (ACC 0x26) high_th, the meaning of an LSB of (ACC 0x24) high_hy is g-range dependent: It corresponds to an acceleration difference of 125 mg in 2g-range, 250 mg in 4g-range, 500 mg in 8g-range, and 1000mg in 16g-range (as well, increment depends from g-range setting). The high-g interrupt is generated if the absolute value of the acceleration of at least one of the enabled axes (´or´ relation) is higher than the threshold for at least the time defined by the (ACC 0x25) high_dur register. The interrupt is reset if the absolute value of the acceleration of all enabled axes (´and´ relation) is lower than the threshold minus the hysteresis for at least the time defined by the (ACC 0x25) high_dur register. In bit (ACC 0x09) high_int the interrupt status is stored. The relation between the content of (ACC 0x25) high_dur and the actual delay of the interrupt generation is delay [ms] = [(ACC 0x22) low_dur + 1] • 2 ms. Therefore, possible delay times range from 2 ms to 512 ms. The interrupt will be cleared immediately once acceleration is lower than threshold. 5.6.10.1 Axis and sign information of high-g interrupt The axis which triggered the interrupt is indicated by bits (ACC 0x0C) high_first_x, (ACC 0x0C) high_first_y, and (ACC 0x0C) high_first_z. The bit corresponding to the triggering axis contains a ´1´ while the other bits hold a ´0´. These bits are cleared together with clearing the interrupt status. The sign of the triggering acceleration is stored in bit (ACC 0x0C) high_sign. If (ACC 0x0C) high_sign = ´0´ (´1´), the sign is positive (negative). 5.6.11 No-motion / slow motion detection The slow-motion/no-motion interrupt engine can be configured in two modes. In slow-motion mode an interrupt is triggered when the measured slope of at least one enabled axis exceeds the programmable slope threshold for a programmable number of samples. Hence the engine behaves similar to the any-motion interrupt, but with a different set of parameters. In order to suppress false triggers, the interrupt is only generated (cleared) if a certain number N of consecutive slope data points is larger (smaller) than the slope threshold given by (ACC 0x27) slo_no_mot_dur. The number is N = (ACC 0x27) BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 46 slo_no_mot_dur + 1. In no-motion mode an interrupt is generated if the slope on all selected axes remains smaller than a programmable threshold for a programmable delay time. Figure 11 shows the timing diagram for the no-motion interrupt. The scaling of the threshold value is identical to that of the slow-motion interrupt. However, in no-motion mode register (ACC 0x27) slo_no_mot_dur defines the delay time before the no-motion interrupt is triggered. Table 22 lists the delay times adjustable with register (ACC 0x27) slo_no_mot_dur. The timer tick period is 1 second. Hence using short delay times can result in considerable timing uncertainty. If bit (ACC 0x18) slo_no_mot_sel is set to ‘1’ (‘0’) the no-motion/slow-motion interrupt engine is configured in the no-motion (slow-motion) mode. Common to both modes, the engine monitors the slopes of the axes that have been enabled with bits (ACC 0x18) slo_no_mot_en_x, (ACC 0x18) slo_no_mot_en_y, and (ACC 0x18) slo_no_mot_en_z for the x-axis, y-axis and z-axis, respectively. The measured slope values are continuously compared against the threshold value defined in register (ACC 0x29) slo_no_mot_th. The scaling is such that 1 LSB of (ACC 0x29) slo_no_mot_th corresponds to 3.91 mg in 2g-range (7.81 mg in 4g-range, 15.6 mg in 8grange and 31.3 mg in 16g-range). Therefore the maximum value is 996 mg in 2g-range (1.99g in 4g-range, 3.98g in 8g-range and 7.97g in 16g-range). The time difference between the successive acceleration samples depends on the selected bandwidth and equates to 1/(2 * bw). Table 22: No-motion time-out periods (ACC 0x27) slo_no_mot_dur 0 1 2 ... 14 15 Delay time 1s 2s 3s ... 15 s 16 s (ACC 0x27) slo_no_mot_dur 16 17 18 19 20 21 Delay time 40 s 48 s 56 s 64 s. 72 s 80 s (ACC 0x27) slo_no_mot_dur 32 33 34 ... 62 63 Delay Time 88 s 96 s 104 s ... 328 s 336 s Note: slo_no_mot_dur values 22 to 31 are not specified BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet acceleration Page 47 acc(t0+Δt) acc(t0) slope axis x, y, or z slope(t0+Δt)= acc(t0+Δt) - acc(t0) axis x, y, or z slo_no_mot_th -slo_no_mot_th slo_no_mot_dur timer INT time Figure 11: Timing of no-motion interrupt 5.7 Softreset accelerometer A softreset causes all user configuration settings to be overwritten with their default value and the sensor to enter normal mode. A softreset is initiated by means of writing value ‘0xB6’ to register (ACC 0x14)softrset. Subsequently a waiting time of tw,up1 (max.) is required prior to accessing any configuration register. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 48 6 Register description accelerometer 6.1 General remarks accelerometer The entire communication with the device is performed by reading from and writing to registers. Registers have a width of 8 bits; they are mapped to a common space of 64 addresses from (ACC 0x00) up to (ACC 0x3F). Within the used range there are several registers which are either completely or partially marked as ‘reserved’. Any reserved bit is ignored when it is written and no specific value is guaranteed when read. It is recommended not to use registers at all which are completely marked as ‘reserved’. Furthermore it is recommended to mask out (logical and with zero) reserved bits of registers which are partially marked as reserved. Registers with addresses from (ACC 0x00) up to (ACC 0x0E) are read-only. Any attempt to write to these registers is ignored. There are bits within some registers that trigger internal sequences. These bits are configured for write-only access, e. g. (ACC 0x21) reset_int or the entire (ACC 0x14) softreset register, and read as value ´0´. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet 6.2 Page 49 Register map accelerometer Register Address 0x3F 0x3E 0x3D 0x3C 0x3B 0x3A 0x39 0x38 0x37 0x36 0x35 0x34 0x33 0x32 0x31 0x30 0x2F 0x2E 0x2D 0x2C 0x2B 0x2A 0x29 0x28 0x27 0x26 0x25 0x24 0x23 0x22 0x21 0x20 0x1F 0x1E 0x1D 0x1C 0x1B 0x1A 0x19 0x18 0x17 0x16 0x15 0x14 0x13 0x12 0x11 0x10 0x0F 0x0E 0x0D 0x0C 0x0B 0x0A 0x09 0x08 0x07 0x06 0x05 0x04 0x03 0x02 0x01 0x00 bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Access Default fifo_data_output_register fifo_mode fifo_data_select GP1 GP0 offset_z offset_y offset_x offset_target_y cal_rdy offset_target_z cal_trigger offset_reset nvm_remain offset_target_x hp_z_en hp_y_en nvm_load self_test_amp i2c_wdt_en nvm_rdy self_test_sign cut_off hp_x_en i2c_wdt_sel spi3 nvm_prog_trig nvm_prog_mode self_test_axis fifo_water_mark_level_trigger_retain flat_hold_time flat_hy flat_theta orient_theta orient_blocking tap_th orient_ud_en orient_hyst tap_samp tap_quiet tap_shock orient_mode tap_dur slo_no_mot_th slope_th slo_no_mot_dur slope_dur high_th high_dur high_hy low_mode low_hy low_th low_dur reset_int int2_od int2_lvl latch_int int1_od int1_lvl int_src_data int_src_tap int_src_slo_no_mot int_src_slope int_src_high int_src_low int2_slope int1_ffull int1_slope slo_no_mot_en_z high_en_z slope_en_z int2_high int1_fwm int1_high slo_no_mot_en_y high_en_y slope_en_y int2_low int1_data int1_low slo_no_mot_en_x high_en_x slope_en_x int2_flat int2_data int1_flat int2_orient int2_fwm int1_orient int2_s_tap int2_ffull int1_s_tap int2_d_tap int2_slo_no_mot int1_d_tap int_ffull_en s_tap_en data_en d_tap_en int1_slo_no_mot slo_no_mot_sel low_en flat_en int_fwm_en orient_en softreset data_high_bw suspend shadow_dis lowpower_mode lowpower_en sleeptimer_mode deep_suspend sleep_dur bw range fifo_overrun flat tap_sign data_int flat_int fifo_frame_counter tap_first_z fifo_wm_int orient_int orient tap_first_y fifo_full_int s_tap_int tap_first_x high_sign slope_sign d_tap_int slo_no_mot_int temp acc_z_msb high_first_z slope_first_z high_first_y slope_first_y high_first_x slope_first_x slope_int high_int low_int acc_z_lsb new_data_z acc_y_msb acc_y_lsb new_data_y acc_x_msb acc_x_lsb new_data_x chip_id ro w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r wo w/r w/r w/r w/r w/r ro w/r ro ro ro ro ro ro ro ro ro ro ro ro ro 0x00 0x00 0xFF 0x00 0x00 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0xF0 0x00 0xFF 0x00 0x11 0x08 0x48 0x18 0x0A 0x04 0x14 0x14 0x00 0xC0 0x0F 0x81 0x30 0x09 0x00 0x05 0xFF 0x00 0xFF 0xFF 0x00 0x00 0x00 0x00 0x00 0x00 0xFF 0x00 0x00 0x00 0x00 0x0F 0x03 0x00 0xFF 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 -0xFA common w/r registers: Application specific settings which are not equal to the default settings, must be re-set to its designated values after POR, soft-reset and wake up from deep suspend. user w/r registers: Initial default content = 0x00. Freely programmable by the user. Remains unchanged after POR, soft-reset and wake up from deep suspend. Figure 12: Register map accelerometer part BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 50 ACC Register 0x00 (BGW_CHIPID) The register contains the chip identification code. Name Bit Read/Write Reset Value Content 0x00 7 R n/a Bit Read/Write Reset Value Content 3 R n/a chip_id: 6 R BGW_CHIPID 5 R 4 R n/a n/a n/a 2 R 1 R 0 R n/a n/a n/a chip_id chip_id Fixed value b’1111’1010 ACC Register 0x01 is reserved ACC Register 0x02 (ACCD_X_LSB) The register contains the least-significant bits of the X-channel acceleration readout value. When reading out X-channel acceleration values, data consistency is guaranteed if the ACCD_X_LSB is read out before the ACCD_X_MSB and shadow_dis=’0’. In this case, after the ACCD_X_LSB has been read, the value in the ACCD_X_MSB register is locked until the ACCD_X_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Acceleration data may be read from register ACCD_X_LSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x02 7 R n/a Bit Read/Write Reset Value Content 3 R acc_x_lsb: undefined: new_data_x: 6 R ACCD_X_LSB 5 R 4 R n/a n/a n/a 2 R 1 R 0 R n/a n/a n/a n/a undefined undefined undefined new_data_x acc_x_lsb Least significant 4 bits of acceleration read-back value; (two’s-complement format) random data; to be ignored. ‚0’: acceleration value has not been updated since it has been read out last ‚1’: acceleration value has been updated since it has been read out last BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 51 ACC Register 0x03 (ACCD_X_MSB) The register contains the most-significant bits of the X-channel acceleration readout value. When reading out X-channel acceleration values, data consistency is guaranteed if the ACCD_X_LSB is read out before the ACCD_X_MSB and shadow_dis=’0’. In this case, after the ACCD_X_LSB has been read, the value in the ACCD_X_MSB register is locked until the ACCD_X_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Acceleration data may be read from register ACCD_X_MSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x02 7 R 6 R ACCD_X_MSB 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R 2 R 1 R 0 R n/a n/a n/a n/a acc_x_msb acc_x_msb acc_x_msb: Most significant 8 bits of acceleration read-back value (two’s-complement format) ACC Register 0x04 (ACCD_Y_LSB) The register contains the least-significant bits of the Y-channel acceleration readout value. When reading out Y-channel acceleration values, data consistency is guaranteed if the ACCD_Y_LSB is read out before the ACCD_Y_MSB and shadow_dis=’0’. In this case, after the ACCD_Y_LSB has been read, the value in the ACCD_Y_MSB register is locked until the ACCD_Y_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Acceleration data may be read from register ACCD_Y_LSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x04 7 R 6 R ACCD_Y_LSB 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R 2 R 1 R 0 R n/a n/a n/a n/a undefined undefined undefined new_data_y acc_y_lsb BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet acc_y_lsb: undefined: new_data_y: Page 52 Least significant 4 bits of acceleration read-back value; (two’s-complement format) random data; to be ignored ‚0’: acceleration value has not been updated since it has been read out last ‚1’: acceleration value has been updated since it has been read out last ACC Register 0x05 (ACCD_Y_MSB) The register contains the most-significant bits of the Y-channel acceleration readout value. When reading out Y-channel acceleration values, data consistency is guaranteed if the ACCD_Y_LSB is read out before the ACCD_Y_MSB and shadow_dis=’0’. In this case, after the ACCD_Y_LSB has been read, the value in the ACCD_Y_MSB register is locked until the ACCD_Y_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Acceleration data may be read from register ACCD_Y_MSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x05 7 R n/a Bit Read/Write Reset Value Content 3 R n/a 6 R ACCD_Y_MSB 5 R 4 R n/a n/a n/a acc_y_msb 2 R n/a 1 R n/a 0 R n/a acc_y_msb acc_y_msb: Most significant 8 bits of acceleration read-back value (two’s-complement format) ACC Register 0x06 (ACCD_Z_LSB) The register contains the least-significant bits of the Z-channel acceleration readout value. When reading out Z-channel acceleration values, data consistency is guaranteed if the ACCD_Z_LSB is read out before the ACCD_Z_MSB and shadow_dis=’0’. In this case, after the ACCD_Z_LSB has been read, the value in the ACCD_Z_MSB register is locked until the ACCD_Z_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Acceleration data may be read from register ACCD_Z_LSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x06 7 R n/a BST-BMX055-DS000-02 | Revision 1.1 | November 2014 6 R ACCD_Z_LSB 5 R 4 R n/a n/a n/a acc_z_lsb Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Bit Read/Write Reset Value Content Page 53 3 R 2 R 1 R 0 R n/a n/a n/a n/a undefined undefined undefined new_data_z Acc_z_lsb: Least significant 4 bits of acceleration read-back value; (two’s-complement format) undefined: random data; to be ignored new_data_z: ‚0’: acceleration value has not been updated since it has been read out last ‚1’: acceleration value has been updated since it has been read out last ACC Register 0x07 (ACCD_Z_MSB) The register contains the most-significant bits of the Z-channel acceleration readout value. When reading out Z-channel acceleration values, data consistency is guaranteed if the ACCD_Z_LSB is read out before the ACCD_Z_MSB and shadow_dis=’0’. In this case, after the ACCD_Z_LSB has been read, the value in the ACCD_Z_MSB register is locked until the ACCD_Z_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Acceleration data may be read from register ACCD_Z_MSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x07 7 R 6 R ACCD_Z_MSB 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R 2 R 1 R 0 R n/a n/a n/a n/a acc_z_msb acc_z_msb acc_z_msb: Most significant 8 bits of acceleration read-back value (two’s-complement format) ACC Register 0x08 (ACCD_TEMP) The register contains the current chip temperature represented in two’s complement format. A readout value of temp=0x00 corresponds to a temperature of 23°C. Name 0x08 ACCD_TEMP Bit 7 6 5 4 Read/Write R R R R Reset n/a n/a n/a n/a Value Content temp BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Bit Read/Write Reset Value Content temp: 3 R n/a Page 54 2 R n/a 1 R n/a 0 R n/a temp Temperature value (two s-complement format) ACC Register 0x09 (INT_STATUS_0) The register contains interrupt status flags. Each flag is associated with a specific interrupt function. It is set when the associated interrupt triggers. The setting of latch_int controls if the interrupt signal and hence the respective interrupt flag will be permanently latched, temporarily latched or not latched. The interrupt function associated with a specific status flag must be enabled. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content flat_int: orient_int: s_tap_int: d_tap_int slo_not_mot_int: slope_int: high_int: low_int: 0x09 7 R 6 R INT_STATUS_0 5 R 4 R n/a n/a n/a n/a flat_int orient_int s_tap_int d_tap_int 3 R 2 R 1 R 0 R n/a n/a n/a n/a slo_no_mot_int slope_int high_int low_int flat interrupt status: ‘0’inactive, ‘1’ active orientation interrupt status: ‘0’inactive, ‘1’ active single tap interrupt status: ‘0’inactive, ‘1’ active double tap interrupt status: ‘0’inactive, ‘1’ active slow/no-motion interrupt status: ‘0’inactive, ‘1’ active slope interrupt status: ‘0’inactive, ‘1’ active high-g interrupt status: ‘0’inactive, ‘1’ active low-g interrupt status: ‘0’inactive, ‘1’ active ACC Register 0x0A (INT_STATUS_1) The register contains interrupt status flags. Each flag is associated with a specific interrupt function. It is set when the associated interrupt engine triggers. The setting of latch_int controls if the interrupt signal and hence the respective interrupt flag will be permanently latched, temporarily latched or not latched. The interrupt function associated with a specific status flag must be enabled. Name Bit Read/Write 0x0A 7 R BST-BMX055-DS000-02 | Revision 1.1 | November 2014 6 R INT_STATUS_1 5 R 4 R Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Reset Value Content Bit Read/Write Reset Value Content data_int: fifo_wm_int: fifo_full_int: reserved: Page 55 n/a n/a n/a n/a data_int fifo_wm_int fifo_full_int reserved 3 R 2 R 1 R 0 R n/a n/a n/a n/a reserved data ready interrupt status: ‘0’inactive, ‘1’ active FIFO watermark interrupt status: ‘0’inactive, ‘1’ active FIFO full interrupt status: ‘0’inactive, ‘1’ active reserved, write to ‘0’ ACC Register 0x0B (INT_STATUS_2) The register contains interrupt status flags. Each flag is associated with a specific interrupt engine. It is set when the associated interrupt engine triggers. The setting of latch_int controls if the interrupt signal and hence the respective interrupt flag will be permanently latched, temporarily latched or not latched. The interrupt function associated with a specific status flag must be enabled. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content tap_sign: tap_first_z: tap_first_y: tap_first_x: slope_sign: slope_first_z: slope_first_y: slope_first_x: 0x0B 7 R 6 R INT_STATUS_2 5 R 4 R n/a n/a n/a n/a tap_sign tap_first_z tap_first_y tap_first_x 3 R 2 R 1 R 0 R n/a n/a n/a n/a slope_sign slope_first_z slope_first_y slope_first_x sign of single/double tap triggering signal was ‘0’positive, or ‘1’ negative single/double tap interrupt: ‘1’  triggered by, or ‘0’not triggered by z-axis single/double tap interrupt: ‘1’  triggered by, or ‘0’not triggered by y-axis single/double tap interrupt: ‘1’  triggered by, or ‘0’not triggered by x-axis slope sign of slope tap triggering signal was ‘0’positive, or ‘1’ negative slope interrupt: ‘1’  triggered by, or ‘0’not triggered by z-axis slope interrupt: ‘1’  triggered by, or ‘0’not triggered by y-axis slope interrupt: ‘1’  triggered by, or ‘0’not triggered by x-axis BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 56 ACC Register 0x0C (INT_STATUS_3) The register contains interrupt status flags. Each flag is associated with a specific interrupt engine. It is set when the associated interrupt engine triggers. With the exception of orient the setting of latch_int controls if the interrupt signal and hence the respective interrupt flag will be permanently latched, temporarily latched or not latched. The interrupt function associated with a specific status flag must be enabled. Name Bit Read/Write Reset Value Content 0x0C 7 R 6 R INT_STATUS_3 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R 2 R 1 R 0 R n/a n/a n/a n/a high_sign high_first_z high_first_y high_first_x flat: orient: orient: high_sign: high_first_z: high_first_y: high_first_x: flat orient device is in ‘1’  flat, or ‘0’ non flat position; only valid if (ACC 0x16) flat_en = ‘1’ ‘ Orientation value of z-axis: ´0´  upward looking, or ´1´  downward looking. The flag always reflect the current orientation status, independent of the setting of latch_int. The flag is not updated as long as an orientation blocking condition is active. orientation value of x-y-plane: ‘00’portrait upright; ‘01’portrait upside down; ‘10’landscape left; ‘11’landscape right; The flags always reflect the current orientation status, independent of the setting of latch_int. The flag is not updated as long as an orientation blocking condition is active. sign of acceleration signal that triggered high-g interrupt was ‘0’positive, ‘1’ negative high-g interrupt: ‘1’  triggered by, or ‘0’not triggered by z-axis high-g interrupt: ‘1’  triggered by, or ‘0’not triggered by y-axis high-g interrupt: ‘1’  triggered by, or ‘0’not triggered by x-axis ACC Register 0x0D is reserved ACC Register 0x0E (FIFO_STATUS) The register contains FIFO status flags. Name Bit Read/Write Reset 0x0E 7 R n/a BST-BMX055-DS000-02 | Revision 1.1 | November 2014 6 R n/a FIFO_STATUS 5 R n/a 4 R n/a Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Value Content Bit Read/Write Reset Value Content fifo_overrun Page 57 fifo_frame_counter 3 R 2 R 1 R 0 R n/a n/a n/a n/a fifo_frame_counter fifo_overrun: FIFO overrun condition has ‘1’  occurred, or ‘0’not occurred; flag can be cleared by writing to the FIFO configuration register FIFO_CONFIG_1 only fifo_frame_counter: Current fill level of FIFO buffer. An empty FIFO corresponds to 0x00. The frame counter can be cleared by reading out all frames from the FIFO buffer or writing to the FIFO configuration register FIFO_CONFIG_1. ACC Register 0x0F (PMU_RANGE) The register allows the selection of the accelerometer g-range. Name Bit Read/Write Reset Value Content 0x0F 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 0 6 R/W PMU_RANGE 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 0 1 1 reserved 0 range: reserved: range Selection of accelerometer g-range: ´0011b´  ±2g range; ´0101b´  ±4g range; ´1000b´  ±8g range; ´1100b´  ±16g range; all other settings  reserved (do not use) write ‘0’ ACC Register 0x10 (PMU_BW) The register allows the selection of the acceleration data filter bandwidth. Name Bit Read/Write Reset Value Content 0x10 7 R/W 6 R/W PMU_BW 5 R/W 4 R/W 0 0 0 0 Bit Read/Write Reset 3 R/W 1 reserved bw 0 BST-BMX055-DS000-02 | Revision 1.1 | November 2014 2 R/W 1 1 R/W 1 0 R/W 1 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Value Content bw: reserved: Page 58 bw Selection of data filter bandwidth: ´00xxxb´  7.81 Hz, ´01000b´  7.81 Hz, ´01001b´  15.63 Hz, ´01010b´  31.25 Hz, ´01011b´  62.5 Hz, ´01100b´  125 Hz, ´01101b´  250 Hz, ´01110b´  500 Hz, ´01111b´  1000 Hz, ´1xxxxb´  1000 Hz write ‘0’ ACC Register 0x11 (PMU_LPW) Selection of the main power modes and the low power sleep period. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 0x11 7 R/W 6 R/W PMU_LPW 5 R/W 4 R/W 0 0 0 0 suspend lowpower_en deep_suspend sleep_dur 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 sleep_dur reserved suspend, low_power_en, deep_suspend: Main power mode configuration setting {suspend; lowpower_en; deep_suspend}: {0; 0; 0}  NORMAL mode; {0; 0; 1}  DEEP_SUSPEND mode; {0; 1; 0}  LOW_POWER mode; {1; 0; 0}  SUSPEND mode; {all other}  illegal Please note that only certain power mode transitions are permitted. sleep_dur: Configures the sleep phase duration in LOW_POWER mode: ´0000b´ to ´0101b´  0.5 ms, ´0110b´  1 ms, ´0111b´  2 ms, ´1000b´  4 ms, ´1001b´  6 ms, ´1010b´  10 ms, ´1011b´  25 ms, ´1100b´  50 ms, ´1101b´  100 ms, ´1110b´  500 ms, ´1111b´ 1s Please note, that all application specific settings which are not equal to the default settings (refer to 6.2 register map), must be re-set to its designated values after DEEP_SUSPEND. ACC Register 0x12 (PMU_LOW_POWER) Configuration settings for low power mode. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 0x12 7 R/W Page 59 6 R/W PMU_LOW_POWER 5 R/W 4 R/W 0 0 0 0 reserved lowpower_mode sleeptimer_mode reserved 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 reserved lowpower_mode: select ‘0’  LPM1, or ‘1´  LPM2 configuration for SUSPEND and LOW_POWER mode. In the LPM1 configuration the power consumption in LOW_POWER mode and SUSPEND mode is significantly reduced when compared to LPM2 configuration, but the FIFO is not accessible and writing to registers must be slowed down. In the LPM2 configuration the power consumption in LOW_POWER mode is reduced compared to NORMAL mode, but the FIFO is fully accessible and registers can be written to at full speed. sleeptimer_mode: when in LOW_POWER mode ‘0’  use event-driven time-base mode (compatible with BMA250), or ‘1´  use equidistant sampling time-base mode. Equidistant sampling of data into the FIFO is maintained in equidistant time-base mode only. reserved: write ‘0’ ACC Register 0x13 (ACCD_HBW) Acceleration data acquisition and data output format. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content data_high_bw: shadow_dis: 0x13 7 R/W ACCD_HBW 5 R/W 4 R/W 0 0 data_high_bw 6 R/W 0 (1 in 8-bit mode) shadow_dis 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 0 reserved reserved select whether ‘1´ unfiltered, or ‘0’ filtered data may be read from the acceleration data registers. ‘1´ disable, or ‘0’ the shadowing mechanism for the acceleration data output registers. When shadowing is enabled, the content of the acceleration BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet reserved: Page 60 data component in the MSB register is locked, when the component in the LSB is read, thereby ensuring the integrity of the acceleration data during read-out. The lock is removed when the MSB is read. write ‘0’ ACC Register 0x14 (BGW_SOFTRESET) Controls user triggered reset of the sensor. Name Bit Read/Write Reset Value Content 0x14 7 W 0 Bit Read/Write Reset Value Content 3 W 0 softreset: 6 W BGW_SOFTRESET 5 W 4 W 0 0 0 2 W 1 W 0 W 0 0 0 softreset softreset 0xB6  triggers a reset. Other values are ignored. Following a delay, all user configuration settings are overwritten with their default state or the setting stored in the NVM, wherever applicable. This register is functional in all operation modes. Please note that all application specific settings which are not equal to the default settings (refer to 6.2 register map), must be reconfigured to their designated values. ACC Register 0x15 is reserved ACC Register 0x16 (INT_EN_0) Controls which interrupt engines in group 0 are enabled. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content flat_en: orient_en: 0x16 7 R/W 6 R/W INT_EN_0 5 R/W 4 R/W 0 0 0 0 flat_en orient_en s_tap_en d_tap_en 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 reserved slope_en_z slope_en_y slope_en_x flat interrupt: ‘0’disabled, or ‘1’ enabled orientation interrupt: ‘0’disabled, or ‘1’ enabled BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet s_tap_en: d_tap_en reserved: slope_en_z: slope_en_y: slope_en_x: Page 61 single tap interrupt: ‘0’disabled, or ‘1’ enabled double tap interrupt: ‘0’disabled, or ‘1’ enabled write ‘0’ slope interrupt, z-axis component: ‘0’disabled, or ‘1’ enabled slope interrupt, y-axis component: ‘0’disabled, or ‘1’ enabled slope interrupt, x-axis component: ‘0’disabled, or ‘1’ enabled ACC Register 0x17 (INT_EN_1) Controls which interrupt engines in group 1 are enabled. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content reserved: int_fwm_en: int_ffull_en: data_en low_en: high_en_z: high_en_y: high_en_x: 0x17 7 R/W 6 R/W INT_EN_1 5 R/W 4 R/W 0 0 0 0 reserved int_fwm_en int_ffull_en data_en 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 low_en high_en_z high_en_y high_en_x write ‘0’ FIFO watermark interrupt: ‘0’disabled, or ‘1’ enabled FIFO full interrupt: ‘0’disabled, or ‘1’ enabled data ready interrupt: ‘0’disabled, or ‘1’ enabled low-g interrupt: ‘0’disabled, or ‘1’ enabled high-g interrupt, z-axis component: ‘0’disabled, or ‘1’ enabled high-g interrupt, y-axis component: ‘0’disabled, or ‘1’ enabled high-g interrupt, x-axis component: ‘0’disabled, or ‘1’ enabled ACC Register 0x18 (INT_EN_2) Controls which interrupt engines in group 2 are enabled. Name Bit Read/Write Reset Value Content 0x18 7 R/W 6 R/W INT_EN_2 5 R/W 4 R/W 0 0 0 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 slo_no_mot_sel slo_no_mot_en_z slo_no_mot_en_y slo_no_mot_en_x reserved BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 62 reserved: write ‘0’ slo_no_mot_sel: select ‘0’slow-motion, ‘1’ no-motion interrupt function slo_no_mot_en_z: slow/n-motion interrupt, z-axis component: ‘0’disabled, or ‘1’ enabled slo_no_mot_en_y: slow/n-motion interrupt, y-axis component: ‘0’disabled, or ‘1’ enabled slo_no_mot_en_x: slow/n-motion interrupt, x-axis component: ‘0’disabled, or ‘1’ enabled ACC Register 0x19 (INT_MAP_0) Controls which interrupt signals are mapped to the INT1 pin. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 6 R/W INT_MAP_0 5 R/W 4 R/W 0 0 0 0 int1_flat int1_orient int1_s_tap int1_d_tap 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 int1_slo_no_mot int1_slope int1_high int1_low int1_flat: int1_orient: int1_s_tap: int1_d_tap: int1_slo_no_mot: int1_slope: int1_high: int1_low: 0x19 7 R/W map flat interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled map orientation interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled map single tap interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled map double tap interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled map slow/no-motion interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled map slope interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled map high-g to INT1 pin: ‘0’disabled, or ‘1’ enabled map low-g to INT1 pin: ‘0’disabled, or ‘1’ enabled ACC Register 0x1A (INT_MAP_1) Controls which interrupt signals are mapped to the INT1 and INT2 pins. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value 0x1A 7 R/W 6 R/W INT_MAP_1 5 R/W 4 R/W 0 0 0 0 int2_data int2_fwm int2_ffull reserved 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Content int2_data: int2_fwm: int2_ffull: reserved: int1_ffull: int1_fwm: int1_data: Page 63 reserved int1_ffull int1_fwm int1_data map data ready interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled map FIFO watermark interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled map FIFO full interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled write ‘0’ map FIFO full interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled map FIFO watermark interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled map data ready interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled ACC Register 0x1B (INT_MAP_2) Controls which interrupt signals are mapped to the INT2 pin. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 0x1B 7 R/W 6 R/W INT_MAP_2 5 R/W 4 R/W 0 0 0 0 int2_flat int2_orient int2_s_tap int2_d_tap 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 int2_slo_no_mot int2_slope int2_high int2_low int2_flat: int2_orient: int2_s_tap: int2_d_tap: int2_slo_no_mot: int2_slope: int2_high: int2_low: map flat interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled map orientation interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled map single tap interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled map double tap interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled map slow/no-motion interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled map slope interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled map high-g to INT2 pin: ‘0’disabled, or ‘1’ enabled map low-g to INT2 pin: ‘0’disabled, or ‘1’ enabled ACC Register 0x1C is reserved ACC Register 0x1D is reserved ACC Register 0x1E (INT_SRC) Contains the data source definition for interrupts with selectable data source. Name 0x1E INT_SRC Bit 7 6 5 Read/Write R/W R/W R/W Reset 0 0 0 Value Content reserved int_src_data BST-BMX055-DS000-02 | Revision 1.1 | November 2014 4 R/W 0 int_src_tap Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Bit Read/Write Reset Value Content Page 64 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 int_src_slo_no_m ot int_src_slope int_src_high int_src_low reserved: write ‘0’ int_src_data: select ‘0’filtered, or ‘1’ unfiltered data for new data interrupt int_src_tap: select ‘0’filtered, or ‘1’ unfiltered data for single-/double tap interrupt int_src_slo_no_mot: select ‘0’filtered, or ‘1’ unfiltered data for slow/no-motion interrupt int_src_slope: select ‘0’filtered, or ‘1’ unfiltered data for slope interrupt int_src_high: select ‘0’filtered, or ‘1’ unfiltered data for high-g interrupt int_src_low: select ‘0’filtered, or ‘1’ unfiltered data for low-g interrupt ACC Register 0x1F is reserved ACC Register 0x20 (INT_OUT_CTRL) Contains the behavioural configuration (electrical behavior) of the interrupt pins. Name Bit Read/Write Reset Value Content 0x20 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W reserved: int2_od: int2_lvl: int1_od: int1_lvl: 6 R/W INT_OUT_CTRL 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 0 1 0 1 int2_od int2_lvl int1_od int1_lvl reserved write ‘0’ select ‘0’push-pull, or ‘1’ open drain behavior for INT2 pin select ‘0’active low, or ‘1’active high level for INT2 pin select ‘0’push-pull, or ‘1’ open drain behavior for INT1 pin select ‘0’active low, or ‘1’active high level for INT1 pin BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 65 ACC Register 0x21 (INT_RST_LATCH) Contains the interrupt reset bit and the interrupt mode selection. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content reset_int: reserved: latch_int: 0x21 7 W 0 6 R/W INT_RST_LATCH 5 R/W 4 R/W 0 0 0 reset_int Reserved 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 latch_int write ‘1’  clear any latched interrupts, or ‘0’  keep latched interrupts active write ‘0’ ´0000b´  non-latched, ´0001b´  temporary, 250 ms, ´0010b´  temporary, 500 ms, ´0011b´  temporary, 1 s, ´0100b´  temporary, 2 s, ´0101b´  temporary, 4 s, ´0110b´  temporary, 8 s, ´0111b´  latched, ´1000b´  non-latched, ´1001b´  temporary, 250 s, ´1010b´  temporary, 500 s, ´1011b´  temporary, 1 ms, ´1100b´  temporary, 12.5 ms, ´1101b´  temporary, 25 ms, ´1110b´  temporary, 50 ms, ´1111b´  latched ACC Register 0x22 (INT_0) Contains the delay time definition for the low-g interrupt. Name Bit Read/Write Reset Value Content 0x22 7 W 0 Bit Read/Write Reset Value Content 3 R/W 1 low_dur: 6 R/W INT_0 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 0 0 1 low_dur low_dur low-g interrupt trigger delay according to [low_dur + 1] • 2 ms in a range from 2 ms to 512 ms; the default corresponds to a delay of 20 ms. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 66 ACC Register 0x23 (INT_1) Contains the threshold definition for the low-g interrupt. Name Bit Read/Write Reset Value Content 0x23 7 W 0 Bit Read/Write Reset Value Content 3 R/W 0 low_th: 6 R/W INT_1 5 R/W 4 R/W 0 1 1 2 R/W 1 R/W 0 R/W 0 0 0 low_th low_th low-g interrupt trigger threshold according to low_th • 7.81 mg in a range from 0 g to 1.992 g; the default value corresponds to an acceleration of 375 mg ACC Register 0x24 (INT_2) Contains the low-g interrupt mode selection, the low-g interrupt hysteresis setting, and the highg interrupt hysteresis setting. Name Bit Read/Write Reset Value Content 0x24 7 R/W 1 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 1 reserved low_mode high_hy: low_mode: low_hy: 6 R/W INT_2 5 R/W 4 R/W 0 0 0 high_hy reserved low_hy hysteresis of high-g interrupt according to high_hy · 125 mg (2-g range), high_hy · 250 mg (4-g range), high_hy · 500 mg (8-g range), or high_hy · 1000 mg (16-g range) select low-g interrupt ‘0’ single-axis mode, or ‘1’ axis-summing mode hysteresis of low-g interrupt according to low_hy · 125 mg independent of the selected accelerometer g-range ACC Register 0x25 (INT_3) Contains the delay time definition for the high-g interrupt. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Name Bit Read/Write Reset Value Content 0x25 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 1 high_dur: Page 67 6 R/W INT_3 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 1 1 1 high_dur high_dur high-g interrupt trigger delay according to [high_dur + 1] • 2 ms in a range from 2 ms to 512 ms; the default corresponds to a delay of 32 ms. ACC Register 0x26 (INT_4) Contains the threshold definition for the high-g interrupt. Name Bit Read/Write Reset Value Content 0x26 7 R/W 1 Bit Read/Write Reset Value Content 3 R/W 0 high_th: 6 R/W INT_4 5 R/W 4 R/W 1 0 0 2 R/W 1 R/W 0 R/W 0 0 0 high_th high_th threshold of high-g interrupt according to high_th · 7.81 mg (2-g range), high_th · 15.63 mg (4-g range), high_th · 31.25 mg (8-g range), or high_th · 62.5 mg (16-g range) ACC Register 0x27 (INT_5) Contains the definition of the number of samples to be evaluated for the slope interrupt (anymotion detection) and the slow/no-motion interrupt trigger delay. Name Bit Read/Write Reset Value Content 0x27 7 R/W 0 BST-BMX055-DS000-02 | Revision 1.1 | November 2014 6 R/W INT_5 5 R/W 4 R/W 0 0 0 slo_no_mot_dur Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Bit Read/Write Reset Value Content Page 68 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 slo_no_mot_dur slope_dur slo_no_mot_dur: Function depends on whether the slow-motion or no-motion interrupt function has been selected. If the slow-motion interrupt function has been enabled (slo_no_mot_sel = ‘0’) then [slo_no_mot_dur+1] consecutive slope data points must be above the slow/no-motion threshold (slo_no_mot_th) for the slow-/no-motion interrupt to trigger. If the no-motion interrupt function has been enabled (slo_no_mot_sel = ‘1’) then slo_no_motion_dur defines the time for which no slope data points must exceed the slow/no-motion threshold (slo_no_mot_th) for the slow/nomotion interrupt to trigger. The delay time in seconds may be calculated according with the following equation: slope_dur: slo_no_mot_dur=’b00’  [slo_no_mot_dur + 1] slo_no_mot_dur=’b01’  [slo_no_mot_dur · 4 + 20] slo_no_mot_dur=’1’  [slo_no_mot_dur · 8 + 88] slope interrupt triggers if [slope_dur+1] consecutive slope data points are above the slope interrupt threshold slope_th ACC Register 0x28 (INT_6) Contains the threshold definition for the any-motion interrupt. Name Bit Read/Write Reset Value Content 0x28 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 0 slope_th: 6 R/W INT_6 5 R/W 4 R/W 0 0 1 2 R/W 1 R/W 0 R/W 1 0 0 slope_th slope_th Threshold of the any-motion interrupt. It is range-dependent and defined as a sample-to-sample difference according to slope_th · 3.91 mg (2-g range) / slope_th · 7.81 mg (4-g range) / slope_th · 15.63 mg (8-g range) / slope_th · 31.25 mg (16-g range) BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 69 ACC Register 0x29 (INT_7) Contains the threshold definition for the slow/no-motion interrupt. Name Bit Read/Write Reset Value Content 0x29 7 R/W 6 R/W INT_7 5 R/W 4 R/W 0 0 0 1 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 1 0 0 slo_no_mot_th slo_no_mot_th slo_no_mot_th: Threshold of slow/no-motion interrupt. It is range-dependent and defined as a sample-to-sample difference according to slo_no_mot_th · 3.91 mg (2-g range), slo_no_mot_th · 7.81 mg (4-g range), slo_no_mot_th · 15.63 mg (8-g range), slo_no_mot_th · 31.25 mg (16-g range) ACC Register 0x2A (INT_8) Contains the timing definitions for the single tap and double tap interrupts. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content tap_quiet: tap_shock: reserved: tap_dur: 0x2A 7 R/W 6 R/W INT_8 5 R/W 4 R/W 0 0 0 0 tap_quiet tap_shock reserved reserved 3 R/W 2 R/W 1 R/W 0 R/W 0 1 0 0 reserved tap_dur selects a tap quiet duration of ‘0’ 30 ms, ‘1’ 20 ms selects a tap shock duration of ‘0’ 50 ms, ‘1’75 ms write ‘0’ selects the length of the time window for the second shock event for double tap detection according to ´000b´  50 ms, ´001b´  100 ms, ´010b´  150 ms, ´011b´  200 ms, ´100b´  250 ms, ´101b´  375 ms, ´110b´  500 ms, ´111b´  700 ms. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 70 ACC Register 0x2B (INT_9) Contains the definition of the number of samples processed by the single / double-tap interrupt engine after wake-up in low-power mode. It also defines the threshold definition for the single and double tap interrupts. Name Bit Read/Write Reset Value Content 0x2B 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 1 tap_samp: reserved: tap_th: 6 R/W INT_9 5 R/W 4 R/W 0 0 0 reserved tap_th 2 R/W 1 R/W 0 R/W 0 1 0 tap_samp tap_th selects the number of samples that are processed after wake-up in the lowpower mode according to ´00b´  2 samples, ´01b´  4 samples, ´10b´  8 samples, and ´11b´  16 samples write ‘0’ threshold of the single/double-tap interrupt corresponding to an acceleration difference of tap_th · 62.5mg (2g-range), tap_th · 125mg (4grange), tap_th · 250mg (8g-range), and tap_th · 500mg (16grange). ACC Register 0x2C (INT_A) Contains the definition of hysteresis, blocking, and mode for the orientation interrupt Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 0x2C 7 R/W 6 R/W INT_A 5 R/W 4 R/W 0 0 0 1 reserved orient_hyst 3 R/W 2 R/W 1 R/W 0 R/W 1 0 0 0 orient_blocking orient_mode reserved: write ‘0’ orient_hyst: sets the hysteresis of the orientation interrupt; 1 LSB corresponds to 62.5 mg irrespective of the selected g-range orient_blocking: selects the blocking mode that is used for the generation of the orientation interrupt. The following blocking modes are available: BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 71 ´00b´  no blocking, ´01b´  theta blocking or acceleration in any axis > 1.5g, ´10b´  ,theta blocking or acceleration slope in any axis > 0.2 g or acceleration in any axis > 1.5g ´11b´  theta blocking or acceleration slope in any axis > 0.4 g or acceleration in any axis > 1.5g and value of orient is not stable for at least 100ms orient_mode: sets the thresholds for switching between the different orientations. The settings: ´00b´  symmetrical, ´01b´  high-asymmetrical, ´10b´  lowasymmetrical, ´11b´ symmetrical. ACC Register 0x2D (INT_B) Contains the definition of the axis orientation, up/down masking, and the theta blocking angle for the orientation interrupt. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 0x2D 7 R/W 6 R/W INT_B 5 R/W 4 R/W n/a 1 0 0 reserved orient_ud_en 3 R/W 2 R/W 1 R/W 0 R/W 1 0 0 0 orient_theta orient_theta orient_ud_en: change of up/down-bit ´1´  generates an orientation interrupt, ´0´  is ignored and will not generate an orientation interrupt orient_theta: defines a blocking angle between 0° and 44.8° ACC Register 0x2E (INT_C) Contains the definition of the flat threshold angle for the flat interrupt. Name Bit Read/Write Reset Value Content 0x2E 7 R/W 6 R/W INT_C 5 R/W 4 R/W n/a n/a 0 0 Bit Read/Write Reset Value Content reserved: flat_theta: 3 R/W 2 R/W 1 R/W 0 R/W 1 0 0 0 reserved flat_theta flat_theta write ‘0’ defines threshold for detection of flat position in range from 0° to 44.8°. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 72 ACC Register 0x2F (INT_D) Contains the definition of the flat interrupt hold time and flat interrupt hysteresis. Name Bit Read/Write Reset Value Content 0x2F 7 R/W 6 R/W INT_D 5 R/W 4 R/W 0 0 0 1 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 1 reserved flat_hold_time reserved flat_hy reserved: write ‘0’ flat_hold_time: delay time for which the flat value must remain stable for the flat interrupt to be generated: ´00b´  0 ms, ´01b´  512 ms, ´10b´  1024 ms, ´11b´  2048 ms flat_hy: defines flat interrupt hysteresis; flat value must change by more than twice the value of flat interrupt hysteresis to detect a state change. For details see chapter 5.6.8. ‘000b’  hysteresis of the flat detection disabled ACC Register 0x30 (FIFO_CONFIG_0) Contains the FIFO watermark level. Name Bit Read/Write Reset Value 0x30 7 R/W n/a Content Bit Read/Write Reset Value Content 6 R/W FIFO_CONFIG_0 5 R/W 4 R/W n/a 0 0 fifo_water_mark_level_trigger_retain< 5:4> reserved 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 fifo_water_mark_level_trigger_retain reserved: write ‘0’ fifo_water_mark_level_trigger_retain: fifo_water_mark_level_trigger_retain defines the FIFO watermark level. An interrupt will be generated, when the number of entries in the FIFO is equal to fifo_water_mark_level_trigger_retain; BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 73 ACC Register 0x31 is reserved ACC Register 0x32 (PMU_SELF_TEST) Contains the settings for the sensor self-test configuration and trigger. Name Bit Read/Write Reset Value Content 0x32 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 reserved_0 self_test_sign reserved: reserved_0: self_test_amp; self_test_sign: self_test_axis: 6 R/W PMU_SELF_TEST 5 R/W 4 R/W 0 0 0 reserved self_test_amp self_test-axis write ‘0x0’ write ‘0x0’ select amplitude of the selftest deflection ´1´  high, default value is low (´0´), select sign of self-test excitation as ´1´  positive, or ´0´  negative select axis to be self-tested: ´00b´  self-test disabled, ´01b´  x-axis, ´10b´  y-axis, or ´11b´  z-axis; when a self-test is performed, only the acceleration data readout value of the selected axis is valid; after the selftest has been enabled a delay of a least 50 ms is necessary for the read-out value to settle ACC Register 0x33 (TRIM_NVM_CTRL) Contains the control settings for the few-time programmable non-volatile memory (NVM). Name Bit Read/Write Reset Value Content 0x33 7 R n/a BST-BMX055-DS000-02 | Revision 1.1 | November 2014 6 R TRIM_NVM_CTRL 5 R 4 R n/a n/a n/a nvm_remain Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Bit Read/Write Reset Value Content Page 74 3 R/W 2 R 1 W 0 R/W 0 n/a 0 0 nvm_load nvm_rdy nvm_prog_trig nvm_prog_mode nvm_remain: number of remaining write cycles permitted for NVM; the number is decremented each time a write to the NVM is triggered nvm_load: ´1´  trigger, or ‘0’  do not trigger an update of all configuration registers from NVM; the nvm_rdy flag must be ‘1’ prior to triggering the update nvm_rdy: status of NVM controller: ´0´  NVM write / NVM update operation is in progress, ´1´  NVM is ready to accept a new write or update trigger nvm_prog_trig: ‘1’  trigger, or ‘0’ do not trigger an NVM write operation; the trigger is only accepted if the NVM was unlocked before and nvm_remain is greater than ‘0’; flag nvm_rdy must be ‘1’ prior to triggering the write cycle nvm_prog_mode: ‘1’  unlock, or ‘0’  lock NVM write operation ACC Register 0x34 (BGW_SPI3_WDT) Contains settings for the digital interfaces. Name Bit Read/Write Reset Value Content 0x34 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W reserved: i2c_wdt_en: i2c_wdt_sel: spi3: 6 R/W BGW_SPI3_WDT 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 0 0 0 0 reserved i2c_wdt_en i2c_wdt_sel spi3 reserved write ‘0’ if I²C interface mode is selected then ‘1´  enable, or ‘0’  disables the watchdog at the SDI pin (= SDA for I²C) select an I²C watchdog timer period of ‘0’  1 ms, or ‘1’  50 ms select ´0´  4-wire SPI, or ´1´  3-wire SPI mode ACC Register 0x35 is reserved ACC Register 0x36 (OFC_CTRL) Contains control signals and configuration settings for the fast and the slow offset compensation. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 0x36 7 W 0 Page 75 6 W OFC_CTRL 5 W 4 R 0 0 0 offset_reset cal_trigger cal_rdy 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 reserved hp_z_en hp_y_en hp_x_en offset_reset: ´1´  set all offset compensation registers (0x38 to 0x3A) to zero, or ‘0’  keep their values offset_trigger: trigger fast compensation for ´01b´  x-axis, ´10b´  y-axis, or ´11b´  z-axis; ´00b´  do not trigger offset compensation; offset compensation must not be triggered when cal_rdy is ‘0’ cal_rdy: indicates the state of the fast compensation: ´0´  offset compensation is in progress, or ´1´  offset compensation is ready to be retriggered reserved: write ‘0’ hp_z_en: ‘1´  enable, or ‘0’  disable slow offset compensation for the z-axis hp_y_en: ‘1´  enable, or ‘0’  disable slow offset compensation for the y-axis hp_x_en: ‘1´  enable, or ‘0’  disable slow offset compensation for the x-axis ACC Register 0x37 (OFC_SETTING) Contains configuration settings for the fast and the slow offset compensation. Name Bit Read/Write Reset Value 0x37 7 R/W 0 Content reserved Bit Read/Write Reset Value 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 Content offset_target_y 6 R/W OFC_SETTING 5 R/W 4 R/W 0 0 0 offset_target_z offset_target_x offset_target_y cut_off reserved: write ‘0’ offset_target_z: offset compensation target value for z-axis is ´00b´  0 g, ´01b´  +1 g, ´10b´  -1 g, or ´11b´  0 g BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 76 offset_target_y: offset compensation target value for y-axis is ´00b´  0 g, ´01b´  +1 g, ´10b´  -1 g, or ´11b´  0 g offset_target_x: offset compensation target value for x-axis is ´00b´  0 g, ´01b´  +1 g, ´10b´  -1 g, or ´11b´  0 g cut_off: select ‘0’ 1 Hz, or ‘1’  10 Hz cut-off frequency for slow offset compensation high-pass filter ACC Register 0x38 (OFC_OFFSET_X) Contains the offset compensation value for x-axis acceleration readout data. Name Bit Read/Write Reset Value Content 0x38 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 0 6 R/W OFC_OFFSET_X 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 0 0 0 offset_x offset_x offset_ x: offset value, which is added to the internal filtered and unfiltered x-axis acceleration data; the offset value is represented with two’s complement notation, with a mapping of +127  +0.992g, 0  0 g, and -128  -1 g; the scaling is independent of the selected g-range; the content of the offset_x may be written to the NVM; it is automatically restored from the NVM after each power-on or softreset; offset_x may be written directly by the user; it is generated automatically after triggering the fast offset compensation procedure for the x-axis Example: Original readout value 0g 0g 0g Value in offset register 127 0 -128 Compensated readout value 0.992 g 0g -1 g ACC Register 0x39 (OFC_OFFSET_Y) Contains the offset compensation value for y-axis acceleration readout data. Name Bit Read/Write Reset Value 0x39 7 R/W 0 BST-BMX055-DS000-02 | Revision 1.1 | November 2014 6 R/W OFC_OFFSET_Y 5 R/W 4 R/W 0 0 0 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Content Bit Read/Write Reset Value Content offset_y: Page 77 offset_y 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 offset_y offset value, which is added to the internal filtered and unfiltered y-axis acceleration data; the offset value is represented with two’s complement notation, with a mapping of +127  +0.992g, 0  0 g, and -128  -1 g; the scaling is independent of the selected g-range; the content of the offset_y may be written to the NVM; it is automatically restored from the NVM after each power-on or softreset; offset_y may be written directly by the user; it is generated automatically after triggering the fast offset compensation procedure for the y-axis For reference see example at ACC Register 0x38 (OFC_OFFSET_X) ACC Register 0x3A (OFC_OFFSET_Z) Contains the offset compensation value for z-axis acceleration readout data. Name Bit Read/Write Reset Value Content 0x3A 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 0 offset_z: 6 R/W OFC_OFFSET_Z 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 0 0 0 offset_z offset_z offset value, which is added to the internal filtered and unfiltered z-axis acceleration data; the offset value is represented with two’s complement notation, with a mapping of +127  +0.992g, 0  0 g, and -128  -1 g; the scaling is independent of the selected g-range; the content of the offset_z may be written to the NVM; it is automatically restored from the NVM after each power-on or softreset; offset_z may be written directly by the user; it is generated automatically after triggering the fast offset compensation procedure for the z-axis For reference see example at ACC Register 0x38 (OFC_OFFSET_X) ACC Register 0x3B (TRIM_GP0) Contains general purpose data register with NVM back-up. Name Bit 0x3B 7 BST-BMX055-DS000-02 | Revision 1.1 | November 2014 6 TRIM_GP0 5 4 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 78 Read/Write Reset Value Content R/W R/W R/W R/W 0 0 0 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 GP0: GP0 GP0 general purpose NVM image register not linked to any sensor-specific functionality; register may be written to NVM and is restored after each power-up or softreset ACC Register 0x3C (TRIM_GP1) Contains general purpose data register with NVM back-up. Name Bit Read/Write Reset Value Content 0x3C 7 R/W 6 R/W TRIM_GP1 5 R/W 4 R/W 0 0 0 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 GP1: GP1 GP1 general purpose NVM image register not linked to any sensor-specific functionality; register may be written to NVM and is restored after each power-up or softreset ACC Register 0x3D is reserved ACC Register 0x3E (FIFO_CONFIG_1) Contains FIFO configuration settings. The FIFO buffer memory is cleared and the fifo-full flag is cleared when writing to FIFO_CONFIG_1 register. Name Bit Read/Write Reset Value Content 0x3E 7 R/W 0 fifo_mode BST-BMX055-DS000-02 | Revision 1.1 | November 2014 6 R/W FIFO_CONFIG_1 5 R/W 4 R/W 0 0 0 Reserved Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Bit Read/Write Reset Value Content Page 79 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 Reserved fifo_data_select fifo_mode: selects the FIFO operating mode: ´00b´  BYPASS (buffer depth of 1 frame; old data is discarded), ´01b´  FIFO (data collection stops when buffer is filled with 32 frames), ´10b´  STREAM (sampling continues when buffer is full; old is discarded), ´11b´  reserved, do not use fifo_data_select: selects whether ´00b´  X+Y+Z, ´01b´  X only, ´10b´  Y only, ´11b´  Z only acceleration data are stored in the FIFO ACC Register 0x3F (FIFO_DATA) FIFO data readout register. The format of the LSB and MSB components corresponds to that of the acceleration data readout registers. The new data flag is preserved. Read burst access may be used since the address counter will not increment when the read burst is started at the address of FIFO_DATA. The entire frame is discarded when a fame is only partially read out. Name Bit Read/Write Reset Value Content 0x3F 7 R 6 R FIFO_DATA 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R 2 R 1 R 0 R n/a n/a n/a n/a fifo_data_output_register fifo_data_output_register fifo_data_output_register: FIFO data readout; data format depends on the setting of register fifo_data_select: if X+Y+Z data are selected, the data of frame n is reading out in the order of X-lsb(n), X-msb(n), Y-lsb(n), Y-msb(n), Z-lsb(n), Z-msb(n); if X-only is selected, the data of frame n and n+1 are reading out in the order of X-lsb(n), X-msb(n), X-lsb(n+1), X-msb(n+1); the Y-only and Z-only modes behave analogously BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 80 7 Functional description Gyroscope Note: Default values for registers can be found in chapter 8. 7.1 Power modes gyroscope The gyroscope has four different power modes. Besides normal mode, which represents the fully operational state of the device, there are three energy saving modes: deep-suspend mode, suspend mode, and fast power up Figure 13: Block diagram of the power modes of gyroscope After power-up gyro is in normal mode so that all parts of the device are held powered-up and data acquisition is performed continuously. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 81 In deep-suspend mode the device reaches the lowest possible power consumption. Only the interface section is kept alive. No data acquisition is performed and the content of the configuration registers is lost. Deep suspend mode is entered (left) by writing ‘1’ (‘0’) to the 2 (GYR 0x11) deep_suspend bit. The I C watchdog timer remains functional. The (GYR 0x11) deep_ suspend bit, the (GYR 0x34) spi3 bit, (GYR 0x34) i2c_wdt_en bit and the (GYR 0x34) i2c_wdt_sel bit are functional in deep-suspend mode. Equally the interrupt level and driver configuration registers (GYR 0x20) int1_lvl, (GYR 0x20) int1_od, (GYR 0x20) int2_lvl, and (GYR 0x20) int2_od are accessible. Still it is possible to enter normal mode by writing to the (GYR 0x14) softreset register. Please note, that all application specific settings which are not equal to the default settings (refer to 8.2 register map gyroscope), must be re-set to its designated values after leaving deep-suspend mode. In suspend mode the whole analog part is powered down. No data acquisition is performed. While in suspend mode the latest rate data and the content of all configuration registers are kept. The only supported operations are reading and writing registers as well as writing to the (GYR 0x14) softreset register. Suspend mode is entered (left) by writing ´1´ (´0´) to the (GYR 0x11) suspend bit. Bit (GYR 0x12) fast_power_up must be set to ‘0’. Although write access to registers is supported at the full interface clock speed (SCL or SCK), a waiting period must be inserted between two consecutive write cycles (please refer also to section 9.2.1). In external wake-up mode, when the device is in deep suspend mode or suspend mode, it can be woken-up by external trigger to pin INT3/4. Register settings: Table 23: Trigger source ext_trig_sel [1:0] ‘00’ ‘01’ ‘10’ ‘11’ Trigger source No INT3 pin INT4 pin SDO2 pin (SPI3 mode) In fast power-up mode the sensing analog part is powered down, while the drive and the digital part remains largely operational. No data acquisition is performed. Reading and writing registers as well as writing to the (GYR 0x14) softreset register are supported without any restrictions. The latest rate data and the content of all configuration registers are kept. Fast power-up mode is entered (left) by writing ´1´ (´0´) to the (GYR 0x11) suspend bit with bit (GYR 0x12) fast_power_up set to ‘1’. 7.1.1 Advanced power-saving modes In addition to the power modes described in Figure 13, there are other advanced power modes that can be used to optimize the power consumption of the BMX055. The power_save_mode is set by setting power_save_mode=´1´ (GYR 0x12). This power mode implements a duty cycle and change between normal mode and fast-power-up mode. By setting the sleep_dur (time in ms in fast-power-up mode) (GYR 0x11 bits ) and auto_sleep_dur (time in ms in normal mode) (GYR 0x12 bits ) different timings can be used. Some of these settings allow the sensor to consume less than 3mA. See also diagram below: BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet i[mA] powerup autosleep dur autosleep dur Page 82 autosleep dur autosleep dur autosleep dur NORMAL Fast Power Up sleep dur sleep dur sleep dur sleep dur OFF sleep dur t Figure 14: Duty-cycling The possible configuration for the autosleep_dur and sleep_dur are indicated in the table below: Table 24: Sleep durations gyroscope sleep_dur ‘000’ ‘001’ ‘010’ ‘011’ ‘100’ ‘101’ ‘110’ ‘111’ Time (ms) 2 ms 4 ms 5 ms 8 ms 10 ms 15 ms 18 ms 20 ms Table 25: Autosleep durations gyroscope autosleep_dur ‘000’ ‘001’ ‘010’ ‘011’ ‘100’ ‘101’ ‘110’ ‘111’ Time (ms) Not allowed 4 ms 5 ms 8 ms 10 ms 15 ms 20 ms 40 ms The only restriction for the use of the power save mode comes from the configuration of the digital filter bandwidth (GYR 0x10). For each Bandwidth configuration, a minimum autosleep_dur must be ensured. For example, for Bandwidth=47Hz, the minimum autosleep_dur is 5ms. This is specified in the table below. For sleep_dur there is no restriction. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 83 Table 26: Minimum autosleep duration according to bandwidth bw ‘0111’ ‘0110’ ‘0101’ ‘0100’ ‘0011’ ‘0010’ ‘0001’ ‘0000’ 7.2 Bandwidth (Hz) 32 Hz 64 Hz 12 Hz 23 Hz 47 Hz 116 Hz 230 Hz Unfiltered (523Hz) min. autosleep_dur (ms) 20 ms 10 ms 20 ms 10 ms 5 ms 4 ms 4 ms 4 ms BMX055 Data Gyroscope 7.2.1 Rate data The angular rate data can be read-out through addresses GYR 0x02 through GYR 0x07. The angular rate data is in 2’s complement form according to Table 27 below. In order to not corrupt the angular rate data, the LSB should always be read out first. Once the LSB of the x,y, or z read-out registers have been read, the MSBs are locked until the MSBs are read out. This default behavior can be switched off by setting the address (GYR 0x13) bit 6 (shadow_dis) = ‘1’. In this case there is no MSB locking, and the data is updated between each read. 2 The burst-access mechanism provides an efficient way to read out the angular rate data in I C or SPI mode. During a burst-access, the gyro automatically increments the starting read address after each byte. Any address in the user space can be used as a starting address. When the address (GYR 0x3F – fifo_data) is reached, the address counter is stopped. In the user space address range, the (GYR 0x3F – fifo_data) will be continuously read out until burst read ends. It is also possible to start directly with address 0x3F. In this case, the fifo_data (GYR 0x3F) data will be read out continuously. The burst-access allows data to be transferred over the I2C bus with an up to 50% reduced data density. The angular rate data in all read-out registers is locked as long as the burst read access is active. Reading the chip angular rate registers in burst read access mode ensures that the angular rate values in all readout registers belong to the same sample. Table 27: Gyroscope register content for 16bit mode Decimal value +32767 … 0 … -32767 Angular rate (in 2000°/s range mode) + 2000°/s … 0°/s … - 2000°/s Per default, the bandwidth of the data being read-out is limited by the internal low-pass filters according to the filter configuration. Unfiltered (high-bandwidth) data can be read out through the serial interface when the data_high_bw (GYR 0x13 bit 7) is set to ‘1’. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet 7.3 Page 84 Angular rate Read-Out Bandwidth configuration: The gyro processes the 2kHz data out of the analog front end with a CIC/Decimation filter, followed by an IIR filter before sending this data to the interrupt handler. The possible decimation factors are 2, 5, 10 and 20. It is also possible to bypass these filters, and use the unfiltered 2kHz data. The decimation factor / bandwidth of the filter can be set by setting the address space GYR 0x10 bits (bw) as shown in the memory map section. 7.4 Self-test Gyro A built-in self test (BIST) facility has been implemented which provides a quick way to determine if the gyroscope is operational within the specified conditions. The BIST uses three parameters for evaluation of proper device operation: - Drive voltage regulator - Sense frontend offset regulator of x-,y- and z-channel - Quad regulator for x-,y- and z-channel If any of the three parameters is not within the limits the BIST result will be “Fail”. To trigger the BIST ´bit0´ bite_trig in address GYR 0x3C must be set `1´. When the test is performed, bit1 bist_rdy will be ´1´. If the result is failed the bit bist_failed will be set to ´1´, otherwise stay a ´0´. bite_trig 0x3C = `1` bist_rdy = ´1´ bist_failed = ´1´  Result: Failure bist_failed = ´0´  Result: OK Figure 15: Flow Diagram Another possibility to get information about the sensor status is to read out rate_ok GYR 0x3C bit4. ´1´ indicates proper sensor function, no trigger is needed for this. 7.5 Offset compensation gyroscope Offsets in measured signals can have several causes but they are always unwanted and disturbing in many cases. Therefore, the gyro offers an advanced set of four digital offset compensation methods which are closely matched to each other. These are slow, fast, and manual compensation as well as inline calibration. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 85 The compensation is performed with filtered data, and is then applied to both, unfiltered 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). However, the registers used to read and write compensation values have a width of 8 bits. The public offset compensation registers (GYR 0x36) to (GYR 0x39) are image of the corresponding registers in the NVM. With each image update (see section 7.6 Non-volatile memory gyroscope for details) the contents of the NVM registers are written to the public registers. The public register can be over-written by the user at any time. In case an internally computed compensation value is too small or too large to fit into the corresponding register, it is saturated in order to prevent an overflow error. For every axes an offset up to 125°/s with 12 bits full resolution can be calibrated (resolution 0.06°/s). The modes will be controlled using SPI/I2C commands. By writing ´1´ to the (GYR 0x21) offset_reset bit, all dynamic (fast & slow) offset compensation registers are reset to zero. 7.5.1 Slow compensation In slow regulation mode, the rate data is monitored permanently. If the rate data is above 0°/s for a certain period of time, an adjustable rate is subtracted by the offset controller. This procedure of monitoring the rate data and subtracting of the adjustable rate at a time is repeated continuously. Thus, the output of the offset converges to 0°/s. The slow regulation can be enabled through the slow_offset_en_x/y/z (GYR 0x31 ) bits for each axis. The slow offset cancellation will work for filtered and unfiltered data (slow_offset_unfilt (GYR 0x1A ); slow_offset_unfilt=1  unfiltered data are selected) Slow Offset cancellation settings are the adjustable rate (slow offset_th 0x31 ) and the time period (slow_offset_dur 0x31 ) 7.5.2 Fast compensation A fast offset cancellation controller is implemented in gyro. The fast offset cancellation process is triggerable via SPI/I2C. The fast offset cancellation can be enabled through the fast_offset_en_x/y/z (GYR 0x32 ) bits for each axis. The enable bits will not start the fast offset cancellation! The fast offset cancellation has to be started by setting the fast_offset_en (GYR 0x32 ) bit. Afterwards the algorithm will start and if the algorithm is finished the fast_offset_en (GYR 0x32 ) will be reset to 0. The fast offset cancellation will work for filtered and unfiltered data (fast_offset_unfilt (GYR 0x1B ); fast_offset_unfilt=1  unfiltered data are selected) The fast offset cancellation parameters are fast_offset_wordlength (GYR 0x32 ) The sample rate for the fast offset cancellation corresponds to the sample rate of the selected bandwidth. For unfiltered data and bandwidth settings 0-2 the sample rate for the fast offset cancellation will be 400Hz. The resolution of the calculated offset values for the fast offset compensation depends on the, range setting being less accurate for higher range (e.g. range=2000°/s).Therefore we recommend a range setting of range=125°/s for fast offset compensation. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 86 7.5.3 Manual compensation The contents of the public compensation registers (GYR 0x36 … 0x39) offset_x/y/z can be set manually via the digital interface. It is recommended to write into these registers directly after a new data interrupt has occurred in order not to disturb running offset computations. Writing to the offset compensation registers is not allowed while the fast compensation procedure is running. 7.5.4 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 one of the aforementioned offset compensation methods to determine the proper compensation values and then storing these values permanently in the NVM. See section 7.6 Non-volatile memory gyroscope for details of the storing procedure. 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 until they are possibly overwritten using one of the other compensation methods. 7.6 Non-volatile memory gyroscope The entire memory of the gyro consists of three different kinds of registers: hard-wired, volatile, and non-volatile. Part of it can be both read and written by the user. Access to non-volatile memory is only possible through (volatile) image registers. Altogether, there are eight registers (octets) with NVM backup which are accessible by the user. The addresses of the image registers range from (GYR 0x36) to (GYR 0x3B). While the addresses up to (GYR 0x39) are used for offset compensation (see 7.5 Offset compensation gyroscope), addresses (GYR 0x3A) and (GYR 0x3B) are general purpose registers not linked to any sensor-specific functionality. The content of the NVM is loaded to the image registers after a reset (either POR or softreset) or after a user request which is performed by writing ´1´ to the write-only bit (GYR 0x33) nvm_load. As long as the image update is in progress, bit (GYR 0x33) nvm_rdy is ´0´, otherwise it is ´1´. In order to read out the correct values (after NVM loading) waiting time is min. 1ms. The image registers can be read and written like any other register. Writing to the NVM is a three-step procedure: 4. Write the new contents to the image registers. 5. Write ´1´ to bit (GYR 0x33) nvm_prog_mode in order to unlock the NVM. 6. Write ´1´ to bit (GYR 0x33) nvm_prog_trig and keep ´1´ in bit (GYR 0x33) nvm_prog_mode in order 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 bit (GYR 0x33) nvm_rdy. While (GYR 0x33) nvm_rdy = ´0´, the write process is still in progress; if (GYR 0x33) nvm_rdy = ´1´, then writing is completed. As long as the write process is ongoing, no change of power mode and image registers is allowed. Also, the NVM write cycle must not be initiated while image registers are updated, in suspend mode. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 87 Please note that the number of permitted NVM write-cycles is limited as specified in Table 3. The number of remaining write-cycles can be obtained by reading bits (GYR 0x33) nvm_remain. 7.7 Interrupt controller Gyroscope The gyro is equipped with 3 programmable interrupt engines. Each interrupt can be independently enabled and configured. If the trigger condition of an enabled interrupt is fulfilled, the corresponding status bit is set to ´1´ and the selected interrupt pin is activated. The gyro provides two interrupt pins, INT3 and INT4; interrupts can be freely mapped to any of these pins. The state of a specific interrupt pin is derived from a logic ´or´ combination of all interrupts mapped to it. The interrupt status registers are updated when a new data word is written into the rate data registers. If an interrupt is disabled, all active status bits associated with it are immediately reset. Gyro Interrupts are fully functional in normal mode, only. Interrupts are limited in their functionality in other operation modes. Please contact our technical support for further assistance. 7.7.1 General features An interrupt is cleared depending on the selected interrupt mode, which is common to all interrupts. There are three different interrupt modes: non-latched, latched, and temporary. The mode is selected by the (GYR 0x21) latch_int bits according to Table 28. Table 28: Interrupt mode selection (GYR 0x21) latch_int 0000b 0001b 0010b 0011b 0100b 0101b 0110b 0111b 1000b 1001b 1010b 1011b 1100b 1101b 1110b 1111b Interrupt mode non-latched temporary, 250ms temporary, 500ms temporary, 1s temporary, 2s temporary, 4s temporary, 8s latched non-latched temporary, 250µs temporary, 500µs temporary, 1ms temporary, 12.5ms temporary, 25ms temporary, 50ms latched An interrupt is generated if its activation condition is met. It cannot be cleared as long as the activation condition is fulfilled. In the non-latched mode the interrupt status bit and the selected pin (the contribution to the ´or´ condition for INT3 and/or INT4) are cleared as soon as the BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 88 activation condition is no more valid. Exception to this behavior is the new data interrupt which is automatically reset after a fixed time. In latched mode an asserted interrupt status and the selected pin are cleared by writing ´1´ to bit (GYR 0x21) reset_int. If the activation condition still holds when it is cleared, the interrupt status is asserted again with the next change of the rate registers. In the temporary mode an asserted interrupt and selected pin are cleared after a defined period of time. The behavior of the different interrupt modes is shown graphically in Figure 16. The timings in this mode are subject to the same tolerances as the bandwidths (see Table 3). internal signal from interrupt engine interrupt output non-latched latch period temporary latched Figure 16: Interrupt modes 7.7.2 Mapping to physical interrupt pins (inttype to INT Pin#) Registers (GYR 0x17) to (GYR 0x19) are dedicated to mapping of interrupts to the interrupt pins “INT3” or “INT4”. Setting (GYR 0x17) int1_”inttype” to ´1´ (´0´) maps (unmaps) “inttype” to pin “INT3”. Correspondingly setting (GYR 0x19) int2_”inttype” to ´1´ (´0´) maps (unmaps) “inttype” to pin “INT4”. Note: “inttype” has to be replaced with the precise notation, given in the memory map in chapter 8. 7.7.3 Electrical behaviour (INT pin# to open-drive or push-pull) Both interrupt pins can be configured to show the desired electrical behavior. The ´active´ level of each interrupt pin is determined by the (GYR 0x16) int1_lvl and (GYR 0x16) int2_lvl bits. If (GYR 0x16) int1_lvl = ´1´ (´0´) / (GYR 0x16) int2_lvl = ´1´ (´0´), then pin “INT3” / pin “INT4” is active ´1´ (´0´). The characteristic of the output driver of the interrupt pins may be configured with bits (GYR 0x16) int1_od and (GYR 0x16) int2_od. By setting bits (GYR 0x16) int1_od / (GYR 0x16) int2_od to ´1´, the output driver shows open-drive characteristic, by setting the configuration bits to ´0´, the output driver shows push-pull characteristic. When open-drive characteristic is selected in the design, external pull-up or pull-down resistor should be applied according the int_lvl configuration. When open-drive characteristic is selected in the design, external pull-up or pull-down resistor should be applied according the int_lvl configuration. 7.7.4 New data interrupt This interrupt serves for synchronous reading of angular rate data. It is generated after storing a new value of z-axis angular rate data in the data register. The interrupt is cleared automatically after 280-400 µs (depending on Interrupt settings). BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 89 The interrupt mode of the new data interrupt is fixed to non-latched. It is enabled (disabled) by writing ´1´ (´0´) to bit (GYR 0x15) data_en. The interrupt status is stored in bit (GYR 0x0A) data_int. 7.7.5 Any-motion detection / Interrupt Any-motion (slope) detection uses the slope between successive angular rate signals to detect changes in motion. An interrupt is generated when the slope (absolute value of angular rate difference) exceeds a preset threshold. It is cleared as soon as the slope falls below the threshold. The principle is made clear in Figure 17. angular rate rate(t0) rate(t0−1/(4*fs)) time slope(t0)=gyro(t0)−gyro(t0−1/(2*bw)) slope slope_th time slope_dur slope_dur INT time Figure 17: Principle of gyroscope any-motion detection The threshold is defined through register (GYR 0x1B) any_th. In terms of scaling 1 LSB of (GYR 0x1B) any_th corresponds to 1 °/s in 2000°/s-range (0.5°/s in 1000°/s-range, 0.25°/s in 500°/s -range …). Therefore the maximum value is 125°/s in 2000°/s-range (62.5°/s 1000°/srange, 31.25°/s in 500°/s -range …). The time difference between the successive angular rate signals depends on the selected update rate(fs) which is coupled to the bandwidth and equates to 1/(4*fs) (t=1/(4*fs)). For bandwidhth settings with an update rate higher than 400Hz (bandwidth =0, 1, 2) fs is set to 400Hz. In order to suppress false triggers, the interrupt is only generated (cleared) if a certain number N of consecutive slope data points is larger (smaller) than the slope threshold given by (GYR BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 90 0x1B) any_th. This number is set by the (GYR 0x1C) any_dursample bits. It is N = [(GYR 0x1C) any_dursample+ 1]*4 for (GYR 0x1C). N is set in samples. Thus the time is scaling with the update rate (fs). Example: (GYR 0x1C) slope_dur = 00b, …, 11b = 4 samples, …, 16 samples. 7.7.5.1 Enabling (disabling) for each axis Any-motion detection can be enabled (disabled) for each axis separately by writing ´1´ (´0´) to bits (GYR 0x1C) any_en_x, (GYR 0x1C) any_en_y, (GYR 0x1C) any_en_z. The criteria for any-motion detection are fulfilled and the Any-Motion interrupt is generated if the slope of any of the enabled axes exceeds the threshold (GYR 0x1B) any_th for [(GYR 0x1C) slope_dur +1]*4 consecutive times. As soon as the slopes of all enabled axes fall or stay below this threshold for [(GYR 0x1C) slope_dur +1]*4 consecutive times the interrupt is cleared unless interrupt signal is latched. 7.7.5.2 Axis and sign information of slope / any motion interrupt The interrupt status is stored in bit (GYR 0x09) any_int. The Any-motion interrupt supplies additional information about the detected slope. The axis which triggered the interrupt is given by that one of bits (GYR 0x0B) any_first_x, (GYR 0x0B) any_first_y, (GYR 0x0B) any_first_z that contains a value of ´1´. The sign of the triggering slope is held in bit (GYR 0x0B) any_sign until the interrupt is retriggered. If (GYR 0x0B) slope_sign = ´1´ (´0´), the sign is positive (negative). 7.7.6 High-Rate interrupt This interrupt is based on the comparison of angular rate data against a high-rate threshold for the detection of shock or other high-angular rate events. The principle is made clear in Figure 18 below: Figure 18: High rate interrupt The high-rate interrupt is enabled (disabled) per axis by writing ´1´ (´0´) to bits (GYR 0x22) high_en_x, (GYR 0x24) high_en_y, and (GYR 0x26) high_en_z, respectively. The high-rate threshold is set through the (GYR 0x22) high_th_x register, (GYR 0x24) high_th_y register and (GYR 0x26) high_th_z for the corresponding axes. The meaning of an LSB of (GYR 0x22/24/26) high_th_x/y/z depends on the selected °/s-range: it corresponds to 62.5°/s in 2000°/s-range, 31.25°/s in 1000°/s-range, 15.625°/s in 500°/s -range …). The high_th_x/y/z BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 91 register setting 0 corresponds to 62.26°/s in 2000°/s-range, 31.13°/s in 1000°/s-range, 15.56°/s in 500°/s-range …. Therefore the maximum value is 1999.76°/s in 2000°/s-range (999.87°/s 1000°/s-range, 499.93°/s in 500°/s -range …). A hysteresis can be selected by setting the (GYR 0x22/24/26) high_hy_x/y/z bits. Analogously to (GYR 0x22/24/26) high_th_x/y/z, the meaning of an LSB of (GYR 0x22/24/26) high_hy_x/y/z bits is °/s-range dependent: The high_hy_x/y/z register setting 0 corresponds to an angular rate difference of 62.26°/s in 2000°/s-range, 31.13°/s in 1000°/s-range, 15.56°/s in 500°/s-range …. The meaning of an LSB of (GYR 0x22/24/26) high_hy_x/y/z depends on the selected °/s-range too: it corresponds to 62.5°/s in 2000°/s-range, 31.25°/s in 1000°/s-range, 15.625°/s in 500°/s range …). The high-rate interrupt is generated if the absolute value of the angular rate of at least one of the enabled axes (´or´ relation) is higher than the threshold for at least the time defined by the (GYR 0x23/25/27) high_dur_x/y/z register. The interrupt is reset if the absolute value of the angular rate of all enabled axes (´and´ relation) is lower than the threshold minus the hysteresis. In bit (GYR 0x09) high_int the interrupt status is stored. The relation between the content of (GYR 0x23/25/27) high_dur_x/y/z and the actual delay of the interrupt generation is delay [ms] = [(GYR 0x23/25727) high_dur_x/y/z + 1] * 2.5 ms. Therefore, possible delay times range from 2.5 ms to 640 ms. 7.7.6.1 Axis and sign information of high-rate interrupt The axis which triggered the interrupt is indicated by bits (GYR 0x0C) high_first_x, (GYR 0x0C) high_first_y, and (GYR 0x0C) high_first_z. The bit corresponding to the triggering axis contains a ´1´ while the other bits hold a ´0´. These bits are cleared together with clearing the interrupt status. The sign of the triggering angular rate is stored in bit (GYR 0x0C) high_sign. If (GYR 0x0C) high_sign = ´1´ (´0´), the sign is positive (negative). 8 Register description gyroscope 8.1 General remarks The entire communication with the device is performed by reading from and writing to registers. Registers have a width of 8 bits; they are mapped to a common space of 64 addresses from (GYR 0x00) up to (GYR 0x3F). Within the used range there are several registers which are either completely or partially marked as ‘reserved’. Any reserved bit is ignored when it is written and no specific value is guaranteed when read. It is recommended not to use registers at all which are completely marked as ‘reserved’. Furthermore it is recommended to mask out (logical and with zero) reserved bits of registers which are partially marked as reserved. Registers with addresses from (GYR 0x00) up to (GYR 0x0E) are read-only. Any attempt to write to these registers is ignored. There are bits within some registers that trigger internal sequences. These bits are configured for write-only access, e. g. (GYR 0x21) reset_int or the entire (GYR 0x14) softreset register, and read as value ´0´. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet 8.2 Register Address 0x3F 0x3E 0x3D 0x3C 0x3B 0x3A 0x39 0x38 0x37 0x36 0x35 0x34 0x33 0x32 0x31 0x30 0x2F 0x2E 0x2D 0x2C 0x2B 0x2A 0x29 0x28 0x27 0x26 0x25 0x24 0x23 0x22 0x21 0x20 0x1F 0x1E 0x1D 0x1C 0x1B 0x1A 0x19 0x18 0x17 0x16 0x15 0x14 0x13 0x12 0x11 0x10 0x0F 0x0E 0x0D 0x0C 0x0B 0x0A 0x09 0x08 0x07 0x06 0x05 0x04 0x03 0x02 0x01 0x00 Page 92 Register map gyroscope bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 fifo_data[7] mode[1] tag fifo_data[6] mode[0] h2o_mrk_lvl_trig_ret[6] fifo_data[5] fifo_data[4] fifo_data[3] fifo_data[2] h2o_mrk_lvl_trig_ret[5] h2o_mrk_lvl_trig_ret[3] gp0[11] gp0[3] offset_z[11] offset_y[11] offset_x[11] offset_x[3] gp0[10] gp0[2] offset_z[10] offset_y[10] offset_x[10] offset_x[2] gp0[9] gp0[1] offset_z[9] offset_y[9] offset_x[9] offset_y[3] h2o_mrk_lvl_trig_ret[4] rate_ok gp0[8] gp0[0] offset_z[8] offset_y[8] offset_x[8] offset_y[2] gp0[7] offset_x[1] offset_z[7] offset_y[7] offset_x[7] offset_y[1] h2o_mrk_lvl_trig_ret[2] bist_fail gp0[6] offset_x[0] offset_z[6] offset_y[6] offset_x[6] offset_z[3] fifo_data[1] data_select[1] h2o_mrk_lvl_trig_ret[1] bist_rdy gp0[5] offset_y[0] offset_z[5] offset_y[5] offset_x[5] offset_z[2] fifo_data[0] data_select[0] h2o_mrk_lvl_trig_ret[0] trig_bist gp0[4] offset_z[0] offset_z[4] offset_y[4] offset_x[4] offset_z[1] Access Reset Value nvm_remain[3] auto_offset_wordlength[1] slow_offset_th[1] nvm_remain[2] auto_offset_wordlength[0] slow_offset_th[0] ext_fifo_sc_en nvm_remain[1] fast_offset_wordlength[1] slow_offset_dur[2] ext_fifo_s_sel nvm_remain[0] fast_offset_wordlength[0] slow_offset_dur[1] burst_same_en nvm_load fast_offset_en slow_offset_dur[0] i2c_wdt_en nvm_rdy fast_offset_en_z slow_offset_en_z i2c_wdt_sel nvm_prog_trig fast_offset_en_y slow_offset_en_y spi3 nvm_prog_mode fast_offset_en_x slow_offset_en_x high_dur_z[7] high_hy_z[1] high_dur_y[7] high_hy_y[1] high_dur_x[7] high_hy_x[1] reset_int high_dur_z[6] high_hy_z[0] high_dur_y[6] high_hy_y[0] high_dur_x[6] high_hy_x[0] offset_reset high_dur_z[5] high_th_z[4] high_dur_y[5] high_th_y[4] high_dur_x[5] high_th_x[4] high_dur_z[4] high_th_z[3] high_dur_y[4] high_th_y[3] high_dur_x[4] high_th_x[3] latch_status_bits high_dur_z[3] high_th_z[2] high_dur_y[3] high_th_y[2] high_dur_x[3] high_th_x[2] latch_int[3] high_dur_z[2] high_th_z[1] high_dur_y[2] high_th_y[1] high_dur_x[2] high_th_x[1] latch_int[2] high_dur_z[1] high_th_z[0] high_dur_y[1] high_th_y[0] high_dur_x[1] high_th_x[0] latch_int[1] high_dur_z[0] high_en_z high_dur_y[0] high_en_y high_dur_x[0] high_en_x latch_int[0] awake_dur[1] fast_offset_unfilt awake_dur[0] any_th[6] any_dursample[1] any_th[5] slow_offset_unfilt any_dursample[0] any_th[4] any_en_z any_th[2] any_en_x any_th[0] int2_data int2_fast_offset int2_fifo int2_auto_offset any_en_y any_th[1] any_unfilt_data int2_any int1_fast_offset int1_any int1_od softreset[1] softreset[0] autosleep_dur[1] sleep_dur[0] bw[1] range[1] frame_counter[1] autosleep_dur[0] frame_counter[3] autosleep_dur[2] sleep_dur[1] bw[2] range[2] frame_counter[2] bw[0] range[0] frame_counter[0] high_sign any_sign high_first_z any_first_z high_first_y any_first_y high_first_x any_first_x any_int high_int fifo_wm_en data_en softreset[7] data_high_bw fast_powerup suspend fifo_en softreset[6] shadow_dis power_save_mode Overrun data_int softreset[5] softreset[4] ext_trig_sel[1] deep_suspend ext_trig_sel[0] frame_counter[6] frame_counter[5] frame_counter[4] auto_offset_int fast_ofsset_int fifo_int any_th[3] high_unfilt_data int2_high int1_auto_offset int1_high int2_od softreset[3] sleep_dur[2] bw[3] int1_fifo int2_lvl auto_offset_en softreset[2] int1_data int1_lvl rate_z[15] rate_z[7] rate_y[15] rate_y[7] rate_x[15] rate_x[7] rate_z[14] rate_z[6] rate_y[14] rate_y[6] rate_x[14] rate_x[6] rate_z[13] rate_z[5] rate_y[13] rate_y[5] rate_x[13] rate_x[5] rate_z[12] rate_z[4] rate_y[12] rate_y[4] rate_x[12] rate_x[4] rate_z[11] rate_z[3] rate_y[11] rate_y[3] rate_x[11] rate_x[3] rate_z[10] rate_z[2] rate_y[10] rate_y[2] rate_x[10] rate_x[2] rate_z[9] rate_z[1] rate_y[9] rate_y[1] rate_x[9] rate_x[1] rate_z[8] rate_z[0] rate_y[8] rate_y[0] rate_x[8] rate_x[0] chip_id[7] chip_id[6] chip_id[5] chip_id[4] chip_id[3] chip_id[2] chip_id[1] chip_id[0] ro w/r w/r ro w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r w/r wo w/r w/r w/r w/r wo wo w/r w/r w/r w/r ro ro ro ro ro ro ro ro ro ro ro ro ro ro ro 0x00 0x00 0x00 N/A N/A N/A N/A N/A N/A N/A 0x00 0x00 0x00 0xC0 0x60 0xE8 0xE0 0x81 0x40 0x42 0x22 0xE8 0x19 0x24 0x19 0x02 0x19 0x02 0x19 0x02 0x00 0x00 0x28 0x08 0xC9 0xA0 0x04 0x00 0x00 0x00 0x00 0x0F 0x00 0x00 0x00 0x00 0x00 0x80 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x0F w/r write only read only res. future use common w/r registers: Application specific settings which are not equal to the default settings, must be re-set to its designated values after POR, soft-reset and wake up from deep suspend. user w/r registers: Initial default content = 0x00. Freely programmable by the user. Remains unchanged after POR, soft-reset and wake up from deep suspend. Figure 19: Register map gyroscope BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 93 GYR Register 0x00 (CHIP_ID) The register contains the chip identification code. Name Bit Read/Write Reset Value Content 0x00 7 R n/a Bit Read/Write Reset Value Content 3 R n/a chip_id: 6 R CHIP_ID 5 R 4 R n/a n/a n/a 2 R 1 R 0 R n/a n/a n/a chip_id chip_id Fixed value b’0000’1111 =0x0F GYR Register 0x01 is reserved GYR Register 0x02 (RATE_X_LSB) The register contains the least-significant bits of the X-channel angular rate readout value. When reading out X-channel angular rate values, data consistency is guaranteed if the RATE_X_LSB is read out before the RATE_X_MSB and shadow_dis=’0’. In this case, after the RATE_X_LSB has been read, the value in the RATE_X_MSB register is locked until the RATE_X_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Angular rate data may be read from register RATE_X_LSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x02 7 R n/a Bit Read/Write Reset Value Content 3 R n/a 6 R RATE_X_LSB 5 R 4 R n/a n/a n/a 2 R 1 R 0 R n/a n/a n/a rate_x_lsb rate_x_lsb rate_x_lsb: Least significant 8 bits of rate read-back value; (two’s-complement format) BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 94 GYR Register 0x03 (RATE_X_MSB) The register contains the most-significant bits of the X-channel angular rate readout value. When reading out X-channel angular rate values, data consistency is guaranteed if the RATE_X_LSB is read out before the RATE_X_MSB and shadow_dis=’0’. In this case, after the RATE_X_LSB has been read, the value in the RATE_X_MSB register is locked until the RATE_X_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Angular rate data may be read from register RATE_X_MSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x03 7 R 6 R RATE_X_MSB 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R 2 R 1 R 0 R n/a n/a n/a n/a rate_x_msb rate_x_msb rate_x_msb: Most significant 8 bits of rate read-back value (two’s-complement format) GYR Register 0x04 (RATE_Y_LSB) The register contains the least-significant bits of the Y-channel angular rate readout value. When reading out Y-channel angular rate values, data consistency is guaranteed if the RATE_Y_LSB is read out before the RATE_Y_MSB and shadow_dis=’0’. In this case, after the RATE_Y_LSB has been read, the value in the RATE_Y_MSB register is locked until the RATE_Y_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Angular rate data may be read from register RATE_Y_LSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x04 7 R n/a Bit Read/Write Reset Value Content 3 R n/a 6 R RATE_Y_LSB 5 R 4 R n/a n/a n/a 2 R 1 R 0 R n/a n/a n/a rate_y_lsb rate_y_lsb rate_y_lsb: Least significant 8 bits of rate read-back value; (two’s-complement format) BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 95 GYR Register 0x05 (RATE_Y_MSB) The register contains the most-significant bits of the Y-channel angular rate readout value. When reading out Y-channel angular rate values, data consistency is guaranteed if the RATE_Y_LSB is read out before the RATE_Y_MSB and shadow_dis=’0’. In this case, after the RATE_Y_LSB has been read, the value in the RATE_Y_MSB register is locked until the RATE_Y_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Angular rate data may be read from register RATE_Y_MSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x05 7 R 6 R RATE_Y_MSB 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R 2 R 1 R 0 R n/a n/a n/a n/a rate_y_msb rate_y_msb rate_y_msb: Most significant 8 bits of rate read-back value (two’s-complement format) GYR Register 0x06 (RATE_Z_LSB) The register contains the least-significant bits of the Z-channel angular rate readout value. When reading out Z-channel angular rate values, data consistency is guaranteed if the RATE_Z_LSB is read out before the RATE_Z_MSB and shadow_dis=’0’. In this case, after the RATE_Z_LSB has been read, the value in the RATE_Z_MSB register is locked until the RATE_Z_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Angular rate data may be read from register RATE_Z_LSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x06 7 R n/a Bit Read/Write Reset Value Content 3 R n/a 6 R RATE_Z_LSB 5 R 4 R n/a n/a n/a 2 R 1 R 0 R n/a n/a n/a rate_z_lsb rate_z_lsb rate_z_lsb: Least significant 8 bits of rate read-back value; (two’s-complement format) BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 96 GYR Register 0x07 (RATE_Z_MSB) The register contains the most-significant bits of the Z-channel angular rate readout value. When reading out Z-channel angular rate values, data consistency is guaranteed if the RATE_Z_LSB is read out before the RATE_Z_MSB and shadow_dis=’0’. In this case, after the RATE_Z_LSB has been read, the value in the RATE_Z_MSB register is locked until the RATE_Z_MSB has been read. This condition is inherently fulfilled if a burst-mode read access is performed. Angular rate data may be read from register RATE_Z_MSB at any time except during power-up and in DEEP_SUSPEND mode. Name Bit Read/Write Reset Value Content 0x07 7 R 6 R RATE_Z_MSB 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R 2 R 1 R 0 R n/a n/a n/a n/a rate_z_msb rate_z_msb rate_z_msb: Most significant 8 bits of rate read-back value (two’s-complement format) GYR Register 0x08 reserved GYR Register 0x09 (INT_STATUS_0) The register contains interrupt status bits. Name Bit Read/Write Reset Value Content 0x09 7 R n/a Bit Read/Write Reset Value Content 3 R any_int: high_int: 6 R INT_STATUS_0 5 R 4 R n/a n/a n/a 2 R 1 R 0 R n/a n/a n/a n/a reserved any_int high_int reserved reserved Any motion interrupt status High rate interrupt status BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 97 GYR Register 0x0A (INT_STATUS_1) The register contains interrupt status bits. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content data_int: auto_offset_int: fast_offset_int: fifo_int: 0x0A 7 R 6 R INT_STATUS_1 5 R 4 R n/a n/a n/a n/a data_int auto_offset_int fast_offset_int fifo_int 3 R 2 R 1 R 0 R n/a n/a n/a n/a reserved New data interrupt status Auto Offset interrupt status Fast Offset interrupt status Fifo interrupt status GYR Register 0x0B (INT_STATUS_2) The register contains any motion interrupt status bits, Name Bit Read/Write Reset Value Content 0x0B 7 R 6 R INT_STATUS_2 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R 2 R 1 R 0 R n/a n/a n/a n/a any_sign any_first_z any_first_y any_first_x any_sign: any_first_z: any_first_y: any_first_x: reserved sign of any motion interrupt (‘1’= positive, ‘0’=negative) ‘1’ indicates that z-axis is triggering axis of any motion interrupt ‘1’ indicates that y-axis is triggering axis of any motion interrupt ‘1’ indicates that z-axis is triggering axis of any motion interrupt GYR Register 0x0C (INT_STATUS_3) The register contains high rate interrupt status bits. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Name Bit Read/Write Reset Value Content 0x0C 7 R n/a Bit Read/Write Reset Value Content 3 R high_sign: high_first_z: high_first_y: high_first_x: Page 98 6 R INT_STATUS_3 5 R 4 R n/a n/a n/a 2 R 1 R 0 R n/a n/a n/a n/a high_sign high_first_z high_first_y high_first_x reserved sign of high rate interrupt (‘1’= positive, ‘0’=negative) ‘1’ indicates that z-axis is triggering axis of high rate interrupt ‘1’ indicates that y-axis is triggering axis of high rate interrupt ‘1’ indicates that z-axis is triggering axis of high rate interrupt GYR Register 0x0D is reserved GYR Register 0x0E (FIFO_STATUS) The register contains FIFO status flags. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content fifo_overrun: 0x0E 7 R n/a 6 R FIFO_STATUS 5 R 4 R n/a n/a n/a fifo_overrun fifo_frame_counter 3 R 2 R 1 R 0 R n/a n/a n/a n/a fifo_frame_counter FIFO overrun condition has ‘1’  occurred, or ‘0’not occurred; flag can be cleared by writing to the FIFO configuration register FIFO_CONFIG_1 only fifo_frame_counter: Current fill level of FIFO buffer. An empty FIFO corresponds to 0x00. The frame counter can be cleared by reading out all frames from the FIFO buffer or writing to the FIFO configuration register FIFO_CONFIG_1. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 99 GYR Register 0x0F (RANGE) The gyroscope supports four different angular rate measurement ranges. A measurement range is selected by setting the (0x0F) range bits as follows: Name Bit Read/Write Reset Value Content 0x0F 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 0 6 R/W RANGE 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 0 0 0 reserved 0 reserved range range: Angular Rate Range and Resolution. Table 29: Angular Rate Range and Resolution range ‘000’ ‘001’ ‘010’ ‘011’ ‘100’ ‘101’, ´110´, ´111´ reserved: Full Scale ±2000°/s ±1000°/s ±500°/s ±250°/s ±125°/s reserved Resolution 16.4 LSB/°/s  61.0 m°/s / LSB 32.8 LSB/°/s  30.5 m°/s / LSB 65.6 LSB/°/s  15.3 m°/s / LSB 131.2 LSB/°/s  7.6 m°/s / LSB 262.4 LSB/°/s  3.8m°/s / LSB write ‘0’ GYR Register 0x10 (BW) The register allows the selection of the rate data filter bandwidth. Name Bit Read/Write Reset Value Content 0x10 7 R 1 Bit Read/Write Reset Value Content 3 R/W 0 6 R/W BW 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 0 0 0 reserved 0 BST-BMX055-DS000-02 | Revision 1.1 | November 2014 bw Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 100 bw: Table 30: Gyroscope Output data rate and filter bandwidth 0x10 bits Decimation Factor ODR Filter Bandwidth ‘0111’ 20 100 Hz 32 Hz ‘0110’ 10 200 Hz 64 Hz ‘0101’ 20 100 Hz 12 Hz ‘0100’ 10 200 Hz 23 Hz ‘0011’ 5 400 Hz 47 Hz ‘0010’ 2 1000 Hz 116 Hz ‘0001’ 0 2000 Hz 230 Hz ‘0000’ 0 2000 Hz Unfiltered (523Hz) ‘1xxx’ Unused / Reserved Unused / Reserved Unused / Reserved reserved: write ‘0 GYR Register 0x11 (LPM1) Selection of the main power modes. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 0x11 7 R/W 6 R/W LPM1 5 R/W 4 R/W 0 0 0 0 suspend reserved deep_suspend reserved 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 sleep_dur[2] sleep_dur[1] sleep_dur[0] reserved suspend, deep_suspend: Main power mode configuration setting {suspend; deep_suspend}: {0; 0}  NORMAL mode; {0; 1}  DEEP_SUSPEND mode; {1; 0}  SUSPEND mode; {all other}  illegal Please note that only certain power mode transitions are permitted. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 101 Please note, that all application specific settings which are not equal to the default settings (refer to 8.2 register map gyroscope), must be re-set to its designated values after DEEP_SUSPEND. sleep_dur: time in ms in fast-power-up mode under advanced power-saving mode. Table 31: Sleep duration time gyroscope sleep_dur ‘000’ ‘001’ ‘010’ ‘011’ ‘100’ ‘101’ ‘110’ ‘111’ reserved: Time (ms) 2 ms 4 ms 5 ms 8 ms 10 ms 15 ms 18 ms 20 ms write ‘0’ GYR Register 0x12 (LPM2) Configuration settings for fast power-up and external trigger. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content fast powerup: 0x12 7 R/W LPM2 5 R/W 6 R/W 0 0 0 0 fast_powerup power_save_mode ext_trig_sel[1] ext_trig_sel[0] 4 R/W 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 reserved autosleep_dur[2] autosleep_dur[1] autosleep_dur[0] 1  Drive stays active for suspend mode in order to have a short wake-up time….. 0  Drive is switched off for suspend mode BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 102 ext_trig_sel: Table 32: external trigger gyroscope ext_trig_sel ‘00’ ‘01’ ‘10’ ‘11’ Trigger source No INT1 pin INT2 pin SDO pin (SPI3 mode) autosleep: time in ms in normal mode under advanced power-saving mode. Table 33: Autosleep duration gyroscope autosleep_dur ‘000’ ‘001’ ‘010’ ‘011’ ‘100’ ‘101’ ‘110’ ‘111’ reserved: Time (ms) Not allowed 4 ms 5 ms 8 ms 10 ms 15 ms 20 ms 40 ms write ‘0’ GYR Register 0x13 (RATE_HBW) Angular rate data acquisition and data output format. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content data_high_bw: shadow_dis: 0x13 7 R/W RATE_HBW 5 R/W 4 R/W 0 0 data_high_bw 6 R/W 0 (1 in 8-bit mode) shadow_dis 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 0 reserved reserved select whether ‘1´ unfiltered, or ‘0’ filtered data may be read from the rate data registers. ‘1´ disable, or ‘0’ the shadowing mechanism for the rate data output registers. When shadowing is enabled, the content of the rate data BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet reserved: Page 103 component in the MSB register is locked, when the component in the LSB is read, thereby ensuring the integrity of the rate data during read-out. The lock is removed when the MSB is read. write ‘0’ GYR Register 0x14 (BGW_SOFTRESET) Controls user triggered reset of the sensor. Name Bit Read/Write Reset Value Content 0x14 7 W 6 W BGW_SOFTRESET 5 W 4 W 0 0 0 0 Bit Read/Write Reset Value Content 3 W 2 W 1 W 0 W 0 0 0 0 softreset: softreset softreset 0xB6  trigger a reset. Other values are ignored. Following a delay, all user configuration settings are overwritten with their default state or the setting stored in the NVM, wherever applicable. This register is functional in all operation modes. Please note, that all application specific settings which are not equal to the default settings (refer to 8.2 register map gyroscope), must be re-set to its designated values. GYR Register 0x15 (INT_EN_0) Controls which interrupts are enabled. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content data_en: fifo_en : auto_offset_en: 0x15 7 R/W 6 R/W INT_EN_0 5 R/W 4 R/W 0 0 0 0 data_en fifo_en 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 auto_offset_en reserved reserved reserved ‘1’ (‘0’) enables (disables) new data interrupt ‘1’ (‘0’) enables (disables) fifo interrupt ‘1’ (‘0’) enables (disables) auto-offset compensation BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet reserved: Page 104 write ‘0’ GYR Register 0x16 (INT_EN_1) Contains interrupt pin configurations. Name Bit Read/Write Reset Value Content 0x16 7 R/W 6 R/W INT_EN_1 5 R/W 4 R/W 0 0 0 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 1 1 1 1 int2_od int2_lvl int1_od int1_lvl int2_od: int2_lvl: int1_od: int1_lvl: reserved: reserved ‘0’ (‘1’) selects push-pull, ‘1’ selects open drive for INT4 ‘0’ (‘1’) selects active level ‘0’ (‘1’) for INT4 ‘0’ (‘1’) selects push-pull, ‘1’ selects open drive for INT3 ‘0’ (‘1’) selects active level ‘0’ (‘1’) for INT3 write ‘0’ GYR Register 0x17 (INT_MAP_0) Controls which interrupt signals are mapped to the INT3 pin. Name Bit Read/Write Reset Value Content 0x17 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W int1_high: int1_any: reserved: 6 R/W INT_MAP_0 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 0 0 0 0 int1_high reserved int1_any reserved reserved map high rate interrupt to INT3 pin: ‘0’  disabled, or ‘1’  enabled map Any-Motion to INT3 pin: ‘0’  disabled, or ‘1’  enabled write ‘0’ GYR Register 0x18 (INT_MAP_1) Controls which interrupt signals are mapped to the INT3 pin and INT4 pin. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 6 R/W INT_MAP_1 5 R/W 4 R/W 0 0 0 0 int2_data int2_fast_offset int2_fifo int2_auto_offset 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 Int1_auto_offset int1_fifo int1_fast_offset int1_data int2_data: int2_fast_offset: int2_fifo: int2_auto_offset: int1_auto_offset: int1_fifo: int1_fast_offset: int1_data: 0x1B 7 R/W Page 105 map new data interrupt to INT4 pin: ‘0’  disabled, or ‘1’  enabled map FastOffset interrupt to INT4 pin: ‘0’  disabled, or ‘1’  enabled map Fifo interrupt to INT4 pin: ‘0’  disabled, or ‘1’ enabled map AutoOffset tap interrupt to INT4 pin: ‘0’  disabled, or ‘1’  enabled map AutoOffset tap interrupt to INT3 pin: ‘0’  disabled, or ‘1’  enabled map Fifo interrupt to INT3 pin: ‘0’  disabled, or ‘1’  enabled map FastOffset interrupt to INT3 pin: ‘0’  disabled, or ‘1’  enabled map new data interrupt to INT3 pin: ‘0’  disabled, or ‘1’  enabled GYR Register 0x19 (INT_MAP_2) Controls which interrupt signals are mapped to the INT4 pin. Name Bit Read/Write Reset Value Content 0x19 7 R/W 6 R/W INT_MAP_2 5 R/W 4 R/W 0 0 0 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 Int2_high reserved Int2_any reserved Int2_high: Int2_any: reserved: reserved map high rate interrupt to INT4 pin: ‘0’  disabled, or ‘1’  enabled map Any-Motion to INT4 pin: ‘0’  disabled, or ‘1’  enabled write ‘0’ BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 106 GYR Register 0x1A Contains the data source definition of those interrupts with selectable data source. Name Bit Read/Write Reset Value Content 0x1A 7 R/W 6 R/W 5 R/W 4 R/W 0 0 0 0 slow_offset_unfilt reserved Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 high_unfilt_data reserved any_unfilt_data reserved reserved slow_offset_unfilt: ‘1’ (‘0’) seletects unfiltered (filtered) data for slow offset compensation high_unfilt_data: ‘1’ (‘0’) seletects unfiltered (filtered) data for high rate interrupt any_unfilt_data: ‘1’ (‘0’) seletects unfiltered (filtered) data for any motion interrupt reserved: write ‘0’ GYR Register 0x1B Contains the data source definition of fast offset compensation and the any motion threshold. Name Bit Read/Write Reset Value Content 0x1B 7 R/W 6 R/W 5 R/W 4 R/W 0 0 0 0 fast_offset_unfilt Bit Read/Write Reset Value Content any_th 3 R/W 2 R/W 1 R/W 0 R/W 0 1 0 0 any_th fast_offset_unfilt: ‘1’ (‘0’) selects unfiltered (filtered) data for fast offset compensation any_th: any_th = (1 + any_th(register value)) * 16 LSB The any_th scales with the range setting GYR Register 0x1C Name Bit Read/Write 0x1C 7 R/W BST-BMX055-DS000-02 | Revision 1.1 | November 2014 6 R/W 5 R/W 4 R/W Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Reset Value Content Bit Read/Write Reset Value Content awake_dur: any_dursample: any_en_z: any_en_y: any_en_x: reserved: 1 0 Page 107 1 awake_dur 0 any_dursample 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 reserved any_en_z any_en_y any_en_x 0=8 samples, 1=16 samples, 2=32 samples, 3=64 samples 0=4 samples, 1=8 samples, 2=12 samples, 3=16 samples ‘1’ (‘0’) enables (disables) any motion interrupt for z-axis ‘1’ (‘0’) enables (disables) any motion interrupt for y-axis ‘1’ (‘0’) enables (disables) any motion interrupt for z-axis If one of the bits any_x/y/z is enabled, the any motion interrupt is enabled write ‘0’ GYR Register 0x1D is reserved. GYR Register 0x1E Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content fifo_wm_en: reserved: 0x1E 7 R/W 6 R/W 5 R/W 4 R/W 1 0 0 0 fifo_wm_en reserved 3 R/W 2 R/W 1 R/W 0 R/W 1 0 0 0 reserved ‘1’ (‘0’) enables (disables) fifo water mark level interrupt write ‘0’ GYR Register 0x1F and 0x20 are reserved BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 108 GYR Register 0x21 (INT_RST_LATCH) Contains the interrupt reset bit and the interrupt mode selection. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content reset_int: offset_reset: latch_int: reserved: 0x21 7 W 6 R/W INT_RST_LATCH 5 R/W 4 R/W 0 0 0 0 reset_int offset_reset reserved latch_status_bit 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 latch_int write ‘1’  clear any latched interrupts, or ‘0’  keep latched interrupts active write ‘1’  resets internal interrupt status of each interrupt write ‘1’  resets the Offset value calculated with FastOffset, SlowOffset & AutoOffset ´0000b´  non-latched, ´0001b´  temporary, 250 ms, ´0010b´  temporary, 500 ms, ´0011b´  temporary, 1 s, ´0100b´  temporary, 2 s, ´0101b´  temporary, 4 s, ´0110b´  temporary, 8 s, ´0111b´  latched, ´1000b´  non-latched, ´1001b´  temporary, 250 s, ´1010b´  temporary, 500 s, ´1011b´  temporary, 1 ms, ´1100b´  temporary, 12.5 ms, ´1101b´  temporary, 25 ms, ´1110b´  temporary, 50 ms, ´1111b´  latched write ‘0’ GYR Register 0x22 (High_Th_x) Contains the high rate threshold and high rate hysteresis setting for the x-axis Name Bit Read/Write Reset Value Content 0x22 7 R/W 0 6 R/W High_Th_x 5 R/W 4 R/W 0 0 0 high_hy_x BST-BMX055-DS000-02 | Revision 1.1 | November 2014 high_th_x Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Bit Read/Write Reset Value Content high_hy_x: high_th_x high_en_x Page 109 3 R/W 2 R/W 1 R/W 0 R/W 0 0 1 0 high_th_x high_en_x high_hy_x = (255 + 256 * high_hy_x(register value)) *4 LSB The high_hy_x scales with the range setting high_th_x = (255 + 256 * high_th_x(register value)) *4 LSB The high_th_x scales with the range setting ‘1’ (‘0’) enables (disables) high rate interrupt for x-axis GYR Register 0x23 (High_Dur_x) Contains high rate duration setting for the x-axis. Name Bit Read/Write Reset Value Content 0x23 7 R/W 0 Bit Read/Write Reset Value Content high_dur_x: 6 R/W High_Dur_x 5 R/W 4 R/W 0 0 1 3 R/W 2 R/W 1 R/W 0 R/W 1 0 0 1 high_dur_x high_dur_x high_dur time_x = (1 + high_dur_x(register value))*2.5ms GYR Register 0x24 (High_Th_y) Contains the high rate threshold and high rate hysteresis setting for the y-axis. Name Bit Read/Write Reset Value Content 0x24 7 R/W 0 6 R/W High_Th_y 5 R/W 4 R/W 0 0 0 high_hy_y BST-BMX055-DS000-02 | Revision 1.1 | November 2014 high_th_y Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Bit Read/Write Reset Value Content high_hy_y: high_th_y high_en_y Page 110 3 R/W 2 R/W 1 R/W 0 R/W 0 0 1 0 high_th_y high_en_y high_hy_y = (255 + 256 * high_hy_y(register value)) *4 LSB The high_hy_y scales with the range setting high_th_x = (255 + 256 * high_th_y(register value)) *4 LSB The high_th_y scales with the range setting ‘1’ (‘0’) enables (disables) high rate interrupt for y-axis GYR Register 0x25 (High_Dur_y) Contains high rate duration setting for the x-axis. Name Bit Read/Write Reset Value Content 0x25 7 R/W 0 Bit Read/Write Reset Value Content high_dur_y: 6 R/W High_Dur_y 5 R/W 4 R/W 0 0 1 3 R/W 2 R/W 1 R/W 0 R/W 1 0 0 1 high_dur_y high_dur_y high_dur time_y = (1 + high_dur_y(register value))*2.5ms GYR Register 0x26 (High_Th_z) Contains the high rate threshold and high rate hysteresis setting for the z-axis. Name Bit Read/Write Reset Value Content 0x26 7 R/W 6 R/W High_Th_z 5 R/W 4 R/W 0 0 0 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 1 0 high_hy_z BST-BMX055-DS000-02 | Revision 1.1 | November 2014 high_th_z high_th_z high_en_z Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet high_hy_z: Page 111 high_hy_z = (255 + 256 * high_hx_z(register value)) *4 LSB The high_hy_x scales with the range setting high_th_z = (255 + 256 * high_th_z(register value)) *4 LSB The high_th_z scales with the range setting ‘1’ (‘0’) enables (disables) high rate interrupt for z-axis high_th_z high_en_z GYR Register 0x27 (High_Dur_z) Contains high rate duration setting for the z-axis. Name Bit Read/Write Reset Value Content 0x27 7 R/W 6 R/W High_dur_z 5 R/W 4 R/W 0 0 0 1 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 1 0 0 1 high_dur_z high_dur_z high_dur_z: high_dur time_z = (1 + high_dur_z(register value))*2.5ms GYR Register 0x28 to 0x30 are reserved GYR Register 0x31 (SOC) Contains the slow offset cancellation setting. Name Bit Read/Write Reset Value Content 0x31 7 R/W 0 Bit Read/Write Reset Value 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 Slow_offset_dur slow_offset_en_z slow_offset_en_y slow_offset_en_x Content 6 R/W SOC 5 R/W 4 R/W 1 1 0 Slow_offset_th Slow_offset_th: Slow_offset_dur: Slow_offset_dur 0=0.1°/s, 1=0.2°/s, 2=0.5°/s, 3=1°/s 0=40ms, 1=80ms, 2=160ms, 3=320ms, 4=640ms, 5=1280ms, BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet slow_offset_en_z: slow_offset_en_y: slow_offset_en_x: Page 112 6 and 7=unused ‘1’ (‘0’) enables (disables) slow offset compensation for z-axis ‘1’ (‘0’) enables (disables) slow offset compensation for y-axis ‘1’ (‘0’) enables (disables) slow offset compensation for x-axis GYR Register 0x32 (A_FOC) Contains the fast offset cancellation setting. Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 0x32 7 R/W 1 6 R/W A_FOC 5 R/W 4 R/W 1 0 0 auto_offset_wordlength fast_offset_wordlength 3 R 2 R/W 1 R/W 0 R/W 0 0 0 0 fast_offset_en fast_offset_en_z fast_offset_en_y fast_offset_en_x auto_offset_wordlength: fast_offset_wordlength: fast_offset_en: fast_offset_en_z: fast _offset_en_y: fast _offset_en_x: 0=32 samples, 1=64 samples, 2=128 samples, 3=256 samples 0=32 samples, 1=64 samples, 2=128 samples, 3=256 samples write ‘1’  triggers the fast offset compensation for the enabled axes ‘1’ (‘0’) enables (disables) fast offset compensation for z-axis ‘1’ (‘0’) enables (disables) fast offset compensation for y-axis ‘1’ (‘0’) enables (disables) fast offset compensation for x-axis GYR Register 0x33 (TRIM_NVM_CTRL) Contains the control settings for the few-time programmable non-volatile memory (NVM). Name Bit Read/Write Reset Value Content 0x33 7 R 6 R TRIM_NVM_CTRL 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R/W 2 R 1 W 0 R/W 0 n/a 0 0 nvm_load nvm_rdy nvm_prog_trig nvm_prog_mode nvm_remain BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 113 nvm_remain: number of remaining write cycles permitted for NVM; the number is decremented each time a write to the NVM is triggered nvm_load: ´1´  trigger, or ‘0’  do not trigger an update of all configuration registers from NVM; the nvm_rdy flag must be ‘1’ prior to triggering the update nvm_rdy: status of NVM controller: ´0´  NVM write / NVM update operation is in progress, ´1´  NVM is ready to accept a new write or update trigger nvm_prog_trig: ‘1’  trigger, or ‘0’ do not trigger an NVM write operation; the trigger is only accepted if the NVM was unlocked before and nvm_remain is greater than ‘0’; flag nvm_rdy must be ‘1’ prior to triggering the write cycle nvm_prog_mode: ‘1’  unlock, or ‘0’  lock NVM write operation GYR Register 0x34 (BGW_SPI3_WDT) Contains settings for the digital interfaces. Name Bit Read/Write Reset Value Content 0x34 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W ext_fifo_s_en: ext_fifo_s_sel: reserved: i2c_wdt_en: i2c_wdt_sel: spi3: 6 R/W BGW_SPI3_WDT 5 R/W 4 R/W 0 0 0 ext_fifo_s_en ext_fifo_s_sel 2 R/W 1 R/W 0 R/W 0 0 0 0 reserved i2c_wdt_en i2c_wdt_sel spi3 reserved enables external FIFO synchronization mode, ‘1’  enable, ‘0’  disable selects source for external FIFO synchronization ‘1’  source = INT4 ‘0’  source = INT3 write ‘0’ if I²C interface mode is selected then ‘1´  enable, or ‘0’  disables the watchdog at the SDI pin (= SDA for I²C) select an I²C watchdog timer period of ‘0’  1 ms, or ‘1’  50 ms select ´0´  4-wire SPI, or ´1´  3-wire SPI mode GYR Register 0x35 is reserved BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 114 GYR Register 0x36 (OFC1) Contains offset compensation values. Name Bit Read/Write Reset Value Content 0x36 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 offset_x: offset_y: offset_z: 6 R/W OFC1 5 R/W 4 R/W 0 0 0 offset_x offset_y offset_y offset_z setting of offset calibration values X-channel setting of offset calibration values Y-channel setting of offset calibration values Z-channel GYR Register 0x37 (OFC2) Contains offset compensation values for X-channel. Name Bit Read/Write Reset Value Content 0x37 7 R/W 6 R/W OFC2 5 R/W 4 R/W 0 0 0 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 offset_x : offset_x offset_x offset value, which is subtracted from the internal filtered and unfiltered xaxis data; please refer to the following table for the scaling of the offset register; the content of the offset_x may be written to the NVM; it is automatically restored from the NVM after each power-on or softreset; offset_x may be written directly by the user. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 115 Table 34: Scaling of the offset register gyroscope Original readout value 0 ˚/s 0 ˚/s 0 ˚/s Value in offset register 2047 0 -2048 Compensated readout value -124.94 ˚/s 0 ˚/s 125 ˚/s GYR Register 0x38 (OFC3) Contains offset compensation values for Y-channel. Name Bit Read/Write Reset Value Content 0x38 7 R/W 6 R/W OFC3 5 R/W 4 R/W 0 0 0 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 offset_y : offset_y offset_y offset value, which is subtracted from the internal filtered and unfiltered yaxis data; please refer Table 34 for the scaling of the offset register; the content of the offset_y may be written to the NVM; it is automatically restored from the NVM after each power-on or softreset; offset_y may be written directly by the user. For reference see example at GYR Register 0x38 (OFC2) GYR Register 0x39 (OFC4) Contains offset compensation values for Z-channel. Name Bit Read/Write Reset Value Content 0x39 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 0 offset_z : 6 R/W OFC4 5 R/W 4 R/W 0 0 0 2 R/W 1 R/W 0 R/W 0 0 0 offset_z offset_z offset value, which is subtracted from the internal filtered and unfiltered zaxis data; please Table 34 for the scaling of the offset register; the content of BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 116 the offset_z may be written to the NVM; it is automatically restored from the NVM after each power-on or softreset; offset_z may be written directly by the user. For reference see example at GYR Register 0x38 (OFC2) GYR Register 0x3A (TRIM_GP0) Contains general purpose data register with NVM back-up. Name Bit Read/Write Reset Value Content 0x3A 7 R/W X Bit Read/Write Reset Value Content 3 R/W X GP0: offset_x: offset_y: offset_z 6 R/W TRIM_GP0 5 R/W 4 R/W X X X 2 R/W 1 R/W 0 R/W X X X offset_y offset_z GP0 offset_x general purpose NVM image register not linked to any sensor-specific functionality; register may be written to NVM and is restored after each power-up or software reset setting of offset calibration values X-channel setting of offset calibration values Y-channel setting of offset calibration values Z-channel GYR Register 0x3B (TRIM_GP1) Contains general purpose data register with NVM back-up. Name Bit Read/Write Reset Value Content 0x3B 7 R/W X Bit Read/Write Reset Value Content 3 R/W X GP1: 6 R/W TRIM_GP1 5 R/W 4 R/W X X X 2 R/W 1 R/W 0 R/W X X X GP1 GP1 general purpose NVM image register not linked to any sensor-specific functionality; register may be written to NVM and is restored after each power-up or software reset BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 117 GYR Register 0x3C (BIST) Contains Built in Self-Test (BIST) possibilities: Name Bit Read/Write Reset Value Content Bit Read/Write Reset Value Content 0x3C 7 R/W 0 reserved 3 R/W 6 R/W BIST 5 R/W 4 R/W 0 0 0 reserved 2 R/W 0 reserved reserved 1 R/W 0 0 bist_fail bist_rdy rate_ok 0 R 0 trig_bist Rate ok: ´1´ indicates proper sensor function, no trigger is needed for this Trig_bist: Bist_rdy: write ´1´ in order to perform the bist test if bist_rdy is `1` and bist_fail is ´0´ result of bist test is ok means “sensor ok” If bist_rdy is `1` and bist_fail is ´1´ result of bist test is not ok means “sensor values not in expected range” GYR Register 0x3D (FIFO_CONFIG_0) Contains the FIFO watermark level. Name Bit Read/Write Reset Value Content 0x3D 7 R/W 6 R/W FIFO_CONFIG_0 5 R/W 4 R/W n/a n/a 0 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 tag: tag fifo_water_mark_level_trigger_retain fifo_water_mark_level_trigger_retain ‘1’ (‘0’) enables (disables) fifo tag (interrupt) Table 35: FIFO watermark level configuration Address: 0x3D bit 7 tag Interrupt data stored in FIFO ‘0’ Default) Do not collect Interrupts ‘1’ collect Interrupts BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 118 fifo_water_mark_level_trigger_retain: fifo_water_mark_level_trigger_retain defines the FIFO watermark level. An interrupt will be generated, when the number of entries in the FIFO exceeds fifo_water_mark_level_trigger_retain; GYR Register 0x3E (FIFO_CONFIG_1) Register 0x3 contains FIFO configuration settings. The FIFO buffer memory is cleared and the fifo-full flag is cleared when writing to FIFO_CONFIG_1 register. Name Bit Read/Write Reset Value Content 0x3E 7 R/W 0 Bit Read/Write Reset Value Content 3 R/W 2 R/W 1 R/W 0 R/W 0 0 0 0 fifo_mode: 6 R/W FIFO_CONFIG_1 5 R/W 4 R/W 0 0 0 fifo_mode Reserved Reserved fifo_data_select selects the FIFO operating mode: ´00b´  BYPASS (buffer depth of 1 frame; old data is discarded), ´01b´  FIFO (data collection stops when buffer is filled with 100 frames), ´10b´  STREAM (sampling continues when buffer is full; old is discarded), ´11b´  reserved, do not use fifo_data_select: Table 36: Gyroscope FIFO data selection Address: 0x3E bits data_select ‘00’ (Default) ‘01’ ‘10’ ‘11’ reserved: data of axis stored in FIFO X,Y,Z X only Y only Z only write ‘0’ GYR Register 0x3F (FIFO_DATA) FIFO data readout register. The format of the LSB and MSB components corresponds to that of the angular rate data readout registers.. Read burst access may be used since the address counter will not increment when the read burst is started at the address of FIFO_DATA. The entire frame is discarded when a frame is only partially read out. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 119 Name Bit Read/Write Reset Value Content 0x3F 7 R 6 R FIFO_DATA 5 R 4 R n/a n/a n/a n/a Bit Read/Write Reset Value Content 3 R 2 R 1 R 0 R n/a n/a n/a n/a fifo_data_output_register fifo_data_output_register fifo_data_output_register: FIFO data readout; data format depends on the setting of register fifo_data_select: if X+Y+Z data are selected, the data of frame n is reading out in the order of X-lsb(n), X-msb(n), Y-lsb(n), Y-msb(n), Z-lsb(n), Z-msb(n); if X-only is selected, the data of frame n and n+1 are reading out in the order of X-lsb(n), X-msb(n), X-lsb(n+1), X-msb(n+1); the Y-only and Z-only modes behave analogously BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 120 9 Functional description magnetometer 9.1 Magnetometer power management The device contains a power on reset (POR) generator. It resets the logic part and the register values of the concerned ASIC after powering-on VDD and VDDIO. Please note, that all application specific settings which are not equal to the default settings (refer to register maps chapter 10 and chapter 10.2), must be re-set to its designated values after POR. 9.2 Magnetometer power modes The magnetometer features configurable power modes. It has four power modes: In the following chapters, power modes are described. 9.2.1 Power off mode In Power off mode, VDD and/or VDDIO are unpowered and the device does not operate. When only one of VDD or VDDIO is supplied, the magnetic sensor will still be in Power off mode. Power on reset is performed after both VDD and VDDIO have risen above their detection thresholds. 9.2.2 Suspend mode Suspend mode is the default power mode of magnetometer after the chip is powered. When VDD and VDDIO are turned on the POR (power on reset) circuits operate and the device’s registers are initialized. After POR becomes inactive, a start up sequence is executed. In this sequence NVM content is downloaded to shadow registers located in the device core. After the start up sequence the device is put in the Suspend mode. In this mode only registers which store power control bit information and SPI3 wire enable can be accessed by the user. No other registers can be accessed in Suspend mode. All registers lose their content, except the control register (0x4B). In particular, in this mode a Chip ID read (register 0x40) returns “0x00” (I²C) or high-Z (SPI). 9.2.3 Sleep mode The user puts device from suspend into Sleep mode by setting the Power bit to “1”, or from active modes (normal or forced) by setting OpMode bits to “11”. In this state the user has full access to the device registers. In particular, the Chip ID can be read. Setting the power control bit to “0” (register 0x4B bit0) will bring the device back into Suspend mode. From the Sleep mode the user can put the device back into Suspend mode or into Active mode. 9.2.4 Active mode The device can switch into Active mode from Sleep mode by setting OpMode bits (register 0x4C). In this mode the magnetic field measurements are performed and all registers are accessible. In active mode, two operation modes can be distinguished:  Normal mode: selected channels are periodically measured according to settings set in user registers. After measurements are completed, output data is put into data registers and the device waits for the next measurement period, which is set by programmed output data rate (ODR). From normal mode, the user can return to sleep mode by setting OpMode to “11” or by performing a soft reset (see chapter 10.6). Suspend mode can be entered by setting power control bit to “0”.  Forced mode (single measurement): When set by the host, the selected channels are measured according to settings programmed in user registers. After measurements are completed, output data is put into data registers, OpMode register value returns to “11” and the device returns to sleep mode. The forced mode is useful to achieve BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 121 synchronized operation between host microcontroller and magnetometer. Also, different data output rates from the ones selectable in normal mode can be achieved using forced mode. Figure 20: Magnetometer power mode transition diagram In Active Mode and normal operation, in principle any desired balance between output noise and active time (hence power consumption) can be adjusted by the repetition settings for x/yaxis and z-axis and the output data rate ODR. The average power consumption depends on the ratio of high current phase time (during data acquisition) and low current phase time (between data acquisitions). Hence, the more repetitions are acquired to generate one magnetic field data point, the longer the active time ratio in one sample phase, and the higher the average current. Thanks to longer internal averaging, the noise level of the output data reduces with increasing number of repetitions. By using forced mode, it is possible to trigger new measurements at any rate. The user can therefore trigger measurements in a shorter interval than it takes for a measurement cycle to complete. If a measurement cycle is not allowed to complete, the resulting data will not be written into the data registers. To prevent this, the manually triggered measurement intervals must not be shorter than the active measurement time which is a function of the selected number of repetitions. The maximum selectable read-out frequency in forced mode can be calculated as follows: f max,ODR  1 145µs  nXY  500µs  nZ  980µs Hereby nXY is the number of repetitions on X/Y-axis (not the register value) and nZ the number of repetitions on Z-axis (not the register value) (see description of REPXY and REPZ registers in chapter 10.8). Although the repetition numbers for X/Y and Z axis and the ODR can be adjusted independently and in a wide range, there are four recommended presets (High accuracy preset, Enhanced BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 122 regular preset, Regular preset, Low power preset) which reflect the most common usage scenarios, i.e. required output accuracy at a given current consumption, of the magnetometer. The four presets consist of the below register configurations, which are automatically set by the magnetometer API or driver provided by Bosch Sensortec when a preset is selected. Table 37 shows the recommended presets and the resulting magnetic field output noise and current consumption: Table 37: Recommended presets for repetitions and output data rates Preset Rep. X/Y nXY Rep. Z nZ recommended ODR [Hz] Max ODR in forced mode fmax,ODR RMS Noise x/y/z [µT] [Hz] Low power preset Regular preset Enhanced regular preset High accuracy preset 9.3 Average current consumption at recommended ODR [mA] 3 3 10 >300 1.0/1.0/1.4 0.17 9 15 10 100 0.6/0.6/0.6 0.5 15 27 10 60 0.5/0.5/0.5 0.8 47 83 20 20 0.3/0.3/0.3 4.9 Magnetometer output data 9.3.1 Magnetic field data The representation of magnetic field data is different between X/Y-axis and Z-axis. The width of X- and Y-axis magnetic field data is 13 bits each and stored in two’s complement. DATAX_LSB (0x42) contains 5-bit LSB part [4:0] of the 13 bit output data of the X-channel. DATAX_MSB (0x43) contains 8-bit MSB part [12:5] of the 13 bit output data of the X-channel. DATAY_LSB (0x44) contains 5-bit LSB part [4:0] of the 13 bit output data of the Y-channel. DATAY_MSB (0x45) contains 8-bit MSB part [12:5] of the 13 bit output data of the Y-channel. The width of the Z-axis magnetic field data is 15 bit word stored in two’s complement. DATAZ_LSB (0x46) contains 7-bit LSB part [6:0] of the 15 bit output data of the Z-channel. DATAZ_MSB (0x47) contains 8-bit MSB part [14:7] of the 15 bit output data of the Z-channel. For all axes, temperature compensation on the host is used to get ideally matching sensitivity over the full temperature range. The temperature compensation is based on a resistance measurement of the hall sensor plate. The resistance value is represented by a 14 bit unsigned output word. RHALL_LSB (0x48) contains 6-bit LSB part [5:0] of the 14 bit output data of the RHALLchannel. RHALL_MSB (0x49) contains 8-bit MSB part [13:6] of the 14 bit output data of the RHALLchannel. All signed register values are in two´s complement representation. Bits which are marked “reserved” can have different values or can in some cases not be read at all (read will return 0x00 in I²C mode and high-Z in SPI mode). BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 123 Data register readout and shadowing is implemented as follows: After all enabled axes have been measured; complete data packages consisting of DATAX, DATAY, DATAZ and RHALL are updated at once in the data registers. This way, it is prevented that a following axis is updated while the first axis is still being read (axis mix-up) or that MSB part of an axis is updated while LSB part is being read. While reading from any data register, data register update is blocked. Instead, incoming new data is written into shadow registers which will be written to data registers after the previous read sequence is completed (i.e. upon stop condition in I²C mode, or CSB going high in SPI mode, respectively). Hence, it is recommended to read out at all data at once (0x42 to 0x49 or 0x4A if status bits are also required) with a burst read. Single bytes or axes can be read out, while in this case it is not assured that adjacent registers are not updated during readout sequence. The “Data ready status” bit (register 0x48 bit0) is set “1” when the data registers have been updated but the data was not yet read out over digital interface. Data ready is cleared (set “0”) directly after completed read out of any of the data registers and subsequent stop condition (I²C) or lifting of CSB (SPI). In addition, when enabled the “Data overrun” bit (register 0x4A bit7) turns “1” whenever data registers are updated internally, but the old data was not yet read out over digital interface (i.e. data ready bit was still high). The “Data overrun” bit is cleared when the interrupt status register 0x4A is read out. This function needs to be enabled separately by setting the “Data overrun En” bit (register 0x4D bit7)). Note: Please also see chapter 10.4 for detailed register descriptions. 9.3.2 Magnetic field data temperature compensation The raw register values DATAX, DATAY, DATAZ and RHALL are read out from the host processor using the MAGNETOMETER API/driver which is provided by Bosch Sensortec. The API/driver performs an off-chip temperature compensation and outputs x/y/z magnetic field data in 16 LSB/µT to the upper application layer: BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Software application level a Software driver level Page 124 Application Temperature and sensitivity compensated magnetic field data x/y/z available in: Config - short int (16 LSB/µT, limited Z range) - long int (16 LSB/µT) - float (µT) BMM150 API / driver (provided by Bosch Sensortec) Config Hardware level Magnetometer raw register data (DATAX, DATAY, DATAZ, RHALL) BMM150 sensor Figure 21: Calculation flow of magnetic field data from raw magnetometer register data The API/driver performs all calculations using highly optimized fixed-point C-code arithmetic. For platforms that do not support C code, a floating-point formula is available as well. 9.4 Self-test magnetometer Magnetometer supports two self-tests modes: Normal self-test and advanced self-test. 9.4.1 Normal self test During normal self-test, the following verifications are performed: FlipCore signal path is verified by generating signals on-chip. These are processed through the signal path and the measurement result is compared to known thresholds.  FlipCore (X and Y) connection to ASIC are checked for connectivity and short circuits  Hall sensor connectivity is checked for open and shorted connections  Hall sensor signal path and hall sensor element offset are checked for overflow. To perform a self test, the sensor must first be put into sleep mode (OpMode = “11”). Self-test mode is then entered by setting the bit “Self test” (register 0x4C bit0) to “1”. After performing self test, this bit is set back to “0”. When self-test is successful, the corresponding self-test result bits are set to “1” (“X-Self-Test” register 0x42 bit0, “Y-Self-Test” register 0x44 bit0, “Z-Self-Test” register 0x46 bit0). If self-test fails for an axis, the corresponding result bit returns “0”. 9.4.2 Advanced self test Advanced self test performs a verification of the Z channel signal path functionality and sensitivity. An on-chip coil wound around the hall sensor can be driven in both directions with a calibrated current to generate a positive or negative field of around 100 µT. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 125 Advanced self test is an option that is active in parallel to the other operation modes. The only difference is that during the active measurement phase, the coil current is enabled. The recommended usage of advanced self test is the following: 1. Set sleep mode 2. Disable X, Y axis 3. Set Z repetitions to desired level 4. Enable positive advanced self test current 5. Set forced mode, readout Z and R channel after measurement is finished 6. Enable negative advanced self test current 7. Set forced mode, readout Z and R channel after measurement is finished 8. Disable advanced self test current (this must be done manually) 9. Calculate difference between the two compensated field values. This difference should be around 200 µT with some margins. 10. Perform a soft reset of manually restore desired settings Please refer to the corresponding application note for the exact thresholds to evaluate advanced self-test. The table below describes how the advanced self-test is controlled: Table 38: Magnetometer advanced self-test control (0x4C) Adv.ST Configuration 00b 01b 10b 11b Normal operation (no self-test), default Reserved, do not use Negative on-chip magnetic field generation Positive on-chip magnetic field generation The magnetometer API/driver provided by Bosch Sensortec provides a comfortable way to perform both self-tests and to directly obtain the result without further calculations. It is recommended to use this as a reference. 9.5 Non-volatile memory Some of the memory of the magnetometer is non-volatile memory (NVM). This NVM is preprogrammed in Bosch Sensortec fabrication line and cannot be modified afterwards. It contains trimming data which are required for sensor operation and sensor data compensation, thus it is read out by the magnetometer API/driver during initialization. 9.6 Magnetometer interrupt controller Four magnetometer based interrupt engines are integrated: Low-Threshold, High-Threshold, Overflow and Data Ready (DRDY). Each interrupt can be enabled independently. When enabled, an interrupt sets the corresponding status bit in the interrupt status register (0x4A) when its condition is satisfied. When the “Interrupt Pin Enable” bit (register 0x4E bit6) is set, any occurring activated interrupts are flagged on the magnetometer’s INT output pin. By default, the interrupt pin is disabled (highZ status). BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 126 Low-Threshold, High-Threshold and Overflow interrupts are mapped to the INT pin when enabled, Data Ready (DRDY) interrupt is mapped to the DRDY pin of magnetometer when enabled. For High- and Low-Threshold interrupts each axis X/Y/Z can be enabled separately for interrupt detection in the registers “High Int Z en”, “High Int Y en”, “High Int X en”, “Low Int Z en”, “Low Int Y En” and “Low Int X En” in register 0x4D bit5-bit0. Overflow interrupt is shared for X, Y and Z axis. When the “Data Ready Pin En” bit (register 0x4E bit7) is set, the Data Ready (DRDY) interrupt event is flagged on the magnetometer’s DRDY output pin (by default the “Data Ready Pin En” bit is not set and DRDY pin is in high-Z state). The interrupt status registers are updated together with writing new data into the magnetic field data registers. The status bits for Low-/High-Threshold interrupts are located in register 0x4A, the Data Ready (DRDY) status flag is located at register 0x48 bit0. If an interrupt is disabled, all active status bits and pins are reset after the next measurement was performed. 9.6.1 General features An interrupt is cleared depending on the selected interrupt mode, which is common to all interrupts. There are two different interrupt modes: non-latched and latched. All interrupts (except Data Ready) can be latched or non-latched. Data Ready (DRDY) is always cleared after readout of data registers ends. A non-latched interrupt will be cleared on a new measurement when the interrupt condition is not valid anymore, whereas a latched interrupt will stay high until the interrupts status register (0x4A) is read out. After reading the interrupt status, both the interrupt status bits and the interrupt pin are reset. The mode is selected by the “Interrupt latch” bit (register 0x4A bit1), where the default setting of “1” means latched. Figure 22shows the difference between the modes for the example Low-Threshold interrupt. INT and DRDY pin polarity can be changed by the “Interrupt polarity” bit (register 0x4E bit0) and “DR polarity” (register 0x4E bit2) from the default high active (“1”) to low active (“0”). Low threshold a a measurements INT pin (non-latched) INT pin (latched) Readings of interrupt status register (0x4A) Figure 22: Interrupt latched and non-latched mode BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 127 9.6.2 Electrical behavior of magnetic interrupt pins Both interrupt pins INT and DRDY are push/pull when the corresponding interrupt pin enable bit is set, and are floating (High-Z) when the corresponding interrupt pin enable bit is disabled (default). 9.6.3 Data ready / DRDY interrupt This interrupt serves for synchronous reading of magnetometer data. It is generated after storing a new set of values (DATAX, DATAY, DATAZ, RHALL) in the data registers: Active measurement time Inactive time Data write into output registers Preset time Measurement Measurement Data Dataprocessing processing DRDY =’1 ’ Measurement phase start Data readout Figure 23: Data acquisition and DRDY operation (DRDY in “high active” polarity) The interrupt mode of the Data Ready (DRDY) interrupt is fixed to non-latched. It is enabled (disabled) by writing “1” (“0”) to “Data Ready pin En” in register 0x4E bit7. DRDY pin polarity can be changed by the “DR polarity” bit (register 0x4E bit2), from the default high active (“1”) to low active (“0”). 9.6.4 Low-threshold interrupt When the data registers’ (DATAX, DATAY and DATAZ) values drop below the threshold level defined by the “Low Threshold register (0x4F), the corresponding interrupt status bits for those axes are set (“Low Int X”, “Low Int Y” and “Low Int Z” in register 0x4A). This is done for each axis independently. Please note that the X and Y axis value for overflow is -4096. However, no interrupt is generated on these values. See chapter 10.7 for more information on overflow. Hereby, one bit in “Low Threshold” corresponds to roughly 6µT (not exactly, as the raw magnetic field values DATAX, DATAY and DATAZ are not temperature compensated). The Low-threshold interrupt is issued on INT pin when one or more values of the data registers DATAX, DATAY and DATAZ drop below the threshold level defined by the “Low Threshold” register (0x4F), and when the axis where the threshold was exceeded is enabled for interrupt generation: Result = (DATAX < “Low Threshold” x 16) AND “Low Int X en” is “0” OR (DATAY < “Low Threshold” x 16) AND “Low Int Y en” is “0” OR (DATAZ < “Low Threshold” x 16) AND “Low Int Z en” is “0” BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 128 Note: Threshold interrupt enable bits (“Low INT [XYZ] en”) are active low and “1” (disabled) by default. Low threshold a a measurements INT pin (non-latched) INT pin (latched) Read interrupt status register (0x4A) Figure 24: Low-threshold interrupt function 9.6.5 High-threshold interrupt When the data registers’ (DATAX, DATAY and DATAZ) values exceed the threshold level defined by the “High Threshold register (0x50), the corresponding interrupt status bits for those axes are set (“High Int X”, “High Int Y” and “High Int Z” in register 0x4A). This is done for each axis independently. Hereby, one bit in “High Threshold” corresponds to roughly 6µT (not exactly, as the raw magnetic field values DATAX, DATAY and DATAZ are not temperature compensated). The High-threshold interrupt is issued on INT pin when one or more values of the data registers DATAX, DATAY and DATAZ exceed the threshold level defined by the “High Threshold” register (0x50), and when the axis where the threshold was exceeded is enabled for interrupt generation: Result = (DATAX > “High Threshold” x 16) AND “High Int X en” is “0” OR (DATAY > “High Threshold” x 16) AND “High Int Y en” is “0” OR (DATAZ > “High Threshold” x 16) AND “High Int Z en” is “0” Note: Threshold interrupt enable bits (“High INT [XYZ] en”) are active low and “1” (disabled) by default. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 129 High threshold a a measurements INT pin (non-latched) INT pin (latched) Read interrupt status register (0x4A) Figure 25: High-threshold interrupt function 9.6.6 Overflow When a measurement axis had an overflow, the corresponding data register is saturated to the most negative value. For X and Y axis, the data register is set to the value -4096. For the Z axis, the data register is set to the value -16384. The “Overflow” flag (register 0x4A bit6) indicates that the measured magnetic field raw data of one or more axes exceeded maximum range of the device. The overflow condition can be flagged on the INT pin by setting the bit “overflow int enable” (register 0x4D bit6, active high, default value “0”). The channel on which overflow occurred can by determined by assessing the DATAX/Y/Z registers. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 130 10 Register description magnetometer 10.1 General remarks The entire communication with the device’s magnetometer part is performed by reading from and writing to registers. Registers have a width of 8 bits; they are mapped to a common space of 50 addresses from (0x40) up to (0x71). Within the used range there are several registers which are marked as ‘reserved’. Any reserved bit is ignored when it is written and no specific value is guaranteed when read. Especially, in SPI mode the SDO pin may stay in high-Z state when reading some of these registers. Registers with addresses from (0x40) up to (0x4A) are read-only. Any attempt to write to these registers is ignored. 10.2 Register map magnetometer Register Address 0x71 0x70 0x6F 0x6E 0x6D 0x6C 0x6B 0x6A 0x69 0x68 0x67 0x66 0x65 0x64 0x63 0x62 0x61 0x60 0x5F 0x5E 0x5D 0x5C 0x5B 0x5A 0x59 0x58 0x57 0x56 0x55 0x54 0x53 0x52 0x51 0x50 0x4F 0x4E 0X4D 0x4C 0x4B 0x4A 0x49 0x48 0x47 0x46 0x45 0x44 0x43 0x42 0x41 0x40 Default Value N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A 0x00 0x00 0x00 0x00 0x07 0x3F 0x06 0x01 0x00 N/A N/A N/A N/A N/A N/A N/A N/A N/A 0x32 bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 reserved Data Ready Pin En Interrupt Pin En Overflow Int En Data Overrun En Adv. ST [1:0] Soft Reset '1' fixed '0' Data Overrun Overflow REPZ Number Of Repetitions (valid for Z) [7:0] REPXY Number Of Repetitions (valid for XY) [7:0] High Threshold [7:0] Low Threshold [7:0] Channel Z Channel Y Channel X High Int Z en High Int Y en High Int X en Data Rate [2:0] fixed '0' fixed '0' fixed '0' High Int Z High Int Y High Int X RHALL [13:6] MSB RHALL [5:0] LSB DATA Z [14:7] MSB DATA Z [6:0] LSB DATA Y [12:5] MSB DATA Y [4:0] LSB DATA X [12:5] MSB DATA X [4:0] LSB reserved Chip ID = 0x32 (can only be read if power control bit ="1") DR Polarity Interrupt Latch Low Int Z en Low Int Y en Opmode [1:0] SPI3en Soft Reset '1' Low Int Z Low Int Y Interrupt Polarity Low Int X en Self Test Power Control Bit Low Int X fixed '0' Data Ready Status fixed '0' fixed '0' Y-Self-Test fixed '0' fixed '0' X-Self-Test Z-Self-Test w/r w/r accessible in suspend mode read only reserved BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 131 10.3 Chip ID magnetometer MAG Register (0x40) Chip ID contains the magnetometer chip identification number, which is 0x32. This number can only be read if the power control bit (register 0x4B bit0) is enabled. Table 39: Chip identification number, register (0x40) Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 1 1 0 0 1 0 MAG Register (0x41) is reserved 10.4 Magnetic field data MAG Register (0x42) Register (0x42) contains the LSB part of x-axis magnetic field data and the self-test result flag for the x-axis. Table 40: LSB part of x-axis magnetic field, register (0x42) (0x42) Bit Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Name Description DATAX_lsb DATAX_lsb DATAX_lsb DATAX_lsb DATAX_lsb SelfTestX Bit 4 of x-axis magnetic field data Bit 3 of x-axis magnetic field data Bit 2 of x-axis magnetic field data Bit 1 of x-axis magnetic field data Bit 0 of x-axis magnetic field data = x LSB (fixed to 0) (fixed to 0) Self-test result flag for x-axis, default is “1” MAG Register (0x43) Register (0x43) contains the MSB part of x-axis magnetic field data. Table 41: MSB part of x-axis magnetic field, register (0x43) (0x43) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DATAX_msb DATAX_msb DATAX_msb DATAX_msb DATAX_msb DATAX_msb DATAX_msb DATAX_msb Bit 12 of x-axis magnetic field data = x MSB Bit 11 of x-axis magnetic field data Bit 10 of x-axis magnetic field data Bit 9 of x-axis magnetic field data Bit 8 of x-axis magnetic field data Bit 7 of x-axis magnetic field data Bit 6 of x-axis magnetic field data Bit 5 of x-axis magnetic field data BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 132 MAG Register (0x44) Register (0x44) contains the LSB part of y-axis magnetic field data and the self-test result flag for the y-axis. Table 42: LSB part of y-axis magnetic field, register (0x44) (0x44) Bit Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Name Description DATAY_lsb DATAY_lsb DATAY_lsb DATAY_lsb DATAY_lsb SelfTestY Bit 4 of y-axis magnetic field data Bit 3 of y-axis magnetic field data Bit 2 of y-axis magnetic field data Bit 1 of y-axis magnetic field data Bit 0 of y-axis magnetic field data = y LSB (fixed to 0) (fixed to 0) Self-test result flag for y-axis, default is “1” MAG Register (0x45) Register (0x45) contains the MSB part of y-axis magnetic field data. Table 43: MSB part of y-axis magnetic field, register (0x45) (0x45) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DATAY_msb DATAY_msb DATAY_msb DATAY_msb DATAY_msb DATAY_msb DATAY_msb DATAY_msb Bit 12 of y-axis magnetic field data = y MSB Bit 11 of y-axis magnetic field data Bit 10 of y-axis magnetic field data Bit 9 of y-axis magnetic field data Bit 8 of y-axis magnetic field data Bit 7 of y-axis magnetic field data Bit 6 of y-axis magnetic field data Bit 5 of y-axis magnetic field data MAG Register (0x46) Register (0x46) contains the LSB part of z-axis magnetic field data and the self-test result flag for the z-axis. Table 44: LSB part of z-axis magnetic field, register (0x46) (0x46) Bit Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Name Description DATAZ_lsb DATAZ_lsb DATAZ_lsb DATAZ_lsb DATAZ_lsb DATAZ_lsb DATAZ_lsb SelfTestZ Bit 6 of z-axis magnetic field data Bit 5 of z-axis magnetic field data Bit 4 of z-axis magnetic field data Bit 3 of z-axis magnetic field data Bit 2 of z-axis magnetic field data Bit 1 of z-axis magnetic field data Bit 0 of z-axis magnetic field data = z LSB Self-test result flag for z-axis, default is “1” BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 133 MAG Register (0x47) Register (0x47) contains the MSB part of z-axis magnetic field data. Table 45: MSB part of z-axis magnetic field, register (0x47) (0x47) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DATAZ_msb DATAZ_msb DATAZ_msb DATAZ_msb DATAZ_msb DATAZ_msb DATAZ_msb DATAZ_msb Bit 14 of y-axis magnetic field data = z MSB Bit 13 of y-axis magnetic field data Bit 12 of y-axis magnetic field data Bit 11 of y-axis magnetic field data Bit 10 of y-axis magnetic field data Bit 9 of y-axis magnetic field data Bit 8 of y-axis magnetic field data Bit 7 of y-axis magnetic field data MAG Register (0x48) Register (0x48) contains the LSB part of hall resistance and the Data Ready (DRDY) status bit. Table 46: LSB part of hall resistance, register (0x48) (0x48) Bit Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Name Description RHALL_lsb RHALL_lsb RHALL_lsb RHALL_lsb RHALL_lsb RHALL_lsb Data Ready Status Bit 5 of hall resistance Bit 4 of hall resistance Bit 3 of hall resistance Bit 2 of hall resistance Bit 1 of hall resistance Bit 0 of hall resistance = RHALL LSB (fixed to 0) Data ready (DRDY) status bit MAG Register (0x49) Register (0x49) contains the MSB part of hall resistance. Table 47: MSB part of hall resistance, register (0x49) (0x49) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 RHALL_msb RHALL_msb RHALL_msb RHALL_msb RHALL_msb RHALL_msb RHALL_msb RHALL_msb Bit 13 of hall resistance = RHALL MSB Bit 12 of hall resistance Bit 11 of hall resistance Bit 10 of hall resistance Bit 9 of hall resistance Bit 8 of hall resistance Bit 7 of hall resistance Bit 6 of hall resistance BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 134 10.5 Interrupt status register magnetometer MAG Register (0x4A) Register (0x4A) contains the states of all interrupts. Table 48: Interrupt status, register (0x4A) (0x4A) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Data overrun Overflow High Int Z High Int Y High Int X Low Int Z Low Int Y Low Int X Data overrun status flag Overflow status flag High-Threshold interrupt z-axis status flag High-Threshold interrupt y-axis status flag High-Threshold interrupt x-axis status flag Low-Threshold interrupt z-axis status flag Low-Threshold interrupt y-axis status flag Low-Threshold interrupt x-axis status flag 10.6 Power and operation modes, self-test, data output rate control registers MAG Register (0x4B) Register (0x4B) contains control bits for power control, soft reset and interface SPI mode selection. This special control register is also accessible in suspend mode. Soft reset is executed when both bits (register 0x4B bit7 and bit1) are set “1”. Soft reset does not execute a full POR sequence, but all registers are reset except for the “trim” registers above register 0x54 and the power control register (0x4B). Soft reset always brings the device into sleep mode. When device is in the suspend mode, soft reset is ignored and the device remains in suspend mode. The two “Soft Reset” bits are reset to “0” automatically after soft reset was completed. To perform a full POR reset, bring the device into suspend and then back into sleep mode. When SPI mode is selected, the “SPI3En” bit enables SPI 3-wire mode when set “1”. When “SPI3En” is set “0” (default), 4-wire SPI mode is selected. Setting the “Power Control bit” to “1” brings the device up from Suspend mode to Sleep mode, when “Power Control bit” is set “0” the device returns to Suspend mode (see chapter 9.2 for details of magnetometer power modes). Table 49: Power control, soft reset and SPI mode control register (0x4B) (0x4B) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Soft Reset ‘1’ SPI3en Soft Reset ‘1’ Power Control bit One of the soft reset trigger bits. (fixed to 0) (fixed to 0) (fixed to 0) (fixed to 0) Enable bit for SPI3 mode One of the soft reset trigger bits. When set to “0”, suspend mode is selected BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 135 MAG Register (0x4C) Register (0x4C) contains control bits for operation mode, output data rate and self-test. The two “Adv. ST” bits control the on-chip advanced self-test (see chapter 9.4 for details of the magnetometer advanced self-test). The three “Data rate” bits control the magnetometer output data rate according to below Table 51. The two “Opmode” bits control the operation mode according to below Table 52 (see chapter 9.2 for a detailed description of magnetometer power modes). Table 50: Operation mode, output data rate and self-test control register (0x4C) (0x4C) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Adv. ST Adv. ST Data rate Data rate Data rate Opmode Opmode Self Test Advanced self-test control bit 1 Advanced self-test control bit 0 Data rate control bit 2 Data rate control bit 1 Data rate control bit 0 Operation mode control bit 1 Operation mode control bit 0 Normal self-test control bit Three “Data rate” bits control the output data rate (ODR) of the magnetometer part: Table 51: Output data rate (ODR) setting (0x4C) (0x4C) Data rate Magnetometer output data rate (ODR) [Hz] 000b 001b 010b 011b 100b 101b 110b 111b 10 (default) 2 6 8 15 20 25 30 BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 136 Two “Opmode” bits control the operation mode of the magnetometer part: Table 52: Operation mode setting (0x4C) (0x4C) Opmode Magnetometer operation mode 00b 01b 10b 11b Normal mode Forced mode Reserved, do not use Sleep Mode 9 10.7 Interrupt and axis enable settings control registers MAG Register (0x4D) Register (0x4D) contains control bits for interrupt settings. (Also refer to chapter 9.6 for the details of magnetometer interrupt operation). Table 53: Interrupt settings control register (0x4D) (0x4D) Bit Name Description Bit 7 Data Overrun En Bit 6 Overflow Int En Bit 5 High Int Z En Bit 4 High Int Y En Bit 3 High Int X En Bit 2 Low Int Z En Bit 1 Low Int Y En Bit 0 Low Int X En Enables data overrun indication in the “Data Overrun” flag (active high, default is “0” disabled) Activates mapping of Overflow flag status to the INT pin (active high, default is “0” disabled) Enables the z-axis detection for High-Threshold interrupts (active low, default is “1” disabled) Enables the y-axis detection for High-Threshold interrupts (active low, default is “1” disabled) Enables the x-axis detection for High-Threshold interrupts (active low, default is “1” disabled) Enables the z-axis detection for Low-Threshold interrupts (active low, default is “1” disabled) Enables the y-axis detection for Low-Threshold interrupts (active low, default is “1” disabled) Enables the x-axis detection for Low-Threshold interrupts (active low, default is “1” disabled) 9 See chapter 9.2 for a detailed description of magnetometer power modes. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 137 MAG Register (0x4E) Register (0x4E) contains control bits interrupt settings and axes enable bits. (Also refer to chapter 9.6 for the details of magnetometer interrupt operation). If a magnetic measurement channel is disabled, its last measured magnetic output values will remain in the data registers. If the Z channel is disabled, the resistance measurement will also be disabled and the resistance output value will be set to zero. If interrupts are set to trigger on an axis that has been disabled, these interrupts will still be asserted based on the last measured value. Table 54: Interrupt settings and axes enable bits control register (0x4E) (0x4E) Bit Name Description Bit 7 Data Ready Pin En Bit 6 Interrupt Pin En Bit 5 Channel Z Bit 4 Channel Y Bit 3 Channel X Bit 2 DR Polarity Bit 1 Interrupt Latch Bit 0 Interrupt Polarity Enables data ready status mapping on DRDY pin (active high, default is “0” disabled) Enables interrupt status mapping on INT pin (active high, default is “0” disabled) Enable z-axis and resistance measurement (active low, default is “0” enabled) Enable y-axis (active low, default is “0” enabled) Enable x-axis (active low, default is “0” enabled) Data ready (DRDY) pin polarity (“0” is active low, “1” is active high, default is “1” active high) Interrupt latching (“0” means non-latched - interrupt pin is on as long as the condition is fulfilled, “1” means latched - interrupt pin is on until interrupt status register 0x4A is read, default is ‘”1” latched) Interrupt pin INT polarity selection (“1” – is active high, “0” is active low, default is “1” active high) MAG Register (0x4F) Register (0x4F) contains the Low-Threshold interrupt threshold setting. (Also refer to chapter 9.6 for the details of magnetometer interrupt operation and the threshold setting). Table 55: Low-threshold interrupt threshold setting control register (0x4F) (0x4F) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 LowThreshold LowThreshold LowThreshold LowThreshold LowThreshold LowThreshold LowThreshold LowThreshold Bit 7 of Low-Threshold interrupt threshold setting Bit 6 of Low-Threshold interrupt threshold setting Bit 5 of Low-Threshold interrupt threshold setting Bit 4 of Low-Threshold interrupt threshold setting Bit 3 of Low-Threshold interrupt threshold setting Bit 2 of Low-Threshold interrupt threshold setting Bit 1 of Low-Threshold interrupt threshold setting Bit 0 of Low-Threshold interrupt threshold setting BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 138 MAG Register (0x50) Register (0x50) contains the High-Threshold interrupt threshold setting. (Also refer to chapter 9.6 for the details of magnetometer interrupt operation and the threshold setting). Table 56: High-threshold interrupt threshold setting control register (0x4F) (0x50) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 HighThreshold HighThreshold HighThreshold HighThreshold HighThreshold HighThreshold HighThreshold HighThreshold Bit 7 of High-Threshold interrupt threshold setting Bit 6 of High-Threshold interrupt threshold setting Bit 5 of High-Threshold interrupt threshold setting Bit 4 of High-Threshold interrupt threshold setting Bit 3 of High-Threshold interrupt threshold setting Bit 2 of High-Threshold interrupt threshold setting Bit 1 of High-Threshold interrupt threshold setting Bit 0 of High-Threshold interrupt threshold setting 10.8 Number of repetitions control registers MAG Register (0x51) Register (0x51) contains the number of repetitions for x/y-axis. Table 58 below shows the number of repetitions resulting out of the register configuration. The performed number of repetitions nXY can be calculated from unsigned register value as nXY = 1+2xREPXY as shown below, where b7-b0 are the bits 7 to 0 of register 0x51: nXY  1  2  (b 7  2 7  b 6  2 6  b 5  25  b 4  2 4  b 3  23  b 2  2 2  b1  21  b 0  2 0 )  1  2  (REPXY ) Table 57: X/y-axis repetitions control register (0x51) (0x51) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 REPXY REPXY REPXY REPXY REPXY REPXY REPXY REPXY Bit 7 of number of repetitions (valid for XY) Bit 6 of number of repetitions (valid for XY) Bit 5 of number of repetitions (valid for XY) Bit 4 of number of repetitions (valid for XY) Bit 3 of number of repetitions (valid for XY) Bit 2 of number of repetitions (valid for XY) Bit 1 of number of repetitions (valid for XY) Bit 0 of number of repetitions (valid for XY) BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 139 Table 58: Numbers of repetition for x/y-axis depending on value of register (0x51) (0x51) register (0x51) register value value (binary) (hex) Number of repetitions for x- and y-axis each 00000000b 00000001b 00000010b 00000011b … 11111111b 1 3 5 7 … 511 0x00h 0x01h 0x02h 0x03h 0xFFh MAG Register (0x52) Register (0x52) contains the number of repetitions for z-axis. Table 60 below shows the number of repetitions resulting out of the register configuration. The performed number of repetitions nZ can be calculated from unsigned register value as nZ = 1+REPZ as shown below, where b7-b0 are the bits 7 to 0 of register 0x52: nZ  1  1  (b 7  27  b 6  26  b 5  25  b 4  24  b 3  23  b 2  22  b1  21  b 0  20 )  1  REPZ Table 59: Z-axis repetitions control register (0x52) (0x52) Bit Name Description Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 REPZ REPZ REPZ REPZ REPZ REPZ REPZ REPZ Bit 7 of number of repetitions (valid for Z) Bit 6 of number of repetitions (valid for Z) Bit 5 of number of repetitions (valid for Z) Bit 4 of number of repetitions (valid for Z) Bit 3 of number of repetitions (valid for Z) Bit 2 of number of repetitions (valid for Z) Bit 1 of number of repetitions (valid for Z) Bit 0 of number of repetitions (valid for Z) Table 60: Numbers of repetition for z-axis depending on value of register (0x52) (0x52) register value (binary) (0x52) register value (hex) Number of repetitions for z-axis 00000000b 00000001b 00000010b 00000011b … 11111111b 0x00h 0x01h 0x02h 0x03h 1 2 3 4 … 256 0xFFh BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 140 11 Digital interface of the device The BMX055 supports two serial digital interface protocols for communication as a slave with a host device: SPI (4-wire and 3-wire) and I²C. The active interface is selected by the state of the Pin#07 (PS) ‘protocol select’ pin: ´GND´ (´VDDIO´) selects SPI (I²C). For details please refer to section 11. By default, SPI operates in the standard 4-wire configuration. It can be re-configured by software to work in 3-wire mode instead of standard 4-wire mode. Both digital interfaces share partly the same pins. Additionally each inertial sensor (accelerometer and gyroscope) provides specific interface pins which allow the user to operate the inertial sensors independently of each other. The mapping for each interface and each inertial sensor is given in the following table: Table 61: Mapping of the interface pins Pin # Name use w/ SPI use w/ I²C Description 17 SDOAM SDOAM address SPI: Accel&Mag Data Output (4-wire mode) I²C: Used to set LSB of Accel&Mag I²C address 12 SDOG SDOG address SPI: Gyro Data Output (4-wire mode) I²C: Used to set LSB of Gyro I²C address 11 SDx SDI SDA SPI: Data In (4-wire mode) & Data In/Out (3-wire mode) I²C: Serial Data 16 CSBA CSBA unused SPI: Accel Chip Select (enable) 5 CSBG CSBG unused SPI: Gyro Chip Select (enable) 20 CSBM CSBM address SPI:Mag Chip Select(enable) I²C: Used to set LSB of Mag I²C address 9 SCx SCK SCL SPI: Serial Clock SCK I²C: Serial Clock SCL The following table shows the electrical specifications of the interface pins: Table 62: Electrical specification 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 10 pF I²C Bus Load Capacitance (max. drive capability) CI2C_Load 400 pF BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 141 11.1 Serial peripheral interface (SPI) The timing specification for SPI of the BMX055 is given in the following table: Table 63: SPI timing Parameter Symbol Condition fSPI Max. Load on SDI or SDO = 25pF, VDDIO ≥ 1.62V VDDIO < 1.62V Clock Frequency 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, normal mode, standby mode, lowpower mode 2 Idle time between write accesses, suspend mode, lowpower mode 1 tSCKL tSCKH Max Units 10 MHz 7.5 MHz 20 20 20 20 tSDI_setup tSDI_hold tSDO_OD Min Load = 25pF, VDDIO ≥ 1.62V Load = 25pF, VDDIO < 1.62V Load = 250pF, VDDIO > 2.4V ns ns ns ns 30 ns 50 ns 40 ns tCSB_setup tCSB_hold 20 40 ns ns tIDLE_wacc_nm 2 µs tIDLE_wacc_sum 450 µs BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 142 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 Figure 26: SPI timing diagram The SPI interface of the BMX055 is compatible with two modes, ´00´ and ´11´. The automatic selection between [CPOL = ´0´ and CPHA = ´0´] and [CPOL = ´1´ and CPHA = ´1´] is controlled based on the value of SCK after a falling edge of CSB (A,G or M). Two configurations of the SPI interface are supported by the BMX055: 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 ´1´ to (ACC 0x34) spi3 and to (GYR 0x34) spi3. 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 BMX055 also supports multiple-byte read operations. In SPI 4-wire configuration CSB (A,G or M - chip select low active), SCK (serial clock), SDI (serial data input), and SDO (AM or G - serial data output) pins are used. The communication starts when the CSB (1 or 2) is pulled low by the SPI master and stops when CSB (A,G or M) is pulled high. SCK is also controlled by SPI master. SDI and SDO (AM or G) are driven at the falling edge of SCK and should be captured at the rising edge of SCK. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 143 The basic write operation waveform for 4-wire configuration is depicted in Figure 27. During the entire write cycle SDO remains in high-impedance state. CSB SCK SDI R/W AD6 AD5 AD4 AD3 AD2 AD1 SDO AD0 DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 Z tri-state Figure 27: 4-wire basic SPI write sequence (mode ´11´) The basic read operation waveform for 4-wire configuration is depicted in Figure 28: CSB SCK SDI R/W AD6 AD5 AD4 AD3 AD2 AD1 AD0 SDO DO7 DO6 DO5 DO4 DO3 DO2 DO1 DO0 tri-state Figure 28: 4-wire basic SPI read sequence (mode ´11´) BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 144 The data bits are used as follows: Bit0: Read/Write bit. When 0, the data SDI is written into the chip. When 1, the data SDO from the chip is read. Bit1-7: Address AD(6:0). Bit8-15: when in write mode, these are the data SDI, which will be written into the address. 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. The principle of multiple read is shown in Figure 29: Control byte Start RW CSB = 0 1 Register adress (02h) 0 0 0 0 0 1 0 X X Data byte Data byte Data byte Data register - adress 02h Data register - adress 03h Data register - adress 04h X X X X X X X X X X X X X X X X X X X X Stop X Figure 29: SPI multiple read In SPI 3-wire configuration CSB (A,G or M - chip select low active), SCK (serial clock), and SDI (serial data input and 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 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 Figure 30. CSB SCK SDI RW AD6 AD5 AD4 AD3 AD2 AD1 AD0 DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 Figure 30: 3-wire basic SPI read or write sequence (mode ´11´) BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. X CSB = 1 BMX055 Data sheet Page 145 11.2 Inter-Integrated Circuit (I²C) The I²C bus uses SCL (= SCx pin, serial clock) and SDA (= SDx pin, serial data input and output) signal lines. Both lines are connected to VDDIO externally via pull-up resistors so that they are pulled high when the bus is free. The I²C interface of the BMX055 is compatible with the I²C Specification UM10204 Rev. 03 (19 June 2007), available at http://www.nxp.com. The BMX055 supports I²C standard mode and fast mode, only 7-bit address mode is supported. For VDDIO = 1.2V to 1.8V the guaranteed voltage output levels are slightly relaxed as described in the Parameter Specification (Table 1). When in I²C mode, the BMX055 will work effectively as three I²C-Slave devices. The BMX055 is not addressed by a single I²C-Address. Instead, the I²C Master (Application processor) should use a different I²C-Address for each component (Accel, Gyro and Magnet) depending on the needed data. In addition to that, the I²C-Address of each component (Accel, Gyro and Magnet) can be configured by changing the levels in SDO1, SDO2 and CSB3. The default I²C address of the accelerometer device is 0011000b (0x18) and of the gyro device is 1101000b (0x68). It is used if the SDO1 (AM and G) pin is pulled to ´GND´. The alternative accel address 0011001b (0x19) and/or the alternative gyro address 1101001b (0x69) is selected by pulling the SDO2 (AM and/or G) pin to ´VDDIO´. The default I2C address of the magnetic device is 0010000b (0x10). The five MSB are hardwired to “00100”. Alternative addresses of the magnetic device can be selected fixing the value of SDO or CSB lines. bit0 can be set to “1” by pulling the SDO1 pin to ´VDDIO´. bit1 can be set to “1” by pulling the CSB3 line pin to ´VDDIO´. For all I2C address combination of the BMX055, please refer to the following table. SDO1 SDO2 GND GND GND GND Vddio Vddio Vddio Vddio GND GND Vddio Vddio GND GND Vddio Vddio Table 64 I2C address I²CAddr_Accel GND 0x18 Vddio 0x18 GND 0x18 Vddio 0x18 GND 0x19 Vddio 0x19 GND 0x19 Vddio 0x19 CSB3 BST-BMX055-DS000-02 | Revision 1.1 | November 2014 I²CAddr_Gyro 0x68 0x68 0x69 0x69 0x68 0x68 0x69 0x69 I²CAddr_magnet 0x10 0x12 0x10 0x12 0x11 0x13 0x11 0x13 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 146 The timing specification for I²C of the BMX055 is given in Table 64: Table 64: I²C timings Parameter Clock Frequency SCL Low Period SCL High Period SDA Setup Time SDA Hold Time Setup Time for a repeated Start Condition Hold Time for a Start Condition Setup Time for a Stop Condition Time before a new Transmission can start Idle time between write accesses, normal mode, standby mode, low-power mode 2 Idle time between write accesses, suspend mode, lowpower mode 1 Symbol fSCL tLOW tHIGH tSUDAT tHDDAT tSUSTA Condition Min Max 400 Units kHz 1.3 0.6 0.1 0.0 0.6 s tHDSTA 0.6 tSUSTO 0.6 tBUF 1.3 tIDLE_wacc_n m tIDLE_wacc_s BST-BMX055-DS000-02 | Revision 1.1 | November 2014 um 2 µs 450 µs Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 147 shows the definition of the I²C timings given in Table 64: SDA tBUF tf tLOW SCL tHIGH tr tHDSTA tHDDAT tSUDAT SDA tSUSTA tSUSTO Figure 31: I²C timing diagram The I²C protocol works as follows: START: Data transmission on the bus begins with a high to low transition on the SDA line while SCL is held high (start condition (S) indicated by I²C bus master). Once the START signal is transferred by the master, the bus is considered busy. STOP: Each data transfer should be terminated by a Stop signal (P) generated by master. The STOP condition is a low to HIGH transition on SDA line while SCL is held high. ACK: 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 P ACKS ACKM NACKM RW Start Stop Acknowledge by slave Acknowledge by master Not acknowledge by master 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. I²C write access: I²C write access can be used to write a data byte in one sequence. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 148 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 (ACK = 0) and releases the bus. Then the master sends the one byte register address. The slave again acknowledges the transmission and waits for the 8 bits of data which shall be written to the specified register address. After the slave acknowledges the data byte, the master generates a stop signal and terminates the writing protocol. Example of an I²C write access to the accelerometer: Control byte Slave Adress Start S 0 0 1 1 0 Register adress (0x10) RW ACKS 0 0 0 Data byte 0 0 0 1 0 0 Data (0x09) ACKS 0 0 X X X X X ACKS Stop X X X P Figure 32: I²C write I²C read access: I²C read access also can be used to read one or multiple data bytes in one sequence. A read sequence consists of a one-byte I²C write phase followed by the I²C read phase. The two parts of the transmission must be separated by a repeated start condition (Sr). The I²C write phase addresses the slave and sends the register address to be read. After slave acknowledges the transmission, the master generates again a start condition and sends the slave address together with a read bit (RW = 1). Then the master releases the bus and waits for the data bytes to be read out from slave. After each data byte the master has to generate an acknowledge bit (ACK = 0) to enable further data transfer. A NACKM (ACK = 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 in the latest I²C write command. By default the start address is set at 0x00. In this way repetitive multi-bytes reads from the same starting address are possible. In order to prevent the I²C slave of the device to lock-up the I²C bus, a watchdog timer (WDT) is implemented. The WDT observes internal I²C signals and resets the I²C interface if the bus is locked-up by the BMX055. The activity and the timer period of the WDT can be configured through the bits (ACC 0x34) plus (GYR 0x34) i2c_wdt_en and (ACC 0x34) plus (GYR 0x34) i2c_wdt_sel. Writing ´1´ (´0´) to (ACC 0x34) i2c_wdt_en plus (GYR 0x34) i2c_wdt_en activates (de-activates) the WDT. Writing ´0´ (´1´) to (ACC 0x34) i2c_wdt_en plus (GYR 0x34) i2c_wdt_se selects a timer period of 1 ms (50 ms). BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 149 Example of an I²C read access to the accelerometer: S 0 0 1 1 0 RW ACKS 0 0 0 dummy Slave Adress Start Control byte X Register adress (0x02) 0 0 0 0 0 ACKS 1 0 Data byte Slave Adress Start Sr 0 0 1 1 0 Read Data (0x02) RW ACKS 0 0 1 Data byte X X X X X X Read Data (0x03) ACKM X X X X X Data byte X X X X X X X X X X X Data byte X X X X X X X … X Read Data (0x05) ACKM X X X ACKM X … X Data byte Read Data (0x06) … X Data byte Read Data (0x04) … X ACKM X Read Data (0x07) ACKM X X X X X X X X NACK X X Stop P Figure 33: I²C multiple read 11.2.1 SPI and I²C Access Restrictions In order to allow for the correct internal synchronisation of data written to the BMX055, 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 according to chapters 5.1, 7.1, 9.1. As illustrated in Figure 34, an interface idle time of at least 2 µs is required following a write operation when the device operates in normal mode. In suspend mode an interface idle time of least 450 µs is required. X-after-Write Write-Operation X-Operation Register Update Period (> 2us / 450us) Figure 34: Post-Write Access Timing Constraints BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 150 12 FIFO Operation 12.1 FIFO Operating Modes The BMX055 features 2 integrated FIFO memories capable of storing up to 32 frames of accelerometer data and 100 frames of gyroscope data in FIFO mode. Conceptually each frame consists of three 16 bit words corresponding to the x, y and z- axis of the accelerometer and the gyro, which are sampled at the same point in time. The FIFO is a buffer memory, which can be configured to operate in the following modes:  FIFO Mode: In FIFO mode the X, Y and Z acceleration- and rate data of the selected axes and sensors are stored in the buffer memory. If enabled, a watermark interrupt is triggered when the buffer has filled up to a configurable level. The buffer will be continuously filled until the fill level reaches 32 frames for the accelerometer and 100 frames for the gyroscope. When it is full the data collection is stopped, and all additional samples are ignored. Once the buffer is full, a FIFO-full interrupt is generated if it has been enabled.  STREAM Mode: In STREAM mode the X, Y and Z acceleration- and rate data of the selected axes are stored in the buffer until it is full. The buffer has a depth of 31 frames of accelerometer data and 99 frames of gyro data. When the buffer is full the data collection continues and oldest entry is discarded. If enabled, a watermark interrupt is triggered when the buffer is filled to a configurable level. Once the buffer is full, a FIFOfull interrupt is generated if it has been enabled.  BYPASS Mode: In bypass mode, only the current sensor data can be read out from the FIFO address. Essentially, the FIFO behaves like the STREAM mode with a depth of 1. Compared to reading the data from the normal data registers, the advantage to the user is that the packages X, Y, Z are from the same timestamp, while the data registers are updated sequentially and hence mixing of data from different axes can occur. The primary FIFO operating mode is selected with register (ACC 0x3E) and (GYR 0x0E) according to Table 65. When reading register (ACC 0x3E) and (GYR 0x0E) the current operating mode is given. Writing to (ACC 0x3E) and (GYR 0x0E) clears and resets the buffer and resets the FIFO-full and watermark interrupt. Table 65: FIFO operating mode selection Address: 0x3E bits mode ‘00’ (Default) ‘01’ BYPASS FIFO ‘10’ STREAM ‘11’ Reserved FIFO Mode BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Function buffer depth of 1 frame; old data are discarded data collection stops when buffer is full when buffer full: sampling continues, old data discarded Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 151 12.2 FIFO Data Readout The FIFO stores the data that are also available at the read-out registers (ACC 0x02) to (ACC 0x07) for the accelerometer and/or (GYR 0x02) to (GYR 0x07) for the gyroscope. Thus, all configuration settings apply to the FIFO data as well as the data readout registers. The FIFO read out is possible through register (ACC 0x3F) bits and/or (GYR 0x3F) bits . The readout can be performed using burst mode since the read address counter is no longer incremented, when it has reached address (0x3F). This implies that the trapping also occurs when the burst read access starts below address (0x3F). A single burst can read out one or more frames at a time. If a frame is not read completely due to an incomplete read operation, the remaining part of the frame is lost. In this case the FIFO aligns to the next frame during the next read operation. The address (ACC 0x3E) bits (data_select) or (GYR 0x3E) bits (data_select) allows the user to select the data stored in the FIFO according to Table 66. Writing to data_select clears the FIFO buffer. Table 66: FIFO data selection 12.2.1 Address: ACC 0x3E and GYR 0x3E bits data_select ‘00’ (Default) ‘01’ ‘10’ ‘11’ X,Y,Z (plus INT_status0,1 for GYRO) X only Y only Z only Address: GYR 0x3D bit 7 tag Interrupt data stored in FIFO ‘0’ (Default) Do not collect Interrupts for Gyro ‘1’ Collect Interrupts for Gyro data of axis stored in FIFO Data readout Accelerometer If all axes and tag are enabled, the format of the data read-out from (ACC 0x3F) fifo_data is as follows: If all axes are enabled, the format of the data read-out from (ACC 0x3F) is as follows: … X LSB X MSB Y LSB Y MSB Z LSB Z MSB … Frame 1 If only one axis is enabled, the format of the data read-out from (ACC 0x3F) is as follows (example shown: y-axis only, other axes are equivalent). Y LSB YSB Frame 1 BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Y LSB Y MSB … Frame 2 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 152 If a frame is not completely read due to an incomplete read operation, the remaining part of the frame is discarded. In this case the FIFO aligns to the next frame during the next read operation. In order for the discarding mechanism to operate correctly, there must be a delay of at least 1.5 µs between the last data bit of the partially read frame and the first address bit of the next FIFO read access. Otherwise frames must not be read out partially. If the FIFO is read beyond the FIFO fill level zeroes (0) will be read. If the FIFO is read beyond the FIFO fill level the read or burst read access time must not exceed the sampling time tSAMPLE. Otherwise frames may be lost. 12.2.2 Data readout Gyroscope If all axes and tag are enabled, the format of the data read-out from (GYR 0x3F) fifo_data is as follows: Int. status Bits X LSB X MSB Y LSB Y MSB Z LSB Z MSB Int_status 0 Int_status 1 … Frame 1 ( 8 Bytes) If only one axis is enabled (and tag is disabled), the format of the data read-out from register fifo_data is as follows (example shown: Y-axis only, other axis are equivalent). The buffer depth of the FIFO is independent of the fact whether all or a single axis have been selected. Y LSB Y MSB Frame 1 Y LSB Y MSB … Frame 2 12.2.3 External FIFO synchronization (EFS) for the gyroscope In addition to the explained data format for the angular rate and interrupt data, the FIFO of the gyroscope features a mode that allows the precise synchronization of external event with the gyroscope angular rate and gyroscope interrupts saved in the internal FIFO. This synchronization can be used for example for image and video stabilization applications. The EFS Mode can be used in the operating modes FIFO-Mode and STREAM-Mode but not in BYPASS-Mode. In order to use the EFS capability, any of the gyroscope interrupt pins (INT3 or INT4) can be reconfigured to act as EFS-pin, but not both. In addition, the EFS-Mode has to be enabled. The so configured interrupt pin will then behave as an input pin and not as an interrupt pin. The working principle is shown in below figure: EFS-pin 0 0 1 1 1 0 0 FIFO Z(0) Figure 35: Timing diagram for external FIFO synchronization. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 153 The EFS-pin depicted in Figure 35 is the Interrupt pin configured as EFS-Mode. FIFO z(0) is the least significant bit of the z-axis gyro data stored in the FIFO. In order to enable the EFS-Mode the register (GYR 0x34) bit must be set to “1”. To select the INT4 pin as EFS-pin, set the register (GYR 0x34) bit to “1”. To select the INT3 pin as EFS-pin, set the register (GYR 0x34) bit to “0”. In this Mode, the least significant bit of the z-axis is used as tag-bit, therefore losing its meaning as gyroscope data bit. The remaining 15 bits of the z-axis gyroscope data keep the same meaning as in standard mode. Once the EFS-pin is set to high level, the next FIFO word will be marked with an EFS-tag (zaxis LSB = 1). While the EFS-pin is kept at a High level, the corresponding FIFO words would be always marked with an EFS-tag. After the EFS-pin is reset to low level, the immediate next FIFO word could still be marked with the EFS-tag and only after this word, the next EFS-tag will be reset (z-axis LSB=0). This is shown in the above diagram. The EFS-tag synchronizes external events with the same time precision as the FIFO update rate. Therefore update rate of the EFS-tag is determined by the output data rate and can be set from 100Hz up to 2,000Hz. For more information consult the register (GYR 0x10) (BW) in the register description. 12.2.3.1 Interface speed requirements for Gyroscope FIFO use In order to use the FIFO effectively, larger blocks of data need to be read out quickly. Depending on the output data rate of the sensor, this can impose requirements on the interface. The output data rate of the gyroscope is determined by the filter configuration (see chapter 8.2). What interface speed is required depends on the selected rate.    For an I2C speed of 400 kHz, every filter mode can be used. 2 For an I C speed of 200 kHz, only modes with an output data rate of 1 KHz and below are recommended. 2 For an I C speed of 100 kHz, only modes with an output data rate of 400 Hz and below are recommended. 12.3 FIFO Frame Counter and Overrun Flag The address ACC and GYR 0x0E bits (frame_counter) indicate the current fill level of the buffer. If additional frames are written to the buffer although the FIFO is full, the address ACC and GYR 0x0E bit 7 (overrun flag) is set. If the FIFO is reset, the FIFO fill level indicated in the frame_counter is set to ‘0’ and the overrun flag is reset each time a write operation happens to the FIFO configuration registers. The overrun bit is not reset when the FIFO fill level frame_counter has decremented to ‘0’ due to reading from the fifo_data register. 12.4 FIFO Interrupts The FIFO controller has the capability to issue two different interrupt events, the FIFO-full and the watermark event. Generally the FIFO-full and watermark interrupts are functional in all noncomposite modes, including BYPASS. In order to enable (disable) the watermark and the FIFO-full- interrupt for the accelerometer the (ACC 0x17) int_fwm_en bit, the int_ffull_en bit, as well as one or both of the int1_fwm or BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 154 Int2_fwm and int1_ffull or Int2_ffull and bits must be set to ‘1’ (‘0’). For the gyroscope, the fifo_wm_en bit, the fifo_en bit, as well as one or both of the int1_fifo or int2_fifo bits must be set. Details are given in Table 67 and Table 68. The watermark interrupt is asserted when the fill level in the buffer has reached the frame number defined by the water mark level trigger (ACC 0x30) and/or (GYR 0x3D). The status of the watermark interrupt for the accelerometer may be read back through the address (ACC 0x0A) bit 6 (fifo_wm_int) status bit. For the gyroscope it may be read back through the address (GYR 0x0A) bit 4 (fifo_int) status bit. Writing to water mark level trigger (ACC 0x30) and/or (GYR 0x3D) register clears the FIFO buffer. The FIFO-full interrupt is the second interrupt capability associated with the FIFO. The FIFOfull interrupt is asserted when the buffer has been fully filled with samples. In FIFO mode this occurs:  for the accelerometer 32 samples, in STREAM mode 31 samples, and in BYPASS mode 1 sample after the buffer has been cleared.  for the gyroscope 100 samples, in STREAM mode 99 samples, and in BYPASS mode 1 sample after the buffer has been cleared. The status of the FIFO-full interrupt for the accelerometer may be read back through the address (ACC 0x0A) bit (fifo_full_int) status bit. For the gyroscope it may be read back through the address (GYR 0x0A) bit 4 (fifo_int) status bit. Table 67: Interrupt configuration bits relevant for the accelerometer FIFO controller ACC Register fifo_water_mark_level_trigger_retain int_fwm_en int_ffull_en int1_fwm int2_fwm int1_ffull int2_ffull ACC Address 0x30 bits 0x17 bit 6 0x17 bit 5 0x1A bit 1 0x1A bit 6 0x1A bit 2 0x1A bit 5 Table 68: Interrupt configuration bits relevant for the gyroscope FIFO controller GYR Register h2o_mrk_lvl_trig_ret fifo_wm_en fifo_en int1_fifo int2_fifo BST-BMX055-DS000-02 | Revision 1.1 | November 2014 GYR Address 0x3D bits 0x1E bit 7 0x15 bit 6 0x18 bit 2 0x18 bit 5 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 155 13 Pin-out and connection diagram 13.1 Pin-out The pin-out of the LGA package is shown in Figure 36. Figure 36: Pin-out top view (left) and BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Pin-out bottom view (right) Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 156 Table 69: Pin description Pin# Name I/O Type Description 1* 2* 3 INT2 DRDYM VDD Digital out Digital out Supply 4 GNDA Ground 5 6 CSB2 GNDIO Digital in Ground Interrupt pin 2 (accel int #2) Data ready (magnet) Power supply analog & digital domain (2.4 - 3.6V) Ground for analog domain SPI chip select gyro Ground for I/O 7 PS Digital in 8 9 NC SCx Digital in 10* 11 INT5 SDx Digital out Digital I/O 12 SDO2 Digital out 13 VDDIO Supply 14* 15* INT3 INT4 Digital I/O Digital I/O 16 17 CSB1 SDO1 Digital in Digital out 18 19* 20 NC INT1 CSB3 Digital out Digital in Protocol select (GND = SPI, VDDIO = I²C) Not connected SPI: serial clock SCK I²C: serial clock SCL Interrupt pin (magnet) I²C: SDA serial data I/O SPI 4W: SDI serial data I SPI 3W: SDA serial data I/O SPI serial data out gyro Address select in I²C mode see chapter 11.2 Digital I/O supply voltage (1.2V … 3.6V) Interrupt pin 3 (gyro int #1) Interrupt pin 4 (gyro int #2) SPI chip select accel SPI serial data out accel / magnet. sensor I²C-Address[0] of accel / magnet. sensor in I²C mode see chapter 11.2 Not connected Interrupt pin 1 (accel int #1) SPI chip select magnet. sensor I²C-Address[1] of magnet. sensor in I²C mode see chapter 11.2 Connect to in SPI 4W In SPI 3W in I²C Accelerometer INT input (do not connect if unused) Magnet sens. DRDY input (do not connect if unused) VDD VDD VDD GND GND GND CSB2 GND CSB2 GND DNC (float) ** GND GND GND VDDIO SCK Do not connect SCK SCL Magnet INT input (do not connect if unused) SDI SDA SDA SDO2 DNC (float) GND for default addr. VDDIO VDDIO VDDIO Gyro INT1 input (do not connect if unused) Gyro INT2 input (do not connect if unused) CSB1 SDO1 CSB1 DNC (float) DNC (float) ** GND for default addr. Do not connect Accelerometer INT1 input (do not connect if unused) CSB3 CSB3 GND for default addr. * If INT are not used, please do not connect them (DNC)! ** connecting to VDDIO also allowed BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 157 13.2 Connection diagram 4-wire SPI Accel INT 1 (Do not connect if unused) VDDIO __ Magnet CS Do not connect 18 SDO1 __ Accel CS CSB1 16 2 INT3 Gyro INT 1 (Do not connect if unused) 14 SDO2 SDx MOSI 20 1 15 MISO 19 17 Gyro INT 2 INT4 (Do not connect if unused) VDDIO CSB3 INT1 NC VDD 3 BMX055 4 TOP VIEW (pads not visible) 13 5 12 6 11 7 INT2 Accel INT 2 (Do not connect if unused) DRDYM Magnet Data ready (Do not connect if unused) VDD GNDA GND CSB2 __ Gyro CS C1 GNDIO GND PS C2 Magnet INT (Do not connect if unused) 9 10 INT5 SCx 8 NC SCK Do not connect GND GND Figure 37: 4-wire SPI connection BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 158 13.3 Connection diagram 3-wire SPI Accel INT 1 (Do not connect if unused) VDDIO __ Magnet CS Do not connect 18 Do not connect SDO1 __ Accel CS CSB1 Gyro INT 2 (Do not connect if unused) INT4 Gyro INT 1 (Do not connect if unused) INT3 VDDIO Do not connect SISO SDO2 SDx CSB3 INT1 NC 19 20 17 1 16 2 15 3 BMX055 14 VDD 4 TOP VIEW (pads not visible) 13 5 12 6 11 7 INT2 Accel INT 2 (Do not connect if unused) DRDYM Magnet Data ready (Do not connect if unused) VDD GNDA GND CSB2 __ Gyro CS C1 GNDIO GND PS C2 Magnet INT (Do not connect if unused) 9 10 INT5 SCx 8 NC SCK Do not connect GND GND Figure 38: 3-wire SPI connection BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 159 2 13.4 Connection diagram I C Accel INT 1 (Do not connect if unused) VDDIO Do not connect I²C-Addr[1] - Magnet 18 Do not connect SDO1 CSB1 16 2 INT3 Gyro INT 1 (Do not connect if unused) 14 SDA SDO2 SDx 20 1 15 I²C-Addr_LSB (I²C-Addr[0]) - Gyro 19 17 Gyro INT 2 INT4 (Do not connect if unused) VDDIO R2 VDDIO CSB3 INT1 NC I²C-Addr_LSB (I²C-Addr[0]) – Accel / Magnet VDD 3 BMX055 4 TOP VIEW (pads not visible) 13 5 12 6 11 7 INT2 Accel INT 2 (Do not connect if unused) DRDYM Magnet Data ready (Do not connect if unused) VDD GNDA GND CSB2 Do not connect GNDIO GND PS C2 R1 Magnet INT (Do not connect if unused) 9 10 INT5 SCx 8 C1 NC SCL Do not connect GND GND Figure 39: I²C connection Note: the recommended value for C1, C2 is 100 nF. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 160 14 Package 14.1 Outline dimensions The sensor housing is a standard LGA package. Its dimensions are the following. Unit is mm. Note: Unless otherwise specified tolerance = decimal ± 0.05 mm. Figure 40: Package outline dimensions in mm BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 161 14.2 Sensing axes orientation If the sensor is accelerated and/or rotated in the indicated directions, the corresponding channels of the device will deliver a positive acceleration and/or yaw rate signal (dynamic acceleration). If the sensor is at rest without any rotation and the force of gravity is acting contrary to the indicated directions, the output of the corresponding acceleration channel will be positive and the corresponding gyroscope channel will be “zero” (static acceleration). Example: If the sensor is at rest or at uniform motion in a gravity field and a static magnetic field according to the figure given below, the output signals are: Table 70: Example sensor signal output ACC ± 0g ± 0g + 1g X channel Y channel Z channel GYR ± 0°/sec ± 0°/sec ± 0°/sec MAG 0 µT 0 µT -|B| az, Bz ωz ax, -By N B ωy ωx ay, Bx force of gravity S Figure 41: Orientation of sensor sensing axis BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 162 The following Table 71 lists all corresponding register output signals on aX, aY, aZ and ΩX, ΩY, ΩZ and BX, BY, BZ while the sensor is at rest or at uniform motion in a gravity field and subjected to a constant vertical magnetic field under assumption of a ±2g range setting and a top down gravity vector as shown above. Table 71: Output signals depending on device orientation o Sensor Orientation (gravity vector  = static acceleration vector , magnetic vector ) o o upright Output Signal aX 0g 0LSB +1g +1024LSB 0g 0LSB -1g -1024LSB 0g 0LSB 0g 0LSB Output Signal aY -1g -1024LSB 0g 0LSB +1g +1024LSB 0g 0LSB 0g 0LSB 0g 0LSB Output Signal aZ 0g 0LSB 0g 0LSB 0g 0LSB 0g 0LSB +1g +1024LSB -1g -1024LSB Output Signal ΩX 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB Output Signal ΩY 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB Output Signal ΩZ 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB 0°/sec 0LSB Output Signal BX +|B| µT 0 µT -|B| µT 0 µT 0 µT 0 µT Output Signal BY 0 µT +|B| µT 0 µT -|B| µT 0 µT 0 µT Output Signal BZ 0 µT 0 µT 0 µT 0 µT -|B| µT +|B| µT o upright 14.3 Android axes orientation The Android coordinate system is shown in Figure 42. The origin is in the lower-left corner with respect to the screen, with the X axis horizontal and pointing right, the Y axis vertical and pointing up and the Z axis pointing outside the front face of the screen. In this system, coordinates behind the screen have negative Z values. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 163 Figure 42: Android coordinate system Attitude terms are defined in the following way:  Heading / Azimuth – angle between the magnetic north direction and the Y axis, around the Z axis (0° to 360°). 0° = North, 90° = East, 180° = South, 270° = West.  Pitch – rotation around X axis (-180° to 180°), with positive values when the z-axis moves toward the y-axis.  Roll – rotation around Y axis (-90° to 90°), with positive values when the x-axis moves toward the z-axis. Figure 43: Heading, pitch and roll in Android coordinate frame BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 164 14.4 Landing pattern recommendation For the design of the landing patterns, we recommend the following dimensioning: 0.25 0.675 0.25 19 0.55 18 20 1 17 4.5 0.5 2 15 3 14 4 13 5 12 6 11 7 10 9 1.775 16 8 0.925 3.0 Figure 44: Landing patterns, dimensions are in mm Same tolerances as given for the outline dimensions (chapter 14.1, Figure 40) should be assumed. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 165 14.5 Marking 14.5.1 Mass production devices Table 72: Marking of mass production parts Labeling BMX LYWW CCC 14.5.2 Name Symbol Remark Product number BMX 3 alphanumeric digits, fixed to identify product type Sub-con ID L 1 alphanumeric digit, variable to identify sub-con (L = “A” or L = “U” or L = “P” Date-Code YWW 3 numeric digits, fixed to identify Y = “year” WW = “working week Lot counter CCC 3 alphanumeric digits, variable to generate mass production trace-code Pin 1 identifier • -- Engineering samples Table 73: Marking of engineering samples Labeling X55N AYYWW CCCC Name Symbol Eng. sample ID N 1 alphanumeric digit, fixed to identify engineering sample, N = “+” or “e” or “E” Sample ID AYYWW 1 alphanumeric digit (A) for trace-code 2 numeric digit (YY) for date-code 2 numeric digit (WW) for date-code Counter ID CCCC 4 alphanumeric digits, variable to generate trace-code Pin 1 identifier • -- BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Remark Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 166 14.6 Soldering guidelines The moisture sensitivity level of the BMX055 sensors corresponds to JEDEC Level 1, see also - IPC/JEDEC J-STD-020C "Joint Industry Standard: Moisture/Reflow Sensitivity Classification for non-hermetic Solid State Surface Mount Devices" IPC/JEDEC J-STD-033A "Joint Industry Standard: Handling, Packing, Shipping and Use of Moisture/Reflow Sensitive Surface Mount Devices" The sensor fulfils the lead-free soldering requirements of the above-mentioned IPC/JEDEC standard, i.e. reflow soldering with a peak temperature up to 260°C. Figure 45: Soldering profile recommendation BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 167 14.7 Handling instructions Micromechanical sensors are designed to sense acceleration with high accuracy even at low amplitudes and contain highly sensitive structures inside the sensor element. The MEMS sensor can tolerate mechanical shocks up to several thousand g's. However, these limits might be exceeded in conditions with extreme shock loads such as e.g. hammer blow on or next to the sensor, dropping of the sensor onto hard surfaces etc. We recommend to avoid g-forces beyond the specified limits during transport, handling and mounting of the sensors in a defined and qualified installation process. This device has built-in protections against high electrostatic discharges or electric fields (e.g. 2kV HBM); however, anti-static precautions should be taken as for any other CMOS component. Unless otherwise specified, proper operation can only occur when all terminal voltages are kept within the supply voltage range. Unused inputs must always be tied to a defined logic voltage level. For more details on recommended handling, soldering and mounting please contact your local Bosch Sensortec sales representative and ask for the “Handling, soldering and mounting instructions” document. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 168 14.8 Tape and reel specification The BMX055 is shipped in a standard cardboard box. The box dimension for 1 reel is: L x W x H = 35cm x 35cm x 6cm. BMX055 quantity: 5,000pcs per reel, please handle with care. A0 = 4.85 B0 = 3.35 K0 = 1.20 14.8.1 Figure 46: Tape and reel dimensions in mm Orientation within the reel  Processing direction  Figure 47: Orientation of the BMX055 devices relative to the tape 14.9 Environmental safety The BMX055 sensor meets the requirements of the EC restriction of hazardous substances (RoHS and RoHS2) directive, see also: Directive 2002/95/EC of the European Parliament and of the Council of 27 January 2003 on the restriction of the use of certain hazardous substances in electrical and electronic equipment. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 169 14.9.1 Halogen content The BMX055 is halogen-free. For more details on the analysis results please contact your Bosch Sensortec representative. 14.9.2 Internal package structure Within the scope of Bosch Sensortec’s ambition to improve its products and secure the mass nd product supply, Bosch Sensortec qualifies additional sources (e.g. 2 source) for the LGA package of the BMX055. 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 BMX055 product. BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 170 15 Legal disclaimer 15.1 Engineering samples Engineering Samples are marked with an plus (+) or (e) or (E) or (N). Samples may vary from the valid technical specifications of the product series contained in this data sheet. They are therefore not intended or fit for resale to third parties or for use in end products. Their sole purpose is internal client testing. The testing of an engineering sample may in no way replace the testing of a product series. Bosch Sensortec assumes no liability for the use of engineering samples. The Purchaser shall indemnify Bosch Sensortec from all claims arising from the use of engineering samples. 15.2 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 products 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. 15.3 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 noninfringement 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-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 171 16 Document history and modification Rev. No Chapter Description of modification/changes 17 18 - 19 22 1.2 Table 2 updated 0.1 1.2 1.2 4 5.1 5.2.2 5.6.3 5.6.6.1 5.6.7 5.6.10 21 1.0 5.7 Acc reg 0x0F Acc reg 0x10 Acc reg 0x12 Acc reg 0x14 Acc reg 0x2B Acc reg 0x30 Acc reg 0x32 7.5.2 7.7 7.7.3 1.1 12.4 14.1 14.4 14.5.1 Initial release Table 3 updated Table 4 updated Recommendation for power up sequence updated Description of suspend mode and deep suspend mode updated; equations for LMP2 updated Description of temperature sensor added Recommendation to use pull-up, pull-down resistors added Recommendation of single tap usage added orient_hyst description updated Comment added on clearance of interrupt when acceleration is lower than threshold. Description of accelerometer soft reset updated ACC Register 0x0F (PMU_RANGE) description updated ACC Register 0x10 (PMU_BW) description updated ACC Register 0x12 (PMU_LOW_POWER) renamed ACC Register 0x14 (BGW_SOFTRESET) description updated Date 20 30-March2013 04 October 2013 ACC Register 0x2B (INT_9) description updated ACC Register 0x30 (FIFO_CONFIG_0) description updated ACC Register 0x32 (PMU_SELF_TEST) description updated Description of fast offset compensation updated Description of gyro interrupts updated Recommendation to use pull-up, pull-down resistors added Description of FIFO interrupts updated Outline dimensions updated Landing pattern recommendation updated Correct chip marking BST-BMX055-DS000-02 | Revision 1.1 | November 2014 07 Nov. 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice. BMX055 Data sheet Page 172 Bosch Sensortec GmbH Gerhard-Kindler-Strasse 8 72770 Reutlingen / Germany contact@bosch-sensortec.com www.bosch-sensortec.com Modifications reserved | Printed in Germany Specifications are preliminary and subject to change without notice Document number: BST-BMX055-DS000-01 Revision_1.1_102014 BST-BMX055-DS000-02 | Revision 1.1 | November 2014 Bosch Sensortec © Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany. Note: Specifications within this document are preliminary and subject to change without notice.